CN113241986A - Motor control method, motor control system and storage medium - Google Patents
Motor control method, motor control system and storage medium 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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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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Abstract
The embodiment of the application discloses a control method of a motor, which comprises the following steps: according to a voltage vector under a rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system, determining estimation information of a rotor position by adopting a rotor position estimation algorithm aiming at a discrete time-based motor model, determining conversion parameters of Park conversion and Park inverse conversion according to the estimation information of the rotor position, sequentially carrying out Clark conversion and Park conversion on three-phase input current, obtaining a feedback current vector again, carrying out current control on the newly obtained feedback current vector and an input instruction current vector under the rotor dq coordinate system, obtaining a voltage vector again, sequentially carrying out Park inverse conversion on the newly obtained voltage vector, carrying out SVPWM modulation on the newly obtained voltage vector to obtain a PWM pulse wave, and inputting the PWM pulse wave into an inverter to obtain the input voltage of the motor. The embodiment of the application also discloses a control system and a storage medium.
Description
Technical Field
The present disclosure relates to the field of rotor position estimation in a control system of a permanent magnet synchronous motor, and in particular, to a control method, a control system, and a storage medium of a motor.
Background
At present, in high-speed motor applications or low switching frequency applications, the carrier ratio and sampling ratio of a control system of a motor are generally insufficient (generally below 20). Under the condition, in the related art, a slip film observer scheme is adopted for a permanent magnet synchronous motor sensorless control scheme, however, the operation of the motor under the condition of low carrier ratio and low sampling ratio is not considered in the scheme.
Therefore, the position of the motor rotor is difficult to accurately estimate by the traditional sensorless control scheme of the permanent magnet synchronous motor, so that the performance of a control system of the motor is reduced, the efficiency is reduced, and even the problem that the motor cannot operate is caused.
Content of application
The embodiment of the application is expected to provide a control method, a control system and a storage medium of a motor, so as to solve the problem that in the related art, when the position of a rotor of the motor is difficult to accurately estimate when the motor is sensorless under the condition of low carrier ratio and low sampling ratio, the control efficiency of the motor is reduced, and even the motor cannot run.
The technical scheme of the application is realized as follows:
a control method of a motor, the method is applied to a control system, an input end of the control system and an output end of the control system are respectively connected to an input end of the motor, and the method comprises the following steps:
determining estimation information of a rotor position by adopting a preset rotor position estimation algorithm aiming at a discrete time motor model according to the received voltage vector of the motor in the rotor dq coordinate system and the feedback current vector of the rotor dq coordinate system;
determining a transformation parameter of Park transformation and a transformation parameter of Park inverse transformation according to the estimation information of the rotor position;
sequentially performing Clark conversion and Park conversion on the three-phase input current of the motor to obtain a feedback current vector under a rotor dq coordinate system again;
carrying out current control on the feedback current vector under the rotor dq coordinate system obtained again and the input instruction current vector under the rotor dq coordinate system, and obtaining a voltage vector under the rotor dq coordinate system again;
and sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain PWM pulse waves, inputting the PWM pulse waves into an inverter, and obtaining the input voltage of the motor so as to control the motor.
A control system, an input of the control system and an output of the control system being connected to an input of an electric machine, respectively, comprising:
the estimation module is used for determining the estimation information of the rotor position by adopting a preset rotor position estimation algorithm aiming at a motor model of discrete time according to the received voltage vector of the motor in the rotor dq coordinate system and the feedback current vector of the rotor dq coordinate system;
the determining module is used for determining the transformation parameters of Park transformation and the transformation parameters of Park inverse transformation according to the estimation information of the rotor position;
the transformation module is used for sequentially carrying out Clark transformation and Park transformation on the three-phase input current of the motor to obtain a feedback current vector under a rotor dq coordinate system again;
the current control module is used for carrying out current control on the feedback current vector under the rotor dq coordinate system obtained again and the input feedback current vector under the rotor dq coordinate system to obtain a voltage vector under the rotor dq coordinate system again;
and the motor control module is used for sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain PWM pulse waves, inputting the PWM pulse waves into the inverter, and obtaining the input voltage of the motor so as to control the motor.
A storage medium storing one or more programs executable by one or more processors to implement the control method of the motor described above.
The control method, the control system and the storage medium of the motor provided by the embodiment of the application determine the estimation information of the rotor position by adopting a preset rotor position estimation algorithm aiming at a discrete time motor model according to the received voltage vector under a rotor dq coordinate system and the feedback current vector under the rotor dq coordinate system of the motor, determine the transformation parameter of Park transformation and the transformation parameter of Park inverse transformation according to the estimation information of the rotor position, sequentially perform Clark transformation and Park transformation on the three-phase input current of the motor, re-obtain the feedback current vector under the rotor dq coordinate system, perform current control on the feedback current vector under the newly obtained rotor dq coordinate system and the input instruction current vector under the rotor dq coordinate system, re-obtain the voltage vector under the rotor dq coordinate system, sequentially perform Park inverse transformation on the newly obtained voltage vector under the rotor dq coordinate system, space Vector Pulse Width Modulation (SVPWM) is used for modulating and obtaining Pulse Width Modulation (PWM) Pulse waves, the PWM Pulse waves are input to an inverter, and input voltage of a motor is obtained to control the motor; that is to say, through a preset rotor position estimation algorithm aiming at a motor model based on discrete time, under the condition of no need of a rotor position sensor, the rotor position can be accurately estimated under the conditions of motor operation and low sampling ratio of low carrier ratio, so that the accurate rotor position is obtained, the whole control system can know the operation condition of the motor based on the accurate rotor position, the control system can effectively realize the control of the input voltage of the motor, the control efficiency of the control system to the motor is improved, the performance of the motor is improved, and the stable operation of the motor is ensured.
