CN113364359A - Position sensorless control method, position sensorless control device and storage medium - Google Patents
Position sensorless control method, position sensorless control device 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P25/022—Synchronous motors
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a position sensorless control method, a position sensorless control device and a storage medium, wherein the position sensorless control method comprises the following steps: determining the running state of the motor according to a first preset threshold value; according to the running state of the motor, adopting a first control strategy to carry out position identification to obtain first position information of a motor rotor, and adopting a second control strategy to carry out position identification to obtain second position information of the motor rotor; and acquiring the reliability of the first position information for torque control according to the second preset threshold and the second position information. The position sensorless control method, the position sensorless control device and the storage medium provided by the invention can be widely applied to a permanent magnet synchronous motor control system, do not need extra hardware overhead, and save hardware cost; moreover, the high ASIL level of position identification is realized, the torque control can reach the safety level ASIL C or ASIL D, and the safety level requirement of the new energy automobile sensorless control can be met in the full speed range.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motors, in particular to a position-sensorless control method and device and a storage medium.
Background
With the improvement of environmental awareness of people and the rapid development of automobile technology, new energy automobiles are more and more widely applied by virtue of the advantages of saving fuel resources, reducing exhaust emission, effectively protecting the environment and the like. In the prior art, a new energy electric drive system generally adopts a permanent magnet synchronous motor as an electromechanical energy conversion device, and a control system based on the permanent magnet synchronous motor generally adopts a rotary transformer to obtain an angle position. However, the introduction of a resolver greatly increases the complexity of the electric drive system due to the complex wiring of the resolver; in addition, the rotary transformer is greatly influenced by a motor magnetic field and the like, and is easy to damage, so that the reliability of an electric drive system is reduced. According to incomplete statistics, the rotary transformer is one of the parts with higher failure rate in the new energy electric drive system. Therefore, the permanent magnet synchronous motor position sensorless control technology has received much attention from those skilled in the art.
The position-less sensor can be divided into three operation states of low-speed operation, medium-speed operation and high-speed operation according to the operation state. Correspondingly, in the prior art, the permanent magnet synchronous motor sensorless control technology can be roughly divided into two categories: one type is suitable for medium and high speeds, and the other type is suitable for zero and low speeds. The method is simple and easy to implement, has a good estimation effect, and has the defect of poor running performance at zero speed and low speed. While the back emf signal is smaller at zero speed and low speed, and the rotor position information is difficult to obtain from the back emf, the high-frequency model based on the motor is usually adopted to obtain the angle position information by adopting a signal injection method, and the method has good performance at the low speed and zero speed stages, but has the defect of more complex realization.
Meanwhile, as a power device of an automobile, an electric drive system needs to have a higher functional safety level and needs to meet the requirements of ASIL C or ASIL D, and for this purpose, an egas (electronic product Application system) three-layer architecture is introduced into electric drive software, and the architecture includes: l1 (functional layer), L2 (functional monitoring layer) and L3 (hardware monitoring layer). The rotor position is used as an important signal for realizing torque (torque) control, the safety level of ASIL C or ASIL D is required to be achieved, and when a traditional rotary transformer is used, L2 is required to adopt AD Group sampling different from that of L1, different decoding algorithms and the like, so that function monitoring independent of L1 redundancy is realized. When L1 uses position sensorless control, high frequency injection must be used at low speed, and at present, there is no disclosure in the technical literature published in the field that describes simultaneous realization of two high frequency injections to realize position observation at L1 and L2, respectively.
Therefore, how to overcome the above-mentioned shortcomings in the prior art and provide a position sensorless control method to achieve high-precision and high-dynamic-performance control of a position sensorless within a full speed range that meets the requirement of a safety class is becoming one of the technical problems to be solved in the art.
It is noted that the information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The present invention is directed to provide a position sensorless control method, apparatus and storage medium for achieving high-precision and high-dynamic position sensorless control in a full speed range, so that torque control can meet safety level requirements of ASIL C or ASIL D.
In order to achieve the purpose, the invention is realized by the following technical scheme: a position sensorless control method for a position sensorless motor, comprising the steps of:
determining the running state of the motor according to a first preset threshold value;
according to the running state of the motor, the functional layer adopts a first control strategy to carry out position identification to obtain first position information of a motor rotor, and the function monitoring layer adopts a second control strategy to carry out position identification to obtain second position information of the motor rotor;
and according to a second preset threshold and the second position information, the function monitoring layer acquires the reliability of the first position information for torque control.
