CN113162489A - Sensorless control method and device for permanent magnet synchronous motor - Google Patents

Sensorless control method and device for permanent magnet synchronous motor Download PDF

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Publication number
CN113162489A
CN113162489A CN202110211351.7A CN202110211351A CN113162489A CN 113162489 A CN113162489 A CN 113162489A CN 202110211351 A CN202110211351 A CN 202110211351A CN 113162489 A CN113162489 A CN 113162489A
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motor
flux linkage
vector
sector
pwm
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CN113162489B (en
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张沛
周东
王康
梁常春
姜水清
马如奇
林云成
刘鑫
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Beijing Institute of Spacecraft System Engineering
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Beijing Institute of Spacecraft System Engineering
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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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  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a sensorless control method and a sensorless control device for a permanent magnet synchronous motor, wherein a motor rotor position sensor and a back electromotive force detection circuit are not needed in the control process, so that the hardware complexity is reduced; the acceleration and deceleration control of the motor rotor is realized by generating the rotating stator magnetic field with adjustable amplitude, and the motor can still normally run under the condition of no motor rotor position sensor; the angle of the motor is calculated by detecting the change of the flux linkage sector, the rotating speed of the motor is calculated by difference and smooth filtering, and the rotating speed information of the motor can still be obtained under the condition of no motor rotor position sensor. The method calculates the flux linkage angle by measuring the current of two-phase windings in the three-phase motor, and judges the flux linkage sector according to the flux linkage angle; and generating a PWM signal according to the flux linkage sector, the rotation direction instruction and the acceleration and deceleration instruction, enabling a stator winding of the motor to generate a rotating magnetic field, controlling the motor to rotate, calculating the rotating speed of the motor according to the change of the flux linkage sector, and outputting the rotating speed through smooth filtering.

Description

Sensorless control method and device for permanent magnet synchronous motor
Technical Field
The invention belongs to the field of spaceflight, and relates to a sensorless control method and a sensorless control device for a permanent magnet synchronous motor.
Background
Currently, servo motors represented by permanent magnet synchronous motors are provided with a rotor position sensor on a motor shaft, and the sensor is not only used for measuring the rotating speed of the motor, but also provides an input signal for motor drive control. In the field of aerospace, due to the requirement of weight reduction design of a spacecraft, a sensor is not always backed up, so that when the sensor fails, a motor cannot operate according to a normal mode, the movement function of a mechanism fails, and the completion of a task of the spacecraft is influenced.
Patent CN104167961A, a motor sensorless drive control system, proposes a drive circuit and a control method for a high-speed motor (rotation speed 10000 rpm-120000 rpm), however, the drive circuit proposed in this patent must have a dedicated sensorless detection circuit, and the controller of the spacecraft motor is limited by volume and power consumption, so it is difficult to add the circuit, and the rotation speed of the spacecraft motor is generally only 300-1200 rpm, so this patent cannot solve the technical problem of sensorless control of the spacecraft motor. The sensorless method proposed in patent publication CN104584417B, sensorless field oriented control without current sampling for the motor, refers to a current-less sensor, which still requires a motor rotor position sensor.
Therefore, a detection scheme which does not need to be provided with a motor rotor position sensor and a back electromotive force detection circuit is needed to meet the use requirement of the spacecraft with strict requirements on weight and power consumption.
Disclosure of Invention
In view of the above, the invention provides a sensorless control method and a sensorless control device for a permanent magnet synchronous motor, which can realize acceleration and deceleration control of a motor rotor by generating a rotating stator magnetic field with adjustable amplitude and direction; calculating the angle of the rotor of the motor by accumulating the flux linkage angle of the magnetic field of the stator; the rotation speed of the motor is estimated by difference and smooth filtering of the rotor angle, the position of the rotor of the motor and a back electromotive force detection circuit are not required to be configured in the process, and the hardware complexity is reduced so as to meet the use requirement of the spacecraft with strict requirements on weight and power consumption.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a sensorless control method for a permanent magnet synchronous motor comprises the following specific steps:
and calculating a flux linkage angle by measuring currents of two phases of windings in the three-phase motor, and judging a flux linkage sector according to the flux linkage angle.
And generating a PWM signal according to the flux linkage sector, the rotation direction instruction and the acceleration and deceleration instruction, enabling a stator winding of the motor to generate a rotating magnetic field, controlling the motor to rotate, calculating the rotating speed of the motor according to the change of the flux linkage sector, and outputting the rotating speed through smooth filtering.