Drawings
FIG. 1 is a schematic structural diagram of a slip film observer in the related art;
fig. 2 is a schematic flowchart of an alternative motor control method according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an example of an alternative motor control system according to an embodiment of the present disclosure;
FIG. 4 is a schematic flow diagram illustrating an example of an alternative rotor position estimation algorithm provided by an embodiment of the present application;
fig. 5 is a schematic structural diagram of an example of an alternative phase-locked loop provided in an embodiment of the present application;
FIG. 6 is a schematic structural diagram of an example of an alternative motor control system provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of an example of a control system of yet another alternative motor provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of an alternative control system according to an embodiment of the present disclosure.
Detailed Description
For better understanding of the purpose, structure and function of the present application, a control method and a control system of a motor of the present application will be described in further detail below with reference to the accompanying drawings.
Before explaining a control method of a motor provided by the present application, first, relevant knowledge in the related art is explained.
In the application of a high-speed motor or the application occasion with low switching frequency, the carrier ratio and the sampling ratio of a control system are usually insufficient, generally below 20, and under the condition, the position of a motor rotor is difficult to accurately estimate by the traditional sensorless control scheme of the permanent magnet synchronous motor, so that the performance of the control system is reduced, the efficiency is reduced, and even the control system cannot operate.
In the related art, there are various sensor-less control schemes for permanent magnet synchronous motors, fig. 1 is a schematic structural diagram of a slip film observer in the related art, and as shown in fig. 1, a slip film current observer based on a motor model is applied to a signal v at an input ends *Z and es *Is processed to obtain
bang-bang controller pair
And a feedback signal isProcessing the signal to obtain a signal z, and processing the signal z by a low-pass filter to obtain a signal
Magnetic flux angle calculator pair signal
Is processed to obtain
Processing omega by another magnetic flux angle calculator*Obtained value and
the rotor electrical angle in the rotor position information can be obtained by summation
However, the above-mentioned solution of the sliding film observer does not consider the case where the motor operates under the condition of low carrier ratio and low sampling ratio, so that the rotor position information estimated by the solution is difficult to accurately estimate the rotor position information under the condition.
Specifically, existing PMSM vector control schemes need to be maintained at a high carrier-to-carrier ratio (f)c/f0) And the sampling ratio (f)s/f0) Under the condition that f iscIs a carrier frequency, fsFor current sampling frequency, f0The fundamental frequency of the motor, however, in special applications, such as high speed motor applications, the fundamental frequency (f) of the motor0) May exceed 1kHz, while the carrier frequency (f) isc) And current sampling frequency (f)s) Typically between 10kHz and 20 kHz. As another example, in high power PMSM applications, although the fundamental frequency of the motor is not high (f)0100Hz) but carrier frequency (f)c) And current sampling frequency (f)s) Limited by switching losses, can only be set up to 1kHz to 2 kHz. In both cases, the carrier ratio (f) of the motorc/f0) And the sampling ratio (f)s/f0) Is limited to below 20 and even below 10. The extreme situation puts higher requirements on the sensorless control, and the traditional sensorless control scheme can generate larger position estimation errors under the condition of low carrier ratio and low sampling ratio, thereby influencing the motor performance and even causing the instability of a control system.
In order to improve the control performance of a motor under a low-carrier-ratio and low-sampling-ratio condition, an embodiment of the present application provides a control method for a motor, where the method is applied to a control system, an input end of the control system and an output end of the control system are respectively connected to an input end of the motor, fig. 2 is a schematic flow diagram of an optional control method for a motor provided in the embodiment of the present application, and referring to fig. 2, the method may include:
s201: determining estimation information of a rotor position by adopting a preset rotor position estimation algorithm aiming at a discrete time motor model according to a received voltage vector of a rotor dq coordinate system of the motor and a feedback current vector of the rotor dq coordinate system;
specifically, the input end and the output end of the control system are both connected to the input end of the motor, so that the control of the three-phase input current of the motor is realized, the control system needs to estimate the position of a motor rotor in the control of the three-phase input current, an estimated value of the rotor electrical angle and an estimated value of the rotor electrical angular velocity can be determined through the estimation of the rotor position, and the accurate estimation of the estimated value of the rotor electrical angular velocity directly influences the control of the control system on the three-phase input current.
Then, in order to improve the control performance of the control system, first, the rotor position needs to be accurately estimated, and in order to accurately estimate the rotor position, in the estimation of the rotor position, after receiving the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system, the estimation information of the rotor position is determined by using a preset rotor position estimation algorithm for a discrete-time motor model according to the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system.
Here, it should be noted that the rotor position estimation information may include an estimated value of the rotor electrical angle and an estimated value of the rotor electrical angular velocity.
