CN113364366B - Rapid self-correction device and method for commutation point of high-speed permanent magnet motor without position sensor - Google Patents
Rapid self-correction device and method for commutation point of high-speed permanent magnet motor without position sensor Download PDFInfo
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- CN113364366B CN113364366B CN202110668707.XA CN202110668707A CN113364366B CN 113364366 B CN113364366 B CN 113364366B CN 202110668707 A CN202110668707 A CN 202110668707A CN 113364366 B CN113364366 B CN 113364366B
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
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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
- H02P6/187—Circuit arrangements for detecting position without separate position detecting elements using the star point voltage
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Abstract
The invention relates to a device and a method for quickly and automatically correcting commutation points of a high-speed permanent magnet motor without a position sensor, wherein the device comprises a voltage-stabilizing direct current power supply (1), a Buck converter (2), a three-phase full bridge circuit (3), a brushless direct current motor (4), a current detection circuit (5), a voltage conditioning circuit (6) and a digital controller (7), the digital controller (7) derives a non-conducting phase voltage correction coefficient before commutation according to a direct current bus current difference and a correction quantity of the correction coefficient, and a crossing point of line voltage, which is a crossing point of the corrected non-conducting phase voltage and the conducting phase voltage before commutation, is used as a commutation point, so that quick self-correction of commutation errors is realized. The correction device is based on the designed commutation point rapid self-correction method, so that the influence of nonideal back electromotive force on a commutation signal of the position-free sensor is avoided, and the precision and the reliability of the commutation control of the position-free sensor of the high-speed permanent magnet motor are guaranteed.
Description
Technical Field
The invention relates to a quick self-correcting device for commutation points of a high-speed permanent magnet motor without a position sensor, which can be used for obtaining accurate commutation signals, realizing quick correction of commutation errors and ensuring the operation of the high-speed motor without the position sensor.
Background
The permanent magnet brushless motor has the characteristics of high energy density, high efficiency, simple structure, easy control and the like, and is increasingly applied to many fields of industrial equipment, aerospace and the like. The commutation control method can be divided into two main categories of commutation technologies with position sensors and without position sensors. Although the position sensor commutation technology is simple in control method, it is necessary to consider a complicated problem of failure in a severe environment from the viewpoint of reliability. Compared with the phase change technology with the position sensor, the phase change technology without the position sensor does not need to additionally increase the sensor, and has the advantages of avoiding redundant outgoing lines, reducing the complexity of a system, improving the reliability and the like.
The control without the position sensor generally utilizes the self information of the motor to directly or indirectly obtain equivalent phase change signals to realize phase change, and utilizes counter potential information to be a method which is widely applied at present, however, phase delay introduced by low-pass filtering, diode follow current in the phase change process and the influence of delay of electronic devices cause errors of the phase change signals, and the efficiency of the motor is reduced. The three-phase back electromotive force waveform of an actual high-speed motor is not an ideal trapezoidal wave but is between a sine wave and a trapezoidal wave, and in addition, the three-phase back electromotive force is not a symmetrical waveform. In the prior art, proposed commutation point error correction methods suitable for different detection methods mainly include an open-loop compensation strategy and a closed-loop correction strategy, wherein the open-loop compensation strategy generates compensation quantities according to error angles to compensate commutation signals, and the closed-loop correction strategy mainly selects control quantities reflecting commutation deviations to design a closed-loop control method according to symmetrical properties of voltage, current and other signals of a motor. However, the two methods need to wait for the next operation period to be implemented, and cannot take rapid measures against commutation deviation; the hardware circuit is used for compensation in the phase change signal acquisition process, and although the fast compensation of the phase change deviation is ensured, the calculation in the design process of the hardware circuit is complex and the complexity of the system is increased. In addition, when a phase change signal is obtained by utilizing counter potential information, asymmetric non-ideal three-phase counter potentials also have influence on the optimal phase change point, so that the phase change error correction is realized, the research on the asymmetric non-ideal problem of the counter potentials is less, and the prior art is difficult to provide a solution.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the device and the method for quickly and automatically correcting the commutation point of the high-speed permanent magnet motor without the position sensor overcome the defects of the existing method, aim at the problem of commutation error correction of the high-speed permanent magnet motor without the position sensor and consider the influence of three-phase back electromotive force asymmetry nonideal, directly obtain the accurate commutation point and realize high-precision commutation control without the position sensor.
