CN113676106A - Position-sensor-free control method for double-winding pulse vibration high-frequency injection of six-phase permanent magnet motor - Google Patents

Position-sensor-free control method for double-winding pulse vibration high-frequency injection of six-phase permanent magnet motor Download PDF

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CN113676106A
CN113676106A CN202110906719.1A CN202110906719A CN113676106A CN 113676106 A CN113676106 A CN 113676106A CN 202110906719 A CN202110906719 A CN 202110906719A CN 113676106 A CN113676106 A CN 113676106A
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windings
motor
frequency
set2
set1
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CN113676106B (en
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王宇
邢凯玲
张成糕
郝雯娟
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • 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
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals

Abstract

The invention discloses a position sensorless control method for double-winding pulse vibration high-frequency injection of a six-phase permanent magnet motor, which divides the six-phase permanent magnet motor into two sets of windings for control; injecting high-frequency signals with a 90-degree difference between the estimated d axis of the first set of windings and the estimated q axis of the second set of windings, calculating six-phase voltage, solving zero-sequence voltage, converting the zero-sequence voltage and inputting the zero-sequence voltage into a low-pass filter; finally, inputting the filtering result into a PI link and an integral link to obtain the estimated position of the motor rotor; according to the invention, the high-frequency signals are respectively injected into the estimated coordinate systems of the two windings, so that no six-time frequency interference signal exists in the signals entering the PI regulator, and the problem of six-time frequency interference existing in the traditional pulse vibration high-frequency injection method is solved; secondly, high-frequency signals are injected respectively, so that the torque ripple and the rotation speed fluctuation of a pulse oscillation high-frequency injection algorithm of the rotating comprehensive vector can be reduced, the accuracy of rotor position identification can be effectively improved, and the torque ripple is reduced.

Description

Position-sensor-free control method for double-winding pulse vibration high-frequency injection of six-phase permanent magnet motor
Technical Field
The invention relates to the technical field of motor control, in particular to a position-sensor-free control method for double-winding pulse vibration high-frequency injection of a six-phase permanent magnet motor.
Background
The six-phase permanent magnet motor driving system is widely applied to the fields of ship electric propulsion, locomotive power traction, hybrid electric vehicles, multi-electric airplanes and the like. And the permanent magnet motor driving system adopting the non-position technology can reduce the volume and the cost of the system.
Existing position sensorless technologies are classified into two categories, i.e., back-emf-based and saliency-based position sensorless control technologies. Because the motor does not have the extended back electromotive force under the condition of zero speed, and the harmonic component content of the back electromotive force is high under the condition of low speed, the position of the rotor is difficult to accurately estimate by adopting an observer method based on the back electromotive force under the condition of zero low speed. The salient pole effect-based position sensorless control method mainly utilizes the non-ideal characteristics of the motor to estimate the rotating speed and the position signal of the motor. Since no physical quantity subject to speed constraint such as back electromotive force is used, the performance is good even at zero low speed.
The high-frequency signal injection method is used as a position-sensor-free control method based on a salient pole effect, and the basic principle is that a certain high-frequency signal is injected into a motor winding, a signal feedback value containing rotor position information is detected, and then the angle of a motor rotor is obtained. The method is simple in implementation mode, good in robustness and free of additional requirements on system hardware. The pulse vibration high-frequency injection method is characterized in that a high-frequency sinusoidal voltage signal is injected into a direct axis d axis of a synchronous rotating coordinate system, the injected signal forms a high-frequency pulse vibration voltage signal in a static coordinate system, and after amplitude modulation is carried out on a quadrature axis high-frequency current signal, information related to the position of a rotor can be extracted, so that position and speed information of the rotor can be obtained.
Since the zero sequence voltage amplitude does not depend on the frequency of the injected signal, the position-sensorless control of high-frequency injection based on zero sequence voltage can significantly improve the system robustness and the position estimation accuracy. However, for the pulse-oscillation high-frequency voltage injection method based on zero sequence voltage, in the process of calculating the error between the actual value and the estimated value of the rotor position, a six-time frequency disturbance quantity (the frequency of the disturbance quantity is six times of the electrical angular frequency of the motor) is introduced, so that the identification precision of the rotor position is influenced.