In addition, for the permanent magnet synchronous motor, a continuous time motor model is generally used to estimate the rotor position information, however, the rotor position estimated by using the continuous time motor model has a large error, so in the embodiment of the present application, a rotor position estimation algorithm for a discrete time motor model is proposed, wherein the discrete time motor model can be generally represented by the following formula:
idq[k+1]＝Φidq[k]+Γuudq[k-1]+Γeedq[k] (1)
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling, (i)dq[k]＝id[k]+jiq[k]，idAnd iqD, q-axis currents, respectively), udq[k]Is the voltage vector (u) of the rotor dq coordinate system in the k-th samplingdq[k]＝ud[k]+juq[k]，udAnd uqD, q-axis voltages, respectively), edq[k]Is the back electromotive force vector (e) of the rotor dq coordinate system in the kth samplingdq[k]＝jψfωe，ψfBeing the permanent magnet flux linkage, omega, of an electric machineeRotor electrical angular velocity).
It should be noted that, in the discrete-time motor model, the influence of sampling delay in motor driving is accurately considered, and then, for the model, the embodiment of the present application provides a rotor position estimation algorithm for the discrete-time motor model, and also fully considers the influence of sampling delay on rotor position estimation, so that estimation information of a rotor position can be accurately determined, and the control performance of a control system on a motor is improved.
S202: determining a transformation parameter of Park transformation and a transformation parameter of Park inverse transformation according to the estimation information of the rotor position;
through S202, the estimation information of the rotor position can be accurately determined, since the estimation information of the rotor position includes the estimation value of the rotor electrical angle and the estimation value of the rotor electrical angular velocity, however, in the control system, in the processing of the three-phase input current, the transformation parameters of the Park transformation and the Park inverse transformation are both related to the estimation value of the rotor electrical angle and the estimation value of the rotor electrical angular velocity, and then after the estimation information of the rotor position is calculated, the transformation parameters of the Park transformation and the Park inverse transformation need to be updated according to the estimation information of the rotor position, so as to further better control the three-phase input current.
Thus, the transformation parameters of the Park transformation and the transformation parameters of the Park inverse transformation can be obtained, and the Park transformation and the Park inverse transformation in the control system are updated.
S203: clark conversion and Park conversion are sequentially carried out on three-phase input current of the motor, and a feedback current vector under a dq coordinate system of the rotor is obtained again;
the Park transformation and the Park inverse transformation in the control system are updated through S202, and then, in the control of the three-phase input current, Clark transformation is performed on the three-phase input current to obtain a feedback current vector in a stationary α β coordinate system, and then Park transformation is performed on the feedback current vector in the stationary α β coordinate system by using the transformation parameters of the Park transformation to obtain a feedback current vector in a rotor dq coordinate system again.
S204: carrying out current control on the feedback current vector under the rotor dq coordinate system obtained again and the input instruction current vector under the rotor dq coordinate system, and obtaining a voltage vector under the rotor dq coordinate system again;
specifically, since the feedback current vector in the rotor dq coordinate system is updated, in the control system, the input command current vector in the rotor dq coordinate system is obtained in addition to the three-phase input current, and after the Park conversion is performed, it is necessary to perform current control on the command current vector in the feedback current vector in the rotor dq coordinate system obtained anew in the rotor dq coordinate system, thereby obtaining the voltage vector in the rotor dq coordinate system anew.
S205: and sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain PWM pulse waves, inputting the PWM pulse waves into an inverter, and obtaining the input voltage of the motor so as to control the motor.
After the voltage vector under the rotor dq coordinate system is obtained again, Park inverse transformation is carried out on the voltage vector under the rotor dq coordinate system by adopting a conversion parameter of Park inverse transformation to obtain a voltage vector under a static alpha beta coordinate system, SVPWM modulation is carried out on the voltage vector under the static alpha beta coordinate system to obtain a PWM pulse wave control inverter to drive the permanent magnet synchronous motor, and the obtained three-phase input current is used for completing current control on the motor.
In this way, the conversion parameters of Park conversion and the conversion parameters of Park inverse conversion in the control system are updated through the determination of the estimation information of the rotor position, so that the control system can realize effective control on the motor.
In order to more accurately achieve the estimation of the rotor position, in an alternative embodiment, S201 may include:
determining an estimated value of a back electromotive force vector of the motor by adopting a preset observer aiming at a motor model of discrete time according to a voltage vector under a rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
the estimated information of the rotor position of the motor is extracted from the estimated value of the back electromotive force vector.
Specifically, in the estimation of the rotor position, after receiving the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system, an estimated value of the back electromotive force vector is calculated by using an observer for a discrete-time motor model, for example, an EMF (electromagnetic force) observer, based on the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system.
After the estimated value of the back electromotive force vector is obtained through calculation, the estimated value of the rotor position of the motor is extracted from the estimated value of the back electromotive force vector, and in practical applications, the estimated value of the back electromotive force vector is usually processed by using a phase-locked loop technology, so that the estimated information of the rotor position, that is, the estimated value of the electrical angle of the rotor position and the estimated value of the electrical angular velocity of the rotor position can be obtained.
In order to determine the estimated value of the back electromotive force of the motor, in an alternative embodiment, the determining the estimated value of the back electromotive force vector of the motor by using a preset observer of a discrete-time motor model according to the voltage vector in the dq coordinate system of the rotor of the motor and the feedback current vector in the dq coordinate system of the rotor comprises:
determining a first control parameter of the control system, a second control parameter of the control system and a third control parameter of the control system;
determining an estimated value of a voltage vector under a rotor dq coordinate system according to the first control parameter, the second control parameter, the third control parameter, the voltage vector under the rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
and determining the estimated value of the back electromotive force vector according to the voltage vector under the rotor dq coordinate system and the estimated value of the voltage vector under the rotor dq coordinate system.