Further, a flux linkage angle is calculated by measuring currents of two phases of windings in the three-phase motor, and a flux linkage sector is judged according to the flux linkage angle, and the specific method comprises the following steps:
step (1), collecting current of a phase winding of a motor A, B to form a current matrix [ IU IV](ii) a Wherein IUFor the motor phase A winding current, IVIs the motor B phase winding current.
Step (2), A, B phase winding current is converted, and the calculation formula is as follows:
Figure BDA0002952443310000021
wherein, IαFor the first current by an intermediate quantity, IβAn intermediate amount is converted for the second current.
Step (3) calculating a winding voltage matrix [ U ]U UV UW]The calculation formula is as follows:
Figure BDA0002952443310000022
wherein U (1), U (2) and U (3) are the on-off states of three tubes on the three-phase drive axle circuit of the motor, the on state is 1, the off state is 0, and the U state isdcInput voltage of three-phase drive bridge circuit of motor detected by voltage detection device, wherein UUFor the motor A-phase winding voltage, UVFor the motor B-phase winding voltage, UWIs the motor C-phase winding voltage.
And (4) converting the winding voltage matrix, wherein the calculation formula is as follows:
Figure BDA0002952443310000031
wherein, UαFor the first voltage conversion of an intermediate quantity, UβAn intermediate amount is converted for the second voltage.
And (5) calculating a stator flux linkage vector, wherein the calculation formula is as follows:
Figure BDA0002952443310000032
where k is the current calculated step number of the motor, psiαFor horizontal stator flux linkage vector, #βIs a perpendicular stator flux linkage vector, RsAnd presetting a motor equivalent winding value.
Step (6), calculating the stator flux linkage vector angle, wherein the calculation formula is as follows:
Figure BDA0002952443310000033
and (7) judging the sector according to the stator flux linkage vector angle, wherein the calculation formula is as follows:
Figure BDA0002952443310000041
further, a PWM signal is generated according to the flux linkage sector, the rotation direction command, and the acceleration/deceleration command, and the specific method is as follows:
s1, determining a switching vector according to the sector number, the acceleration and deceleration command and the motion direction command according to the following relation: when the sector number n is 1 and the forward rotation is accelerated, the switching vector is 110, and the reverse rotation is 101; when the sector number n is 1 and the speed is reduced and the rotation is positive, the switch vector is 010, and the rotation is 001; when the sector number n is 2 and the acceleration is positive, the switch vector is 010, and the reverse rotation is 100; when the sector number n is 2 and the speed is reduced for positive rotation, the switching vector is 011, and the reverse rotation is 101; when the sector number n is 3 and the forward rotation is accelerated, the switching vector is 011, and the reverse rotation is 110; when the sector number n is 3 and the speed is reduced and the rotation is positive, the switching vector is 001, and the rotation is 100; when the sector number n is 4 and the acceleration is positive, the switch vector is 001, and the reverse rotation is 010; when the sector number n is 4 and the speed is reduced and the rotation is positive, the switching vector is 101, and the rotation is 110; when the sector number n is 5 and the forward rotation is accelerated, the switching vector is 101, and the reverse rotation is 011; when the sector number n is 5 and the speed is reduced, the switch vector is 100, and the reverse rotation is 010; when the sector number n is 6 and the acceleration is positive, the switching vector is 100, and the reverse rotation is 001; when the sector number n is 6 and the speed is reduced, the switching vector is 110, and the reverse rotation is 011.
S2, determining the on-off state of the expected bridge circuit according to the following relation according to the switching vector: when the switching vector is 001, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0 and 0 in sequence; when the switching vector is 010, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0, 1 and 1 in sequence; when the switching vector is 011, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0 and 0 in sequence; when the switching vector is 100, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1 and 1 in sequence; when the switching vector is 101, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1, 0 and 0 in sequence; when the switching vector is 110, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1 and 1 in sequence; when the switching vector is 000, the number of the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 1 and 1 in sequence; the first bridge circuit state vector is a first bridge circuit state vector, the second bridge circuit state vector is a second bridge circuit state vector, the third bridge circuit state vector is a PWMBp, the fourth bridge circuit state vector is a PWMBn, the fifth bridge circuit state vector is a PWMCp, and the sixth bridge circuit state vector is a PWMCn.
S3, a PWM modulation wave signal PWM _ CMP is generated, the modulation wave signal PWM _ CMP is compared with a preset threshold value, and when the PWM _ CMP is higher than the threshold value PWM _ CMP by 1, the PWM _ CMP is lower than the threshold value PWM _ CMP by 0.
