CN113612420A - Integration saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method - Google Patents

Integration saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method Download PDF

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CN113612420A
CN113612420A CN202110989711.6A CN202110989711A CN113612420A CN 113612420 A CN113612420 A CN 113612420A CN 202110989711 A CN202110989711 A CN 202110989711A CN 113612420 A CN113612420 A CN 113612420A
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operator
integral
offset
value
rotor
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CN113612420B (en
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王可睿
孔令新
王乃龙
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Beijing Xingeno Microelectronics Co ltd
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Beijing Xingeno Microelectronics Co ltd
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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
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Abstract

The invention discloses an integral saturation resistant noninductive permanent magnet synchronous motor rotor position detection method, which comprises the following steps: obtaining a voltage VαAnd voltage VβAnd current IαAnd current Iβ(ii) a Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux ΨαAnd the projected magnetic flux Ψ on the β axisβThe integral operator is used for operating an integral term in the mathematical model; adjusting the bias value in real time according to the integral value of the integral arithmetic unit; for the magnetic flux ΨαAnd magnetic flux ΨβPerforming high-pass filtering and performing arc tangent operation to obtain the original angle position theta of the rotorraw(ii) a For the original angular position theta of the rotorrawCarrying out differential operation to obtain the original angular velocity omega of the rotorraw(ii) a Rotor original angular velocity omega along with pairrawPerforming a low-pass filter to obtain a rotor angular velocity omega; and obtaining the rotor angular position theta according to the rotor angular speed omega.

Description

Integration saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method
Technical Field
The invention relates to the technical field of motor control, in particular to an integral saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method and system.
Background
To maximize efficiency in motor control, it is necessary to know the real-time position information of the rotor. The position information can be obtained from a sensor or estimated by a certain algorithm. Among them, the former is called a sensible scheme, and the latter is called a non-sensible scheme. Compared with an inductive scheme, the non-inductive scheme has the advantages of low cost, adaptation to a high-temperature and high-pressure environment in which the sensor may fail and the like.
In the non-inductive solution, the algorithm module that detects the rotor position is called observer. According to the principle of the algorithm, observers can be divided into two categories: the first type is a saliency-based observer. The algorithm extracts position information by a high-frequency injection method by means of the characteristic that the inductance of the motor is not isotropic, and has the advantages of being suitable for low-speed scenes and insensitive to motor parameters. The disadvantage is that when the motor saliency is weak, the position estimation accuracy is greatly degraded, and high frequency injection generates noise. The second type is an observer based on a back electromotive force model. This type of algorithm extracts the position information contained therein by estimating the back emf generated as the motor rotates. Common extraction algorithms include a kalman filter algorithm, an extended flux linkage algorithm, a direct integration algorithm based on a stator voltage model, and the like. In which the direct integration algorithm is simple to calculate, but the dc offset present in the system saturates the integrator, thereby greatly reducing the position estimation accuracy. The Kalman filtering algorithm, the extended flux linkage algorithm and the like do not have the phenomenon of integrator saturation, but the operation is too complex, and the calculation cost paid in engineering is too large. And for different motors, values of some parameters introduced in the algorithms are different, and how to select proper parameters causes great challenges for users.
Based on the principle and the defect analysis of the existing position observer, the invention provides a noninductive permanent magnet synchronous motor position detection method capable of resisting integrator saturation based on a back electromotive force model. The method solves the problem of integrator saturation in a direct integration algorithm based on a stator voltage model, has small operand, saves logic resources and is easy to realize in engineering. Meanwhile, the algorithm has better parameter robustness, does not need a user to adjust the algorithm parameters, and is easy to popularize.
Disclosure of Invention
The invention aims to solve the technical problem that an integrator is saturated in a direct integration algorithm for detecting the position of a motor rotor based on a stator voltage model, has small operand, saves logic resources and is easy to realize in engineering.