Optionally, the operating state of the motor comprises a low speed state and a high speed state;
the method for identifying the position of the functional layer by adopting a first control strategy to acquire first position information of the motor rotor and identifying the position of the functional monitoring layer by adopting a second control strategy to acquire second position information of the motor rotor according to the running state of the motor comprises the following steps:
if the motor runs in a low-speed state, the functional layer adopts a sine wave injection method to carry out position identification, and the first position information is obtained; the function monitoring layer adopts a square wave injection method to carry out position identification to obtain the second position information;
if the motor runs in a high-speed state, the functional layer adopts a state observer to carry out position identification to obtain the first position information; and the function monitoring layer adopts a sliding film observer to carry out position identification to acquire the second position information.
Optionally, the running state of the motor further comprises a high-low speed transition region;
the method for identifying the position of the functional layer by adopting a first control strategy to acquire first position information of the motor rotor and identifying the position of the functional monitoring layer by adopting a second control strategy to acquire second position information of the motor rotor according to the running state of the motor comprises the following steps:
if the motor operates in the high-low speed transition region,
respectively adopting a sine wave injection method to carry out position identification on the functional layer to obtain third position information, and adopting a state observer to carry out position identification to obtain fourth position information; acquiring the first position information according to the third position information and the fourth position information;
the functional monitoring layer respectively adopts a square wave injection method to carry out position identification to obtain fifth position information, and adopts a sliding film observer to carry out position identification to obtain sixth position information; and acquiring the second position information according to the fifth position information and the sixth position information.
Optionally, the method for determining the operating state of the motor according to the first preset threshold includes:
if the rotating speed of the motor is less than or equal to 10% of the rated rotating speed, the motor operates in a low-speed state;
if the rated rotating speed of the motor is more than 10% of the rated rotating speed of the motor and less than or equal to 20% of the rated rotating speed of the motor, the motor operates in a high-low speed transition region;
and if the rated rotating speed of the motor is less than 20% of the rated rotating speed of the motor, the motor operates in a high-speed state.
Optionally, the method for acquiring the first location information according to the third location information and the fourth location information includes:
acquiring a first weight ratio/a second weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein a sum of the first weight ratio and the second weight ratio is 1;
weighting the third position information by using a first weight ratio to obtain a first weighted value; weighting the fourth position information by using a second weight ratio to obtain a second weighted value;
and calculating to obtain the first position information according to the first weighted value and the second weighted value.
Optionally, the obtaining the second location information according to the fifth location information and the sixth location information includes:
acquiring a third weight ratio/a fourth weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein the sum of the third weight proportion and the fourth weight proportion is 1;
weighting the fifth position information by using a third weight ratio to obtain a third weighted value; weighting the sixth position information by using a fourth weight ratio to obtain a fourth weighted value;
and calculating to obtain the second position information according to the third weighted value and the fourth weighted value.
Optionally, the method for identifying a position of the functional layer by using a sine wave injection method to obtain the first position information includes:
injecting a sine high-frequency voltage into a d axis;
extracting first current information excited by the sine high-frequency voltage by using a band-pass filter according to the sine high-frequency voltage;
demodulating the first current information to obtain first input information of a first phase-locked loop;
and acquiring the first position information by using the first phase-locked loop according to the first input information.
Optionally, the method for performing position identification on the functional monitoring layer by using a square wave injection method to obtain the second position information includes:
injecting square wave high-frequency voltage into a d axis;
obtaining second current information excited by the square wave high-frequency voltage according to the square wave high-frequency voltage;
and acquiring the second position information by using the second phase-locked loop according to the second current information.
Optionally, the method for identifying a position by using a state observer to obtain the first position information includes:
obtaining third current information and first voltage information of the motor;
constructing a state observer of the electronic rotor according to the third current information and the first voltage information;
and determining the first position information according to the state observer.
Optionally, the method for the function monitoring layer to perform position identification by using a slip film observer to obtain the second position information includes:
obtaining fourth current information and second voltage information of the motor;
constructing a synovial membrane observer according to the fourth current information and the second voltage information;
and acquiring the second position information according to the synovial membrane observer.