In order to solve the technical problems, the invention provides the following technical scheme:
a fast self-correcting device for commutation points of a position-sensorless high-speed permanent magnet motor comprises a voltage-stabilizing direct-current power supply, a Buck converter, a three-phase full-bridge circuit, a brushless direct-current motor, a current detection circuit, a voltage conditioning circuit and a digital controller; the PWM signal generated by the digital controller controls a power switch tube of the Buck converter so as to regulate the DC bus voltage provided by the voltage-stabilizing DC power supply, the current detection circuit converts the DC bus voltage signal into a DC bus current signal to be input into the digital controller, and the voltage conditioning circuit inputs a phase voltage signal into the digital controller; the digital controller includes: the current and voltage acquisition module, commutation point self-correction module and commutation signal generation module, current and voltage acquisition module receive the direct current bus current signal of current detection circuit output and calculate the current difference according to the direct current bus current signal at two sampling moments to and receive the phase voltage signal of voltage conditioning circuit output, commutation point self-correction module basis the current difference generates the voltage correction coefficient and right phase voltage signal rectifies, commutation signal generation module generates the commutation signal output to three-phase full-bridge circuit, three-phase full-bridge circuit realizes according to this commutation signal brushless DC motor's no position sensor high accuracy commutation control.
Optionally, the voltage conditioning circuit includes an RC low-pass filter, a voltage comparator and a conditioning circuit, the three-phase voltage signal output by the brushless dc motor is filtered by the RC low-pass filter and then input to the voltage comparator, the voltage comparator compares the filtered voltage signal with the neutral point voltage of the brushless dc motor, and the compared signal satisfies the input voltage range of the digital controller after being output by the conditioning circuit.
Optionally, the commutation point self-correction module obtains a voltage correction coefficient according to the initially obtained current difference, and initially corrects a non-conducting phase voltage signal in the phase voltage signals received by the current and voltage acquisition module based on the voltage correction coefficient.
Optionally, the commutation point self-correction module corrects the voltage correction coefficient according to the real-time current difference after the initial correction, and corrects the non-conducting phase voltage signal by the corrected voltage correction coefficient.
Optionally, when the corrected non-conducting phase voltage value is equal to the pre-commutation-leading phase voltage value, the commutation signal generating module generates the commutation signal.
The invention also provides the following technical scheme:
the utility model provides a quick self-calibration method of no position sensor high-speed permanent-magnet machine commutation point, is applied to no position sensor high-speed permanent-magnet machine commutation point and quick self-calibration device, wherein, the device includes steady voltage DC power supply, Buck converter, three-phase full-bridge circuit, brushless DC motor, current detection circuit, voltage conditioning circuit, digital controller, the method includes the following step:
1) the digital controller generates a PWM signal to control a power switch tube of the Buck converter so as to regulate the voltage of a direct current bus provided by the voltage-stabilizing direct current power supply;
2) the current detection circuit converts the direct current bus voltage signal into a direct current bus current signal and inputs the direct current bus current signal into a digital controller; the voltage conditioning circuit inputs a phase voltage signal into the digital controller;
3) the digital controller receives the direct current bus current signals output by the current detection circuit, calculates a current difference according to the direct current bus current signals at two sampling moments, and generates a voltage correction coefficient by using a phase conversion point self-correction method based on the current difference to correct the phase voltage signals;
4) when the corrected non-conducting phase voltage value is equal to the non-conducting phase voltage value before phase commutation, the digital controller generates the phase commutation signal and outputs the phase commutation signal to the three-phase full-bridge circuit, and the three-phase full-bridge circuit realizes the position-sensorless high-precision phase commutation control of the brushless direct current motor according to the phase commutation signal.