In order to solve the interference problem of the six-time frequency disturbance quantity, the patent "a position estimation method (202110675485.4) of a permanent magnet motor based on pulse vibration high-frequency injection of a rotating comprehensive vector" proposes a pulse vibration high-frequency injection method of a rotating comprehensive vector, and the method injects a rotating high-frequency voltage signal into an estimated synchronous rotating coordinate system, so that the six-time frequency disturbance quantity can be well suppressed. However, the high-frequency voltage signal of the rotation vector injected by the method generates large torque pulsation and rotation speed fluctuation in the motor.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the prior art, the invention provides a position-sensor-free control method for double-winding pulse vibration high-frequency injection of a six-phase permanent magnet motor, which reduces torque pulsation and rotation speed fluctuation in the existing pulse vibration high-frequency injection method based on a rotation comprehensive vector while inhibiting the interference problem of six times of frequency disturbance quantity.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a position sensorless control method for pulse vibration high-frequency injection of double-set windings of a six-phase permanent magnet motor divides the windings of the six-phase permanent magnet motor into two sets of independent windings, wherein A, B and C are first sets of windings, and X, Y and Z are second sets of windings;
obtaining three-phase current i of a first set of windings of a motor through a current sensora，ib，icTo i, paira，ib，icPerforming abc/dq conversion to obtain the actual q-axis current i of the first set of windingsq_set1And d-axis current id_set1(ii) a Will give the electrical angular frequency omega of the motor*And estimating the electrical angular frequency
Figure BDA0003201882310000021
Difference of (2)
Figure BDA0003201882310000022
Input to the first PI link to obtain a given q-axis current i of the motorq *(ii) a Will give q-axis current iq *And the actual q-axis current iq_set1Difference i ofq *-iq_set1Inputting to a second PI link to obtain u* q_set1(ii) a Setting a given d-axis current i* d_set1Will give d-axis current i* d_set1And the actual d-axis current id_set1Difference i of* d_set1-id_set1Inputting to a second PI link to obtain u* d_set1(ii) a For u is paired* d_set1By injecting a high-frequency voltage Uhcosωht obtaining u* d_set1+Uhcosωht, to u* d_set1+Uhcos ω t and u* q_set1Carrying out dq/abc conversion to obtain duty ratios of bridge arms of corresponding inverters A, B and C;
similarly, the three-phase current i of the second set of windings of the motor is obtained through a current sensorx，iy，izTo i, pairx，iy，izPerforming abc/dq conversion to obtain the actual q-axis current i of the second set of windingsq_set2And d-axis current id_set2(ii) a Will give q-axis current iq *And the actual q-axis current iq_set2Difference i ofq *-iq_set2Inputting to a second PI link to obtain u* q_set2(ii) a Setting a given d-axis current i* d_set2Will give d-axis current i* d_set2And the actual d-axis current id_set2Difference i of* d_set2-id_set2Inputting to a second PI link to obtain u* d_set2(ii) a For u is paired* q_set2By injecting a high-frequency voltage Uhsinωht obtaining u* q_set2+Uhsinωht; for u is paired* q_set2+Uhsinωht and u* d_set2Carrying out dq/abc conversion to obtain corresponding inverter X, Y and Z phase bridgesDuty cycle of the arm; introducing two independent high-frequency signals, respectively injecting the two independent high-frequency signals into an estimation reference coordinate system of a first set of windings and a second set of windings of a six-phase motor, and estimating the position of a motor rotor, wherein the specific steps are as follows:
step S1, for the first set of windings, will
Figure BDA0003201882310000031
Injected into an estimated reference frame of the first set of windings of the machine, will
Figure BDA0003201882310000032
Injecting the estimated reference coordinate system of the second set of windings of the motor and solving each phase voltage respectively as follows, wherein UhFor injecting the amplitude, omega, of the high-frequency signalhFor the frequency of the injected high frequency signal:
Figure BDA0003201882310000033
Figure BDA0003201882310000034
Figure BDA0003201882310000035
Figure BDA0003201882310000036
Figure BDA0003201882310000037
Figure BDA0003201882310000038
wherein L is0Average value of self-inductance of motor, M0Is the average value of the mutual inductance of the motor,Ldis d-axis inductance, L, of the motorqIs an inductance of the q-axis of the motor,
Figure BDA0003201882310000039
wherein
Figure BDA00032018823100000310
Is the difference between the actual d-axis position and the estimated d-axis position;
step S2, based on the obtained voltages of each phase, obtaining a zero-sequence voltage as follows:
Figure BDA00032018823100000311
step S3, the zero sequence voltage is transformed as follows:
Figure BDA00032018823100000312
the transformation result is input to a low-pass filter for filtering to obtain:
Figure BDA00032018823100000313
wherein k is a filter coefficient;
and step S4, inputting the low-pass filtering result to a PI (proportion integration) adjusting link to obtain the estimated electrical angular frequency of the motor, and inputting the estimated electrical angular frequency to an integrating link to obtain the estimated position of the motor rotor.