In order to solve the technical problem, the invention provides an integral saturation resistant rotor position detection method for a non-inductive permanent magnet synchronous motor, which comprises the following steps:
acquiring applied voltage V on alpha and beta axes under motor stator coordinate systemαAnd voltage VβAnd current I on alpha and beta axesαAnd current Iβ；
Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux ΨαAnd the projected magnetic flux Ψ on the β axisβThe mathematical model of (a), said mathematical model being represented as:
Figure 401541DEST_PATH_IMAGE001
；
Figure 603983DEST_PATH_IMAGE002
；
in the mathematical model, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor;
Figure 498121DEST_PATH_IMAGE003
in order to be the first integral term,
Figure 910648DEST_PATH_IMAGE004
as a second integral term, OffsetαIs the first Offset value, OffsetβIs a second offset value;
using a first integral operator to operate the first integral term, and using a second integral operator to operate the second integral term; and real-time adjusting the first Offset value Offset according to the integral values of the first integral operator and the second integral operatorαAnd a second biasValue OffsetβAdjusting;
magnetic flux ΨαAnd magnetic flux ΨβInputting the magnetic flux Ψ filtered by the high-pass filterα_hpfAnd magnetic flux Ψβ_hpf(ii) a And to the magnetic flux Ψα_hpfAnd a magnetic flux Ψβ_hpfPerforming arc tangent operation to obtain the original angle position theta of the rotorraw；
For the original angular position theta of the rotorrawCarrying out differential operation to obtain the original angular velocity omega of the rotorraw；
Then the original angular speed omega of the rotor is measuredrawInputting the high-frequency noise to a low-pass filter to eliminate high-frequency noise introduced by a difference arithmetic unit so as to obtain a rotor angular speed omega;
obtaining a rotor angle position compensation value delta theta according to the rotor angular velocity omega, and comparing the rotor angle position compensation value delta theta with the original rotor angle position thetarawThe rotor angle position θ is obtained by addition.
In one embodiment, the first Offset value Offset is based on the operation values of the first and second integral operatorsαAnd a second Offset value OffsetβThe adjustment is specifically as follows:
let the maximum allowable value of the first integral arithmetic unit and the second integral arithmetic unit be TmaxMinimum tolerance value of Tmin；
When the integral value of the first integral operator is in
Figure 814013DEST_PATH_IMAGE005
To
Figure 995595DEST_PATH_IMAGE006
In between, the first Offset value OffsetαSet to 0; when the integral value of the first integral operator is in
Figure 60634DEST_PATH_IMAGE007
To
Figure 960457DEST_PATH_IMAGE008
In between, the first Offset value OffsetαIs arranged asa and a are positive numbers; when the integral value of the first integral operator is in
Figure 667513DEST_PATH_IMAGE006
To
Figure 703602DEST_PATH_IMAGE009
In between, the first Offset value OffsetαSet to-a;
when the integral value of the second integral operator is in
Figure 205122DEST_PATH_IMAGE010
To
Figure 202028DEST_PATH_IMAGE011
In between, the second Offset value OffsetβSet to 0; when the integral value of the second integral operator is in
Figure 306250DEST_PATH_IMAGE012
To
Figure 603371DEST_PATH_IMAGE013
In between, the second Offset value OffsetβA is set as a, and a is a positive number; when the integral value of the second integral operator is in
Figure 400425DEST_PATH_IMAGE011
To
Figure 884627DEST_PATH_IMAGE009
In between, the second Offset value OffsetβSet to-a.
In one embodiment, the first Offset value OffsetαAnd a second Offset value OffsetβThe value of (a) is 1.
In one embodiment, the magnetic flux ΨαAnd magnetic flux ΨβFiltered by the first Offset value Offset after being input into the high-pass filterαAnd a second Offset value OffsetβThe resulting dc offset will be filtered out.
