CN113676100A - Construction method of rotating speed estimation system of bearingless synchronous reluctance motor - Google Patents

Construction method of rotating speed estimation system of bearingless synchronous reluctance motor Download PDF

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CN113676100A
CN113676100A CN202110796374.9A CN202110796374A CN113676100A CN 113676100 A CN113676100 A CN 113676100A CN 202110796374 A CN202110796374 A CN 202110796374A CN 113676100 A CN113676100 A CN 113676100A
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motor
speed
value
rotating speed
reference value
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张汉年
徐开军
周望玮
王书旺
牛希文
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Nanjing College of Information Technology
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Nanjing College of Information Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/08—Reluctance motors
    • H02P25/0805—Reluctance motors whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • 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 discloses a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, which comprises the steps of firstly detecting three-phase voltage and current of a motor torque winding for constructing coordinate transformation; secondly, a motor rotating speed estimator is constructed, and the final estimation value of the output motor rotating speed can obtain the estimation value of the rotor position angle through integral operation; establishing a virtual controller, wherein a final estimated value of the motor speed, a deviation between a reference value of the motor speed and the final estimated value of the motor speed and a reference value of an exciting current component are used as input signals of the virtual controller, and the reference value of a torque current component is output; the deviation between the exciting current component reference value, the torque current component reference value and the actual value of the two-phase current output by the coordinate transformation is sent to a PI regulator, and the PI regulator outputs the two-phase voltage reference value and then sends the two-phase voltage reference value to a generalized inverter; the generalized inverter supplies power to the motor torque winding, and the rotation operation of the motor without a speed sensor is realized. The method can improve the precision of the rotating speed estimation of the bearingless synchronous reluctance motor, and has quick system response and good performance.

Description

Construction method of rotating speed estimation system of bearingless synchronous reluctance motor
Technical Field
The invention relates to the technical field of alternating current motor control, in particular to a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor.
Background
The bearingless synchronous reluctance motor is an AC special motor developed on the basis of a common synchronous reluctance motor, and is mainly structurally characterized in that two sets of windings, namely a torque winding for dragging load torque and a suspension winding for supporting rotor suspension, are arranged in a stator slot. The two inverters respectively supply power to the torque winding and the suspension winding, are used for generating a synthetic magnetic field and applying the synthetic magnetic field to the motor rotor, and synchronously realize stable suspension and reliable rotation of the motor rotor.
The rotating speed closed-loop control is the premise of realizing the high-performance rotation control of the bearingless synchronous reluctance motor, and the first premise for constructing the rotating speed closed-loop control system is that a mechanical speed sensor is installed on the motor, and the rotating speed information is acquired by the speed sensor. However, the complex rotor displacement sensor is already installed in the bearingless synchronous reluctance motor, the firmness of the original structure of the motor is damaged by installing too many sensors, and the cost and the control difficulty of a control system are increased. In addition, when the speed sensor is applied to occasions of high rotating speed, severe environment and the like, a large detection error occurs, and the reliability of a rotating speed and torque control system is further reduced.
In order to omit a speed sensor of the bearingless synchronous reluctance motor, simplify the hardware structure of the system and realize the reliable rotation of the rotor of the bearingless synchronous reluctance motor under the condition of no speed sensor, some new control methods are required.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, based on the constructed rotating speed estimation system, the invention has higher rotating speed estimation precision, easy realization of a control system and quick response of the system, and can effectively avoid a series of problems caused by the installation of a traditional speed sensor on the motor.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, which comprises the following steps:
step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation1d、i1qAnd a two-phase voltage u1d、u1q；
Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i1d、i1qAnd a two-phase voltage u1d、u1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speed
Figure BDA0003162929940000011
Obtaining the estimated value of the rotor position angle after integral operation
Figure BDA0003162929940000012
For coordinate transformation;
step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motor
Figure BDA0003162929940000013
Reference value of speed of rotation omega*And
Figure BDA0003162929940000014
deviation between
Figure BDA0003162929940000015
Reference value of exciting current component under synchronous rotation d-q axis coordinate
Figure BDA0003162929940000021
As the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation d-q axis coordinate
Figure BDA0003162929940000022
Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinate
Figure BDA0003162929940000023
Reference value of torque current component output by virtual controller
Figure BDA0003162929940000024
Two-phase current i output by coordinate transformation in step 11d、i1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value
Figure BDA0003162929940000025
Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4
Figure BDA0003162929940000026
As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.