S4, calculating a PWM signal according to the modulation wave signal PWM _ CMP and the expected bridge circuit on-off state signal, wherein the calculation method is as follows:
PWMAp_Z＝PWM_CMP||PWMAp，PWMAn_Z＝PWM_CMP||PWMAn
PWMBp_Z＝PWM_CMP||PWMBp，PWMBn_Z＝PWM_CMP||PWMBn
PWMCp_Z＝PWM_CMP||PWMCp，PWMCn_Z＝PWM_CMP||PWMCn
the method comprises the following steps that PWMAp _ Z is a first upper bridge arm grid control signal, and PWMAn _ Z is a first lower bridge arm grid control signal; PWMBp _ Z is a second upper bridge arm grid control signal, and PWMBn _ Z is a second lower bridge arm grid control signal; PWMCp _ Z is a third upper bridge arm grid control signal, and PWMCn _ Z is a third lower bridge arm grid control signal; "|" is an "or" in mathematical logic.
Furthermore, a stator winding of the motor generates a rotating magnetic field to control the motor to rotate, the rotating speed of the motor is calculated according to the change of a flux linkage sector, and the rotating speed is output through smooth filtering, and the specific method comprises the following steps:
step 1, checking whether the sector number changes, and recording the current elapsed time interval T when the sector number changes.
Step 2, calculating the current rotating speed, wherein the calculation formula is as follows:
Figure BDA0002952443310000061
in the above formula, p is the number of pole pairs of the motor, omegarThe unit is the rotating speed of the motor and is degree/second;
and 3, calculating the average rotating speed according to the rotating speeds at the accumulated n moments, recording the average rotating speed as the rotating speed of the motor, and outputting the rotating speed of the motor through smooth filtering.
A sensorless control device of a permanent magnet synchronous motor comprises a motor control module and a flux linkage sector module.
The motor control module comprises a flux linkage detection part (71) and a driving voltage control part (72), wherein the flux linkage detection part (71) calculates a flux linkage angle according to a current sensor signal and judges a flux linkage sector; a drive voltage control unit (72) controls the bridge circuit to be turned on and off according to the rotation direction command, the acceleration/deceleration command, and the flux linkage sector, thereby generating a rotating magnetic field.
The driving voltage control part (72) comprises a switching vector judging part (721), a PWM signal generating part (722) and a driving signal generating part (723), wherein the switching vector judging part (721) calculates the on-off state of the expected bridge circuit according to a sector number n, a rotating direction instruction and an acceleration and deceleration instruction; a PWM signal generation unit (722) generates a chopper signal with an adjustable duty ratio; a drive signal generation unit (723) generates a drive level signal of the bridge circuit by performing an exclusive OR operation on the desired bridge circuit on-off state and the chopper signal.
The flux linkage detection unit (71) comprises a current conversion unit (711), a voltage conversion unit (712), a flux linkage calculation unit (713), a sector judgment unit (714) and a rotation speed calculation unit (715), wherein the current conversion unit (711) collects two-phase stator winding current IUAnd IVConverted into a two-phase current Iα、Iβ(ii) a The voltage conversion part (712) calculates the three-phase voltage U of the motor winding according to the on-off state of the bridge circuit and the voltage signal of the voltage source 3U、UV、UWAnd converted into two-phase voltage UαAnd Uβ(ii) a The flux linkage calculating unit (713) calculates the flux linkage based on Iα、Iβ、Uα、UβCalculating flux linkage component psiαAnd psiβ(ii) a A sector judging section (714) judges the sector according to the flux linkage component psiαAnd psiβJudging the flux linkage sector number n; a rotation speed calculation unit (715) calculates the motor rotation speed based on the sector number n, and outputs the motor rotation speed after smoothing filtering.
The space phase difference between the magnetic field axes of the windings of each phase of the stator of the magnetic linkage sector module is 120 degrees, and after the on-off state of a bridge circuit is changed, the current direction in the windings is correspondingly changed, so that a synthetic magnetic field of the windings can generate 6 different directional vectors in the space, 6 sectors are formed among the 6 vectors, and the synthetic magnetic field corresponds to sector numbers of 1-6.
Has the advantages that: the invention provides a motor rotor position sensor-free motor which can realize acceleration and deceleration control of a motor rotor by generating a rotating stator magnetic field with adjustable amplitude and direction; calculating the angle of the rotor of the motor by accumulating the flux linkage angle of the magnetic field of the stator; the motor rotating speed is estimated by difference and smooth filtering of the rotor angle, and meanwhile, a motor sensorless control method of a back electromotive force detection circuit is not needed, so that the hardware complexity is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a motor driving device corresponding to the control method of the present invention.