In one embodiment, the angular position compensation value delta theta at the rotor angular velocity omega is obtained according to the rotor angular velocity omega and by searching the angular velocity and compensation value numerical relation table,
according to another aspect of the present invention, there is also provided an anti-integral saturation non-inductive permanent magnet synchronous motor rotor position detection system, which includes a first gain operator 1, a first addition operator 2, a first integrator operator 3, a second gain operator 4, and a second addition operator 5; when the applied voltage on the alpha axis under the motor stator coordinate system is voltage VαAnd the applied current on the alpha axis is the current IαWhen the current is over; current IαPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage VαAnd the first Offset value OffsetαSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously inputαThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5α；
The system further comprises a third gain operator 6, a third adder operator 7, a second integrator operator 8, a fourth gain operator 9 and a fourth adder operator 10; when the applied voltage on the beta axis under the motor stator coordinate system is a voltage VβAnd the current applied to the beta axis is the current IβWhen the current is over; current IβPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage VαAnd a second Offset value OffsetβSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current IβThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10β
The system further comprises a high-pass filter 11 and a second high-pass filter 12, the magnetic flux ΨαIs input to a first high-pass filter 11 to be filteredMagnetic flux Ψ after waveα_hpf(ii) a Magnetic flux ΨβInput to a second high pass filter 12 resulting in a filtered magnetic flux Ψβ_hpf；
The system further comprises an arctangent function operator 13, a difference operator 14, a low-pass filter 15 and a fifth addition operator 16; magnetic flux Ψ to be high-pass filteredα_hpfAnd a magnetic flux Ψβ_hpfIs fed to an arctangent function operator 13 to obtain the original angular position theta of the rotorraw(ii) a The original angular position thetarawThe input difference arithmetic unit 14 can obtain the original angular velocity ω of the rotorrawThe original angular velocity ωrawInputting the angular speed to a low-pass filter 15 to obtain the rotor angular speed omega; obtaining an angle position compensation value delta theta according to the rotor angular speed omega; the original angular velocity ωrawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.
In one embodiment, the integration operation in the first integrator operator 3 includes the Offset of the first Offset valueαIntegral operation of (1); the integration operation in the second integration operator 8 includes a second OffsetβIntegral operation of (1); let the maximum allowable value of the first integral operator 3 and the second integral operator 8 be TmaxMinimum tolerance value of Tmin(ii) a Then:
when the integral value of the first integral operator 3 is at
Figure 58120DEST_PATH_IMAGE014
To
Figure 678588DEST_PATH_IMAGE015
In between, the first Offset value OffsetαSet to 0; when the integral value of the first integral operator 3 is at
Figure 646544DEST_PATH_IMAGE007
To
Figure 883622DEST_PATH_IMAGE005
In between, the first Offset value OffsetαThe setting is that the a is a,a is a positive number; when the integral value of the first integral operator 3 is at
Figure 329646DEST_PATH_IMAGE006
To
Figure 70200DEST_PATH_IMAGE009
In between, the first Offset value OffsetαSet to-a;
when the integral value of the second integral operator 8 is at
Figure 350003DEST_PATH_IMAGE016
To
Figure 933431DEST_PATH_IMAGE006
In between, the second Offset value OffsetβSet to 0; when the integral value of the second integral operator 8 is at
Figure 58513DEST_PATH_IMAGE007
To
Figure 43787DEST_PATH_IMAGE005
In between, the second Offset value OffsetβA is set as a, and a is a positive number; when the integral value of the second integral operator 8 is at
Figure 963332DEST_PATH_IMAGE006
To
Figure 34056DEST_PATH_IMAGE009
In between, the second Offset value OffsetβSet to-a.
In one embodiment, the first Offset value OffsetαAnd a second Offset value OffsetβThe value of (a) is 1.
One or more embodiments of the present invention may have the following advantages over the prior art:
1. in the invention, a dynamic bias value is introduced into the integral operation, thereby realizing the effective integral saturation resistance effect, and the dynamic bias value can be filtered and eliminated by a high-pass filter without influencing the final calculation result;
2. compared with the traditional Kalman filtering algorithm, the calculation amount of the method is greatly reduced by the extended flux linkage algorithm, and the integral saturation resistant effect is kept equal.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a rotor position detection system of an anti-integral saturation non-inductive PMSM according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a rotor position detection method of an anti-integral saturation non-inductive permanent magnet synchronous motor according to an example of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to fig. 1-2.
Fig. 1 is a schematic structural diagram of an anti-integral saturation sensorless permanent magnet synchronous motor rotor position detection system according to an embodiment of the invention. The present invention will be described with reference to fig. 1.
