CN113098350B - Surface-mounted permanent magnet synchronous motor rotor position calculation method and device based on sliding-mode observer - Google Patents
Surface-mounted permanent magnet synchronous motor rotor position calculation method and device based on sliding-mode observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a method and a device for calculating the rotor position of a surface-mounted permanent magnet synchronous motor based on a sliding-mode observer, wherein a cosine saturation piecewise function of a self-adaptive boundary layer thickness is introduced into a sliding-mode control rate, and a quasi-per-unit algorithm is combined, so that high-frequency buffeting is effectively reduced, and the calculation accuracy of the rotor position and the rotating speed is improved; firstly, calculating by a sliding mode observer according to a stator voltage reference value, a stator current actual value and a rotor electrical angular velocity observed value to obtain a back electromotive force sliding mode observation standard per unit value; calculating by a second-order generalized integrator according to the back electromotive force sliding mode observation quasi-per-unit value and the rotor electrical angular velocity observation value to obtain a back electromotive force observation quasi-per-unit value; finally, calculating through a phase-locked loop according to the back electromotive force observation quasi-per-unit value to obtain a rotor electrical angular velocity observation value and a rotor electrical angle observation value; the rotor position calculation method provided by the invention has high reliability and strong robustness, and meets the requirements of the driving field of permanent magnet synchronous motors such as high-speed hydrogen pumps, air compressors and the like on the reliability and efficiency of the system.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a sliding-mode observer-based permanent magnet synchronous motor rotor position calculation method.
Background
The permanent magnet synchronous motor has the characteristics of high power density, high efficiency, compact structure, high reliability and the like, and is widely applied to the fields of aircrafts, wind power generation, household appliances, electric automobiles and the like. In order to realize high-performance control of the permanent magnet synchronous motor and meet the requirement of accurate control of rotating speed and current, a motor driving system must accurately acquire the position of a rotor in real time.
The traditional mechanical sensor for direct position detection mainly comprises a rotary transformer, an encoder, a Hall sensor and the like, so that the cost of the motor is increased, the size and the weight of the motor are increased, the motor is easily influenced by the working environment, and the reliability of the system is reduced.
The current technology for estimating the position of the rotor without a position sensor comprises two main categories: based on non-ideal characteristics of the motor and based on a fundamental wave mathematical model. The rotor position can be accurately estimated under the conditions of zero speed and extremely low speed of the motor based on the motor nonideal characteristic technology, the rotor position mainly comprises a high-frequency signal injection method, a low-frequency injection method and the like, but the signal injection can cause extra harmonic waves and noise to the motor, the calculation amount is large, and the voltage utilization rate is low. The method is suitable for medium-high speed operation working conditions and mainly comprises a direct formula calculation method, a model reference self-adaption method, an extended Kalman filtering method, a sliding-mode observer method and the like.
The sliding-mode observer is insensitive to system parameters, strong in robustness to external parameter disturbance and internal parameter perturbation, simple in structural algorithm, high in engineering control reliability and easy to achieve. However, the control of the sliding-mode observer is discontinuous control, and the high-frequency buffeting exists in the system due to the non-ideality of a switch and the inertia of the system, so that the estimation accuracy of the position of the rotor is greatly reduced. In addition, the change of the rotating speed can influence the amplitude of the back electromotive force, thereby influencing the bandwidth of a system, reducing the anti-rotating speed disturbance capability of fixed parameters and influencing the observation precision. Therefore, the sliding mode observer sensorless algorithm capable of realizing high-frequency buffeting suppression and improvement of the anti-rotation speed disturbance capacity has wide application prospect.
Disclosure of Invention
In order to solve the technical problem, the invention provides a surface-mounted permanent magnet synchronous motor rotor position calculation method and device based on a sliding-mode observer; according to the method, a cosine saturation piecewise function of the adaptive boundary layer thickness is introduced into the sliding mode control rate, and a quasi-unitary algorithm is combined, so that high-frequency buffeting is effectively reduced, the calculation accuracy of the position and the rotating speed of the rotor is improved, and the reliability and the robustness of the method for calculating the position of the rotor by the sliding mode observer without sensing are enhanced.
