CN113315444A - Position detection device and method of permanent magnet synchronous motor based on variable frequency tracking - Google Patents

Position detection device and method of permanent magnet synchronous motor based on variable frequency tracking Download PDF

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CN113315444A
CN113315444A CN202110607276.6A CN202110607276A CN113315444A CN 113315444 A CN113315444 A CN 113315444A CN 202110607276 A CN202110607276 A CN 202110607276A CN 113315444 A CN113315444 A CN 113315444A
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obtaining
permanent magnet
magnet synchronous
synchronous motor
stator
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高晗璎
王文学
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P23/0009—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • 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
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a position detection device and method of a permanent magnet synchronous motor based on frequency conversion tracking, and belongs to the technical field of motor control. The invention aims to solve the problems that the conventional sliding mode observer can cause system buffeting and the back electromotive force dynamic estimation precision is low in the detection process. According to the stator voltage uα、uβObtaining an estimate of stator current
Figure DDA0003090076640000011
Based on said stator current estimate
Figure DDA0003090076640000012
Obtaining the current frequency f of the stator; obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure DDA0003090076640000013
Figure DDA0003090076640000014
Estimating the value according to the back electromotive force
Figure DDA0003090076640000015
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure DDA0003090076640000016
The method solves the problems of system shake caused by the conventional sliding-mode observer and low back electromotive force estimation precision in the dynamic process.

Description

Position detection device and method of permanent magnet synchronous motor based on variable frequency tracking
Technical Field
The invention relates to the field of motor control, in particular to a position detection device and method of a permanent magnet synchronous motor based on frequency conversion tracking.
Background
The multiphase PMSM has the advantages of high output power, small torque pulsation, low harmonic content, high reliability and the like, and has wide application prospect in occasions requiring high power and high reliability, such as electric automobiles, ship propulsion, aerospace, rail transit and the like. The multi-phase PMSM control system requires the installation of a position sensor to detect rotor position information, but the position sensor increases system cost and reduces system reliability, limiting its application. Therefore, the position sensorless detection technology is a feasible technical solution for improving the system reliability.
Multiphase PMSM non-location detection techniques generally fall into two categories: one is a high-frequency injection method suitable for low-speed and zero-speed areas, which estimates the position and the rotating speed of a rotor by using a salient pole effect of the motor rotor, has estimation accuracy independent of the rotating speed and is insensitive to motor parameter change, but the method needs the PMSM to have certain salient polarity. In addition, the amplitude of the injected high frequency signal must be well-controlled, otherwise electromagnetic noise is introduced. The other type is suitable for estimating the position and the rotating speed of the rotor at medium and high speed, and depends on the back electromotive force of the motor, such as an extended Kalman filter method, a model reference method, a sliding mode observer method and the like.
The existing sliding mode observer can cause system buffeting, and the dynamic estimation accuracy of the back electromotive force in the detection process is low.
Disclosure of Invention
In order to solve the above problems, the present invention provides a position detection apparatus and method for a permanent magnet synchronous motor based on frequency conversion tracking, which suppresses system chattering through stator current tracking and improves estimation accuracy of back electromotive force.