Specifically, a first control parameter, a second control parameter and a third control parameter are determined, and an estimated value of a voltage vector in a rotor dq coordinate system is determined by using the control parameters, the received voltage vector in the rotor dq coordinate system and a feedback current vector in the rotor dq coordinate system.
Then, an estimated value of the back electromotive force vector is determined based on the estimated value of the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system.
Further, in order to obtain the feedback current vector in the rotor dq coordinate system, in an alternative embodiment, the following formula is used to calculate an estimated value of the voltage vector in the rotor dq coordinate system:
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the (k + 1) th sampling,
is an estimated value of a feedback current vector in a rotor dq coordinate system in the k-th sampling, udq[k-1]Is an estimated value of the voltage vector in the rotor dq coordinate system in the k-1 th sampling,
is the estimated value of the back electromotive force vector under the dq coordinate system of the rotor in the kth sampling, phi is a first control parameter, gammauIs a second control parameter, ΓeIs a third control parameter, G1Is the first feedback gain of the observer.
That is, by using the difference equation of the above equation (2), the estimation value of the feedback current vector in the rotor dq coordinate system in the current sampling can be calculated, and since the equation is designed for the model given by equation (1), the calculated feedback current vector in the rotor dq coordinate system is used for the next estimation of the current and the back electromotive force.
Further, to obtain the estimated value of the back emf vector, in an alternative embodiment, the estimated value of the back emf vector is calculated using the following formula:
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
for the rotor dq in the k +1 th samplingAn estimate of the back emf vector in the coordinate system,
is an estimate of the back EMF vector in the rotor dq coordinate system in the kth sample, G2Is the second feedback gain of the observer,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the k-th sampling.
That is, the difference equation of the above formula (3) is used to calculate the estimated value of the back electromotive force vector in the current sampling, and the formula is designed for the model given by the formula (1), so that the accuracy of calculating the estimated value of the back electromotive force vector is high, which is beneficial to estimating the rotor position signal.
In addition, in order to determine the first control parameter, the second control parameter and the third control parameter of the control system, in an alternative embodiment, the determining the first control parameter, the second control parameter and the third control parameter of the control system includes:
obtaining an estimated value of the current rotor electrical angular velocity;
determining a first control parameter according to an estimated value of the current rotor electrical angular velocity, a motor resistance, a motor synchronous inductance and a sampling period of a feedback current vector under a rotor dq coordinate system;
according to the estimated value of the current rotor electrical angular velocity, carrying out conversion parameters of Park inverse transformation, motor resistance, motor synchronous inductance and a sampling period, and determining second control parameters;
and determining a third control parameter according to the estimated value of the current rotor electrical angular velocity, the motor resistance, the motor synchronous inductance and the sampling period.
Specifically, since the change of the voltage vector in the rotor dq coordinate system and the change of the feedback current vector in the rotor dq coordinate system cause the change of the estimated information of the rotor position, that is, the estimated value of the rotor electrical angle and the estimated value of the rotor electrical angular velocity are changed along with the change of the voltage vector in the rotor dq coordinate system and the change of the feedback current vector in the rotor dq coordinate system, in order to determine the first control parameter, the second control parameter and the third control parameter, it is first necessary to obtain the estimated value of the current rotor electrical angular velocity.
Since the control system knows the motor resistance, the motor synchronous inductance and the sampling period of the feedback current vector in the rotor dq coordinate system, after the estimated value of the current rotor electrical angular velocity is obtained, a first control parameter is determined according to the estimated value of the current rotor electrical angular velocity, the motor resistance, the motor synchronous inductance and the sampling period of the feedback current vector in the rotor dq coordinate system, and a second control parameter is determined according to the estimated value of the current rotor electrical angular velocity, a transformation parameter for performing Park inverse transformation, the motor resistance, the motor synchronous inductance and the sampling period.
Further, in order to determine the first control parameter, in an alternative embodiment, the first control parameter is calculated by using the following formula:
phi is a first control parameter, R is a motor resistance, L is a motor synchronous inductance, and T isSIn order to be the sampling period of time,
is an estimate of the current rotor electrical angular velocity.
Further, in order to determine the second control parameter, in an alternative embodiment, when the transformation parameter of the inverse Park transformation is
And then, calculating to obtain a second control parameter by adopting the following formula:
wherein, gamma isuIs a second control parameter, R is the motor resistance, L is the motor synchronous inductance, TSIn order to be the sampling period of time,
is an estimate of the current rotor electrical angular velocity.
It should be noted that when the inverse Park transform has transform parameters of
And then, calculating to obtain a second control parameter by adopting the following formula:
when the transformation parameter of the Park inverse transformation is
And then, calculating to obtain a second control parameter by adopting the following formula:
further, in order to determine the third control parameter, in an alternative embodiment, the third control parameter is calculated by using the following formula:
wherein, gamma iseIs a third control parameter, R is the motor resistance, L is the motor synchronous inductance, TSIn order to be the sampling period of time,
is an estimate of the current rotor electrical angular velocity.
Here, it should be noted that the first control parameter, the second control parameter, and the third control parameter are parameters related to the motor and the control system, and the first feedback gain and the second feedback gain of the observer may be adjusted by modeling or experience.