Optionally, the phase change point self-correction method includes the following steps:
in the first step, a digital controller (7) detects a direct current bus current i according to a current detection circuit (5)LComputing stationThe current difference is based on the current difference Δ iL(alpha) and the sine term of the fundamental frequency of the opposite potential are subjected to Taylor expansion, and the commutation error angle alpha is calculated by neglecting the high-order term:
wherein R is the phase resistance of the motor winding, delta iL(alpha) is the DC bus current difference when the commutation error angle is alpha, A1The coefficient is an opposite potential fundamental frequency coefficient, and delta is an offset angle of direct current bus current sampling;
secondly, neglecting the high-frequency harmonic influence of the opposite potential, the digital controller (7) calculates the correction coefficient of the non-conducting phase voltage of the phase voltage signal before phase commutation according to the error angle alpha, and performs initial correction on the non-conducting phase voltage through an initial correction coefficient m (0), wherein the initial correction coefficient m (0) is expressed as:
wherein the formula is calculated according to the principle that the intersection point of the corrected non-conducting phase voltage and the phase-change pre-conducting phase voltage leads the original phase-change point angle alpha, alpha is the phase-change error angle, theta isidealFor ideal commutation point, the line voltage u is initially correctedbcm、ucamAnd line voltage uabmThe correction coefficients m (0) of (2) are the same.
Thirdly, after initial correction, the digital controller (7) calculates the real-time direct current bus current difference delta iL(α), the PI controller follows Δ m (K) KpΔiL(α)+Ki∫ΔiL(α) dt represents a correction amount Δ m (K) of the correction coefficient, where K ispProportional coefficient of PI controller, KiIs the integral coefficient of the PI controller, Δ iL(alpha) calculating a correction coefficient m (k) at the current time according to the calculated correction amount delta m (k) m (k-1) + delta m (k) in real time, multiplying the correction coefficient m (k) at the current time by the non-conducting phase voltage to obtain a corrected voltage, and multiplying the voltage value by the voltage valueThe phase change signals are output when the phase front conducting phase voltage is equal,
wherein m (k) is a correction coefficient of a kth iteration, m (k-1) is a correction coefficient of a kth iteration, Δ m (k) is a correction coefficient correction amount of the kth iteration, and an iteration coefficient k is 1,2,3.
Optionally, the line voltage balance equation processed according to the commutation point self-correction method is as follows:
wherein u isa、ub、ucThree phase voltages, u, collected for a digital controllerabm、ubcm、ucamFor the line voltage transformed by the phase change point self-correction method, m (k) is the correction coefficient of the k iteration, and the phase change time is the line voltage uabm、ubcm、ucamAt the zero-crossing moment, the digital controller (7) generates an accurate commutation signal according to the zero-crossing signal to drive the motor to stably operate.
Optionally, the digital controller (7) samples at symmetrical positions in each current conduction interval, and the first current sampling position theta1For phase change point backward by delta, second current sampling position theta2The current difference delta i of the direct current bus is shifted by delta to the next commutation point in the same conduction intervalL(α)＝iL1(θ1)-iL2(θ2) In the formula, iL1(θ1) Is a current sampling point theta1Corresponding DC bus current value iL2(θ2) Sampling point theta for current2And the corresponding direct current bus current value. The offset angle δ satisfies:
wherein R, L is motor winding phase resistance, phase inductance, and I is motor phase commutation back phase stationary phase bottom phase current, and E takes the phase counter potential flat term value, and omega is motor electrical angular velocity.
In the invention, a power switching tube of a PWM (pulse-width modulation) signal control Buck converter (2) adjusts a direct-current bus voltage provided by a voltage-stabilizing direct-current power supply (1) to realize a speed regulation function, a current detection circuit (5) converts a voltage signal into a current signal, the current signal is input into a digital controller (7) and a current value is read at two moments needing to collect the direct-current bus current, a voltage conditioning circuit (6) inputs a voltage signal obtained by comparing three phase voltages after low-pass filtering with a neutral point of a motor into the digital controller (7), the digital controller (7) utilizes a real-time current difference to amplify and process a non-conducting phase voltage signal in the phase voltages of the voltage conditioning circuit (6) through a phase change point quick self-correction module, two phase voltages are differenced to obtain an accurate phase change signal according to the basic principle of a line back potential zero crossing point, and a three-phase full-bridge circuit (3) realizes the position-free sensor of a brushless direct-current motor (4) according to the accurate phase change signal generated by the digital controller (7) And (5) controlling.