As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, coordinate transformation is constructed in the step 1, the coordinate transformation comprises Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor1A、u1B、u1CRotor position angle estimation
Figure BDA0003162929940000027
As an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate1α、u1β，u1α、u1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion1d、u1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor1A、i1B、i1CRotor position angle estimation
Figure BDA0003162929940000028
As Clark transformation input signal, i1A、i1B、i1C、
Figure BDA0003162929940000029
Outputting a current detection value i under a two-phase static coordinate through Clark transformation1α、i1β，i1α、i1βThen two-phase current i under the coordinate of synchronously rotating d-q axis is output through Park conversion1d、i1q。
As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, the step 2 is as follows:
step 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor, wherein the motor rotating speed estimator comprises the following steps:
Figure BDA00031629299400000210
wherein the content of the first and second substances,
Figure BDA00031629299400000211
for final estimation of the motor speed, L1d、L1qSelf-inductance, T, of torque windings of the stator d-q axes, respectivelysIn order to be the sampling period of time,
Figure BDA00031629299400000212
for the estimation of the parameter m,
Figure BDA00031629299400000214
for the estimation of the parameter r,
Figure BDA00031629299400000213
omega is the actual value of the rotating speed of the motor;
step 2.2,Transformation of coordinates constructed in step 1, u of its output1d、u1qAnd i1d、i1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speed
Figure BDA0003162929940000031
Obtaining the estimated value of the rotor position angle after integral operation
Figure BDA0003162929940000032
As one of the coordinate transformation input signals.
As a further optimization scheme of the construction method of the bearing-free synchronous reluctance motor rotating speed estimation system, step 2.1 is to establish a motor rotating speed estimator of the bearing-free synchronous reluctance motor in the following specific process:
neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:
Figure BDA0003162929940000033
in the formula, R1Is the torque winding resistance, omega is the actual value of the motor rotating speed,
Figure BDA0003162929940000034
t represents time, which is a differential operator;
discretizing the formula (1), first, the following formula holds:
Figure BDA0003162929940000035
in the formula i1d(n+1)、i1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i1d(n)、i1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively;
substituting formula (2) into formula (1) to obtain a discretization form of formula (1):
Figure BDA0003162929940000036
in the formula u1d(n)、u1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;
the least squares model of equation (3) is rewritten as:
Figure BDA0003162929940000037
wherein the superscript T is transposed, in the formula (4)
Figure BDA0003162929940000041
And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:
m(n)＝m(n-1)+J1(n)[y1(n)-φ1 T(n)]m(n-1) (5)
Figure BDA0003162929940000042
in formulas (5) and (6):
m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;
y1(n)、y2(n) is an output matrix, and y1(n)＝i1d(n+1)、y2(n)＝i1q(n+1)；
φ1(n) is an input matrix phi1Sampling value at n time, phi1 T(n)＝[i1d(n) i1q(n) u1d(n)]T；
φ2(n) is an input matrix phi2At the time instant n the value of the sample is taken,
Figure BDA0003162929940000043
J1(n) is a matrix J1At the time instant n the value of the sample is taken,
Figure BDA0003162929940000044
Figure BDA0003162929940000045
wherein K1(n)、K1(n-1) are each a matrix K1Sampling values, delta, at times n and n-11Is a parameter, 0 < delta1Less than 1, I is an identity matrix;
J2(n) is a matrix J2At the time instant n the value of the sample is taken,
Figure BDA0003162929940000046
Figure BDA0003162929940000047
wherein K2(n)、K2(n-1) are each a matrix K2Sampling values, delta, at times n and n-12Is a parameter, 0 < delta2Less than 1, I is an identity matrix;
estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter m
Figure BDA0003162929940000048
When obtaining the estimated value of the parameter m
Figure BDA0003162929940000049
Then, further push out and
Figure BDA00031629299400000410
corresponding speed estimation
Figure BDA00031629299400000411
Comprises the following steps:
Figure BDA00031629299400000412
the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtained
Figure BDA00031629299400000413
When obtaining the estimated value of the parameter r
Figure BDA00031629299400000414
Then, further deducing and
Figure BDA00031629299400000415
corresponding speed estimation
Figure BDA00031629299400000416
Comprises the following steps:
Figure BDA00031629299400000417
averaging the estimated speed values in equations (7) and (8), i.e.
