CN113328665B - Synchronous reluctance motor position sensorless control method based on inductance identification - Google Patents
Synchronous reluctance motor position sensorless control method based on inductance identification 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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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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
- H02P21/141—Flux estimation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- 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
- H02P25/08—Reluctance motors
- H02P25/086—Commutation
- H02P25/089—Sensorless control
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- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a synchronous reluctance motor position sensorless control method based on inductance identification, belonging to the technical field of motor control; according to the method, a rotating high-frequency voltage signal is injected into a two-phase static coordinate system of a motor, a dynamic inductance under any operation condition is firstly identified, then a second-order Runge Kuta method is adopted to calculate the static inductance of the synchronous reluctance motor according to the known dynamic inductance information, the identified static inductance value is fed back to a flux linkage observer to estimate a stator flux linkage of the motor, and finally, the position and rotating speed information of a rotor is obtained by combining an orthogonal phase-locked loop, so that the control of the synchronous reluctance motor without a position sensor is realized. The control method of the invention replaces the use of the voltage component of the quadrature-direct axis in the traditional method, and is less influenced by the nonlinear error of the inverter; the complicated offline parameter identification work required before the synchronous reluctance motor is controlled to operate without a position sensor is avoided.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a synchronous reluctance motor position-sensorless control method based on inductance identification.
Background
The synchronous reluctance motor does not need to use permanent magnets, has higher efficiency and lower cost, and can be used as an ideal scheme for replacing an asynchronous motor. The mechanical position sensor adopted at present has poor environmental adaptability, can increase the volume and the cost of a motor driving system, and reduces the reliability of the system. Therefore, the synchronous reluctance motor position sensorless control technology with low cost and high reliability becomes a hot point of domestic and foreign research.
In the current stage of synchronous reluctance motor position sensorless control method, a flux linkage observer method is often adopted, and the static inductance of the synchronous reluctance motor is an important parameter influencing flux linkage observation precision. The inductance of the synchronous reluctance motor has strong nonlinearity, changes greatly under different load working conditions, and accurate inductance parameters are necessary conditions for controlling the synchronous reluctance motor without a position sensor. The traditional inductance online identification technology based on the recursive least square method is influenced by the error voltage of an inverter, and meanwhile, the inductance identification precision is influenced by the position error of a rotor under the condition of no position sensor control, so that parameter error convergence is caused. The off-line inductance identification method requires complicated testing before the motor runs, and consumes a lot of time.
Disclosure of Invention
The invention aims to provide a synchronous reluctance motor position sensorless control method based on inductance identification, which avoids the use of a quadrature-direct axis voltage component in the traditional method and is less influenced by the nonlinear error of an inverter; the inductance identification precision is not influenced by the position error and the rotating speed error of the rotor, and the problem that inductance parameters cannot be accurately converged due to the fact that a system model is lack of rank caused by the position error of the rotor under the control condition without a position sensor is solved; complicated offline parameter identification work required before the synchronous reluctance motor is controlled to operate without a position sensor is avoided; all steps of inductance online identification do not need the use of any position sensor; under the conditions of steady state and transient state of the rotating speed of the motor, good estimation effects of the position and the rotating speed of the rotor can be realized; the position sensor-free control algorithm disclosed by the invention can replace a position sensor, so that the cost of a control system is reduced, the reliability and robustness of the system are improved, the calculation amount of the method is small, and the method is convenient to realize, popularize and apply.