Optionally, the method for the function monitoring layer to obtain the reliability of the first position information for torque control according to a second preset threshold and the second position information includes:
judging whether the deviation between the first position information and the second position information is smaller than a second preset threshold value or not, if so, enabling the first position information to be used for torque control of a motor; if not, the first location information is not trusted.
In order to achieve the above object, the present invention also provides a position sensorless control apparatus for a position sensorless motor, comprising:
an operating state acquiring unit configured to determine an operating state of the motor according to a first preset threshold;
the position information acquisition unit is configured to perform position identification on the functional layer by adopting a first control strategy according to the running state of the motor to acquire first position information, and perform position identification on the functional monitoring layer by adopting a second control strategy to acquire second position information;
and the angle identification evaluation unit is configured to obtain the reliability of the first position information for torque control according to a second preset threshold and the second position information.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon computer-executable instructions that, when executed, implement the steps of the position-sensor-less control method according to any one of the above.
Compared with the prior art, the position-sensorless control method, the position-sensorless control device and the storage medium have the following beneficial effects:
the invention provides a position-sensorless control method, which is used for a position-sensorless motor and comprises the following steps: determining the running state of the motor according to a first preset threshold value; according to the running state of the motor, the functional layer adopts a first control strategy to carry out position identification to obtain first position information of a motor rotor, and the function monitoring layer adopts a second control strategy to carry out position identification to obtain second position information of the motor rotor; and according to a second preset threshold and the second position information, the function monitoring layer acquires the reliability of the first position information for torque control. With the configuration, the position-sensorless control method provided by the invention can be widely applied to a permanent magnet synchronous motor control system, so that a rotary transformer is omitted from the motor, extra hardware overhead is not needed, the complexity of an electric drive system is greatly reduced, and the hardware cost is saved; and better control performance can be obtained, and the reliability of the electric drive system can be obviously improved. Furthermore, according to the running state of the motor, the high ASIL level of position identification is realized by two redundant sensorless identification schemes of position identification and torque control at the functional layer, and radial position identification and position monitoring at the functional monitoring layer, the torque control can reach the safety level ASIL C or ASIL D, and the safety level requirement of sensorless control of the new energy automobile can be met in the full speed range.
Further, the position sensorless control method, the position sensorless control device and the storage medium provided by the invention adopt different control strategies according to the running state of the motor: if the motor runs in a low-speed state, the functional layer adopts a sine wave injection method to carry out position identification, and the first position information is obtained; the function monitoring layer adopts a square wave injection method to carry out position identification to obtain the second position information; if the motor runs in a high-speed state, the functional layer adopts a state observer to carry out position identification to obtain the first position information; and the function monitoring layer adopts a sliding film observer to carry out position identification to acquire the second position information. Due to the configuration, different control strategies are adopted at low speed (including zero speed and low speed) and high speed, the method is simple and easy to implement, is convenient to implement, has good estimation effect and good performance in a full speed range, and has high safety level. The sensorless control method can be well applied to new energy automobiles.
Drawings
Fig. 1 is a schematic flow chart of a position sensorless control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a position recognition principle without a position sensor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a sine wave injection position identification principle according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a position identification principle of a square wave injection method according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a principle of identifying a position of a state observer according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a position recognition principle of a slide film observer according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a position recognition angle error at low speed and torque signals in L1 and L2 using an embodiment of the position sensorless control method provided by the present invention;
FIG. 8 is a schematic diagram of L1 position recognition and torque control over a full speed range using an embodiment of the position sensorless control method provided by the present invention;
FIG. 9 is a schematic diagram illustrating the L2 position recognition within the full speed range using an embodiment of the position sensorless control method provided by the present invention;
FIG. 10 is a schematic structural diagram of a position sensorless control apparatus according to an embodiment of the present invention;
wherein the reference numerals are as follows:
100-running state acquisition unit, 200-position information acquisition unit and 300-angle identification evaluation unit.
Detailed Description
To make the objects, advantages and features of the present invention more apparent, a position sensorless control method, an apparatus and a storage medium according to the present invention will be described in detail with reference to the accompanying drawings. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. It should be understood that the drawings are not necessarily to scale, showing the particular construction of the invention, and that illustrative features in the drawings, which are used to illustrate certain principles of the invention, may also be somewhat simplified. Specific design features of the invention disclosed herein, including, for example, specific dimensions, orientations, locations, and configurations, will be determined in part by the particular intended application and use environment. In the embodiments described below, the same reference numerals are used in common between different drawings to denote the same portions or portions having the same functions, and a repetitive description thereof will be omitted. In this specification, like reference numerals and letters are used to designate like items, and therefore, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.