In the field of motor technology, in a stator coordinate system that uses a motor stator as a reference object, that is, an α - β coordinate system, a voltage model expression of a motor is as follows:
Figure 228409DEST_PATH_IMAGE017
；
Figure 68189DEST_PATH_IMAGE018
；
wherein, the voltage VαAnd voltage VβIs applied voltage on alpha, beta axis, current IαAnd current IβThe current on the alpha and beta axes acquired by the ADC circuit is shown, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor.
As shown in FIG. 1, current IαPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage VαAnd the first Offset value OffsetαSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously inputαThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5α. The mathematical expression of the above process is:
Figure 424215DEST_PATH_IMAGE001
from the above equation, the first gain operator 1 is used to complete the term
Figure 716656DEST_PATH_IMAGE019
First addition operator 2 for completing the term
Figure 449120DEST_PATH_IMAGE020
The first integral operator 3 is used to complete the term
Figure 18772DEST_PATH_IMAGE021
Of the second gain operator 4, the term
Figure 670334DEST_PATH_IMAGE022
Of the second adder 5, the second adder completing the term
Figure 325437DEST_PATH_IMAGE023
And (4) performing the operation of (1).
Likewise, current IβPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage VαAnd a second Offset value OffsetβSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current IβThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10β. The mathematical expression of the above process is:
Figure 720646DEST_PATH_IMAGE024
from the above equation, the third gain operator 6 is used to complete the term
Figure 410385DEST_PATH_IMAGE025
Is used to complete the term, the third addition operator 7 is used to complete the term
Figure 373793DEST_PATH_IMAGE026
A second integral operator 8 for performing the term
Figure 640826DEST_PATH_IMAGE004
Of the fourth gain operator 9
Figure 183934DEST_PATH_IMAGE027
Is performed by a fourth addition operator 10
Figure 852812DEST_PATH_IMAGE028
And (4) performing the operation of (1).
Note that the maximum allowable value of the first integration operator 3 and the second integration operator 8 is TmaxMinimum tolerance value of TminThen, the present embodiment provides:
when the integral value of the first integral operator 3 is at
Figure 252701DEST_PATH_IMAGE029
To
Figure 741451DEST_PATH_IMAGE006
In between, the first Offset value OffsetαIs set to 0, i.e. the first Offset value Offset at this timeαNo offset is superimposed on the first integrating operator 3.
When the integral value of the first integral operator 3 is at
Figure 619408DEST_PATH_IMAGE007
To
Figure 18160DEST_PATH_IMAGE029
In between, the first Offset value OffsetαA is set to a, a is positive, i.e. the first Offset value Offset at this timeαThe first integral arithmetic unit 3 is superposed with forward bias to ensure that the integral result is continuously increased along with the integral operation, thereby avoiding the operation result of the first integral arithmetic unit 3 from reaching the minimum accommodating value Tmin。
When the integral value of the first integral operator 3 is at
Figure 182425DEST_PATH_IMAGE006
To
Figure 299417DEST_PATH_IMAGE009
In between, the first Offset value OffsetαIs set to-a, i.e. the first Offset value Offset at this timeαThe first integral arithmetic unit 3 is superposed with negative bias to ensure that the integral result is continuously reduced along with the integral operation, thereby avoiding the operation result of the first integral arithmetic unit 3 from reaching the maximum accommodating value Tmax。
Similarly, when the integral value of the second integral operator 8 is at
Figure 426469DEST_PATH_IMAGE029
To
Figure 804361DEST_PATH_IMAGE006
In between, the second Offset value OffsetβIs set to 0, i.e. the second Offset value Offset at this timeβNo offset is superimposed on the second integrator operator 8.