The invention provides a position detection device of a permanent magnet synchronous motor based on frequency conversion tracking, which comprises:
a sliding mode observation module for observing the stator voltage uα、uβObtaining an estimate of stator current
Figure BDA0003090076620000011
A phase-locked loop module for estimating the stator current based on the estimated value
Figure BDA0003090076620000012
Obtaining the current frequency f of the stator;
a stator current frequency conversion tracking module for obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure BDA0003090076620000013
The back electromotive force estimate
Figure BDA0003090076620000014
Feeding back to step S1;
a third order extended state observer for estimating the value according to the back electromotive force
Figure BDA0003090076620000015
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure BDA0003090076620000016
The invention also provides a position detection method of the permanent magnet synchronous motor based on frequency conversion tracking, which comprises the following steps:
s1, according to the stator voltage uα、uβTo obtain a fixedEstimation of sub-currents
Figure BDA0003090076620000021
S2, estimating the value according to the stator current
Figure BDA0003090076620000022
Obtaining the current frequency f of the stator;
s3, obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure BDA0003090076620000023
The back electromotive force estimate
Figure BDA0003090076620000024
Feeding back to step S1;
s4, estimating value according to the back electromotive force
Figure BDA0003090076620000025
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure BDA0003090076620000026
Preferably, step S1 specifically includes:
s11, establishing a permanent magnet synchronous motor model under an alpha-beta coordinate system:
Figure BDA0003090076620000027
s12, establishing an improved sliding mode observer according to the permanent magnet synchronous motor model, and further obtaining a stator current deviation value
Figure BDA0003090076620000028
The improved sliding-mode observer is as follows:
Figure BDA0003090076620000029
where F () is the FVT function.
Preferably, step S2 includes:
s21 estimating value according to stator current
Figure BDA00030900766200000210
Obtaining a current variation delta i, wherein the current variation delta i is as follows:
Figure BDA00030900766200000211
s22, adjusting the current variable by PI to obtain angular frequency omegafAccording to said angular frequency ωfObtaining a position angle
Figure BDA00030900766200000212
And fed back to step S21, the angular frequency omegafComprises the following steps:
Figure BDA00030900766200000213
s23, according to
Figure BDA00030900766200000214
The stator current frequency f is obtained.
Preferably, the position angle of step S22
Figure BDA00030900766200000215
Obtained according to the following formula:
Figure BDA00030900766200000216
preferably, the back electromotive force estimation value in step S3
Figure BDA00030900766200000217
Obtained according to the following formula:
Figure BDA0003090076620000031
preferably, step S4 includes:
s41, changing quantity according to rotor position angle
Figure BDA0003090076620000037
As input, the rotor position angle estimate is obtained by a three-stage extended state observer
Figure BDA0003090076620000032
Obtaining a rotor position angle estimate according to
Figure BDA0003090076620000033
Figure BDA0003090076620000034
Figure BDA0003090076620000035
Is the motor rotor speed, J is the moment of inertia, P is the pole pair number, TLIs the load torque, Q is the total disturbance of the system;
s42, using the rotor position angle estimated value as feedback to change the rotor position angle
Figure BDA0003090076620000036
And (6) correcting.
As described above, the present invention has the following effects compared with the prior art:
1. the invention extends the idea of the traditional three-phase position-sensorless control technology to a motor mathematical model in a multidimensional space, and realizes the stable operation of the six-phase permanent magnet synchronous motor based on the position-sensorless control.
2. The invention designs an FVT sliding mode observer which adopts an FVT function to replace a switching function of a traditional sliding mode and is used for resisting the influence of torque pulsation and harmonic components on a back electromotive force value estimated by a traditional SMO and improving the estimation precision of the back electromotive force.
3. The three-order ESO processes the back electromotive force obtained by the FVT to estimate the position and the rotating speed of the rotor, and can resist disturbance and improve estimation precision.
4. The invention can be suitable for occasions with higher requirements on the reliability and the dynamic performance of the motor, such as aerospace, electric automobiles and the like, and has wide application range.