Fig. 2 is a functional block diagram of a motor control method according to the present invention.
Fig. 3 is a schematic view of the stator flux linkage sector of the motor of the present invention.
FIG. 4 is a functional block diagram of a flux linkage detecting unit according to the present invention.
Fig. 5 is a functional block diagram of the drive control unit according to the present invention.
FIG. 6 is a flow chart of flux linkage sector detection in the present invention.
Fig. 7 is a flow chart of the driving control in the present invention.
FIG. 8 is a flow chart of the rotation speed calculation according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The structure of the permanent magnet synchronous motor driving device corresponding to the method is shown in figure 1, and the permanent magnet synchronous motor driving device comprises a bridge circuit 1, a grid driving circuit 2, a voltage source 3, a voltage stabilizing capacitor 4, a power on/off MOS (metal oxide semiconductor) tube 5, a current sensor 6, a motor controller 7, a motor 8 and a voltage detection device 9. The voltage source 3 supplies the bridge circuit 1 and the voltage stabilizing capacitor 4 with the dc voltage of the voltage source 3 via the power-on/off MOS transistor 5. The bridge circuit 1 performs power conversion between the voltage source 3 and the motor 8, and converts a direct-current voltage of the voltage source 3 into an U, V, W-phase voltage. The bridge circuit 1 is composed of a plurality of switching elements MOS1 to MOS 6. And connecting the drain electrode of the MOS tube 1 with the source electrode of the MOS tube 2 to form a bridge arm circuit, wherein the source electrode of the MOS tube 1 is connected with the anode of the power supply 3, and the drain electrode of the MOS tube 2 is connected with the cathode of the power supply 3. The connection point of the MOS tube 1 and the MOS tube 2 which form the bridge arm circuit is connected with the U-phase coil of the motor 8. The drain of the MOS transistor 3 and the source of the MOS transistor 4 are connected to form a bridge arm circuit, wherein the source of the MOS transistor 3 is connected to the positive electrode of the power supply 3, and the drain of the MOS transistor 4 is connected to the negative electrode of the power supply 3. The connection point of the MOS tube 3 and the MOS tube 4 which form the bridge arm circuit is connected with the V-phase coil of the motor 8. The drain of MOS transistor 5 is connected to the source of MOS transistor 6 to form a bridge arm circuit, wherein the source of MOS transistor 5 is connected to the positive electrode of power supply 3, and the drain of MOS transistor 6 is connected to the negative electrode of power supply 3. The connection point of the MOS transistor 5 and the MOS transistor 6 constituting the arm circuit is connected to the W-phase coil of the motor 8.
The motor controller 7 outputs a PWM signal to the gate drive circuit 2, and the gate drive circuit 2 generates a gate control signal, which is connected to the gate electrodes of the MOS transistors constituting the bridge circuit. The grid control signal PWMAp _ Z is connected with the grid electrode of the upper bridge arm MOS tube 1. The gate control signal PWMAn _ Z is connected to the gate electrode of the lower arm MOS transistor 2. And the grid control signal PWMBp _ Z is connected with the grid electrode of the upper bridge arm MOS tube 3. And the grid control signal PWMBn _ Z is connected with the grid electrode of the lower bridge arm MOS tube 4. The grid control signal PWMCp _ Z is connected to the grid electrode of the upper arm MOS transistor 5.
And the grid control signal PWMCn _ Z is connected with the grid electrode of the lower bridge arm MOS tube 6. The signal for performing the MOS transistor on-off control is the gate control signal PWMAp _ Z, PWMAn _ Z, PWMBp _ Z, PWMBn _ Z, PWMCp _ Z, PWMCn _ Z.
The motor control device is functionally configured as shown in fig. 2, and the flux linkage detection unit 71 calculates a flux linkage angle from a current sensor signal and determines a flux linkage sector. The driving voltage control unit 72 controls the bridge circuit to be turned on and off according to the rotation direction command, the acceleration/deceleration command, and the flux linkage sector, so as to generate a rotating magnetic field.
The schematic diagram of the magnetic linkage sectors is shown in fig. 3, the space phase difference between the magnetic field axes of the windings of each phase of the stator is 120 degrees, and after the on-off state of a bridge circuit is changed, the current direction in the windings is correspondingly changed, so that the synthesized magnetic field of the windings can generate 6 different directional vectors (U1-U6) in the space, 6 sectors are formed among the 6 vectors, and the sectors correspond to sector numbers 1-6.