When the integral value of the second integral operator 8 is at
Figure 546052DEST_PATH_IMAGE012
To
Figure 884760DEST_PATH_IMAGE030
In between, the second Offset value OffsetβA is set to a, a is positive, i.e. the second Offset value Offset at this timeβThe second integral arithmetic unit 8 is superposed with forward bias to ensure that the integral result is continuously increased along with the integral operation, thereby avoiding the operation result of the second integral arithmetic unit 8 from reaching the minimum accommodating value Tmin。
When the integral value of the second integral operator 8 is at
Figure 229154DEST_PATH_IMAGE011
To
Figure 336918DEST_PATH_IMAGE009
In between, the second Offset value OffsetβIs set to-a, i.e. the second Offset value Offset at this timeβThe second integral arithmetic unit 8 is superposed with negative bias to ensure that the integral result is continuously reduced along with the integral operation, thereby avoiding the operation result of the second integral arithmetic unit 8 from reaching the maximum accommodating value Tmax。
Projection amount psi on alpha axis of obtained motor magnetic flux psiαAnd the projection amount Ψ on the β axisβThen, the magnetic flux ΨαThe input to the first high pass filter 11 results in a filtered magnetic flux Ψα_hpf(ii) a Magnetic flux ΨβInput to a second high pass filter 12 resulting in a filtered magnetic flux Ψβ_hpf. Due to magnetic flux ΨαWith the magnetic flux ΨβIncluding a DC Offset, i.e. the first Offset value Offset introduced in the previous integration operationαAnd a second Offset value OffsetβTherefore, the influence of the dc offset on the operation result needs to be eliminated in the subsequent calculation. And the first Offset value OffsetαAnd a second Offset value OffsetβDuring the integration, the frequency changes among three values of-a, 0 and a along with the change of the integrated value, and the change belongs to a slowly-changing signal and is extremely low. Thus in the magnetic flux ΨαWith the magnetic flux ΨβAfter passing through the high frequency filter, is determined by the first Offset value OffsetαAnd a second Offset value OffsetβThe resulting dc offset will be filtered out.
When the first Offset value OffsetαAnd a second Offset value OffsetβThe larger the value of (a), the more obvious the bias effect is, i.e. the larger the value of (b), the faster the integral value can be brought away from the integral saturation state, but the larger the change of the signal is. An Offset value Offset is added to the input term of the integrator for dynamically adjusting the range of the integration value to avoid the integration value approaching the upper or lower bound of the integrator, i.e. to avoid saturation.
The offset value acts as an artifact, and the influence of the offset value on the calculated value needs to be eliminated by a high-pass filter of a later stage. According to the high-pass filter characteristic, in order to filter the bias value influence, it should have a "slow-varying" characteristic. According to the principle of dynamically adjusting the offset value, the smaller the amplitude of the offset value, the slower the whole integrator results to jump between the upper and lower limits, and the correspondingly lower the adjustment frequency of the offset value, the more easily it introduces effects that can be eliminated by the high-pass filter. Therefore, the bias value set should have three elements: the minimum positive value that the system can represent, the minimum negative value that the system can represent, and 0. For a fixed-point digital system, 1 is the minimum non-zero positive value that it can represent, so the value of a in this embodiment is + 1.
The high-pass filtered magnetic flux Ψ is thenα_hpfAnd a magnetic flux Ψβ_hpfIs fed to an arctangent function operator 13 to obtain the original angular position theta of the rotorrawNamely:
Figure 842986DEST_PATH_IMAGE031
the original angular position thetarawThe input difference operator 14 can obtain the original angular velocity ω of the rotorrawNamely:
Figure 200149DEST_PATH_IMAGE032
wherein T is the updating time interval of the observer of the non-inductive motor control system, and when the system observes and estimates the rotor position every fixed time interval T, thetaraw[n]Is the original angular position estimated the nth time.
The original angular velocity ω is then measuredrawAnd inputting the signal into a low-pass filter 15, and eliminating high-frequency noise introduced by a difference arithmetic unit to obtain the angular velocity omega of the motor rotor.
And obtaining an angular position compensation value delta theta under the rotor angular speed omega according to a rotor angular speed omega and rotor angular position compensation relation curve known in the art.
The original angular velocity ωrawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.
Thus, the position detection of the motor rotor is completed after the angular speed omega and the angular position theta of the motor rotor are obtained.
The above description is only an embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any person skilled in the art should modify or replace the present invention within the technical specification of the present invention.