Drawings
FIG. 1 is a six-phase inverter topology with dual three-phase winding neutral point isolation according to the present invention;
FIG. 2 is a star connection diagram of isolated neutral points of stator windings of a six-phase permanent magnet synchronous motor according to the invention;
FIG. 3 is a block diagram of a PLL based stator current frequency detection of the present invention;
FIG. 4 is a block diagram of the FVT structure of the present invention;
FIG. 5 is a block diagram of third order ESO based rotor position information estimation of the present invention;
FIG. 6 is a third order ESO structure of the present invention;
FIG. 7 is a block diagram of an overall implementation of the novel SMO of the present invention;
FIG. 8 is a comparison graph of 500r/min rotation speed waveforms according to the present invention;
FIG. 9 is a 500r/min rotational speed error waveform of the present invention;
FIG. 10 is a waveform comparing 500r/min rotor position angle according to the present invention;
FIG. 11 is a 500r/min rotor position angle error waveform of the present invention;
FIG. 12 is a comparison graph of the 500r/min rotor position angle error waveforms of the present invention;
FIG. 13 is a main flow diagram of the system of the present invention;
FIG. 14 is a flow chart of the main routine of the present invention;
FIG. 15 is a flowchart of a routine for interrupting the process of the present invention;
FIG. 16 is a DSP power supply circuit diagram of the present invention;
FIG. 17 is a voltage sampling circuit diagram of the present invention;
FIG. 18 is an AC current sampling circuit diagram of the present invention;
FIG. 19 is a DC bias circuit diagram of the present invention;
FIG. 20 is a circuit diagram of the over-current protection of the present invention;
FIG. 21 is a driving circuit diagram of the 2SD315AI of the present invention;
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In a specific embodiment, as shown in fig. 7, a position detecting apparatus for a permanent magnet synchronous motor based on variable frequency tracking according to this embodiment includes:
a sliding mode observation module for observing the stator voltage uα、uβObtaining an estimate of stator current
Figure BDA0003090076620000041
A phase-locked loop module for estimating the stator current based on the estimated value
Figure BDA0003090076620000042
Obtaining the current frequency f of the stator;
a stator current frequency conversion tracking module for obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure BDA0003090076620000051
The back electromotive force estimate
Figure BDA0003090076620000052
Feeding back to step S1;
a third order extended state observer for estimating the value according to the back electromotive force
Figure BDA0003090076620000053
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure BDA0003090076620000054
As can be seen from the main flow chart of the system shown in fig. 13, the position detection device of the permanent magnet synchronous motor based on frequency conversion tracking includes a control circuit, a voltage and current sampling circuit, an overcurrent protection circuit, an IGBT drive circuit, a six-phase PMSM, and the like.
The hardware circuit of the control system of the embodiment mainly comprises a control circuit, a voltage and current sampling circuit, an overcurrent protection circuit, an IGBT drive circuit and the like. The method is characterized in that a DSP framework is adopted, a TMS320F28335 of TI company is selected as a DSP chip in the working process, the DSP chip is mainly responsible for the operation of processed sampling signals, instruction current extraction, a current tracking control algorithm and a non-inductive control algorithm, the phase voltage and the phase current of a motor are processed through a voltage and current sampling circuit and transmitted to a DSP control circuit, a voltage and current analog signal obtained by the sampling circuit is subjected to digital signal processing through an ADC (analog to digital converter) unit of the DSP chip, then the position information of a motor rotor is obtained on the DSP chip through estimation of an SMO (simple substance analysis) algorithm, double closed loops of rotating speed and current are realized, the received modulation signal data is subjected to the operation of modulation wave and carrier comparison to obtain a PWM (pulse width modulation) signal with a dead zone, and the PWM is amplified by a driving circuit and then drives a power switch tube in each phase inverter to work.
The TMS320F28335 main program mainly completes the system initialization and interruption, and the interruption program comprises AD sampling, fault diagnosis, FVT and ESO calculation, speed loop, current loop and the like. In the main program flowchart of the system shown in fig. 14, initialization of the system is performed after a shut-off is closed at the time of the system just starting operation, and initial setting of each unit used in the program is completed. And after the initialization is finished, starting an interrupt, starting a timer and waiting for the interrupt.
The flow chart of the interrupt routine is shown in fig. 15. The SVPWM algorithm is used for completing sampling of phase voltage and current, estimation of rotor position and speed, speed loop PI regulation, current loop PI regulation and coordinate transformation, and outputting a control signal to the power module through the SVPWM algorithm so as to control the motor to operate.
As shown in fig. 16, a DSP power supply circuit is provided, which uses a TPS767D301 chip to supply power to a DSP, outputs two stable dc voltages, supplies 1.9V to a DSP core, and supplies 3.3V dc to an I/O port.