According to the method, a cosine saturation piecewise function of the self-adaptive boundary layer thickness is introduced into the sliding mode control rate, and a quasi-per-unit algorithm is combined, so that high-frequency buffeting is effectively reduced, and the calculation accuracy of the position and the rotating speed of the rotor is improved; firstly, calculating by a sliding mode observer according to a stator voltage reference value, a stator current actual value and a rotor electrical angular velocity observed value to obtain a back electromotive force sliding mode observation standard per unit value; calculating by a second-order generalized integrator according to the back electromotive force sliding mode observation quasi-per-unit value and the rotor electrical angular velocity observation value to obtain a back electromotive force observation quasi-per-unit value; finally, calculating through a phase-locked loop according to the back electromotive force observation quasi-per-unit value to obtain a rotor electrical angular velocity observation value and a rotor electrical angle observation value; the rotor position calculation method provided by the invention has high reliability and strong robustness, and meets the requirements of the driving field of permanent magnet synchronous motors such as high-speed hydrogen pumps, air compressors and the like on the reliability and efficiency of the system.
As a first aspect of the present invention, an embodiment of the present invention provides a surface-mount permanent magnet synchronous motor rotor position calculation method based on a sliding-mode observer, including the following steps:
step S1, according to the reference value of the stator voltage of the alpha-beta axis
Actual value i of stator current of alpha and beta axisα/iβObserved value of rotor electrical angular velocity
Calculating by a sliding mode observer to obtain an alpha-beta axis back electromotive force sliding mode observation quasi-per-unit value
Step S2, observing quasi-per-unit value according to alpha and beta axis back electromotive force sliding mode
And rotor electrical angular velocity observations
Calculating to obtain alpha beta axis back electromotive force observation quasi-per-unit value through a second-order generalized integrator
Step S3, observing the standard mark according to the alpha beta axis counter electromotive forcePer value
Obtaining the observed value of the rotor electrical angular velocity by phase-locked loop calculation
And rotor electrical angle observation value
Further, in step S1, an α β axis back electromotive force sliding mode observation quasi-per-unit value is calculated
The method comprises the following steps:
step S1.1, according to the feedback obtained alpha beta axis back electromotive force sliding mode observation quasi-per-unit value
Alpha beta axis stator voltage reference value
And the actual value i of the stator current of the alpha and beta axisα/iβObtaining an alpha beta axis back electromotive force sliding mode observed value through reverse quasi-unitary calculation
As shown in formula (1) - (2):
wherein,
where λ is the adaptive sliding mode gain, τ is a non-zero smaller positive tuning parameter, eαeq/eβeqRespectively alpha and beta axes of counter currentCalculated value of the kinetic equation, | eeqI is the calculated amplitude of the back electromotive force formula, RsIs stator resistance, LsIs a stator inductance;
step S1.2, according to the reference value of the stator voltage of the alpha and beta axis
And the alpha beta axis back electromotive force sliding mode observed value obtained by feedback
Calculating to obtain an alpha beta axis stator current observed value through a formula (3)
The following:
step S1.3, according to the stator current observed value of the alpha-beta axis
And the actual value i of the stator current of the alpha and beta axisα/iβThe sliding mode surface s is defined by equation (4) as follows:
in the formula,
respectively alpha and beta axis stator current observation error values;
step S1.4, observing error value according to alpha and beta axis stator current
And rotor electrical angular velocity observations
By self-runningCalculating a cosine saturation piecewise function adaptive to the thickness of the boundary layer to obtain an alpha beta axis back electromotive force sliding mode observation quasi-per-unit value
As shown in equations (5) - (7):
wherein,
then the process of the first step is carried out,
where ε is the first boundary layer, δ is the second boundary layer, δ0Is the second boundary layer at rated rotor electrical angular velocity, ω0For nominal rotor electrical angular velocity, u(s) is a cosine saturation piecewise function.