Figure BDA00031629299400000418
Obtaining the final estimated value of the motor speed
Figure BDA00031629299400000419
Comprises the following steps:
Figure BDA0003162929940000051
as a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, the step 3 is as follows:
step 3.1, establishing a virtual controller:
Figure BDA0003162929940000052
wherein the content of the first and second substances,
Figure BDA0003162929940000053
for virtual controlOutput signal of the device, B is coefficient of friction, TLIs load torque, N is rotational inertia, lambda is parameter, lambda is more than 0, p1In order to obtain the number of pole pairs of the torque winding,
Figure BDA0003162929940000054
as a reference value of speed omega*And
Figure BDA0003162929940000055
deviation therebetween, i.e.
Figure BDA0003162929940000056
One of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega*And final estimated value
Figure BDA0003162929940000057
The second of the input signals is a reference value of the exciting current component of the motor
Figure BDA0003162929940000058
The third input signal is the final estimation value of the motor speed
Figure BDA0003162929940000059
Output after operation of the virtual controller
Figure BDA00031629299400000510
As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, step 3.1 specifically comprises the following steps:
for bearingless synchronous reluctance machines, i is used1dWhen controlling, i1dThe electromagnetic torque equation of the motor is as follows:
Figure BDA00031629299400000511
in the formula, TeIs an electromagnetic torque;
substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:
Figure BDA00031629299400000512
in the formula, N is rotational inertia, and B is a friction coefficient;
assuming the reference value of the motor speed as omega*The deviation between the reference value of the motor speed and the actual value of the motor speed is eωThen eω＝ω*ω, pair eωDerivation, yielding the following formula:
Figure BDA00031629299400000513
taking parameters
Figure BDA00031629299400000514
Then
Figure BDA00031629299400000515
The following equation is designed:
Figure BDA00031629299400000516
wherein the parameter lambda is greater than 0;
using final estimation of motor speed
Figure BDA0003162929940000061
Instead of actual value of speed omega, by
Figure BDA0003162929940000062
In place of eωUsing reference values of field current components
Figure BDA0003162929940000063
Instead of the actual value i1dCalculating the output signal of the virtual controller from equation (13)
Figure BDA0003162929940000064
Comprises the following steps:
Figure BDA0003162929940000065
as a further optimization scheme of the construction method of the bearingless synchronous reluctance motor rotating speed estimation system, in step 5, a generalized inverter is established, specifically as follows:
step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulator
Figure BDA0003162929940000066
Outputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformation
Figure BDA0003162929940000067
Then, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation
Figure BDA0003162929940000068
Figure BDA0003162929940000069
As an input signal of the SPWM inverter, the SPWM inverter supplies power to a torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are realized.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
the rotating speed estimation system provided by the invention removes the traditional mechanical speed sensor, simplifies the whole system structure of the motor, has higher rotating speed estimation precision, fast rotating speed tracking performance and stronger system stability, and solves the problems of complex structure, higher control difficulty and the like caused by the installation of the speed sensor on the motor.
Drawings
FIG. 1 is a schematic block diagram of a system for estimating the rotational speed of a bearingless synchronous reluctance motor according to the present invention.
Fig. 2 is a functional block diagram of coordinate transformation.
Fig. 3 is a schematic block diagram of a generalized inverter.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
when the rotating speed estimation system of the bearingless synchronous reluctance motor carries out rotating speed estimation, three-phase voltage and three-phase current of a motor torque winding are firstly detected and used for constructing a rotating speed estimator of the bearingless synchronous reluctance motor so as to obtain a rotating speed estimation value.