As shown in fig. 17, a voltage sampling circuit is shown, and phase voltage and dc bus voltage are collected by an isolation operational amplifier, and the principle is that a voltage dividing resistor is used to obtain a small voltage at a high voltage side, the voltage is isolated by the isolation operational amplifier in a differential manner, the voltage is output at an output side of the isolation operational amplifier in a differential manner, and then a differential signal is converted into a single end through an operational amplifier and is transmitted to a DSP.
As shown in fig. 18, the ac current sampling circuit is used for collecting ac current of a motor by using a current hall sensor, the model of the current hall sensor is HA2020 manufactured by YHDC company, the maximum sampling current value is 100A, the power supply is ± 15V, and the transformation ratio is 2000: 1.
As shown in fig. 19, a dc bias circuit limits the voltage amplitude of the current sampling signal to 0-3V by the bias circuit, the bias voltage of 1.65V is generated by dividing the voltage by resistors R37 and R39, the resistor R39 and the capacitor C10 form a first-order RC filter circuit, and the schottky diode D2 forms a clamp circuit for the sampling voltage, so as to prevent the chip from being damaged due to too large voltage entering the DSP.
As shown in fig. 20, the overcurrent protection circuit in this embodiment mainly functions to prevent the phase current of the motor from exceeding a rated value of the IGBT switching tube, which causes the IGBT switching tube to be burned out, the circuit uses a comparator to form a voltage comparator, compares a sampled current signal with a limited value through a bias circuit, and controls the system to block the PWM output if the voltage value of the current signal after being biased is higher than 4.5V or lower than 0.6V. The limit value is selected in relation to the motor rating and the gain of the sampling circuit.
The driving circuit is used for amplifying the low-level and low-power control signal output by the DSP, so that the power switching tube can be driven by the driving circuit. As shown in fig. 21, the driving circuit of this embodiment selects a driving module with a model number of 2SD315AI, which is introduced by the company condcept of switzerland, and has two operating modes, namely a direct mode and a half-bridge mode, in which 8-pin MOD of the driver is shorted to VDD, and operates in the direct mode, at this time, channels a and B do not have a relationship, the two channels operate independently, and RC1 and RC2 are shorted to GND, and at this time, the state output SO1/SO2 also operates independently. The 8-pin MOD of the driver is in short circuit with the GND, the driver works in a half-bridge mode, dead time is generated between two channels, the dead time is adjusted by an RC (resistor-capacitor) network between pins 5 and 7, at the moment, INB is connected with high level enable, and INA is a total input end of two signals.
In a specific embodiment, the method for detecting the position of the permanent magnet synchronous motor based on variable frequency tracking comprises the following steps:
s1, according to the stator voltage uα、uβObtaining an estimate of stator current
Figure BDA0003090076620000061
In this embodiment, a sliding mode stator current frequency conversion tracker is designed through a permanent magnet synchronous motor model, and the electromotive force is independently estimated, which specifically includes:
s11, establishing a permanent magnet synchronous motor model under an alpha-beta coordinate system:
Figure BDA0003090076620000062
in the formula: i.e. iα、iβRespectively the component of the stator current on the alpha-beta axis, R is the stator winding of the motor, LsIs the self-inductance of the stator winding, eα、eβThe components of the back emf in the α - β axis, respectively, can be expressed as:
Figure BDA0003090076620000063
s12, establishing an improved sliding mode observer according to the permanent magnet synchronous motor model, and further obtaining a stator current deviation value
Figure BDA0003090076620000064
The sliding mode observer enables a state variable track to move along an ideal sliding mode surface by dynamically changing a system structure, takes a current component as a state variable, and can obtain the following formula (1):
Figure BDA0003090076620000065
according to the variable structure control theory of the sliding mode, defining the sliding mode surface
Figure BDA0003090076620000071
The traditional sliding mode switching function is a switching function, and a current sliding mode observer under an alpha-beta coordinate system is as follows:
Figure BDA0003090076620000072
in the formula: sign () is a switching function, which is a conventional sliding mode switching function;
Figure BDA0003090076620000073
is a stator current estimate; ksFor the sliding mode gain, the value range needs to meet the conditions of stability, existence and accessibility of the sliding mode observer.