In order to determine the transformation parameters of the Park transformation and the transformation parameters of the Park inverse transformation, in an alternative embodiment, the determining the transformation parameters of the Park transformation and the transformation parameters of the Park inverse transformation according to the estimation information of the rotor position includes:
updating the estimated value of the rotor electrical angular velocity in the rotor position estimation information to the estimated value of the current rotor electrical angular velocity, and updating the estimated value of the rotor electrical angle in the rotor position estimation information to the estimated value of the current rotor electrical angle;
and determining the transformation parameters of Park transformation and the transformation parameters of Park inverse transformation according to the estimated value of the current rotor electrical angular velocity and the estimated value of the current rotor electrical angle.
Specifically, after the rotor position estimation information is determined, because the rotor position estimation information comprises an estimated value of the rotor electrical angular velocity and an estimated value of the rotor electrical angle, in order to realize real-time updating, the estimated value of the rotor electrical angular velocity is updated to the estimated value of the current rotor electrical angular velocity, the estimated value of the rotor electrical angle is updated to the estimated value of the current rotor electrical angle, and finally, the estimated value of the current rotor electrical angular velocity and the estimated value of the current rotor electrical angle are used for determining the transformation parameters of Park transformation and the transformation parameters of Park inverse transformation, so that the precise estimation of the rotor position is used for realizing the precise control of the motor, and the control performance of the motor is improved.
The control method of the motor in one or more of the above embodiments is described below by way of example.
Fig. 3 is a schematic structural diagram of an example of an alternative motor control system according to an embodiment of the present application, as shown in fig. 3, for providing three-phase input to a motor 308Current iabcClark conversion is carried out by using a Clark conversion module 306 to obtain a feedback current vector i under a static alpha beta coordinate systemαβI is aligned using Park transformation module 305αβPerforming Park conversion to obtain a feedback current vector i under a rotor dq coordinate systemdqTo i, pairdqAnd input of
Current controller 301 is adopted to control current to obtain voltage vector u under rotor dq coordinate systemdqU is inverse transformed by Park inverse transform module 302dqCarrying out Park inverse transformation to obtain a voltage vector u under a static alpha beta coordinate systemαβU is adjusted by SVPWM modulation module 303αβSVPWM modulation is performed to obtain PWM pulse waves, and the PWM pulse wave control inverter 304 drives the permanent magnet synchronous motor.
It should be noted that the conversion parameters of the Park conversion module 305 and the Park inverse conversion module 302 are values related to the estimated value of the rotor electrical angular velocity and the rotor electrical angle obtained in the rotor position estimation, and in this example, in the control of the three-phase input current to the motor, the rotor position needs to be estimated, specifically, in the rotor position estimation module 307, the u-phase input current is receiveddqAnd idqUsing the above equations (2) to (5) and (8), the estimated value of the rotor electrical angular velocity can be estimated
And an estimate of the rotor electrical angle
Thereby according to
And
determining the transformation parameters of the Park transformation module 305 and the transformation parameters of the Park inverse transformation module 302, wherein the transformation parameters of the Park transformation module 305 and the Park inverse transformation module 302 are changed, that is, the control systemThe control of the motor is realized according to the new conversion parameters of the Park conversion module 305 and the Park inverse conversion module 302, because the precise estimation is carried out
And
the control performance of the control system can be improved.
Fig. 4 is a schematic flowchart of an example of an alternative rotor position estimation algorithm provided in an embodiment of the present application, and as shown in fig. 4, the rotor position estimation algorithm mainly includes: an EMF observer 401 and a phase locked loop technique 402, wherein the EMF observer receives udqAnd idqBased on the control system of fig. 3, the estimated value of the back electromotive force vector is calculated using equations (2) to (5) and (8)
Then adopting phase-locked loop technology pair
Processing to obtain the estimated value of the rotor electrical angular velocity
And an estimate of the rotor electrical angle
Fig. 5 is a schematic structural diagram of an example of an alternative phase-locked loop according to an embodiment of the present disclosure, and as shown in fig. 5, the phase-locked loop includes a divider 501, an inverter 502, a proportional-integral module 503, an integral module 504, and a complex modulo module 505, specifically, the phase-locked loop is obtained by the divider 501
(including the provision of
And
) Firstly, the signal is input into a complex modulus module 505, an equivalent rotor position error is obtained through a divider 501 and an inverter 502, and the signal is input into a proportional integral module 503 to obtain an estimated rotor electrical angular velocity
And further input into the integration module 504 to obtain an estimated rotor electrical angle
In addition, regarding that the second control parameter is a value related to a transformation parameter, fig. 6 is a schematic structural diagram of an example of another alternative control system provided in the embodiment of the present application, as shown in fig. 6, compared with fig. 3, the transformation parameter of the Park inverse transformation module 602a is
Correspondingly, the second control parameter is calculated by adopting the formula (6); fig. 7 is a schematic structural diagram of an example of another alternative control system provided in an embodiment of the present application, and as shown in fig. 7, compared with fig. 3, a transformation parameter of a Park inverse transformation module 702b is
Accordingly, the second control parameter is calculated using the above equation (7).