FIG. 1 is a schematic block diagram of a system for estimating the rotational speed of a bearingless synchronous reluctance motor according to the present invention, and a method for constructing the system for estimating the rotational speed of the bearingless synchronous reluctance motor includes the following steps:
step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation1d、i1qAnd a two-phase voltage u1d、u1q；
Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i1d、i1qAnd a two-phase voltage u1d、u1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speed
Figure BDA00031629299400000610
Obtaining the estimated value of the rotor position angle after integral operation
Figure BDA0003162929940000071
For coordinate transformation;
step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motor
Figure BDA0003162929940000072
Reference value of speed of rotation omega*And final motor speed estimate
Figure BDA0003162929940000073
Deviation between
Figure BDA0003162929940000074
Reference value of exciting current component under synchronous rotation d-q axis coordinate
Figure BDA0003162929940000075
As the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation coordinate
Figure BDA0003162929940000076
Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinate
Figure BDA0003162929940000077
Reference value of torque current component output by virtual controller
Figure BDA0003162929940000078
Two-phase current i output by coordinate transformation in step 11d、i1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value
Figure BDA0003162929940000079
Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4
Figure BDA00031629299400000710
As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.
FIG. 2 is a schematic block diagram of coordinate transformation, further, coordinate transformation is constructed in step 1, the coordinate transformation comprises Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor1A、u1B、u1CRotor position angle estimation
Figure BDA00031629299400000711
As an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate1α、u1β，u1α、u1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion1d、u1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor1A、i1B、i1CRotor position angle estimation
Figure BDA00031629299400000712
As Clark transformation input signal, i1A、i1B、i1C、
Figure BDA00031629299400000713
Outputting a current detection value i under a two-phase static coordinate through Clark transformation1α、i1β，i1α、i1βThen two-phase current i under the coordinate of synchronously rotating d-q axis is output through Park conversion1d、i1q。
Further, step 2 is specifically as follows:
and 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor. Neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:
Figure BDA00031629299400000714
in the formula, R1Is the torque winding resistance, omega is the actual value of the motor speed, L1d、L1qAre respectively the self-inductance of the d-q shaft torque winding of the stator,
Figure BDA0003162929940000081
t represents time, which is a differential operator;
discretizing the formula (1), first, the following formula holds:
Figure BDA0003162929940000082
in the formula i1d(n+1)、i1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i1d(n)、i1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively; t issIs a sampling period;
substituting formula (2) into formula (1) to obtain a discretization form of formula (1):
Figure BDA0003162929940000083
in the formula u1d(n)、u1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;
the least squares model of equation (3) is rewritten as:
Figure BDA0003162929940000084
wherein the superscript T is transposed, in the formula (4)
Figure BDA0003162929940000085
And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:
m(n)＝m(n-1)+J1(n)[y1(n)-φ1 T(n)]m(n-1) (5)
Figure BDA0003162929940000086
in formulas (5) and (6):
m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;
y1(n)、y2(n) is an output matrix, and y1(n)＝i1d(n+1)、y2(n)+i1q(n+1)；
φ1(n) is an input matrix phi1Sampling value at n time, phi1 T(n)＝[i1d(n) i1q(n) u1d(n)]T；
φ2(n) is an input matrix phi2At the time instant n the value of the sample is taken,
Figure BDA0003162929940000091
J1(n) is a matrix J1At the time instant n the value of the sample is taken,
Figure BDA0003162929940000092
Figure BDA0003162929940000093
wherein K1(n)、K1(n-1) are each a matrix K1Sampling values, delta, at times n and n-11Is a parameter, 0 < delta1Less than 1, I is an identity matrix;
J2(n) is a matrix J2At the time instant n the value of the sample is taken,
Figure BDA0003162929940000094
Figure BDA0003162929940000095