The purpose of the invention can be realized by the following technical scheme:
a synchronous reluctance motor position sensorless control method based on inductance identification comprises the following steps:
s1, injecting a rotating high-frequency voltage signal into the two-phase static coordinate system of the synchronous reluctance motor to obtain the phase current of the motor at the moment k, and obtaining the current i under the two-phase static alpha-beta coordinate system through coordinate transformation α 、i β And current i under a synchronous rotation d-q coordinate system d 、i q ；
S2 reaction of i in S1 α 、i β Obtaining a high-frequency response current i through a band-pass filter αh And i βh ；
S3 high-frequency response current i in S2 αh And i βh Transforming the high-frequency response current into a coordinate system rotating at the same frequency as the positive sequence component and the negative sequence component of the high-frequency signal through synchronous shafting transformation, and then extracting the amplitude I of the positive sequence component and the negative sequence component of the high-frequency response current through discrete Fourier transformation p And I n And based on the dynamic inductance, calculating the current sampling moment of the motor
And
s4 obtaining the estimated rotation speed of the motor in the starting stage by the traditional rotation high-frequency voltage injection method
And using the voltage command value u d * Current sample value i dq And a dynamic inductor
Calculating the initial value of the static inductance by using a recursive least square method according to a d-axis voltage equation of the motor
S5, estimating the static inductance according to the previous sampling moment
Dynamic inductance estimate
And i q (k-1) and i q (k) Calculating the q-axis static inductance at the current sampling moment by adopting a second-order Runge Kutta method
And S6, feeding the q-axis static inductance obtained in the step S5 back to a flux linkage observer of the synchronous reluctance motor to obtain an estimated stator flux linkage, combining an orthogonal phase-locked loop to obtain rotor position and rotating speed information estimated by the synchronous reluctance motor, and feeding the rotor position and rotating speed information back to a vector control system of the synchronous reluctance motor, thereby realizing control without a position sensor.
Further, the dynamic inductance obtained in S3 in S4
Calculating initial value of static inductance by recursive least square method
And does not rely on the use of position sensors.
Further, in S5, a second-order longlattice mastat method is used to calculate the q-axis static inductance
The numerical solution of (2) facilitates the implementation of the control algorithm in a digital processor.
Further, the rotor position angle estimated by the phase-locked loop in S6 is used for coordinate transformation in vector control; the rotating speed estimated by the phase-locked loop is used as the feedback input of the rotating speed loop in vector control.
Further, the iterative formula for calculating the initial value of the static inductance in S4 is:
wherein Z (k) and Y (k) are system inputs,
for estimating the electrical angular velocity of the motor, a d-axis voltage command value u is used d * D-axis dynamic inductance estimate
In place of L dh ，R s Is stator resistance, T s Is the sampling period.
Go toStep two, in the step S5, a second-order Runge Kutta method is adopted to calculate the q-axis static inductance at the current sampling moment
The method specifically comprises the following steps:
from the definitions of static inductance and dynamic inductance, it is known that:
wherein
Is a q-axis flux linkage; the formula is rewritten into a discrete form by a second-order Runge Kutta method:
the estimation formula of the static inductance is:
the invention has the beneficial effects that:
1. the control method of the invention replaces the use of the voltage component of the quadrature-direct axis in the traditional method, and is less influenced by the nonlinear error of the inverter;
2. the control method has the advantages that the inductance identification precision is not influenced by the position error and the rotating speed error of the rotor, and the problem that the inductance parameters cannot be accurately converged due to the fact that the position error of the rotor causes the system model to be in a rank lacking state under the control condition without a position sensor is solved;
3. the control method avoids the complex off-line parameter identification work required before the synchronous reluctance motor is controlled to run without a position sensor;
4. all steps of the on-line identification of the inductance of the control method do not need any position sensor;
5. the control method can realize good estimation effects of the position and the rotating speed of the rotor under the conditions of steady state and transient state of the rotating speed of the motor;
6. the control method of the invention has no position sensor control algorithm, and can replace the position sensor, thereby reducing the cost of the control system, improving the reliability and robustness of the system, having small calculation amount, and being convenient for realization, popularization and application.
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The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic block diagram of the control method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 shows a schematic block diagram of a synchronous reluctance motor position sensorless control system based on inductance online identification. The whole system adopts vector control, the d-axis exciting current is controlled to be a constant value, the cross saturation effect is ignored, and only the q-axis static inductance needs to be identified in the running process of the motor. When the motor is started, rotor position and rotating speed information are obtained through a traditional rotating high-frequency voltage injection method for vector control, dynamic inductance and initial values of static inductance at the moment are identified on line, then the static inductance at the next moment is identified according to the obtained initial values of the dynamic inductance and the static inductance, and the static inductance is fed back to a flux linkage observer to realize estimation of stator flux linkage, rotor position and rotating speed; and when the rotating speed reaches a medium-high speed domain, carrying out closed-loop vector control on the motor by adopting the rotor position and the rotating speed output by the flux linkage observer.