The flux linkage detection part is functionally composed as shown in fig. 4, and the current conversion part 711 collects the two-phase stator winding current IUAnd IVConverted into a two-phase current Iα、Iβ. The voltage conversion part 712 calculates the three-phase voltage U of the motor winding according to the on-off state of the bridge circuit and the voltage signal of the voltage source 3U、UV、UWAnd converted into two-phase voltage UαAnd Uβ. The flux linkage calculating unit 713 is based on Iα、Iβ、Uα、UβCalculating flux linkage component psiαAnd psiβ. Sector judging section 714 determines the flux linkage component psiαAnd psiβAnd judging the flux linkage sector number n. The rotation speed calculation section 715 calculates the rotation speed of the motor based on the sector number n, and outputs the result after smoothing filtering.
The drive control unit is functionally configured as shown in fig. 5, and the switching vector determination unit 721 calculates the on/off state of the desired bridge circuit based on the sector number n, the rotation direction command, and the acceleration/deceleration command. The PWM signal generator 722 generates a chopper signal with an adjustable duty ratio. The drive signal generation unit 723 generates a drive level signal of the bridge circuit by performing an exclusive or operation on the desired bridge circuit on/off state and the chopper signal.
The invention provides a sensorless control method of a permanent magnet synchronous motor, which comprises the following specific steps:
calculating a flux linkage angle by measuring currents of two-phase windings in the three-phase motor, and judging a flux linkage sector according to the flux linkage angle;
and generating a PWM signal according to the flux linkage sector, the rotation direction instruction and the acceleration and deceleration instruction, enabling a stator winding of the motor to generate a rotating magnetic field, controlling the motor to rotate, calculating the rotating speed of the motor according to the change of the flux linkage sector, and outputting the rotating speed through smooth filtering.
The flux linkage sector determination unit calculation flow is as shown in fig. 6:
step (1), collecting current of a phase winding of a motor A, B to form a current matrix [ IU IV](ii) a Wherein IUFor the motor phase A winding current, IVIs the motor B phase winding current.
Step (2), A, B phase winding current is converted, and the calculation formula is as follows:
Figure BDA0002952443310000091
wherein, IαFor the first current by an intermediate quantity, IβAn intermediate amount is converted for the second current.
Step (3) calculating a winding voltage matrix [ U ]U UV UW]The calculation formula is as follows:
Figure BDA0002952443310000101
wherein U (1), U (2) and U (3) are the on-off states of three tubes on the three-phase drive axle circuit of the motor, the on state is 1, the off state is 0, and the U state isdcInput voltage of three-phase drive bridge circuit of motor detected by voltage detection device, wherein UUFor the motor A-phase winding voltage, UVFor the motor B-phase winding voltage, UWIs the motor C-phase winding voltage.
And (4) converting the winding voltage matrix, wherein the calculation formula is as follows:
Figure BDA0002952443310000102
wherein, UαFor the first voltage conversion of an intermediate quantity, UβAn intermediate amount is converted for the second voltage.
And (5) calculating a stator flux linkage vector, wherein the calculation formula is as follows:
Figure BDA0002952443310000103
where k is the current calculated step number of the motor, psiαFor horizontal stator flux linkage vector, #βIs a perpendicular stator flux linkage vector, RsAnd presetting a motor equivalent winding value.
Step (6), calculating the stator flux linkage vector angle, wherein the calculation formula is as follows:
Figure BDA0002952443310000111
and (7) judging the sector according to the stator flux linkage vector angle, wherein the calculation formula is as follows:
Figure BDA0002952443310000112
the drive control unit calculates the flow as shown in fig. 8:
step (1), according to the sector number, the acceleration and deceleration instruction and the motion direction instruction, searching a switch vector according to the following table:
Figure BDA0002952443310000113
step (2), determining the on-off state of the expected bridge circuit according to the following table according to the switching vector:
Figure BDA0002952443310000114
Figure BDA0002952443310000121
generating a PWM (pulse-width modulation) modulation wave signal PWM _ CMP (pulse-width modulation), comparing a triangular wave signal with fixed frequency with a preset threshold, and when the triangular wave signal is higher than the threshold, the PWM _ CMP is 1, and when the triangular wave signal is lower than the threshold, the PWM _ CMP is 0;
and (4) calculating a driving signal according to the modulation wave signal PWM _ CMP and the bridge circuit state signal, wherein the calculation method comprises the following steps:
PWMAp_Z＝PWM_CMP||PWMAp，PWMAn_Z＝PWM_CMP||PWMAn
PWMBp_Z＝PWM_CMP||PWMBp，PWMBn_Z＝PWM_CMP||PWMBn
PWMCp_Z＝PWM_CMP||PWMCp，PWMCn_Z＝PWM_CMP||PWMCn
the first bridge circuit state vector is a first bridge circuit state vector, the second bridge circuit state vector is a second bridge circuit state vector, the third bridge circuit state vector is a PWMBp, the fourth bridge circuit state vector is a PWMBn, the fifth bridge circuit state vector is a PWMCp, and the sixth bridge circuit state vector is a PWMCn; PWMAp _ Z is a first upper bridge arm grid control signal, and PWMAn _ Z is a first lower bridge arm grid control signal; PWMBp _ Z is a second upper bridge arm grid control signal, and PWMBn _ Z is a second lower bridge arm grid control signal; PWMCp _ Z is a third upper bridge arm grid control signal, and PWMCn _ Z is a third lower bridge arm grid control signal; "|" is an "or" in mathematical logic.