The current deviation equation obtained from equations (3) and (4) is:
Figure BDA0003090076620000074
in the formula:
Figure BDA0003090076620000075
the current error is estimated for the observer.
For the problem that high-frequency buffeting exists in the estimated back electromotive force easily due to the discrete switching characteristics of the sign function in the conventional SMO, in this embodiment, an FVT function is used to replace an original switching function sign () to track the fundamental wave of the stator current, and a specific current deviation equation is obtained as shown in formula (6):
Figure BDA0003090076620000076
establishing an improved sliding-mode observer under an alpha-beta coordinate system as shown in formula (7):
Figure BDA0003090076620000077
s2, estimating the value according to the stator current
Figure BDA0003090076620000078
Obtaining the current frequency f of the stator;
proportional resonance control (PR) is typically used in the prior art to track a particular frequency at which the stator current error can converge. However, during actual motor operation, the frequency of the stator current may vary with speed, and conventional PR controllers may not accurately track the AC signal as the frequency varies. In order to track the changing frequency, the present embodiment adopts a PLL-based stator current frequency detection method as shown in fig. 3 to detect the stator current frequency, which specifically includes:
s21 estimating value according to stator current
Figure BDA0003090076620000081
Obtaining a current variation delta i, wherein the current variation delta i is as follows:
Figure BDA0003090076620000082
s22, adjusting the current variable by PI to obtain angular frequency omegafAccording to said angular frequency ωfObtaining a position angle
Figure BDA0003090076620000083
And fed back to step S21, the angular frequency omegafComprises the following steps:
Figure BDA0003090076620000084
wherein, KpIs the proportional gain, KiIs integral gain
Position angle
Figure BDA0003090076620000085
Comprises the following steps:
Figure BDA0003090076620000086
s23, according to
Figure BDA0003090076620000087
The stator current frequency f is obtained.
S3, obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure BDA0003090076620000088
The back electromotive force estimate
Figure BDA0003090076620000089
Feeding back to step S1;
the embodiment adopts FVT according to the deviation value of the stator current
Figure BDA00030900766200000810
Obtaining the estimated value of the back electromotive force by summing the current frequency f of the stator
Figure BDA00030900766200000811
Figure BDA00030900766200000812
As shown in figure 4, let
Figure BDA00030900766200000813
The FVT function is:
Figure BDA00030900766200000814
wherein, KpIs the proportional gain, KrIs the resonant gain, ωcIs the cut-off frequency.
To accommodate the varying frequency, the transfer function (11) is converted into the Z domain, resulting in:
Figure BDA00030900766200000815
and further converted into:
Figure BDA00030900766200000816
defining the state variables:
Figure BDA00030900766200000817
deriving (14) derivatives to obtain the following state space equations:
Figure BDA0003090076620000091
the FVT function is obtained by equation (15):
Figure BDA0003090076620000092
when the motion point converges on the sliding mode surface, the back electromotive force estimated by the sliding mode observer improved according to the formula (7) is the FVT function output y, and the equivalent is:
Figure BDA0003090076620000093
s4, estimating value according to the back electromotive force
Figure BDA0003090076620000094
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure BDA0003090076620000095
S41, changing quantity according to rotor position angle
Figure BDA0003090076620000096
As input, the rotor position angle estimate is obtained by a three-stage extended state observer
Figure BDA0003090076620000097
As shown in fig. 5, which is a schematic diagram of the three-stage extended state observer of the present embodiment, the following relationship is established in the present embodiment:
Figure BDA0003090076620000098
wherein the content of the first and second substances,
Figure BDA0003090076620000099
when in use
Figure BDA00030900766200000910
Based on the relationship between the rotational speed and the rotor position in the rotor motion equation, the rotor position angle θ can be establishedeThe state equation of the three-stage Extended State Observer (ESO) which is a main variable is shown in formula (19), and the structural schematic diagram is shown in fig. 6.