These terms, as used herein, are interchangeable where appropriate. Similarly, if the method described herein comprises a series of steps, the order in which these steps are presented herein is not necessarily the only order in which these steps may be performed, and some of the described steps may be omitted and/or some other steps not described herein may be added to the method.
The present embodiment provides a position sensorless control method for a position sensorless motor, and preferably, the position sensorless control method adopts an EGAS three-layer architecture. Specifically, referring to fig. 1, fig. 1 is a flowchart of a position sensorless control method provided in this embodiment, and as can be seen from fig. 1, the position sensorless control method includes the following steps:
s100: and determining the running state of the motor according to a first preset threshold value.
S200: according to the running state of the motor, the functional layer adopts a first control strategy to carry out position identification to obtain first position information of the motor rotor, and the function monitoring layer adopts a second control strategy to carry out position identification to obtain second position information of the motor rotor. Specifically, the first position information includes angle information of the motor rotor obtained by the functional layer by using a first control strategy; the second position information comprises angle information of the motor rotor, which is acquired by the function monitoring layer by adopting a second control strategy. Further, as will be understood by those skilled in the art, the first position information and the second position information are position information of the motor rotor at the same time in the same operation cycle of the motor rotor. Further, according to the concept of the EGAS three-tier architecture, the functional layers are also referred to as Level1 or L1; the function monitoring layer is also called Level2 or L2. Namely: in the text and drawings part of this document, the functional layers, Level1 and L1 are, unless otherwise specified, identical to each other; the function monitoring layer, Level2 and L2 are identical to each other.
S300: and according to a second preset threshold and the second position information, the function monitoring layer acquires the reliability of the first position information for torque control. Preferably, in one preferred embodiment, the method for obtaining the reliability includes: judging whether the deviation between the first position information and the second position information is smaller than a second preset threshold value or not, if so, enabling the first position information to be used for torque control of a motor; if not, the first location information is not trusted. The deviation may be an absolute difference between the first position information (such as an angular position) and the second position information (such as an angular position), or may be a percentage of a difference between the first position information and the second position information, which is not limited in the present invention; in addition, it can be understood that the second preset threshold value should be reasonably set according to actual working conditions. Further, preferably, when the first position information is not credible, the first position information is not used for torque control, and safety alarm information is given, so that potential safety hazards are eliminated.
With the configuration, the position sensor-free control method provided by the invention can be widely applied to a permanent magnet synchronous motor control system, so that a rotary transformer is not required for the motor, extra hardware cost is not required, the complexity of an electric drive system is greatly reduced, and the hardware cost is saved; and better control performance can be obtained, and the reliability of the electric drive system can be obviously improved. Furthermore, according to the running state of the motor, the high ASIL level of position identification is realized by two redundant sensorless identification schemes of position identification and torque control at the functional layer, and radial position identification and position monitoring at the functional monitoring layer, the torque control can reach the safety level ASIL C or ASIL D, and the safety level requirement of sensorless control of the new energy automobile can be met in the full speed range.
Further, all steps of the position sensor-less control method provided by the present invention are performed by computer means, preferably a motor controller, but as will be appreciated by those skilled in the art, the computer means includes, but is not limited to, a controller of a motor. Thus, the position and speed of the rotor can be determined in real time. In fact, the position sensorless control method provided by the present invention is easily implemented on-line and can be easily integrated into any controller of an electric/hybrid vehicle.
Further, it will be understood by those skilled in the art that the position sensorless control method and apparatus provided by the present invention are applicable to permanent magnet synchronous motors, but are not limited to permanent magnet synchronous motors. The permanent magnet synchronous machine may be any one of a permanent magnet, controlled excitation, or dual excitation. Further, the permanent magnet synchronous motor is used for an electric drive system including but not limited to a new energy automobile.
Preferably, in one exemplary embodiment, the operation state of the motor includes a low speed state and a high speed state in step S100. Preferably, the operation state of the motor further comprises a high-low speed transition region.
Specifically, in a preferred embodiment, in step S100, the method for determining the operating state of the motor according to the first preset threshold includes:
if the rotating speed of the motor is less than or equal to 10% of the rated rotating speed, the motor operates in a low-speed state;
if the rated rotating speed of the motor is more than 10% of the rated rotating speed of the motor and less than or equal to 20% of the rated rotating speed of the motor, the motor operates in a high-low speed transition region;
and if the rated rotating speed of the motor is less than 20% of the rated rotating speed of the motor, the motor operates in a high-speed state.