Further, in step S1, the first set of windings injects the voltage signal
Figure BDA0003201882310000041
The rear phase voltages are solved as follows:
step L1.1, the first set of windings is being injected
Figure BDA0003201882310000042
Generated dq-axis currentThe rate of change of (d) is:
Figure BDA0003201882310000043
step L1.2, calculate separately
Figure BDA0003201882310000044
The three-phase current conversion rate is generated as follows:
Figure BDA0003201882310000045
Figure BDA0003201882310000046
Figure BDA0003201882310000047
step L1.3, calculating respectively
Figure BDA0003201882310000048
The three-phase voltages generated are as follows:
Figure BDA0003201882310000049
Figure BDA00032018823100000410
Figure BDA00032018823100000411
for the second set of windings, a voltage signal is injected
Figure BDA00032018823100000412
The rear phase voltages are solved as follows：
Step M1.1, the second set of windings is being injected
Figure BDA0003201882310000051
The rate of change of the resulting dq-axis current is:
Figure BDA0003201882310000052
step M1.2, calculate separately
Figure BDA0003201882310000053
The three-phase current conversion rate is generated as follows:
Figure BDA0003201882310000054
Figure BDA0003201882310000055
Figure BDA0003201882310000056
step M1.3, calculating respectively
Figure BDA0003201882310000057
The three-phase voltages generated are as follows:
Figure BDA0003201882310000058
Figure BDA0003201882310000059
Figure BDA00032018823100000510
has the advantages that:
(1) the scheme provided by the invention has the advantages that the six-phase motor winding is divided into two windings for control, and two independent high-frequency voltage signals are injected into the two independent windings, so that a six-frequency-multiplication interference signal does not exist in the signal entering the PI regulator, and the problem of six-frequency-multiplication interference existing in the traditional high-frequency injection method is solved;
(2) in the scheme provided by the invention, the high-frequency voltage signal is injected only in the q axis of the second set of winding estimation coordinate system, the torque ripple is reduced to half of a pulse oscillation high-frequency injection method based on a rotation comprehensive vector, and the torque ripple and the rotation speed fluctuation are effectively reduced.
(3) The scheme provided by the invention can effectively improve the accuracy of rotor position identification and reduce torque pulsation and rotation speed fluctuation.
Drawings
FIG. 1 is a flow chart of the position sensorless control for dual winding dither high frequency injection for a six-phase permanent magnet machine according to the present invention;
FIG. 2 is a block diagram of conventional six-phase permanent magnet motor speed control;
FIG. 3 is a control block diagram of a conventional pulse-oscillation high-frequency injection-based position-free method for a six-phase permanent magnet motor;
FIG. 4 is a waveform diagram of rotor position and error in a conventional pulse-oscillation high-frequency injection-based six-phase permanent magnet motor no-position method;
FIG. 5 is a control block diagram of a six-phase permanent magnet motor position-less method as proposed in the "pulse-oscillation high-frequency injection permanent magnet motor position estimation method based on rotating synthetic vectors";
FIG. 6 is a rotor position and error waveform diagram for a six-phase permanent magnet machine no-position method based on rotational synthetic vector pulsed high frequency injection;
FIG. 7 is a torque waveform diagram of a six-phase permanent magnet machine no-position method based on rotating synthetic vector pulse-oscillation high-frequency injection;
FIG. 8 is a control block diagram of the position sensorless control method for dual winding dither high frequency injection for a six-phase permanent magnet machine in accordance with the present invention;
FIG. 9 is a waveform of rotor position and error for the position sensorless control method of the present invention;
fig. 10 is a torque waveform diagram of the position sensorless control method proposed by the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention provides a position-sensor-free control method for double-winding pulse vibration high-frequency injection of a six-phase permanent magnet motor, aiming at the interference problem of six-time frequency disturbance quantity in the control of the six-phase permanent magnet motor and the problems of torque pulsation and rotation speed fluctuation in the conventional pulse vibration high-frequency injection method based on a rotation comprehensive vector. Three specific embodiments are provided below and are compared to explain to prove the superiority of the position sensorless control method provided by the present invention.