Obtaining a rotor position angle estimate according to
Figure BDA00030900766200000911
Figure BDA00030900766200000912
Figure BDA00030900766200000913
Is the motor rotor speed, J is the moment of inertia, P is the pole pair number, TLIs the load torque, Q is the total disturbance of the system;
s42, using the rotor position angle estimated value as feedback to change the rotor position angle
Figure BDA00030900766200000914
And (6) correcting.
Therefore, the invention adopts the stator current variable frequency tracking function to replace the traditional switching function. By improving the SMO method, the independent estimation of the electromotive force is realized, the precision is kept in a starting or speed changing state, and secondly, in order to improve the estimation precision and the disturbance resistance of the observer, the rotor position is used as a disturbance term, and a third-order Extended State Observer (ESO) is constructed through a mechanical motion equation of a motor and used for estimating the speed and the rotor position. To further illustrate and verify embodiments of the present invention, the present embodiment was simulated by six-phase PMSM sensorless operation analysis:
the topological structure of the power side of the six-phase PMSM control system is in an alternating current-direct current-alternating current topological form, namely, 220V power frequency alternating current is firstly processed by a rectifier bridge to obtain direct current bus voltage, and then the direct current bus voltage output by the rectifier bridge is filtered and stabilized by a non-polar filter capacitor and then sent to a six-phase voltage inverter. The phase voltage and the phase current of the motor are processed through a voltage and current sampling circuit and transmitted to a DSP control circuit, voltage and current analog signals obtained by the sampling circuit are subjected to digital signal processing through an ADC (analog to digital converter) unit of the DSP, then motor rotor position information is obtained on a DSP chip through estimation of an SMO (simple short-circuit running) algorithm, double closed-loop of rotating speed and current is realized, and the current is output to an SVPWM (space vector pulse width modulation) algorithm in a closed-loop manner to obtain a driving signal of a driving circuit; SVPWM modulation is realized by controlling the on-off of a power device in the inverter, and then the six-phase PMSM is controlled to operate.
The motor was started with a load torque of 5 N.m, and the given rotation speed was set to 500 r/min. Fig. 8 and 10 show the rotational speed and rotor position angle waveforms, respectively. The solid lines in the figure represent the estimated speed and position of the rotor and the dashed lines in the figure represent the actual speed and position measured by the motor. Fig. 9 and 11 show waveforms of the rotational speed error and the rotor position angle error, respectively. It can be seen that the error of the rotating speed is within +/-1 r/min, and the error of the rotor position angle is very small. The observer can accurately estimate the rotating speed and track the position angle of the rotor. FIG. 12 shows a comparison of rotor position angle error waveforms obtained at 500r/min for conventional SMO and modified SMO. As can be seen from the figure, the rotor position angle error of the improved SMO estimation is smaller than that of the conventional SMO estimation, and therefore the proposed position-sensor-less control algorithm can estimate the angle of the rotor more accurately.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (7)

1. Permanent magnet synchronous motor's position detecting device based on frequency conversion tracking, its characterized in that includes:
a sliding mode observation module for observing the stator voltage uα、uβObtaining an estimate of stator current
Figure FDA0003090076610000011
A phase-locked loop module for estimating the stator current based on the estimated value
Figure FDA0003090076610000012
Obtaining the current frequency f of the stator;
a stator current frequency conversion tracking module for obtaining a back electromotive force estimated value according to the stator current frequency f and the stator current deviation value
Figure FDA0003090076610000013
The back electromotive force estimate
Figure FDA0003090076610000014
Feeding back to step S1;
a third order extended state observer for estimating the value according to the back electromotive force
Figure FDA0003090076610000015
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure FDA0003090076610000016