Compared with the prior art, the invention has the advantages that:
1. aiming at the problem of sensorless commutation errors of the high-speed permanent magnet motor, the invention directly obtains an accurate commutation signal by using a commutation point fast self-correction method on the basis of the existing hardware, does not need to additionally increase a complex hardware circuit, and reduces the complexity of the system.
2. Compared with the existing commutation error correction method, the method combines the error compensation method and the closed-loop correction method, quickly reacts on commutation errors, realizes real-time advanced correction of commutation moments, does not need to wait for the next operation period for error correction, and ensures the real-time performance and the rapidity of the sensorless commutation control.
3. Compared with the existing phase change control technology without the position sensor, the invention considers the influence of the nonideal of the three-phase back electromotive force on the optimal phase change signal, reduces the influence of the factor on the phase change precision through the phase change point obtaining mode and the error correction method in the invention, and improves the accuracy of the phase change without the position sensor.
Drawings
FIG. 1 illustrates a high-speed permanent magnet machine structure and control system according to the present invention;
FIG. 2 is a flow chart of a fast self-calibration method for commutation points according to the present invention;
FIG. 3 is a schematic diagram of non-ideal three opposite potentials;
FIG. 4 is a schematic diagram of voltage amplification and commutation point position in the commutation point fast self-correction method of the present invention;
fig. 5 is a schematic diagram of a current sampling position of a dc bus according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in the attached figure 1, the device for quickly and automatically correcting the commutation point of the position-sensorless high-speed permanent magnet motor comprises a voltage-stabilizing direct-current power supply (1), a Buck converter (2), a three-phase full-bridge circuit (3), a brushless direct-current motor (4), a current detection circuit (5), a voltage conditioning circuit (6) and a digital controller (7). The voltage-stabilizing direct-current power supply (1) provides direct-current voltage, and a PWM signal generated by the digital controller (7) controls a power switch tube of the Buck converter (2) to regulate the voltage to realize the speed regulation function; the current detection circuit (5) comprises a voltage-current conversion circuit and a current conditioning circuit, the direct current bus voltage is converted to obtain a current value, and the current value is conditioned and filtered and then input into the digital controller (7); the voltage conditioning circuit (6) comprises an RC low-pass filter, a voltage comparator and a voltage conditioning circuit, the three-phase voltage is compared with the neutral point voltage of the brushless direct current motor (4) after passing through the low-pass filter to obtain a voltage signal, the conditioned voltage signal meets the input voltage range of the controller, and the digital controller (7) acquires the voltage signal.
The digital controller (7) is realized by FPGA and DSP, and has multiple functions of measuring and adjusting rotating speed, collecting current and voltage, quickly self-correcting commutation points, generating commutation signals and the like, as shown in figure 2. The current acquisition part reads current signals at two sampling moments set in the same conduction interval and calculates a current difference; the phase change point rapid self-correction method calculates an amplification factor according to a current difference value, generates a correction quantity by a closed-loop controller and adds the correction quantity to the original amplification factor, when the amplified non-conducting phase voltage is equal to the conducting phase voltage before phase change, the amplified non-conducting phase voltage is a line voltage zero-crossing point, and the phase change point compensates an error angle compared with the original phase change signal; the commutation signal generating part carries out logic processing on the three paths of zero-crossing signals to obtain control signals of the six paths of three-phase full-bridge circuits (3), and high-precision commutation control of the high-speed permanent magnet motor without the position sensor is achieved.
The invention relates to a method for quickly and automatically correcting commutation points, which has the following principle and specific method implementation flows:
for a line voltage zero crossing point method, phase change errors are caused by factors such as a low-pass filter, software and hardware delay, phase change follow current and the like, leading to leading phase change or lagging phase change in the working process of a motor due to an error angle, the direct current bus current is distorted, the waveform is not symmetrical any more, and the current difference reflects the phase change deviation degree.
Meanwhile, due to the influence of uncertain factors such as precision problems of factors such as design, manufacture, processing and installation, air gap distance change or other parameter changes, as shown in fig. 3, the actual three-phase back emf presents an asymmetric non-ideal trapezoidal wave shape, and when only fundamental frequency components and direct current components are considered, the three-phase back emf expression can be simplified as follows:
wherein, thetaeIn electrical angular position, x ═ a, b, c represent three phases of motor A, B, C, ax1Harmonic coefficient of fundamental frequency of opposite potential of x, DxIs a dc offset of x opposite potential. The non-ideal asymmetrical three opposite potentials result in non-uniform symmetrical distribution of the optimal commutation points in different conduction intervals.