Claims (10)

1. An integral saturation resistant noninductive permanent magnet synchronous motor rotor position detection method is characterized by comprising the following steps:
acquiring applied voltage V on alpha and beta axes under motor stator coordinate systemαAnd voltage VβAnd current I on alpha and beta axesαAnd current Iβ；
Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux ΨαAnd on the beta axisProjected magnetic flux ΨβThe mathematical model of (a), said mathematical model being represented as:
Figure 452650DEST_PATH_IMAGE002
；
Figure 680500DEST_PATH_IMAGE004
；
in the mathematical model, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor;
Figure 967256DEST_PATH_IMAGE006
in order to be the first integral term,
Figure 405190DEST_PATH_IMAGE008
as a second integral term, OffsetαIs the first Offset value, OffsetβIs a second offset value;
using a first integral operator to operate the first integral term, and using a second integral operator to operate the second integral term; and real-time adjusting the first Offset value Offset according to the integral values of the first integral operator and the second integral operatorαAnd a second Offset value OffsetβAdjusting;
magnetic flux ΨαAnd magnetic flux ΨβThe magnetic flux psi is obtained after being filtered by an input high-pass filterα_hpfAnd magnetic flux Ψβ_hpf(ii) a And to the magnetic flux Ψα_hpfAnd a magnetic flux Ψβ_hpfPerforming arc tangent operation to obtain the original angle position theta of the rotorraw；
For the original angular position theta of the rotorrawCarrying out differential operation to obtain the original angular velocity omega of the rotorraw；
Then the original angular speed omega of the rotor is measuredrawInputting the high-frequency noise to a low-pass filter to eliminate high-frequency noise introduced by a difference arithmetic unit so as to obtain a rotor angular speed omega;
obtaining the rotor angle position according to the rotor angular velocity omegaSetting a compensation value delta theta, and combining the rotor angle position compensation value delta theta with the original rotor angle position thetarawThe rotor angle position θ is obtained by addition.
2. The method for detecting the rotor position of a non-inductive PMSM according to claim 1, wherein said first Offset value Offset is applied in real time based on the integrated values of the first and second integrating operatorsαAnd a second Offset value OffsetβThe adjustment is specifically as follows:
let the maximum allowable value of the first integral arithmetic unit and the second integral arithmetic unit be TmaxMinimum tolerance value of Tmin；
When the integral value of the first integral operator is in
Figure 232332DEST_PATH_IMAGE010
To
Figure 314689DEST_PATH_IMAGE012
In between, the first Offset value OffsetαSet to 0; when the integral value of the first integral operator is in
Figure 428138DEST_PATH_IMAGE014
To
Figure DEST_PATH_IMAGE015
In between, the first Offset value OffsetαA is set as a, and a is a positive number; when the integral value of the first integral operator is in
Figure 104101DEST_PATH_IMAGE012
To
Figure DEST_PATH_IMAGE017
In between, the first Offset value OffsetαSet to-a;
when the integral value of the second integral operator is in
Figure 938196DEST_PATH_IMAGE010
To
Figure 265272DEST_PATH_IMAGE012
In between, the second Offset value OffsetβSet to 0; when the integral value of the second integral operator is in
Figure 690569DEST_PATH_IMAGE014
To
Figure 837516DEST_PATH_IMAGE015
In between, the second Offset value OffsetβA is set as a, and a is a positive number; when the integral value of the second integral operator is in
Figure 740881DEST_PATH_IMAGE012
To
Figure 922464DEST_PATH_IMAGE017
In between, the second Offset value OffsetβSet to-a.
3. The method for detecting a rotor position of a non-inductive PMSM according to claim 2, wherein the first Offset value OffsetαAnd a second Offset value OffsetβThe value of (a) is 1.
4. The method for detecting the rotor position of a non-inductive PMSM according to claim 1, wherein the magnetic flux Ψ is determined by a magnetic flux analyzerαAnd magnetic flux ΨβFiltered by the first Offset value Offset after being input into the high-pass filterαAnd a second Offset value OffsetβThe resulting dc offset will be filtered out.
5. The method for detecting the rotor position of the non-inductive PMSM according to claim 1, wherein the angular position compensation value Δ θ at the rotor angular velocity ω is obtained according to the rotor angular velocity ω and by searching a table of relationship between the angular velocity and the compensation value.