It is to be understood that the above-mentioned methods for determining the low speed state (including low speed and zero speed), the high speed state and the high-low speed transition region are only exemplary and not limiting, and the low speed state, the high speed state and the high-low speed transition region of the rotation speed of the electric machine should be reasonably determined according to the actual working conditions in a specific application.
Specifically, referring to fig. 2, fig. 2 is a general schematic diagram illustrating a position recognition principle without a position sensor according to an embodiment of the present invention. As shown in fig. 2, in step S200, according to the operation state of the motor, the method for identifying the position of the functional layer by using the first control strategy to obtain the first position information of the motor rotor, and for identifying the position of the functional monitoring layer by using the second control strategy to obtain the second position information of the motor rotor includes:
s210: if the motor runs in a low-speed state, the functional layer adopts a sine wave injection method to carry out position identification, and the first position information is obtained; the function monitoring layer adopts a square wave injection method to carry out position identification to obtain the second position information;
s220: if the motor runs in a high-speed state, the functional layer adopts a state observer to carry out position identification to obtain the first position information; and the function monitoring layer adopts a sliding film observer to carry out position identification to acquire the second position information.
In particular, the present invention does not limit the execution sequence of steps S210 and S220, for example, in one embodiment, S210 is executed first, and then S220 is executed; in another embodiment, S220 is performed first, and then S210 is performed; further, in a multiprocessor system, step S210 and step S220 may even be performed simultaneously.
Therefore, according to the position sensorless control method provided by the invention, different control strategies are adopted according to the running state of the motor, and the configuration is adopted, so that different control strategies are adopted at low speed (including zero speed and low speed) and high speed, the method is simple and easy to implement, convenient to implement, good in estimation effect and performance in a full speed range, and high in safety level, and the position sensorless control method can be well applied to new energy automobiles.
Further, in step S200, the method for identifying the position of the functional layer by using a first control strategy to obtain first position information of the motor rotor and for identifying the position of the functional monitoring layer by using a second control strategy to obtain second position information of the motor rotor according to the operating state of the motor further includes:
s230: if the motor runs in a high-low speed transition region, the functional layer respectively adopts a sine wave injection method to carry out position identification to obtain third position information, and adopts a state observer to carry out position identification to obtain fourth position information; acquiring the first position information according to the third position information and the fourth position information; the functional monitoring layer respectively adopts a square wave injection method to carry out position identification to obtain fifth position information, and adopts a sliding film observer to carry out position identification to obtain sixth position information; and acquiring the second position information according to the fifth position information and the sixth position information.
Specifically, in a preferred embodiment, in step S230, the method for acquiring the first location information according to the third location information and the fourth location information includes:
s231: acquiring a first weight ratio/a second weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein a sum of the first weight ratio and the second weight ratio is 1;
s232: weighting the third position information by using a first weight ratio to obtain a first weighted value; weighting the fourth position information by using a second weight ratio to obtain a second weighted value;
s233: and calculating to obtain the first position information according to the first weighted value and the second weighted value.
In the high-low speed transition region, L1 adopts two schemes to identify simultaneously, and weights the result obtained by identification to obtain the first position information.
Preferably, in another exemplary embodiment, in step S230, the acquiring the second position information according to the fifth position information and the sixth position information includes:
s234: acquiring a third weight ratio/a fourth weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein the sum of the third weight proportion and the fourth weight proportion is 1;
s235: weighting the fifth position information by using a third weight ratio to obtain a third weighted value; weighting the sixth position information by using a fourth weight ratio to obtain a fourth weighted value;
s236: and calculating to obtain the second position information according to the third weighted value and the fourth weighted value.
In the high-low speed transition region, L2 adopts two schemes to identify simultaneously, and weights the result obtained by identification to obtain the second position information.
Specifically, in an exemplary embodiment, in step S200, the functional layer performs position identification by using a sine wave injection method, and a method for acquiring the first position information is described, referring to fig. 3, where fig. 3 is a schematic diagram of a principle of position identification by using a sine wave injection method provided in this embodiment. According to fig. 3, it can be analyzed that the method for identifying the position by the sine wave injection method includes the following steps:
injecting a sine high-frequency voltage into a d axis;
extracting first current information excited by the sine high-frequency voltage by using a band-pass filter according to the sine high-frequency voltage;
demodulating the first current information to obtain first input information of a first phase-locked loop;
and acquiring the first position information by using the first phase-locked loop according to the first input information.