The method comprises the steps of sampling direct-current bus current in the same conduction interval by a phase change point quick self-correction method to obtain current difference, deducing a voltage correction coefficient according to the current difference to process non-conduction phase voltage, designing a closed-loop PI (proportional integral) controller by utilizing the real-time current difference to correct the correction coefficient so as to realize accurate correction in order to correct residual phase change errors, and comparing the conduction phase voltage and the non-conduction phase voltage before phase change to be equal, namely using the zero-crossing point of the line voltage as an accurate phase change signal.
Taking AC phase conduction before phase commutation and BC phase conduction after phase commutation as an example, the dc bus current is equal to the absolute value of the non-commutation phase current, and assuming that the three-phase back emf is symmetrical, the difference between the dc bus currents before and after phase commutation is expressed as:
wherein, Δ iL(alpha) DC bus current difference, i, calculated for two offset samplesL1(θ1) Current value, i, representing offset delta sample after commutationL2(θ2) The current value of delta sampling is represented by the forward shift of the next commutation point in the same conduction interval, delta is the offset angle of the DC bus current sampling, and the first current sampling position theta1Satisfy the requirement of
Second current sampling position theta2Satisfies theta2＝θideal+α-δ，θidealIs an ideal phase-change point; a. the1The harmonic coefficient is the fundamental frequency harmonic coefficient of the opposite potential and can be obtained by off-line measurement; u. ofdIs a dc link voltage; alpha is the commutation error angle. The dc bus current sampling position is shown in fig. 5.
The digital controller (7) substitutes the direct current bus current difference value, the opposite potential harmonic coefficient, the motor related parameters and the ideal commutation point position obtained by detection into an equation, and calculates an inverse trigonometric function equation Taylor expansion to omit a high-order term to obtain a commutation error angle alpha (alpha belongs to [0, pi/6 ]):
as shown in fig. 4, neglecting the high frequency harmonic influence of the opposite potential, the digital controller (7) calculates the correction coefficient of the non-conducting phase before the phase conversion according to the error angle, and is expressed as:
wherein, the above formula is calculated according to the principle that the corrected intersection point of the two voltages is ahead of the original commutation point angle alpha, alpha is the commutation error angle thetaidealIs an ideal phase-change point. In the initial calibration phase, the line voltage ubcm、ucamAnd line voltage uabmThe correction coefficients m (0) of (2) are the same.
The three-phase back electromotive force of the motor has non-ideal properties, accurate modeling is difficult, and the approximate estimation in the process of deriving the correction coefficient of the non-conducting phase before phase commutation causes the advance or lag phenomenon of a new phase commutation point. And the asymmetric non-ideal three-phase counter potential causes the phase change points between different phases to appear non-uniformly and symmetrically. Thus, the hold current sample results in an initially corrected current difference Δ iL(α), in different conduction intervals of the motor operation, the PI controller follows Δ m (K) KpΔiL(α)+Ki∫ΔiL(α) dt represents a correction amount Δ m (K) of the correction coefficient, where K ispProportional coefficient of PI controller, KiIs the integral coefficient of the PI controller, Δ iLAnd (alpha) is the direct current bus current difference obtained by calculation after sampling. The real-time correction amount Δ m (k) generated by the PI controller is added to the initial correction coefficient m (k-1) calculated in the previous step, and the non-conducting phase voltage correction coefficient is expressed as m (k) ═ m (k-1) + Δ m (k). Wherein m (k) is a correction coefficient of a k-th iteration, m (k-1) is a correction coefficient of a k-1-th iteration, Δ m (k) is a correction coefficient correction amount of the k-th iteration, and an iteration coefficient k is 1,2,3. The corrected line voltage is represented as follows:
wherein u isa、ub、ucPhase voltage u acquired for digital controllerabm、ubcm、ucamFor the line voltage transformed by the correction method, m (k) is the correction coefficient of the kth iteration. The phase change moment is the line voltage uabm、ubcm、ucamThe zero crossing time. The optimal phase change point is two-phase counter potentialAnd the actual intersection point lags behind the optimal commutation point, the angle of the intersection point of the two voltages before the original commutation point is a commutation error angle alpha after the non-conducting phase voltage is amplified, and the digital controller (7) generates an accurate commutation signal according to a zero-crossing signal of the difference of the two voltages to drive the motor to stably operate.