6. An anti-integral saturation noninductive permanent magnet synchronous motor rotor position detection system is characterized by comprising a first gain operator 1, a first addition operator 2, a first integrator operator 3, a second gain operator 4 and a second addition operator 5; when the applied voltage on the alpha axis under the motor stator coordinate system is voltage VαAnd the applied current on the alpha axis is the current IαWhen the current is over; current IαPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage VαAnd the first Offset value OffsetαSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously inputαThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5α；
The system further comprises a third gain operator 6, a third adder operator 7, a second integrator operator 8, a fourth gain operator 9 and a fourth adder operator 10; when the applied voltage on the beta axis under the motor stator coordinate system is a voltage VβAnd the current applied to the beta axis is the current IβWhen the current is over; current IβPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage VαAnd a second Offset value OffsetβSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current IβThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10β；
The system further comprises a high-pass filter 11 and a second high-pass filter 12, the magnetic flux ΨαThe input to the first high pass filter 11 results in a filtered magnetic flux Ψα_hpf(ii) a Magnetic flux ΨβIs input to a second high-pass filter 12 to obtain filtered magnetismFlux Ψβ_hpf；
The system further comprises an arctangent function operator 13, a difference operator 14, a low-pass filter 15 and a fifth addition operator 16; magnetic flux Ψ to be high-pass filteredα_hpfAnd a magnetic flux Ψβ_hpfIs fed to an arctangent function operator 13 to obtain the original angular position theta of the rotorraw(ii) a The original angular position thetarawThe input difference arithmetic unit 14 can obtain the original angular velocity ω of the rotorrawThe original angular velocity ωrawInputting the angular speed to a low-pass filter 15 to obtain the rotor angular speed omega; obtaining an angle position compensation value delta theta according to the rotor angular speed omega; the original angular velocity ωrawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.
7. The system according to claim 6, wherein the integration operation in the first integrator operator 3 includes a first Offset value OffsetαIntegral operation of (1); the integration operation in the second integration operator 8 includes a second OffsetβIntegral operation of (1); let the maximum allowable value of the first integral operator 3 and the second integral operator 8 be TmaxMinimum tolerance value of Tmin(ii) a And has the following components:
when the integral value of the first integral operator 3 is at
Figure 987503DEST_PATH_IMAGE018
To
Figure 887326DEST_PATH_IMAGE012
In between, the first Offset value OffsetαSet to 0; when the integral value of the first integral operator 3 is at
Figure 594382DEST_PATH_IMAGE014
To
Figure 505837DEST_PATH_IMAGE010
In the middle ofOffset of the first Offset valueαA is set as a, and a is a positive number; when the integral value of the first integral operator 3 is at
Figure 131991DEST_PATH_IMAGE012
To
Figure 863317DEST_PATH_IMAGE017
In between, the first Offset value OffsetαSet to-a;
when the integral value of the second integral operator 8 is at
Figure 233119DEST_PATH_IMAGE018
To
Figure 530239DEST_PATH_IMAGE012
In between, the second Offset value OffsetβSet to 0; when the integral value of the second integral operator 8 is at
Figure 327294DEST_PATH_IMAGE014
To
Figure 545917DEST_PATH_IMAGE010
In between, the second Offset value OffsetβA is set as a, and a is a positive number; when the integral value of the second integral operator 8 is at
Figure 453830DEST_PATH_IMAGE012
To
Figure 605457DEST_PATH_IMAGE017
In between, the second Offset value OffsetβSet to-a.
8. The sensorless permanent magnet synchronous motor rotor position detection system according to claim 6, the first Offset value OffsetαAnd a second Offset value OffsetβThe value of (a) is 1.
9. A control method of a non-inductive permanent magnet synchronous motor, wherein the motor rotor position detection method in the control method of the non-inductive permanent magnet synchronous motor uses the rotor position detection method of the non-inductive permanent magnet synchronous motor according to any one of claims 1 to 5.
10. A control system of a non-inductive permanent magnet synchronous motor, wherein the control system of the non-inductive permanent magnet synchronous motor utilizes the rotor position detection system of the non-inductive permanent magnet synchronous motor according to one of claims 6 to 8 to detect the position of the motor rotor.
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