The rotating speed calculation process is as shown in figure 8:
step (1), checking whether the sector number changes, and recording the current elapsed time interval T when the sector number increases/decreases;
step (2), calculating the current rotating speed, wherein the calculation formula is as follows:
Figure BDA0002952443310000122
in the above formula, p is the number of pole pairs of the motor, omegarIs the motor speed in degrees/second.
And (3) calculating the average rotating speed according to the rotating speeds at the accumulated n moments, wherein the calculation formula is as follows:
Figure BDA0002952443310000131
the invention provides a sensorless control device of a permanent magnet synchronous motor, which comprises a motor control module and a flux linkage sector module.
The motor control module comprises a flux linkage detection part 71 and a driving voltage control part 72, wherein the flux linkage detection part 71 calculates a flux linkage angle according to a current sensor signal and judges a flux linkage sector; the driving voltage control unit 72 controls the bridge circuit to be turned on and off according to the rotation direction command, the acceleration/deceleration command, and the flux linkage sector, so as to generate a rotating magnetic field.
The driving voltage control unit 72 includes a switching vector determination unit 721, a PWM signal generation unit 722, and a driving signal generation unit 723, and the switching vector determination unit 721 calculates the on/off state of the desired bridge circuit based on the sector number n, the rotation direction command, and the acceleration/deceleration command; the PWM signal generating section 722 generates a chopper signal with an adjustable duty ratio; the drive signal generation unit 723 generates a drive level signal of the bridge circuit by performing an exclusive or operation on the desired bridge circuit on/off state and the chopper signal.
The flux linkage detection unit 71 includes a current conversion unit 711, a voltage conversion unit 712, a flux linkage calculation unit 713, a sector determination unit 714, and a rotation speed calculation unit 715, and the current conversion unit 711 converts the collected two-phase stator winding current IUAnd IVConverted into a two-phase current Iα、Iβ(ii) a The voltage conversion part 712 calculates the three-phase voltage U of the motor winding according to the on-off state of the bridge circuit and the voltage signal of the voltage source 3U、UV、UWAnd converted into two-phase voltage UαAnd Uβ(ii) a The flux linkage calculating unit 713 is based on Iα、Iβ、Uα、UβCalculating flux linkage component psiαAnd psiβ(ii) a Sector judging section 714 determines the flux linkage component psiαAnd psiβJudging the flux linkage sector number n; the rotation speed calculation section 715 calculates the rotation speed of the motor based on the sector number n, and outputs the result after smoothing filtering.
The space phase difference between the magnetic field axes of the windings of each phase of the stator of the magnetic linkage sector module is 120 degrees, and after the on-off state of a bridge circuit is changed, the current direction in the windings is correspondingly changed, so that 6 different direction vectors (U1-U6) can be generated in the space by the winding synthetic magnetic field, 6 sectors are formed among the 6 vectors, and the sectors correspond to sector numbers 1-6.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. A sensorless control method for a permanent magnet synchronous motor is characterized by comprising the following specific steps:
calculating a flux linkage angle by measuring currents of two-phase windings in the three-phase motor, and judging a flux linkage sector according to the flux linkage angle;
and generating a PWM signal according to the flux linkage sector, the rotation direction instruction and the acceleration and deceleration instruction, enabling a stator winding of the motor to generate a rotating magnetic field, controlling the motor to rotate, calculating the rotating speed of the motor according to the change of the flux linkage sector, and outputting the rotating speed through smooth filtering.