Those skilled in the art will appreciate that the details of the present invention not described in detail herein are well within the skill of those in the art.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a quick self-calibration method of no position sensor high-speed permanent-magnet machine commutation point, is applied to no position sensor high-speed permanent-magnet machine commutation point and quick self-calibration device, wherein, the device includes steady voltage DC power supply (1), Buck converter (2), three-phase full bridge circuit (3), brushless DC motor (4), current detection circuit (5), voltage conditioning circuit (6), digital controller (7), its characterized in that, the method includes following step:
1) the digital controller (7) generates a PWM signal to control a power switch tube of the Buck converter (2), so as to regulate the direct-current bus voltage provided by the voltage-stabilizing direct-current power supply (1);
2) the current detection circuit (5) converts the direct current bus voltage signal into a direct current bus current signal and inputs the direct current bus current signal into a digital controller (7); the voltage conditioning circuit (6) inputs a phase voltage signal into the digital controller (7);
3) the digital controller (7) receives the direct current bus current signals output by the current detection circuit (5), calculates a current difference according to the direct current bus current signals at two sampling moments, generates a voltage correction coefficient by using a phase conversion point self-correction method based on the current difference, and corrects the phase voltage signals by using the voltage correction coefficient;
4) when the corrected non-conducting phase voltage value is equal to the non-conducting phase voltage value before phase commutation, the digital controller (7) generates a phase commutation signal and outputs the phase commutation signal to the three-phase full-bridge circuit (3), and the three-phase full-bridge circuit (3) realizes the position-sensorless high-precision phase commutation control of the brushless direct current motor (4) according to the phase commutation signal;
the phase change point self-correcting method comprises the following steps:
in the first step, a digital controller (7) detects a direct current bus current i according to a current detection circuit (5)LCalculating said current difference and from this current difference Δ iL(alpha) Taylor expansion is carried out on fundamental frequency sine terms of the opposite potential and the commutation error angle alpha is calculated by neglecting higher-order terms:
wherein R is the phase resistance of the motor winding, Delta iL(alpha) is the DC bus current difference when the commutation error angle is alpha, A1The coefficient is an opposite potential fundamental frequency coefficient, and delta is an offset angle of direct current bus current sampling;
secondly, neglecting the high-frequency harmonic influence of the opposite potential, the digital controller (7) calculates an initial correction coefficient m (0) of the non-conducting phase voltage of the phase voltage signal before phase commutation according to the error angle alpha, and performs initial correction on the non-conducting phase voltage through the initial correction coefficient m (0), wherein the initial correction coefficient m (0) is expressed as:
wherein the formula is calculated according to the principle that the intersection point of the leading conducting phase voltage and the corrected non-conducting phase voltage leads the original commutation point angle alpha, alpha is the commutation error angle thetaidealIs an ideal phase-change point;
thirdly, after initial correction, the digital controller (7) calculates the real-time direct current bus current difference delta iL(α), the PI controller follows Δ m (K) Kp△iL(α)+Ki∫△iL(α) dt represents a correction quantity Δ m (K) of a correction coefficient, where K ispProportional coefficient of PI controller, KiIs the integral coefficient, Δ i, of the PI controllerL(alpha) real-time dc bus current difference,
calculating a current time correction coefficient m (k) by multiplying the calculated correction amount Δ m (k) by m (k) -m (k-1) + Δ m (k), the current time correction coefficient m (k) and the non-conducting phase voltage to obtain a corrected voltage, and outputting the commutation signal when the voltage value is equal to the conducting phase voltage before commutation,
wherein m (k) is a correction coefficient of a k-th iteration, m (k-1) is a correction coefficient of a k-1-th iteration, Δ m (k) is a correction coefficient correction amount of the k-th iteration, and an iteration coefficient k is 1,2,3.