2. The position detection method of the permanent magnet synchronous motor based on frequency conversion tracking is characterized by comprising the following steps:
s1, according to the stator voltage uα、uβObtaining an estimate of stator current
Figure FDA0003090076610000017
S2, estimating the value according to the stator current
Figure FDA0003090076610000018
Obtaining the current frequency f of the stator;
s3, according to the stator current frequency f and the stator current deviation value
Figure FDA0003090076610000019
Obtaining the estimated value of the back electromotive force
Figure FDA00030900766100000110
The back electromotive force estimate
Figure FDA00030900766100000111
Feeding back to step S1;
s4, estimating value according to the back electromotive force
Figure FDA00030900766100000112
Obtaining the rotor position angle estimated value of the permanent magnet synchronous motor
Figure FDA00030900766100000113
3. The position detection method of the permanent magnet synchronous motor based on the variable frequency tracking as claimed in claim 2, wherein the step S1 specifically comprises:
s11, establishing a permanent magnet synchronous motor model under an alpha-beta coordinate system:
Figure FDA00030900766100000114
s12, establishing an improved sliding mode observer according to the permanent magnet synchronous motor model, and further obtaining a stator current deviation value
Figure FDA00030900766100000115
The improved sliding-mode observer is as follows:
Figure FDA00030900766100000116
where F () is the FVT function.
4. The position detecting method of the permanent magnet synchronous motor based on the variable frequency tracking according to claim 2, wherein the step S2 comprises:
s21 estimating value according to stator current
Figure FDA00030900766100000117
Obtaining a current variation quantity delta i, wherein the current variation quantity delta i is as follows:
Figure FDA00030900766100000118
s22, adjusting the current variable by PI to obtain angular frequency omegafAccording to said angular frequency ωfObtaining a position angle
Figure FDA0003090076610000021
And fed back to step S21, the angular frequency omegafComprises the following steps:
Figure FDA0003090076610000022
s23, according to
Figure FDA0003090076610000023
The stator current frequency f is obtained.
5. The position detection method of permanent magnet synchronous motor based on variable frequency tracking according to claim 4, characterized in that the position angle of step S22
Figure FDA0003090076610000024
Obtained according to the following formula:
Figure FDA0003090076610000025
6. the position detecting method of permanent magnet synchronous motor based on variable frequency tracking according to claim 2, characterized in that the back electromotive force estimated value in step S3
Figure FDA0003090076610000026
Obtained according to the following formula:
Figure FDA0003090076610000027
7. the position detecting method of the permanent magnet synchronous motor based on the variable frequency tracking according to claim 2, wherein the step S4 comprises:
s41, changing quantity according to rotor position angle
Figure FDA0003090076610000028
As input, the rotor position angle estimate is obtained by a three-stage extended state observer
Figure FDA0003090076610000029
Obtaining a rotor position angle estimate according to
Figure FDA00030900766100000210
Figure FDA00030900766100000211
Figure FDA00030900766100000212
Is the motor rotor speed, J is the moment of inertia, P is the pole pair number, TLIs the load torque, Q is the total disturbance of the system;
s42, using the rotor position angle estimated value as feedback to change the rotor position angle
Figure FDA00030900766100000213
And (6) correcting.
CN202110607276.6A 2021-05-28 2021-05-28 Position detection device and method of permanent magnet synchronous motor based on variable frequency tracking Pending CN113315444A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113726256A (en) * 2021-08-31 2021-11-30 中车株洲电机有限公司 Instantaneous voltage fundamental wave signal reconstruction system and alternating current motor drive control device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113726256A (en) * 2021-08-31 2021-11-30 中车株洲电机有限公司 Instantaneous voltage fundamental wave signal reconstruction system and alternating current motor drive control device
CN113726256B (en) * 2021-08-31 2023-09-19 中车株洲电机有限公司 Reconstruction system of instantaneous voltage fundamental wave signal and alternating current motor drive control device

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