2. The sensorless control method of the permanent magnet synchronous motor according to claim 1, wherein the flux linkage angle is calculated by measuring two-phase winding current in the three-phase motor, and the flux linkage sector is judged according to the flux linkage angle, and the specific method is as follows:
step (1), collecting current of a phase winding of a motor A, B to form a current matrix [ IU IV](ii) a Wherein IUFor the motor phase A winding current, IVIs the motor B phase winding current;
step (2), A, B phase winding current is converted, and the calculation formula is as follows:
Figure FDA0002952443300000011
wherein, IαFor the first current by an intermediate quantity, IβConverting the intermediate quantity for the second current;
step (3) calculating a winding voltage matrix [ U ]U UV UW]The calculation formula is as follows:
Figure FDA0002952443300000012
wherein U (1), U (2) and U (3) are the on-off states of three tubes on the three-phase drive axle circuit of the motor, the on state is 1, the off state is 0, and the U state isdcInput voltage of three-phase drive bridge circuit of motor detected by voltage detection device, wherein UUFor the motor A-phase winding voltage, UVFor the motor B-phase winding voltage, UWIs the motor C phase winding voltage;
and (4) converting the winding voltage matrix, wherein the calculation formula is as follows:
Figure FDA0002952443300000021
wherein, UαFor the first voltage conversion of an intermediate quantity, UβConverting the intermediate quantity for the second voltage;
and (5) calculating a stator flux linkage vector, wherein the calculation formula is as follows:
Figure FDA0002952443300000022
where k is the current calculated step number of the motor, psiαFor horizontal stator flux linkage vector, #βIs a perpendicular stator flux linkage vector, RsPresetting a motor equivalent winding value;
step (6), calculating the stator flux linkage vector angle, wherein the calculation formula is as follows:
Figure FDA0002952443300000023
and (7) judging the sector according to the stator flux linkage vector angle, wherein the calculation formula is as follows:
sector number
Figure FDA0002952443300000024
3. The sensorless control method of the permanent magnet synchronous motor according to claim 1, wherein the PWM signal is generated according to the flux linkage sector, the rotation direction command, and the acceleration and deceleration command, and the specific method is as follows:
s1, determining a switching vector according to the sector number, the acceleration and deceleration command and the motion direction command according to the following relation: when the sector number n is 1 and the forward rotation is accelerated, the switching vector is 110, and the reverse rotation is 101; when the sector number n is 1 and the speed is reduced and the rotation is positive, the switch vector is 010, and the rotation is 001; when the sector number n is 2 and the acceleration is positive, the switch vector is 010, and the reverse rotation is 100; when the sector number n is 2 and the speed is reduced for positive rotation, the switching vector is 011, and the reverse rotation is 101; when the sector number n is 3 and the forward rotation is accelerated, the switching vector is 011, and the reverse rotation is 110; when the sector number n is 3 and the speed is reduced and the rotation is positive, the switching vector is 001, and the rotation is 100; when the sector number n is 4 and the acceleration is positive, the switch vector is 001, and the reverse rotation is 010; when the sector number n is 4 and the speed is reduced and the rotation is positive, the switching vector is 101, and the rotation is 110; when the sector number n is 5 and the forward rotation is accelerated, the switching vector is 101, and the reverse rotation is 011; when the sector number n is 5 and the speed is reduced, the switch vector is 100, and the reverse rotation is 010; when the sector number n is 6 and the acceleration is positive, the switching vector is 100, and the reverse rotation is 001; when the sector number n is 6 and the speed is reduced and the rotation is positive, the switching vector is 110, and the rotation is 011;
s2, determining the on-off state of the expected bridge circuit according to the following relation according to the switching vector: when the switching vector is 001, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0 and 0 in sequence; when the switching vector is 010, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0, 1 and 1 in sequence; when the switching vector is 011, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 0 and 0 in sequence; when the switching vector is 100, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1 and 1 in sequence; when the switching vector is 101, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1, 0 and 0 in sequence; when the switching vector is 110, the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 0, 1 and 1 in sequence; when the switching vector is 000, the number of the PWMAp, the PWMAn, the PWMBp, the PWMBn, the PWMCp and the PWMCn are 1, 1 and 1 in sequence; the first bridge circuit state vector is a first bridge circuit state vector, the second bridge circuit state vector is a second bridge circuit state vector, the third bridge circuit state vector is a PWMBp, the fourth bridge circuit state vector is a PWMBn, the fifth bridge circuit state vector is a PWMCp, and the sixth bridge circuit state vector is a PWMCn;
s3, generating a PWM modulation wave signal PWM _ CMP, comparing the modulation wave signal PWM _ CMP with a preset threshold, and when the modulation wave signal PWM _ CMP is higher than the threshold, the PWM _ CMP is 1, and when the modulation wave signal PWM _ CMP is lower than the threshold, the PWM _ CMP is 0;
s4, calculating a PWM signal according to the modulation wave signal PWM _ CMP and the expected bridge circuit on-off state signal, wherein the calculation method is as follows:
PWMAp_Z＝PWM_CMP||PWMAp，PWMAn_Z＝PWM_CMP||PWMAn
PWMBp_Z＝PWM_CMP||PWMBp，PWMBn_Z＝PWM_CMP||PWMBn
PWMCp_Z＝PWM_CMP||PWMCp，PWMCn_Z＝PWM_CMP||PWMCn
the method comprises the following steps that PWMAp _ Z is a first upper bridge arm grid control signal, and PWMAn _ Z is a first lower bridge arm grid control signal; PWMBp _ Z is a second upper bridge arm grid control signal, and PWMBn _ Z is a second lower bridge arm grid control signal; PWMCp _ Z is a third upper bridge arm grid control signal, and PWMCn _ Z is a third lower bridge arm grid control signal; "|" is an "or" in mathematical logic.