Further, in step S2, an α β axis back electromotive force observation quasi-per-unit value is calculated
The method of (2) is shown in formula (8) - (10):
in the formula，kzIn order to adjust the parameters for the filtering,
respectively are primary filtering observation quasi-per-unit values of alpha and beta axis counter electromotive force,
respectively, alpha beta axis back electromotive force secondary filtering observation quasi-per-unit values.
Further, in step S3, an observed value of the rotor electrical angular velocity is calculated
And rotor electrical angle observation value
The method comprises the following steps:
step S3.1, according to the alpha beta axis counter electromotive force observed value
And feeding back the obtained rotor electrical angle observed value
Calculating to obtain an observation deviation value delta theta of the rotor electrical angle through a formula (11)eThe following were used:
in the formula, thetaeThe actual value of the rotor electrical angle is obtained;
s3.2, observing the deviation value delta theta according to the rotor electrical angleeObtaining the observed value of the rotor electrical angular velocity through the calculation of the formula (12) - (13)
And rotor electrical angle observation value
The following were used:
in the formula, KpFor proportional adjustment of parameters for PI, KiThe parameters are adjusted for PI integration.
As a second aspect of the present invention, an embodiment of the present invention provides a surface-mount permanent magnet synchronous motor rotor position calculation apparatus based on a sliding-mode observer, including:
a memory storing a computer program;
a processor for executing the computer program, the computer program when executed performing the steps of the method as described above.
The invention has the following advantages:
(1) the cosine saturation piecewise function of the self-adaptive boundary layer thickness is introduced into the sliding mode control rate, so that the high-frequency buffeting of the system caused by the discontinuity of a sliding mode surface change-over switch and the unstable transition near a boundary layer is weakened while the response speed and the robustness of the original system are not influenced;
(2) the back electromotive force observation value is subjected to quasi-per-unit processing, the influence of system bandwidth change caused by back electromotive force amplitude change is eliminated, the anti-rotation speed disturbance capability of fixed adjustment parameters is enhanced, and the rotor position and rotation speed calculation accuracy is improved.
Drawings
Fig. 1 is a block diagram of a control system in an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a sliding-mode observer in the embodiment of the present invention.
Fig. 3 is a schematic diagram of a cosine saturation piecewise function in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Firstly, the embodiment of the invention provides a surface-mounted permanent magnet synchronous motor rotor position calculation method based on a sliding-mode observer, which comprises the following steps:
step S1, according to the reference value of the stator voltage of the alpha-beta axis
Actual value i of stator current of alpha-beta axisα/iβObserved value of rotor electrical angular velocity
Calculating by a sliding mode observer to obtain an alpha-beta axis back electromotive force sliding mode observation quasi-per-unit value
Calculating alpha beta axis back electromotive force sliding mode observation quasi-per-unit value
The method comprises the following steps:
step S1.1, according to the feedback obtained alpha beta axis back electromotive force sliding mode observation quasi-per-unit value
Alpha beta axis stator voltage reference value
And the actual value i of the stator current of the alpha and beta axisα/iβObtaining an alpha beta axis back electromotive force sliding mode observed value through reverse quasi-unitary calculation
As shown in formula (1) - (2):
wherein,
where λ is the adaptive sliding mode gain, τ is a non-zero smaller positive tuning parameter, eαeq/eβeqRespectively, alpha beta axis back electromotive force formula calculation value, | eeqI is the calculated amplitude of the back electromotive force formula, RsIs stator resistance, LsIs a stator inductance;
step S1.2, according to the reference value of the stator voltage of the alpha and beta axis
And the alpha beta axis back electromotive force sliding mode observed value obtained by feedback
Calculating to obtain an alpha beta axis stator current observed value through a formula (3)
The following were used:
step S1.3, according to the stator current observed value of the alpha-beta axis