Firstly, in a starting stage, injecting a rotating high-frequency voltage signal into a two-phase static coordinate system of a motor:
in the formula u αh 、u βh Respectively representing alpha-axis and beta-axis high-frequency voltages, U h Is the peak value of the signal, omega h For voltage frequency, the resulting high frequency response current is:
wherein L ═ L dh +L qh )/2,ΔL＝(L dh -L qh )/2，L dh 、L qh Dynamic inductors of dq shafting respectively; i.e. i αh 、i βh High-frequency current responses of an alpha axis and a beta axis respectively; theta e Electrical angle of rotor position.
To i αh And i βh Carrying out synchronous rotation transformation and extracting by Discrete Fourier Transform (DFT) to obtain the amplitude I of positive sequence and negative sequence components p And I n ：
DFT[i αh cos(ω h t)-i βh sin(ω h t)]＝I p (3)
DFT[i αh cos(ω h t)+i βh sin(ω h t)]＝I n (4)
The DFT algorithm has the calculation formula as follows:
wherein, DFT [ alpha ], [ alpha ] and [ alpha ], [ alpha ] is]The method is characterized in that the amplitude is obtained by carrying out discrete Fourier transform on the content in brackets by adopting the formulas (5) and (6), N is the number of sampling points in one period, T s Is the sampling time; omega is the frequency of the extracted target signal, | i α I represents the calculated amplitude of the target signal, i in this example α | may be I p Or I n Omega is 2 omega h And finally obtaining the dynamic inductance as follows:
meanwhile, according to a d-axis voltage equation of the synchronous reluctance motor:
u d -R s i d -L dh pi d ＝-ω e L q i q (8)
wherein u is d Is the d-axis voltage of the motor, i d Is d-axis current, i q For q-axis current, p is a differential operator, R s For stator resistance, use is made of off-line measured values, ω e Is the electrical angular velocity, L, of the motor q For the q-axis static inductance of the motor, discretizing the formula (8) and adopting a recursive least square method to identify the initial value of the static inductance during starting, wherein the iterative formula is as follows:
wherein Z (k) and Y (k) are system inputs and adopt d-axis voltage command value u d * Instead of u d D-axis dynamic inductance estimate
In place of L dh In the current stage, a rotating high-frequency voltage injection method is used for acquiring rotor position and rotating speed information necessary for motor vector control.
After the initial values of the dynamic inductance and the static inductance are obtained, the definitions of the static inductance and the dynamic inductance are known as follows:
wherein
Is a q-axis flux linkage;
the second order Rungestota method is used to rewrite equation (10) to discrete form:
the static inductance can be estimated from equation (11) as follows:
the synchronous reluctance motor q-axis static inductance can be identified on line by the formula (12). After the static inductance is obtained, the static inductance is fed back to the flux linkage observer, and accurate rotor position information under different load working conditions can be obtained. The flux linkage observer can adopt the existing realization method, such as a closed-loop flux linkage observer based on a voltage and current model.
In addition, in order to avoid the influence of current sampling noise, a threshold value δ needs to be set, when the formula (13) is satisfied, the q-axis static inductance value is updated according to the formula (12), otherwise, the q-axis inductance value adopts the estimation value at the previous moment.
i q (k+1)-i q (k)＞δ (13)
When the motor runs in a steady state, the high-frequency signal can be stopped from being continuously injected into the motor without identifying the inductance parameter, and when the change of the rotating speed of the motor is detected, the algorithm is started again to update the inductance parameter.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.