A six-phase permanent magnet motor position sensorless control method based on pulse vibration high-frequency injection is disclosed.
The pulse-oscillation high-frequency injection-based six-phase permanent magnet motor sensorless control method adopted in the prior art is shown in fig. 3, and the rotating speed control method thereof is shown in fig. 2. Will give the electrical angular frequency omega of the motor*And estimating the electrical angular frequency
Figure BDA0003201882310000071
Difference of (2)
Figure BDA0003201882310000072
Input to the first PI link to obtain a given q-axis current i of the motorq *Acquiring six-phase current i of the motor through a current sensora，ib，ic，id，ieAnd ifTo i, paira，ib，ic，id，ieAnd ifPerforming abcdef/dq conversion to obtain actual q-axis current iqAnd d-axis current id(ii) a Will give q-axis current iq *And the actual q-axis current iqDifference i ofq *-iqInputting to a second PI link to obtain u* q(ii) a Setting a given d-axis current i* dWill give d-axis current i* dAnd the actual d-axis current idDifference i of* d-idInputting to a second PI link to obtain u* d(ii) a Will u* dAnd a high frequency voltage Uhcosωht is added to obtain u* d+Uhcosωht, to u* d+Uhcos ω t and u* qAnd carrying out dq/abcdef conversion to obtain the duty ratio of the six-phase bridge arm of the corresponding inverter.
The core idea of the technical scheme is as follows: injecting a high voltage signal U on the estimated d-axishcosωht, solving the generated zero sequence voltage as follows:
note the book
Figure BDA0003201882310000073
The actual d-axis included angle between the shaft and the motor is
Figure BDA0003201882310000074
The included angle between the actual d axis and the alpha axis of the motor is theta, then
Figure BDA0003201882310000075
Uhcosωhthe rate of change of the dq-axis current generated by t is:
Figure BDA0003201882310000076
respectively calculate Uhcosωht the resulting six-phase current transformation ratio is:
Figure BDA0003201882310000077
Figure BDA0003201882310000078
Figure BDA0003201882310000079
Figure BDA00032018823100000710
Figure BDA0003201882310000081
Figure BDA0003201882310000082
respectively calculate Uhcosωht produces six-phase voltages of:
Figure BDA0003201882310000083
Figure BDA0003201882310000084
Figure BDA0003201882310000085
Figure BDA0003201882310000086
Figure BDA0003201882310000087
Figure BDA0003201882310000088
Uhcosωht the zero sequence voltage generated is as follows:
Figure BDA0003201882310000089
in the above formula, the
Figure BDA00032018823100000810
The following transformations are made:
Figure BDA00032018823100000811
will be provided with
Figure BDA00032018823100000812
After filtering by a low-pass filter, the following can be obtained:
Figure BDA0003201882310000091
where k is the filter coefficient.
And integrating and subtracting the filtering result to obtain:
Figure BDA0003201882310000092
will be provided with
Figure BDA0003201882310000093
And obtaining the identification position of the motor rotor sequentially through a PI regulator and an integration link.
As can be seen from the above conventional method, for the conventional position-free method based on the pulsed high-frequency injection, the nucleus thereofThe heart idea is to inject a high frequency signal on the estimated d-axis, which is a pulse signal on the estimated d-axis, whose corresponding integrated vector is not the rotation amount. In the case of such a mode of implantation,
Figure BDA0003201882310000094
will accompany with
Figure BDA0003201882310000095
Enters a PI regulator together, and when in steady state operation,
Figure BDA0003201882310000096
then it is determined that,
Figure BDA0003201882310000097
there will be a six times higher frequency disturbance signal (six times the motor corner frequency) in the identified rotor position, as shown in fig. 4. It can be seen that the content of the sixth harmonic of the traditional position-sensor-free control method based on the pulse vibration high-frequency injection is high.