The control method, the control system and the storage medium of the motor provided by the embodiment of the application determine the estimation information of the rotor position by adopting a preset rotor position estimation algorithm aiming at a discrete time motor model according to the received voltage vector under a rotor dq coordinate system and the feedback current vector under the rotor dq coordinate system of the motor, determine the transformation parameter of Park transformation and the transformation parameter of Park inverse transformation according to the estimation information of the rotor position, sequentially perform Clark transformation and Park transformation on the three-phase input current of the motor, re-obtain the feedback current vector under the rotor dq coordinate system, perform current control on the feedback current vector under the newly obtained rotor dq coordinate system and the input instruction current vector under the rotor dq coordinate system, re-obtain the voltage vector under the rotor dq coordinate system, sequentially perform Park inverse transformation on the newly obtained voltage vector under the rotor dq coordinate system, SVPWM modulation, inputting PWM pulse waves to an inverter to obtain input voltage of a motor so as to control the motor; that is to say, through a preset rotor position estimation algorithm aiming at a motor model based on discrete time, under the condition of no need of a rotor position sensor, the rotor position can be accurately estimated under the conditions of motor operation and low sampling ratio of low carrier ratio, so that the accurate rotor position is obtained, the whole control system can know the operation condition of the motor based on the accurate rotor position, the control system can effectively realize the control of the input voltage of the motor, the control efficiency of the control system to the motor is improved, the performance of the motor is improved, and the stable operation of the motor is ensured.
By the above example, a rotor position sensor is not needed, the cost is reduced, the reliability is increased, and the accurate rotor position observation performance can be obtained even if the motor runs under the condition of low carrier ratio or low sampling ratio.
Based on the same inventive concept, an embodiment of the present application provides a control system, an input end of the control system and an output end of the control system are respectively connected to an input end of a motor, and fig. 8 is a schematic structural diagram of an alternative control system provided in the embodiment of the present application, and is shown in fig. 8, and includes: an estimation module 81, a determination module 82, a transformation module 83, a current control module 84 and a motor control module 85; wherein,
the estimation module 81 is configured to determine estimation information of a rotor position according to a received voltage vector in a rotor dq coordinate system of the motor and a received feedback current vector in the rotor dq coordinate system by using a preset rotor position estimation algorithm for a discrete-time motor model;
a determining module 82, configured to determine, according to the estimation information of the rotor position, a transformation parameter of Park transformation and a transformation parameter of Park inverse transformation;
the transformation module 83 is used for sequentially performing Clark transformation and Park transformation on the three-phase input current of the motor to obtain a feedback current vector under a dq coordinate system of the rotor;
a current control module 84, configured to perform current control on the feedback current vector in the rotor dq coordinate system obtained again and the input feedback current vector in the rotor dq coordinate system, so as to obtain a voltage vector in the rotor dq coordinate system again;
and the motor control module 85 is used for sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain a PWM pulse wave, and inputting the PWM pulse wave into the inverter to obtain the input voltage of the motor so as to control the motor.
In other embodiments of the present application, the estimation module 81 is specifically configured to:
determining an estimated value of a back electromotive force vector of the motor by adopting a preset observer aiming at a motor model of discrete time according to a voltage vector under a rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
the estimated information of the rotor position of the motor is extracted from the estimated value of the back electromotive force vector.
In other embodiments of the present application, the determining, by the estimation module 81, an estimated value of a back electromotive force vector of the motor according to a voltage vector in the rotor dq coordinate system and a feedback current vector in the rotor dq coordinate system by using a preset observer of a motor model for discrete time includes:
determining a first control parameter of the control system, a second control parameter of the control system and a third control parameter of the control system;
determining an estimated value of a voltage vector under a rotor dq coordinate system according to the first control parameter, the second control parameter, the third control parameter, the voltage vector under the rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
and determining the estimated value of the back electromotive force vector according to the voltage vector under the rotor dq coordinate system and the estimated value of the voltage vector under the rotor dq coordinate system.
In other embodiments of the present application, the estimation module 81 calculates an estimated value of a voltage vector in a rotor dq coordinate system by using formula (2):
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the (k + 1) th sampling,
is an estimated value of a feedback current vector in a rotor dq coordinate system in the k-th sampling, udq[k-1]Is an estimated value of the voltage vector in the rotor dq coordinate system in the k-1 th sampling,
is the estimated value of the back electromotive force vector under the dq coordinate system of the rotor in the kth sampling, phi is a first control parameter, gammauIs a second control parameter, ΓeIs a third control parameter, G1Is the first feedback gain of the observer.
In other embodiments of the present application, the estimation module 81 calculates an estimated value of the back electromotive force vector by using formula (3):
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
is an estimation value of the back electromotive force vector in the rotor dq coordinate system in the (k + 1) th sampling,
is an estimate of the back EMF vector in the rotor dq coordinate system in the kth sample, G2Is the second feedback gain of the observer,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the k-th sampling.
In other embodiments of the present application, the determining, by the estimation module 81, the first control parameter of the control system, and the second control parameter of the control system and the third control parameter of the control system includes:
obtaining an estimated value of the current rotor electrical angular velocity;
determining a first control parameter according to an estimated value of the current rotor electrical angular velocity, a motor resistance, a motor synchronous inductance and a sampling period of a feedback current vector under a rotor dq coordinate system;
according to the estimated value of the current rotor electrical angular velocity, carrying out conversion parameters of Park inverse transformation, motor resistance, motor synchronous inductance and a sampling period, and determining second control parameters;
and determining a third control parameter according to the estimated value of the current rotor electrical angular velocity, the motor resistance, the motor synchronous inductance and the sampling period.