Claims (6)
1. A synchronous reluctance motor position sensorless control method based on inductance identification is characterized by comprising the following steps:
s1, injecting a rotating high-frequency voltage signal into the two-phase static coordinate system of the synchronous reluctance motor to obtain the phase current of the motor at the moment k, and obtaining the current i under the two-phase static alpha-beta coordinate system through coordinate transformation α 、i β And current i under a synchronous rotation d-q coordinate system d 、i q ；
S2 reaction of i in S1 α 、i β Obtaining a high-frequency response current i through a band-pass filter αh And i βh ；
S3 high-frequency response current i in S2 αh And i βh Respectively transforming the high-frequency response current into a coordinate system rotating at the same frequency as the positive sequence component and the negative sequence component of the high-frequency signal through synchronous shafting transformation, and then respectively extracting the amplitude I of the positive sequence component and the negative sequence component of the high-frequency response current by adopting discrete Fourier transformation p And I n And based on the dynamic inductance, calculating the current sampling moment of the motor
And
s4 obtaining the estimated rotation speed of the motor in the starting stage by the rotating high-frequency voltage injection method
And using the voltage command value u d * Current sample value i dq And a dynamic inductor
Calculating the initial value of the static inductance by using a recursive least square method according to a d-axis voltage equation of the motor
S5, estimating the static inductance according to the previous sampling moment
Dynamic inductance estimation
And i q (k-1) and i q (k) Calculating the q-axis static inductance at the current sampling moment by adopting a second-order Runge Kutta method
And S6, feeding the q-axis static inductance obtained in the S5 back to a flux linkage observer of the synchronous reluctance motor to obtain an estimated stator flux linkage, combining an orthogonal phase-locked loop to obtain the rotor position and rotation speed information estimated by the synchronous reluctance motor, and feeding the rotor position and rotation speed information back to a vector control system of the synchronous reluctance motor, thereby realizing the control without a position sensor.
2. The method as claimed in claim 1, wherein the dynamic inductance obtained in S4 by using S3 is used as the dynamic inductance
Calculating statics using recursive least squaresInitial value of the state inductance
And does not rely on the use of position sensors.
3. The method as claimed in claim 1, wherein the step S5 is performed by using a second-order Runge Kutta method to calculate the static inductance of the q-axis in the synchronous reluctance motor
The numerical solution of (2) facilitates the implementation of the control algorithm in a digital processor.
4. The method as claimed in claim 1, wherein the rotor position angle estimated by the phase-locked loop in S6 is used for coordinate transformation in vector control; the rotation speed estimated by the phase-locked loop is used as the feedback input of the rotation speed loop in vector control.
5. The method as claimed in claim 1, wherein the iterative formula for calculating the initial value of the static inductance in S4 is as follows:
wherein Z (k) and Y (k) are system inputs,
for estimating the electrical angular velocity of the motor, a d-axis voltage command value u is used d * D-axis dynamic inductance estimate
In place of L dh ，R s Is stator resistance, T s Is the sampling period.
6. The method as claimed in claim 1, wherein the step S5 of calculating the q-axis static inductance at the current sampling time by using a second-order Runge Kuta method is performed in the method for controlling the synchronous reluctance motor based on the inductance identification without using a position sensor
The method specifically comprises the following steps:
from the definitions of static inductance and dynamic inductance, it is known that:
wherein
Is a q-axis flux linkage; the formula is rewritten into a discrete form by a second-order Runge Kutta method:
the estimation formula of the static inductance is:
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| CN114614724B (en) * | 2022-03-25 | 2023-02-28 | 哈尔滨工业大学 | Sensorless control method for flux linkage observer of synchronous reluctance motor |
| CN115085615B (en) * | 2022-08-11 | 2022-12-27 | 成都微精电机股份公司 | Resistance inductance parameter identification method for controlling vector motor |
| CN116317791B (en) * | 2023-05-17 | 2023-08-15 | 国网山西省电力公司太原供电公司 | Method and device for identifying inductance of synchronous reluctance motor without position sensor |
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| WO2012129797A1 (en) * | 2011-03-30 | 2012-10-04 | 深圳市英威腾电气股份有限公司 | Inductance parameter identification method of synchronous motor and implementation system thereof |
| CN108599651B (en) * | 2018-05-15 | 2020-07-03 | 华中科技大学 | Virtual voltage injection-based speed sensorless driving control method for induction motor |
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