And the actual value i of the stator current of the alpha and beta axisα/iβThe sliding mode surface s is defined by equation (4) as follows:
in the formula,
respectively alpha and beta axis stator current observation error values;
step S1.4, observing error value according to alpha and beta axis stator current
And rotor electrical angular velocity observations
Calculating to obtain an alpha beta axis back electromotive force sliding mode observation quasi-per unit value through a cosine saturation piecewise function of the self-adaptive boundary layer thickness
As shown in equations (5) - (7):
wherein,
then the process of the first step is carried out,
where ε is the first boundary layer, δ is the second boundary layer, δ0Is the second boundary layer at rated rotor electrical angular velocity, ω0For nominal rotor electrical angular velocity, u(s) is a cosine saturation piecewise function;
step S2, observing quasi-per-unit value according to alpha and beta axis back electromotive force sliding mode
And rotor electrical angular velocity observations
Alpha-beta axis inverse is calculated by a second-order generalized integratorStandard per unit value for electromotive force observation
Calculating alpha beta axis back electromotive force observation quasi-per-unit value
The method of (2) is shown in formula (8) - (10):
in the formula, kzIn order to adjust the parameters for the filtering,
respectively alpha beta axis back electromotive force primary filtering observation quasi-per-unit values,
respectively are alpha beta axis counter electromotive force secondary filtering observation quasi-per-unit values;
step S3, observing the quasi-per unit value according to the alpha beta axis back electromotive force
Obtaining the observed value of the rotor electrical angular velocity through phase-locked loop calculation
And rotor electrical angle observation value
Calculating observed value of rotor electrical angular velocity
And rotor electrical angle observation value
The method comprises the following steps:
step S3.1, according to the alpha beta axis counter electromotive force observed value
And feeding back the obtained rotor electrical angle observed value
Calculating to obtain an observation deviation value delta theta of the rotor electrical angle through a formula (11)eThe following were used:
in the formula, thetaeThe actual value of the rotor electrical angle is obtained;
s3.2, observing the deviation value delta theta according to the rotor electrical angleeObtaining the observed value of the rotor electrical angular velocity through the calculation of the formula (12) - (13)
And rotor electrical angle observation value
The following were used:
in the formula, KpFor proportional adjustment of parameters for PI, KiThe parameters are adjusted for PI integration.
Secondly, an embodiment of the present invention further provides a sliding-mode observer-based surface-mounted permanent magnet synchronous motor rotor position calculation apparatus, including: a processor and a memory; the processor and the memory communicate with each other, for example, by being connected to and communicating with each other via a communication bus; the memory has stored therein a computer program; the processor is adapted to run the computer program, which when run performs the steps of the method as described above.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (4)
1. A surface-mounted permanent magnet synchronous motor rotor position calculation method based on a sliding-mode observer is characterized by comprising the following steps:
step S1, according to the reference value of the stator voltage of the alpha-beta axis
Actual value i of stator current of alpha and beta axisα/iβObserved value of rotor electrical angular velocity
Calculating by a sliding mode observer to obtain an alpha-beta axis back electromotive force sliding mode observation quasi-per-unit value
Step S2, observing quasi-per-unit value according to alpha and beta axis back electromotive force sliding mode
And rotor electrical angular velocity observations
Calculating to obtain alpha beta axis back electromotive force observation quasi-per-unit value through a second-order generalized integrator
Step S3, observing quasi-per-unit value according to alpha and beta axis back electromotive force
Obtaining the observed value of the rotor electrical angular velocity through phase-locked loop calculation
And rotor electrical angle observation value
In step S1, an α β axis back electromotive force sliding mode observation quasi-per-unit value is calculated
The method comprises the following steps:
step S1.1, according to the feedback obtained alpha beta axis back electromotive force sliding mode observation quasi-per-unit value
Alpha beta axis stator voltage reference value