In other embodiments of the present application, the estimation module 81 calculates a first control parameter by using formula (4):
phi is a first control parameter, R is a motor resistance, L is a motor synchronous inductance, and T isSIn order to be the sampling period of time,
is an estimate of the current rotor's electrical angular velocity.
In other embodiments of the present application, when the transformation parameter of the Park inverse transformation is
And (3) calculating by the control system by adopting a formula (5) to obtain a second control parameter:
wherein, gamma isuIs a second control parameter, R is the motor resistance, L is the motor synchronous inductance, TSIn order to be the sampling period of time,
is an estimate of the current rotor's electrical angular velocity.
In other embodiments of the present application, the estimation module 81 calculates a third control parameter by using formula (8): wherein, gamma iseIs a third control parameter, R is the motor resistance, L is the motor synchronous inductance, TSIn order to be the sampling period of time,
is an estimate of the current rotor's electrical angular velocity.
In other embodiments of the present application, the determining module 82 determines, according to the estimation information of the rotor position, a transformation parameter of the Park transformation and a transformation parameter of the Park inverse transformation, including:
updating the estimated value of the rotor electrical angular velocity in the rotor position estimation information to the estimated value of the current rotor electrical angular velocity, and updating the estimated value of the rotor electrical angle in the rotor position estimation information to the estimated value of the current rotor electrical angle;
and determining the transformation parameters of Park transformation and the transformation parameters of Park inverse transformation according to the estimated value of the current rotor electrical angular velocity and the estimated value of the current rotor electrical angle.
In practical applications, the estimation module 81, the determination module 82, the transformation module 83, the current control module 84, and the motor control module 85 may be implemented by a processor located on a control system, specifically, a Central Processing Unit (CPU), a Microprocessor Unit (MPU), a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), or the like.
Based on the foregoing embodiments, embodiments of the present application provide a storage medium storing one or more programs that can be executed by one or more processors to perform a control method of a motor provided by embodiments of the present application.
The application provides a storage medium, according to a received voltage vector under a rotor dq coordinate system of a motor and a feedback current vector under the rotor dq coordinate system, a preset rotor position estimation algorithm aiming at a discrete time motor model is adopted to determine estimation information of a rotor position, according to the estimation information of the rotor position, a conversion parameter of Park conversion and a conversion parameter of Park inverse conversion are determined, Clark conversion and Park conversion are sequentially carried out on three-phase input current of the motor, a feedback current vector under the rotor dq coordinate system is obtained again, current control is carried out on the feedback current vector under the rotor dq coordinate system obtained again and an input instruction current vector under the rotor dq coordinate system, a voltage vector under the rotor dq coordinate system is obtained again, Park inverse conversion and SVPWM modulation are carried out on the voltage vector under the rotor dq coordinate system obtained again in sequence to obtain a PWM pulse wave, inputting the PWM pulse wave into an inverter to obtain the input voltage of the motor so as to control the motor; that is to say, through a preset rotor position estimation algorithm aiming at a motor model based on discrete time, under the condition of no need of a rotor position sensor, the rotor position can be accurately estimated under the conditions of motor operation and low sampling ratio of low carrier ratio, so that the accurate rotor position is obtained, the whole control system can know the operation condition of the motor based on the accurate rotor position, the control system can effectively realize the control of the input voltage of the motor, the control efficiency of the control system to the motor is improved, the performance of the motor is improved, and the stable operation of the motor is ensured.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (12)
1. A control method of a motor is applied to a control system, wherein an input end of the control system and an output end of the control system are respectively connected to an input end of the motor, and the method comprises the following steps:
determining estimation information of a rotor position by adopting a preset rotor position estimation algorithm aiming at a discrete time motor model according to the received voltage vector of the motor in the rotor dq coordinate system and the feedback current vector of the rotor dq coordinate system;
determining a transformation parameter of Park transformation and a transformation parameter of Park inverse transformation according to the estimation information of the rotor position;
sequentially performing Clark conversion and Park conversion on the three-phase input current of the motor to obtain a feedback current vector under a rotor dq coordinate system again;
carrying out current control on the feedback current vector under the rotor dq coordinate system obtained again and the input instruction current vector under the rotor dq coordinate system, and obtaining a voltage vector under the rotor dq coordinate system again;
and sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain PWM pulse waves, inputting the PWM pulse waves into an inverter, and obtaining the input voltage of the motor so as to control the motor.
2. The method according to claim 1, wherein the determining the estimation information of the rotor position by using a preset rotor position estimation algorithm for a discrete-time motor model according to the received voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system of the motor comprises:
determining an estimated value of a back electromotive force vector of the motor by adopting a preset observer aiming at a motor model of discrete time according to a voltage vector under the rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
and extracting the estimation information of the rotor position of the motor from the estimation value of the back electromotive force vector.
3. The method according to claim 2, wherein determining an estimated value of a back electromotive force vector of the motor by using a preset observer of a discrete-time motor model according to the voltage vector in the rotor dq coordinate system and the feedback current vector in the rotor dq coordinate system comprises:
determining a first control parameter of the control system, a second control parameter of the control system and a third control parameter of the control system;
determining an estimated value of a voltage vector under the rotor dq coordinate system according to the first control parameter, the second control parameter, the third control parameter, the voltage vector under the rotor dq coordinate system and a feedback current vector under the rotor dq coordinate system;
and determining the estimated value of the back electromotive force vector according to the voltage vector under the rotor dq coordinate system and the estimated value of the voltage vector under the rotor dq coordinate system.