2. The method for fast self-correcting the commutation point of the sensorless high-speed permanent magnet motor according to claim 1, wherein the line voltage balance equation processed according to the commutation point self-correcting method is as follows:
wherein u isa、ub、ucThree phase voltages, u, collected for a digital controllerabm、ubcm、ucamFor the line voltage transformed by the phase change point self-correction method, m (k) is the correction coefficient of the k iteration, and the phase change time is the line voltage uabm、ubcm、ucamThe zero crossing time.
3. The method for fast self-correcting commutation point of a position sensorless high-speed permanent magnet motor according to claim 1, wherein the digital controller (7) samples at symmetrical positions in each current conduction interval, and the first current sampling position θ is1For phase change point backward by delta, second current sampling position theta2The current difference delta i of the direct current bus is shifted forward by delta for the next commutation point in the same conduction intervalL(α)＝iL1(θ1)-iL2(θ2) In the formula, iL1(θ1) Sampling point theta for current1Corresponding DC bus current value iL2(θ2) Sampling point theta for current2And the offset angle delta of the corresponding direct current bus current value satisfies the following conditions:
wherein R, L is motor winding phase resistance, phase inductance, and I is motor phase-change back-phase steady state phase current, and E is phase counter potential flat top value, and omega is motor electrical angular velocity.
4. A device for rapidly and self-correcting commutation points of a high-speed permanent magnet motor without a position sensor, which utilizes the method for rapidly and self-correcting commutation points of the high-speed permanent magnet motor without the position sensor according to any one of claims 1 to 3, and is characterized in that: the system comprises a voltage-stabilizing direct-current power supply (1), a Buck converter (2), a three-phase full-bridge circuit (3), a brushless direct-current motor (4), a current detection circuit (5), a voltage conditioning circuit (6) and a digital controller (7); the method is characterized in that: a PWM signal generated by a digital controller (7) controls a power switch tube of a Buck converter (2) so as to regulate direct-current bus voltage provided by a voltage-stabilizing direct-current power supply (1), a current detection circuit (5) converts a direct-current bus voltage signal into a direct-current bus current signal and inputs the direct-current bus current signal into the digital controller (7), and a voltage conditioning circuit (6) inputs a phase voltage signal into the digital controller (7); the digital controller (7) comprises: the current and voltage acquisition module, commutation point self-correction module and commutation signal generation module, the direct current bus current signal of current detection circuit (5) output is received to current and voltage acquisition module and calculates the current difference according to the direct current bus current signal at two sampling moments to and the phase voltage signal of receiving voltage conditioning circuit (6) output, commutation point self-correction module basis the current difference generates the voltage correction coefficient and right phase voltage signal rectifies, commutation signal generation module generates commutation signal output to three-phase full-bridge circuit (3), three-phase full-bridge circuit (3) are realized according to this commutation signal brushless DC motor (4) do not have the position sensor high accuracy commutation control.
5. The fast self-correcting device for the commutation point of the sensorless high-speed permanent magnet motor according to claim 4, wherein the voltage conditioning circuit (6) comprises an RC low-pass filter, a voltage comparator and a conditioning circuit, a three-phase voltage signal output by the brushless direct current motor (4) is filtered by the RC low-pass filter and then input into the voltage comparator, the voltage comparator compares the filtered voltage signal with the neutral point voltage of the brushless direct current motor (4), and the compared signal meets the input voltage range of the digital controller (7) after being output by the conditioning circuit.
6. The device of claim 4, wherein the commutation point self-correction module obtains a voltage correction coefficient according to the initially obtained current difference, and initially corrects the non-conducting phase voltage signal in the phase voltage signals received by the current and voltage acquisition module based on the voltage correction coefficient.
7. The device as claimed in claim 6, wherein the commutation point self-correction module corrects the voltage correction coefficient according to the real-time current difference after the initial correction, and corrects the non-conducting phase voltage signal by the corrected voltage correction coefficient.
8. The device for rapidly self-correcting the commutation point of the sensorless high-speed permanent magnet motor according to claim 7, wherein the commutation signal generating module generates the commutation signal when the corrected non-conducting phase voltage value is equal to the non-conducting phase voltage value before commutation.
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