Specifically, in an exemplary implementation manner, in step S200, the method for performing position identification on the function monitoring layer by using a square wave injection method to obtain the second position information includes, referring to fig. 4, where fig. 4 is a schematic diagram of a principle of position identification by using the square wave injection method provided in this embodiment, and as can be analyzed from fig. 4, the method for performing position identification by using the square wave injection method includes the following steps:
injecting square wave high-frequency voltage into a d axis;
obtaining second current information excited by the square wave high-frequency voltage according to the square wave high-frequency voltage;
and acquiring the second position information by using the second phase-locked loop according to the second current information.
Specifically, in an exemplary implementation manner, in step S200, the functional layer adopts a state observer to perform position identification, and obtains the first position information, referring to fig. 5, where fig. 5 is a schematic diagram of a principle of position identification of the state observer provided in this embodiment. From fig. 5, it can be analyzed that the method for identifying a position by using a state observer includes the following steps:
obtaining third current information and first voltage information of the motor;
constructing a state observer of the motor rotor according to the third current information and the first voltage information;
and determining the first position information according to the state observer.
Specifically, in an exemplary embodiment, in step S200, the function monitoring layer performs position identification by using a sliding film observer, and a method for acquiring the second position information, referring to fig. 6, where fig. 6 is a schematic diagram of a principle of position identification of the sliding film observer provided in this embodiment, and it can be analyzed from fig. 6 that the method for position identification by using the sliding film observer includes the following steps:
measuring to obtain fourth current information and fourth voltage information of the motor;
constructing a slip film observer according to the fourth current information and the fourth voltage information, and acquiring a back electromotive force estimated value of the motor;
and acquiring the second position information according to the back electromotive force estimated value.
It is understood by those skilled in the art that the above description is only a general description of the sine wave injection method position identification, the square wave injection method position identification, the state observer position identification and the slip film observer position identification method, and is only exemplary and not limiting, and in practical applications, the method should be properly selected according to practical situations. For those skilled in the art, according to the drawings corresponding to the sine wave injection method position identification, the square wave injection method position identification, the state observer position identification and the synovial observer position identification disclosed in the present application, adaptive expansion or modification can be easily performed, and details are not repeated one by one.
Referring to fig. 7, fig. 7 is a schematic diagram of a position recognition angle error and rotation speed and torque signals in L1 and L2 at a low speed according to an embodiment of the position sensorless control method provided by the present invention. As can be seen from fig. 7: under the condition of constant currents iq and id, when the motor runs in a low-Speed state, namely Speed (the rotating Speed of a motor rotor is between 200rad/s and 400 rad/s) in FIG. 7, the error agrerr between the first position information (estimated angular position) acquired by the sine wave injection method of L1 and a real position approaches to 0; the error agErr between the second position information (estimated angle position information) obtained by the square wave injection method of the L2 and the real position is also close to 0; as can be seen from Current and torque in fig. 7, stable torque control can be achieved by using the first position information estimated by L1, and thus, the position-sensor-less control method provided by the present invention can achieve stable torque control in a low speed state.
Referring to fig. 8 and 9, fig. 8 is a schematic diagram illustrating L1 position recognition and torque control in a full speed range by applying an embodiment of the position-sensorless control method of the present invention, and fig. 9 is a schematic diagram illustrating L2 position recognition in a full speed range by applying an embodiment of the position-sensorless control method of the present invention. As can be seen from fig. 8: under the condition of certain currents iq and id, in the full-Speed range of the motor operation, namely Speed (the rotating Speed of the motor rotor is between 0rad/s and 2500 rad/s) in FIG. 8, the error agErr of the first position information (estimated angular position) acquired by L1 and the real position approaches to 0; as can be seen from Torque in fig. 8, stable Torque control can be achieved using the first position information estimated by L1; correspondingly, when the motor is operated in the full Speed range, i.e. Speed in fig. 9 (the rotation Speed of the motor rotor is between about 0rad/s and 2500 rad/s), the error agrer between the second position information (estimated angular position information) obtained by L2 and the real position also approaches 0; therefore, the position-sensor-free control method provided by the invention can realize stable torque control in a full-speed range.