And the actual value i of the stator current of the alpha and beta axisα/iβObtaining an alpha beta axis back electromotive force sliding mode observed value through reverse quasi-unitary calculation
As shown in formula (1) - (2):
wherein,
where λ is the adaptive sliding mode gain, τ is a non-zero smaller positive tuning parameter, eαeq/eβeqRespectively, alpha beta axis back electromotive force formula calculation value, | eeqI is the calculated amplitude of the back electromotive force formula, RsIs stator resistance, LsA stator inductor;
step S1.2, according to the reference value of the alpha and beta axis stator voltage
And the alpha beta axis back electromotive force sliding mode observed value obtained by feedback
Calculating to obtain an alpha beta axis stator current observed value through a formula (3)
The following were used:
step S1.3, according to the stator current observed value of the alpha-beta axis
And the actual value i of the stator current of the alpha and beta axisα/iβThe sliding mode surface s is defined by equation (4) as follows:
in the formula,
respectively alpha and beta axis stator current observation error values;
step S1.4, observing error value according to alpha and beta axis stator current
And rotor electrical angular velocity observations
Calculating to obtain alpha beta axis back electromotive force sliding mode observation quasi-per-unit value through cosine saturation piecewise function of self-adaptive boundary layer thickness
As shown in equations (5) - (7):
wherein,
then the user can use the device to make a visual display,
where ε is the first boundary layer, δ is the second boundary layer, δ0Is the second boundary layer at rated rotor electrical angular velocity, ω0For nominal rotor electrical angular velocity, u(s) is a cosine saturation piecewise function.
2. The method for calculating the rotor position of the surface-mounted permanent magnet synchronous motor based on the sliding-mode observer according to claim 1,
in step S2, an α β axis back electromotive force observation quasi-per-unit value is calculated
The method (2) is shown in the formula (8) - (10):
in the formula, kzIn order to adjust the parameters for the filtering,
respectively alpha beta axis back electromotive force primary filtering observation quasi-per-unit values,
respectively, alpha beta axis back electromotive force secondary filtering observation quasi-per-unit values.
3. The method for calculating the rotor position of the surface-mounted permanent magnet synchronous motor based on the sliding-mode observer according to claim 2,
in step S3, an observed value of the rotor electrical angular velocity is calculated
And rotor electrical angle observation value
The method comprises the following steps:
step S3.1, according to the alpha beta axis counter electromotive force observed value
And feeding back the obtained rotor electrical angle observed value
Calculating to obtain an observation deviation value delta theta of the rotor electrical angle through a formula (11)eThe following were used:
in the formula, thetaeThe actual value of the rotor electrical angle is obtained;
s3.2, observing the deviation value delta theta according to the rotor electrical angleeObtaining the observed value of the rotor electrical angular velocity through the calculation of the formula (12) - (13)
And rotor electrical angle observation value
The following:
in the formula, KpFor proportional adjustment of parameters for PI, KiThe parameters are adjusted for PI integration.
4. A surface-mounted permanent magnet synchronous motor rotor position calculating device based on a sliding-mode observer is characterized by comprising:
a memory storing a computer program;
a processor for running the computer program, the computer program when running performing the steps of the method of any one of claims 1 to 3.
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| CN103199779A (en) * | 2013-04-22 | 2013-07-10 | 哈尔滨工业大学 | Position observation device and method for rotor of built-in permanent magnetic synchronous motor based on adaptive filtering |
| CN105227010A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工业大学 | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
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| US20100237817A1 (en) * | 2009-03-23 | 2010-09-23 | Jingbo Liu | Method and Apparatus for Estimating Rotor Position in a Sensorless Synchronous Motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103199779A (en) * | 2013-04-22 | 2013-07-10 | 哈尔滨工业大学 | Position observation device and method for rotor of built-in permanent magnetic synchronous motor based on adaptive filtering |
| CN105227010A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工业大学 | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
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