4. The sensorless control method of the permanent magnet synchronous motor according to claim 1, wherein the method comprises the steps of generating a rotating magnetic field by a stator winding of the motor, controlling the motor to rotate, calculating the rotating speed of the motor according to the change of the flux linkage sector, and outputting the rotating speed through smooth filtering, and comprises the following specific steps:
step 1, checking whether a sector number changes, and recording a current elapsed time interval T when the sector number changes;
step 2, calculating the current rotating speed, wherein the calculation formula is as follows:
Figure FDA0002952443300000041
in the above formula, p is the number of pole pairs of the motor, omegarThe unit is the rotating speed of the motor and is degree/second;
and 3, calculating the average rotating speed according to the rotating speeds at the accumulated n moments, recording the average rotating speed as the rotating speed of the motor, and outputting the rotating speed of the motor through smooth filtering.
5. A sensorless control device of a permanent magnet synchronous motor is characterized by comprising a motor control module and a flux linkage sector module;
the motor control module comprises a flux linkage detection part (71) and a driving voltage control part (72), wherein the flux linkage detection part (71) calculates a flux linkage angle according to a current sensor signal and judges a flux linkage sector; the driving voltage control part (72) controls the on-off of the bridge circuit according to a rotating direction instruction, an acceleration and deceleration instruction and a flux linkage sector so as to generate a rotating magnetic field;
the driving voltage control part (72) comprises a switching vector judging part (721), a PWM signal generating part (722) and a driving signal generating part (723), wherein the switching vector judging part (721) calculates the on-off state of the expected bridge circuit according to a sector number n, a rotating direction instruction and an acceleration and deceleration instruction; the PWM signal generating part (722) generates chopping signals with adjustable duty ratios; the drive signal generating part (723) generates a drive level signal of the bridge circuit after carrying out XOR operation on the on-off state of the expected bridge circuit and the chopping wave signal;
the flux linkage detection unit (71) comprises a current conversion unit (711), a voltage conversion unit (712), a flux linkage calculation unit (713), a sector judgment unit (714) and a rotation speed calculation unit (715), wherein the current conversion unit (711) collects two-phase stator winding current IUAnd IVConverted into a two-phase current Iα、Iβ(ii) a The voltage conversion part (712) calculates the three-phase voltage U of the motor winding according to the on-off state of the bridge circuit and the voltage signal of the voltage source 3U、UV、UWAnd converted into two-phase voltage UαAnd Uβ(ii) a The flux linkage calculating unit (713) is based on Iα、Iβ、Uα、UβCalculating flux linkage component psiαAnd psiβ(ii) a The sector judging unit (714) judges the sector according to the flux linkageComponent psiαAnd psiβJudging the flux linkage sector number n; the rotating speed calculating part (715) calculates the rotating speed of the motor according to the sector number n, and outputs the motor after smoothing filtering;
the space phase difference between the magnetic field axes of the windings of each phase of the stator of the magnetic linkage sector module is 120 degrees, and after the on-off state of a bridge circuit is changed, the current direction in the windings is correspondingly changed, so that a winding synthetic magnetic field can generate 6 different directional vectors in the space, 6 sectors are formed among the 6 vectors, and the sectors correspond to sector numbers of 1-6.
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