Another embodiment of the present invention provides a position sensorless control apparatus for a position sensorless motor. Specifically, referring to fig. 10, fig. 10 is a schematic structural diagram of the position sensorless control device provided in this embodiment, and as can be seen from fig. 10, the position sensorless control device includes: an operation state acquisition unit 100, a position information acquisition unit 200, and an angle recognition monitoring unit 300.
Specifically, the operation state acquisition unit 100 is configured to determine the operation state of the motor according to a first preset threshold. The position information obtaining unit 200 is configured to, according to the operating state of the motor, perform position identification on the functional layer by using a first control strategy to obtain first position information, and perform position identification on the functional monitoring layer by using a second control strategy to obtain second position information. The angle identification monitoring unit 300 is configured to obtain, by the function monitoring layer, a reliability of the first position information for torque control according to a second preset threshold and the second position information.
The position sensorless control apparatus provided in this embodiment is similar to the position sensorless control method provided in the foregoing embodiments, and therefore has at least the same beneficial effects, which are not described in detail herein.
It should be noted that the methods and apparatuses disclosed in the embodiments herein can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments herein. In this regard, each block in the flowchart or block diagrams may represent a module, a program, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments herein may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Yet another embodiment of the present invention further provides a computer-readable storage medium having computer-executable instructions stored thereon, which when executed implement the steps of the position sensor-less control method according to any one of the above embodiments. Because the computer-readable storage medium provided by the invention belongs to the same inventive concept as the temperature control method of the power battery provided by the above embodiments, the computer-readable storage medium at least has the same beneficial effects as the above methods, and thus, the description is omitted.
The readable storage medium of this embodiment may be any combination of one or more computer-readable media. The readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this context, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
In summary, according to the position sensorless control method, apparatus and storage medium provided by the present invention, according to the operating state of the motor, the high frequency injection method is used to realize the position identification at low speed and static (zero speed), the observer is used to realize the position identification at high speed, and the two methods are used to realize the position identification at the transition region. Through the two-path redundant sensorless identification scheme of position identification and torque control, radial position identification and position monitoring of the function monitoring layer at the functional layer, high ASIL level of position identification is realized, the torque control can reach safety level ASIL C or ASIL D, and the safety level requirement of sensorless control of the new energy automobile can be met in a full speed range.
Those skilled in the art will understand that reference throughout this specification to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means 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 present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In summary, the above embodiments have been described in detail on various configurations of the position sensorless control method, apparatus and storage medium, it is to be understood that the above description is only for the description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention in any way.
Claims (13)
1. A position sensorless control method for a position sensorless motor, comprising the steps of:
determining the running state of the motor according to a first preset threshold value;
according to the running state of the motor, the functional layer adopts a first control strategy to carry out position identification to obtain first position information of a motor rotor, and the function monitoring layer adopts a second control strategy to carry out position identification to obtain second position information of the motor rotor;
and according to a second preset threshold and the second position information, the function monitoring layer acquires the reliability of the first position information for torque control.
2. The position sensorless control method according to claim 1, wherein the operation state of the motor includes a low speed state and a high speed state;
the method for identifying the position of the functional layer by adopting a first control strategy to acquire first position information of the motor rotor and identifying the position of the functional monitoring layer by adopting a second control strategy to acquire second position information of the motor rotor according to the running state of the motor comprises the following steps:
if the motor runs in a low-speed state, the functional layer adopts a sine wave injection method to carry out position identification, and the first position information is obtained; the function monitoring layer adopts a square wave injection method to carry out position identification to obtain the second position information;
if the motor runs in a high-speed state, the functional layer adopts a state observer to carry out position identification to obtain the first position information; and the function monitoring layer adopts a sliding film observer to carry out position identification to acquire the second position information.
3. The position sensorless control method of claim 2 wherein the operating state of the electric machine further comprises a high-low speed transition region;
the method for identifying the position of the functional layer by adopting a first control strategy to acquire first position information of the motor rotor and identifying the position of the functional monitoring layer by adopting a second control strategy to acquire second position information of the motor rotor according to the running state of the motor comprises the following steps:
if the motor operates in the high-low speed transition region,
respectively adopting a sine wave injection method to carry out position identification on the functional layer to obtain third position information, and adopting a state observer to carry out position identification to obtain fourth position information; acquiring the first position information according to the third position information and the fourth position information;
the functional monitoring layer respectively adopts a square wave injection method to carry out position identification to obtain fifth position information, and adopts a sliding film observer to carry out position identification to obtain sixth position information; and acquiring the second position information according to the fifth position information and the sixth position information.