wherein K2(n)、K2(n-1) are each a matrix K2Sampling values, delta, at times n and n-12Is a parameter, 0 < delta2Less than 1, I is an identity matrix;
estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter m
Figure BDA0003162929940000096
When obtaining the estimated value of the parameter m
Figure BDA0003162929940000097
Then, further push out and
Figure BDA0003162929940000098
corresponding speed estimation
Figure BDA0003162929940000099
Comprises the following steps:
Figure BDA00031629299400000910
the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtained
Figure BDA00031629299400000911
When obtaining the estimated value of the parameter r
Figure BDA00031629299400000912
Then, further deducing and
Figure BDA00031629299400000913
corresponding speed estimation
Figure BDA00031629299400000914
Comprises the following steps:
Figure BDA00031629299400000915
in the following equations (7) and (8), the parameter estimation values are obtained first
Figure BDA00031629299400000916
Then respectively calculating by the relational expression to obtain the corresponding rotating speed estimated values
Figure BDA00031629299400000917
In order to make the estimated value of the rotating speed approach the actual value and improve the estimation precision of the rotating speed, the estimated values of the rotating speed under the formulas (7) and (8) are averaged, namely
Figure BDA00031629299400000918
Obtaining the final estimated value of the motor speed
Figure BDA00031629299400000919
Comprises the following steps:
Figure BDA00031629299400000920
step 2.2, coordinate transformation constructed in step 1, u of its output1d、u1qAnd i1d、i1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speed
Figure BDA00031629299400000921
Obtaining the estimated value of the rotor position angle after integral operation
Figure BDA00031629299400000922
As one of the coordinate transformation input signals.
The step 3 is as follows:
step 3.1, establishing a virtual controller;
for bearingless synchronous reluctance machines, i is used1dWhen controlling, i1dThe electromagnetic torque equation of the motor is as follows:
Figure BDA00031629299400000923
in the formula, TeIs an electromagnetic torque, p1The number of pole pairs of the torque winding is;
substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:
Figure BDA0003162929940000101
wherein N is rotational inertia, B is friction coefficient, and TLIs the load torque;
assuming the reference value of the motor speed as omega*The deviation between the reference value of the motor speed and the actual value of the motor speed is eωI.e. eω＝ω*ω, pair eωDerivation, yielding the following formula:
Figure BDA0003162929940000102
taking parameters
Figure BDA0003162929940000103
Then
Figure BDA0003162929940000104
In order to stabilize the reverse control system, the following equation is designed:
Figure BDA0003162929940000105
wherein the parameter lambda is greater than 0;
using final estimation of motor speed
Figure BDA0003162929940000106
Replacing the actual value omega of the rotation speed, and making the reference value omega of the rotation speed*And final estimated value
Figure BDA0003162929940000107
With a deviation of
Figure BDA0003162929940000108
Namely, it is
Figure BDA0003162929940000109
By using
Figure BDA00031629299400001010
In place of eωUsing reference values of field current components
Figure BDA00031629299400001011
Instead of the actual value i1dCalculating the output signal of the virtual controller from equation (13)
Figure BDA00031629299400001012
Comprises the following steps:
Figure BDA00031629299400001013
one of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega*And final estimated value
Figure BDA00031629299400001014
The second of the input signals is a reference value of the exciting current component of the motor
Figure BDA00031629299400001015
The third input signal is the final estimation value of the motor speed
Figure BDA00031629299400001016
Output after operation of the virtual controller
Figure BDA00031629299400001017
Further, in step 5, a generalized SPWM inverter is built, and fig. 3 is a schematic block diagram of the generalized inverter. The method comprises the following specific steps:
step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulator
Figure BDA00031629299400001018
Outputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformation
Figure BDA00031629299400001019
Then, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation
Figure BDA0003162929940000111
Figure BDA0003162929940000112
As an input signal of the SPWM inverter, the SPWM inverter supplies power to a torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are realized.
The construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor can accurately estimate the rotating speed of the motor, and the system response is quick. The traditional mechanical speed sensor is not required to be installed, and the defects of cost increase of a control system, complex structure of a motor body and the like caused by speed sensor assembly are overcome.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (7)

1. A construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor is characterized by comprising the following steps:
step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation1d、i1qAnd a two-phase voltage u1d、u1q；
Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i1d、i1qAnd a two-phase voltage u1d、u1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speed
Figure FDA0003162929930000011
Figure FDA0003162929930000012
Integrated byObtaining the estimated value of the rotor position angle after operation
Figure FDA0003162929930000013
Figure FDA0003162929930000014
For coordinate transformation;
step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motor
Figure FDA0003162929930000015
Reference value of speed of rotation omega*And
Figure FDA0003162929930000016
deviation between
Figure FDA0003162929930000017
Reference value of exciting current component under synchronous rotation d-q axis coordinate
Figure FDA0003162929930000018
As the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation d-q axis coordinate
Figure FDA0003162929930000019
Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinate
Figure FDA00031629299300000110
Reference value of torque current component output by virtual controller
Figure FDA00031629299300000111
Two-phase current i output by coordinate transformation in step 11d、i1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value
Figure FDA00031629299300000112
Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4
Figure FDA00031629299300000113
As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.
2. The method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor as claimed in claim 1, wherein the step 1 is implemented by constructing coordinate transformation comprising Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor1A、u1B、u1CRotor position angle estimation
Figure FDA00031629299300000114
As an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate1α、u1β，u1α、u1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion1d、u1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor1A、i1B、i1CRotor position angle estimation
Figure FDA00031629299300000115
As Clark transformation input signal, i1A、i1B、i1C、
Figure FDA00031629299300000116
Outputting a current detection value i under a two-phase static coordinate through Clark transformation1α、i1β，i1α、i1βThen, the synchronous rotation d-Two-phase current i in q-axis coordinate1d、i1q。
3. The method for constructing the bearing-free synchronous reluctance motor rotating speed estimation system according to claim 1 or 2, wherein the step 2 is as follows:
step 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor, wherein the motor rotating speed estimator comprises the following steps:
Figure FDA0003162929930000021
wherein the content of the first and second substances,
Figure FDA0003162929930000022
for final estimation of the motor speed, L1d、L1qSelf-inductance, T, of torque windings of the stator d-q axes, respectivelysIn order to be the sampling period of time,
Figure FDA0003162929930000023
for the estimation of the parameter m,
Figure FDA0003162929930000024
for the estimation of the parameter r,
Figure FDA0003162929930000025
omega is the actual value of the rotating speed of the motor;
step 2.2, coordinate transformation constructed in step 1, u of its output1d、u1qAnd i1d、i1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speed
Figure FDA0003162929930000026
Figure FDA0003162929930000027
Obtaining the estimated value of the rotor position angle after integral operation
Figure FDA0003162929930000028
Figure FDA0003162929930000029
As one of the coordinate transformation input signals.
4. The method for constructing the rotating speed estimation system of the bearingless synchronous reluctance motor according to claim 3, wherein the specific process of establishing the motor rotating speed estimator of the bearingless synchronous reluctance motor in the step 2.1 is as follows:
neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:
Figure FDA00031629299300000210
in the formula, R1Is the torque winding resistance, omega is the actual value of the motor rotating speed,
Figure FDA00031629299300000211
t represents time, which is a differential operator;
discretizing the formula (1), first, the following formula holds:
Figure FDA00031629299300000212
in the formula i1d(n+1)、i1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i1d(n)、i1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively;
substituting formula (2) into formula (1) to obtain a discretization form of formula (1):
Figure FDA0003162929930000031
in the formula u1d(n)、u1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;
the least squares model of equation (3) is rewritten as:
Figure FDA0003162929930000032
wherein the superscript T is transposed, in the formula (4)
Figure FDA0003162929930000033
And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:
Figure FDA0003162929930000034
Figure FDA0003162929930000035
in formulas (5) and (6):
m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;
y1(n)、y2(n) is an output matrix, and y1(n)＝i1d(n+1)、y2(n)＝i1q(n+1)；
φ1(n) is an input matrix phi1At the time instant n the value of the sample is taken,
Figure FDA0003162929930000036
φ2(n) is an input matrix phi2At the time instant n the value of the sample is taken,
Figure FDA0003162929930000037
J1(n) is a matrix J1At the time instant n the value of the sample is taken,
Figure FDA0003162929930000038
Figure FDA0003162929930000039
wherein K1(n)、K1(n-1) are each a matrix K1Sampling values, delta, at times n and n-11Is a parameter, 0 < delta1Less than 1, I is an identity matrix;
J2(n) is a matrix J2At the time instant n the value of the sample is taken,
Figure FDA00031629299300000310
Figure FDA00031629299300000311
wherein K2(n)、K2(n-1) are each a matrix K2Sampling values, delta, at times n and n-12Is a parameter, 0 < delta2Less than 1, I is an identity matrix;
estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter m
Figure FDA0003162929930000041
When obtaining the estimated value of the parameter m
Figure FDA0003162929930000042
Then, further push out and
Figure FDA0003162929930000043
corresponding speed estimation
Figure FDA0003162929930000044
Comprises the following steps:
Figure FDA0003162929930000045
the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtained
Figure FDA0003162929930000046
When obtaining the estimated value of the parameter r
Figure FDA0003162929930000047
Then, further deducing and
Figure FDA0003162929930000048
corresponding speed estimation
Figure FDA0003162929930000049
Comprises the following steps:
Figure FDA00031629299300000410
averaging the estimated speed values in equations (7) and (8), i.e.
Figure FDA00031629299300000411
Obtaining the final estimated value of the motor speed
Figure FDA00031629299300000412
Comprises the following steps:
Figure FDA00031629299300000413
5. the method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 3, wherein the step 3 is as follows:
step 3.1, establishing a virtual controller:
Figure FDA00031629299300000414
wherein the content of the first and second substances,
Figure FDA00031629299300000415
is the output signal of the virtual controller, B is the friction coefficient, TLIs load torque, N is rotational inertia, lambda is parameter, lambda is more than 0, p1In order to obtain the number of pole pairs of the torque winding,
Figure FDA00031629299300000416
as a reference value of speed omega*And
Figure FDA00031629299300000417
deviation therebetween, i.e.
Figure FDA00031629299300000418
One of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega*And final estimated value
Figure FDA00031629299300000419
The second of the input signals is a reference value of the exciting current component of the motor
Figure FDA00031629299300000420
The third input signal is the final estimation value of the motor speed
Figure FDA00031629299300000421
Output after operation of the virtual controller
Figure FDA00031629299300000422
6. The method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 5, wherein the step 3.1 specifically comprises:
for bearingless synchronous reluctance machines, i is used1dWhen controlling, i1dThe electromagnetic torque equation of the motor is as follows:
Figure FDA00031629299300000423
in the formula, TeIs an electromagnetic torque;
substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:
Figure FDA00031629299300000424
in the formula, N is rotational inertia, and B is a friction coefficient;
assuming the reference value of the motor speed as omega*The deviation between the reference value of the motor speed and the actual value of the motor speed is eωThen eω＝ω*ω, pair eωDerivation, yielding the following formula:
Figure FDA0003162929930000051
taking parameters
Figure FDA0003162929930000052
Then
Figure FDA0003162929930000053
The following equation is designed:
Figure FDA0003162929930000054
wherein the parameter lambda is greater than 0;
using final estimation of motor speed
Figure FDA0003162929930000055
Instead of actual value of speed omega, by
Figure FDA0003162929930000056
In place of eωUsing reference values of field current components
Figure FDA0003162929930000057
Instead of the actual value i1dCalculating the output signal of the virtual controller from equation (13)
Figure FDA0003162929930000058
Comprises the following steps:
Figure FDA0003162929930000059
7. the method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 1, wherein in step 5, a generalized inverter is established as follows:
step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulator
Figure FDA00031629299300000510
Outputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformation
Figure FDA00031629299300000511
Then, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation
Figure FDA00031629299300000512
Figure FDA00031629299300000513
As input signal for an SPWM inverter, SPWMThe inverter supplies power to the torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are achieved.
CN202110796374.9A 2021-07-14 2021-07-14 Construction method of rotating speed estimation system of bearingless synchronous reluctance motor Withdrawn CN113676100A (en)

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