4. A method according to claim 3, wherein the estimate of the voltage vector in the rotor dq coordinate system is calculated using the formula:
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the (k + 1) th sampling,
is an estimated value of a feedback current vector in a rotor dq coordinate system in the k-th sampling, udq[k-1]Is an estimated value of the voltage vector in the rotor dq coordinate system in the k-1 th sampling,
is the estimated value of the back electromotive force vector under the rotor dq coordinate system in the kth sampling, phi is the first control parameter, gamma isuIs said second control parameter, ΓeIs the third control parameter, G1Is the first feedback gain of the observer.
5. A method according to claim 3, wherein the estimate of the back emf vector is calculated using the formula:
wherein idq[k]For the feedback current vector in the rotor dq coordinate system obtained by the k-th sampling,
is an estimation value of the back electromotive force vector in the rotor dq coordinate system in the (k + 1) th sampling,
is an estimate of the back EMF vector in the rotor dq coordinate system in the kth sample, G2For the second feedback gain of the observer,
is the estimated value of the feedback current vector in the rotor dq coordinate system in the k-th sampling.
6. The method of claim 3, wherein said determining a first control parameter of the control system, a second control parameter of the control system and a third control parameter of the control system comprises:
obtaining an estimated value of the current rotor electrical angular velocity;
determining the first control parameter according to the estimated value of the current rotor electrical angular velocity, the motor resistance, the motor synchronous inductance and the sampling period of the feedback current vector under a rotor dq coordinate system;
according to the estimated value of the current rotor electrical angular velocity, determining a second control parameter of a transformation parameter for performing Park inverse transformation, the motor resistance, the motor synchronous inductance and the sampling period;
and determining the third control parameter according to the estimated value of the current rotor electrical angular velocity, the motor resistance, the motor synchronous inductance and the sampling period.
7. The method of claim 6, wherein the first control parameter is calculated using the following equation:
where Φ is the first control parameter, R is the motor resistance, L is the motor synchronous inductance, and T isSFor the purpose of the said sampling period,
is an estimate of the current rotor's electrical angular velocity.
8. The method of claim 6, wherein the inverse Park transform is performed when the transform parameters of the inverse Park transform are
And then, calculating the second control parameter by adopting the following formula:
wherein, gamma isuR is the motor resistance, L is the motor synchronous inductance, T is the second control parameterSFor the purpose of the said sampling period,
is an estimate of the current rotor's electrical angular velocity.
9. The method of claim 6, wherein the third control parameter is calculated using the following equation:
wherein, gamma iseIs the third control parameter, R is the motor resistance, L is the motor synchronous inductance, TSFor the purpose of the said sampling period,
is an estimate of the current rotor's electrical angular velocity.
10. The method of claim 1, wherein determining the transformation parameters of the Park transformation and the transformation parameters of the Park inverse transformation according to the estimated information of the rotor position comprises:
updating the estimated value of the rotor electrical angular velocity in the rotor position estimation information to be the estimated value of the current rotor electrical angular velocity, and updating the estimated value of the rotor electrical angle in the rotor position estimation information to be the estimated value of the current rotor electrical angle;
and determining a transformation parameter of Park transformation and a transformation parameter of Park inverse transformation according to the estimated value of the current rotor electrical angular velocity and the estimated value of the current rotor electrical angle.
11. A control system, wherein an input of the control system and an output of the control system are respectively connected to an input of a motor, comprising:
the estimation module is used for determining the estimation information of the rotor position by adopting a preset rotor position estimation algorithm aiming at a motor model of discrete time according to the received voltage vector of the motor in the rotor dq coordinate system and the feedback current vector of the rotor dq coordinate system;
the determining module is used for determining the transformation parameters of Park transformation and the transformation parameters of Park inverse transformation according to the estimation information of the rotor position;
the transformation module is used for sequentially carrying out Clark transformation and Park transformation on the three-phase input current of the motor to obtain a feedback current vector under a rotor dq coordinate system again;
the current control module is used for carrying out current control on the feedback current vector under the rotor dq coordinate system obtained again and the input feedback current vector under the rotor dq coordinate system to obtain a voltage vector under the rotor dq coordinate system again;
and the motor control module is used for sequentially carrying out Park inverse transformation on the voltage vector under the rotor dq coordinate system, carrying out SVPWM modulation to obtain PWM pulse waves, inputting the PWM pulse waves into the inverter, and obtaining the input voltage of the motor so as to control the motor.
12. A storage medium characterized in that the storage medium stores one or more programs executable by one or more processors to implement the control method of the motor according to any one of claims 1 to 10.
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| CN113938073A (en) * | 2021-10-09 | 2022-01-14 | 广东汇天航空航天科技有限公司 | Motor position estimation method and device, controller, electric automobile and aerocar |
| WO2022237828A1 (en) * | 2021-05-11 | 2022-11-17 | 广东美的白色家电技术创新中心有限公司 | Method for controlling motor, control system, and storage medium |
| WO2022237829A1 (en) * | 2021-05-11 | 2022-11-17 | 广东美的白色家电技术创新中心有限公司 | Motor control method, control system, and storage medium |
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