4. The position sensorless control method according to claim 3, wherein the method of determining the operating state of the motor according to a first preset threshold value comprises:
if the rotating speed of the motor is less than or equal to 10% of the rated rotating speed, the motor operates in a low-speed state;
if the rated rotating speed of the motor is more than 10% of the rated rotating speed of the motor and less than or equal to 20% of the rated rotating speed of the motor, the motor operates in a high-low speed transition region;
and if the rated rotating speed of the motor is less than 20% of the rated rotating speed of the motor, the motor operates in a high-speed state.
5. The position-sensor-less control method according to claim 3, wherein the method of acquiring the first position information from the third position information and the fourth position information includes:
acquiring a first weight ratio/a second weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein a sum of the first weight ratio and the second weight ratio is 1;
weighting the third position information by using a first weight ratio to obtain a first weighted value; weighting the fourth position information by using a second weight ratio to obtain a second weighted value;
and calculating to obtain the first position information according to the first weighted value and the second weighted value.
6. The position-sensor-less control method according to claim 3, wherein the acquiring the second position information based on the fifth position information and the sixth position information includes:
acquiring a third weight ratio/a fourth weight ratio according to the rotating speed of the motor and the low-speed end value/high-speed end value of the high-low speed transition region; wherein the sum of the third weight proportion and the fourth weight proportion is 1;
weighting the fifth position information by using a third weight ratio to obtain a third weighted value; weighting the sixth position information by using a fourth weight ratio to obtain a fourth weighted value;
and calculating to obtain the second position information according to the third weighted value and the fourth weighted value.
7. The position sensorless control method according to claim 2, wherein the method for acquiring the first position information by using a sine wave injection method for position recognition by the functional layer comprises:
injecting a sine high-frequency voltage into a d axis;
extracting first current information excited by the sine high-frequency voltage by using a band-pass filter according to the sine high-frequency voltage;
demodulating the first current information to obtain first input information of a first phase-locked loop;
and acquiring the first position information by using the first phase-locked loop according to the first input information.
8. The position sensorless control method according to claim 2, wherein the method for acquiring the second position information by the functional monitoring layer using a square wave injection method comprises:
injecting square wave high-frequency voltage into a d axis;
obtaining second current information excited by the square wave high-frequency voltage according to the square wave high-frequency voltage;
and acquiring the second position information by using the second phase-locked loop according to the second current information.
9. The position sensorless control method according to claim 2, wherein the method for acquiring the first position information by using a state observer for position recognition by the functional layer comprises:
obtaining third current information and first voltage information of the motor;
constructing a state observer of the motor rotor according to the third current information and the first voltage information;
and determining the first position information according to the state observer.
10. The position sensorless control method according to claim 2, wherein the function monitoring layer adopts a slide film observer for position recognition to obtain the second position information, and the method comprises:
obtaining fourth current information and second voltage information of the motor;
constructing a synovial membrane observer according to the fourth current information and the second voltage information;
and acquiring the second position information according to the synovial membrane observer.
11. The position-sensor-less control method according to any one of claims 1 to 10, wherein the method for the function monitoring layer to acquire the reliability of the first position information for torque control based on a second preset threshold and the second position information includes:
judging whether the deviation between the first position information and the second position information is smaller than a second preset threshold value or not, if so, enabling the first position information to be used for torque control of a motor; if not, the first location information is not trusted.
12. A position sensorless control apparatus for a position sensorless motor, the position sensorless control apparatus comprising:
an operating state acquiring unit configured to determine an operating state of the motor according to a first preset threshold;
the position information acquisition unit is configured to perform position identification on the functional layer by adopting a first control strategy according to the running state of the motor to acquire first position information, and perform position identification on the functional monitoring layer by adopting a second control strategy to acquire second position information;
and the angle identification evaluation unit is configured to obtain the reliability of the first position information for torque control according to a second preset threshold and the second position information.
13. A computer-readable storage medium having computer-executable instructions stored thereon that, when executed, implement the steps of the position sensor-less control method of any one of claims 1 to 11.
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