And secondly, a position estimation method of the permanent magnet motor based on the pulse vibration high-frequency injection of the rotation comprehensive vector.
The following is an analysis of a motor rotor position estimation method proposed in the prior patent "a method for estimating the position of a permanent magnet motor based on rotational synthetic vector pulse vibration high-frequency injection", application No. 2021106754854 ". The control block diagram of the method is shown in fig. 5, and the control method of the rotating speed also adopts the control method shown in fig. 2.
Will give the electrical angular frequency omega of the motor*And estimating the electrical angular frequency
Figure BDA0003201882310000098
Difference of (2)
Figure BDA0003201882310000099
Input to the first PI link to obtain a given q-axis current i of the motorq *Acquiring six-phase current i of the motor through a current sensora，ib，ic，id，ieAnd ifTo i, paira，ib，ic，id，ieAnd ifPerforming abcdef/dq conversion to obtain actual q-axis current iqAnd d-axis current id(ii) a Will give q-axis current iq *And the actual q-axis current iqDifference i ofq *-iqInputting to a second PI link to obtain u* q(ii) a Setting a given d-axis current i* dWill give d-axis current i* dAnd the actual d-axis current idDifference i of* d-idInputting to a second PI link to obtain u* d(ii) a Will u* dAnd a high frequency voltage Uhcosωht is added to obtain u* d+Uhcosωht, mixing u* qAnd a high frequency voltage Uhsinωht is added to obtain u* q+Uhsinωht, to u* d+Uhcos ω t and u* q+UhsinωhAnd (t) carrying out dq/abcdef conversion to obtain the duty ratio of the six-phase bridge arm of the corresponding inverter.
The core idea of the method is to inject the high-frequency voltage signal of the rotating comprehensive vector into the estimation coordinate system
Figure BDA00032018823100000910
The position of the motor rotor is estimated, and the generated zero sequence voltage is obtained through the following process:
note the book
Figure BDA0003201882310000101
The actual d-axis included angle between the shaft and the motor is
Figure BDA0003201882310000102
The included angle between the actual d axis and the alpha axis of the motor is theta, then
Figure BDA0003201882310000103
Figure BDA0003201882310000104
The rate of change of the resulting dq-axis current is:
Figure BDA0003201882310000105
respectively calculate
Figure BDA0003201882310000106
The resulting six-phase current transformation ratio is:
Figure BDA0003201882310000107
Figure BDA0003201882310000108
Figure BDA0003201882310000109
Figure BDA00032018823100001010
Figure BDA00032018823100001011
Figure BDA00032018823100001012
respectively calculate
Figure BDA00032018823100001013
The six-phase voltage generated is:
Figure BDA0003201882310000111
Figure BDA0003201882310000112
Figure BDA0003201882310000113
Figure BDA0003201882310000114
Figure BDA0003201882310000115
Figure BDA0003201882310000116
computing
Figure BDA0003201882310000117
The zero sequence voltage generated is as follows:
Figure BDA0003201882310000118
to pair
Figure BDA0003201882310000119
The following transformations are made:
Figure BDA0003201882310000121
will be provided with
Figure BDA0003201882310000122
Filtered by a low-pass filter to obtain
Figure BDA0003201882310000123
Where k is the filter coefficient. Will be provided with
Figure BDA0003201882310000124
And obtaining the identification position of the motor rotor sequentially through a PI regulator and an integration link.
As can be seen from the above process, the only way the algorithm provided in this patent finally enters the PI regulator is
Figure BDA0003201882310000125
There is no interference of the frequency of six, as shown in fig. 6. Compared with the prior art in fig. 4, the rotor estimation error is greatly reduced, so that the pulse oscillation high-frequency injection position-free method based on the rotation comprehensive vector improves the rotor identification precision compared with the traditional method in fig. 3. However, in this algorithm, the injection is made in the estimated reference frame
Figure BDA0003201882310000126
The high-frequency voltage signal of (2) generates the following current on the q axis of the motor:
Figure BDA0003201882310000127
the torque ripple generated by this current is as follows:
Figure BDA0003201882310000128
wherein, PrIs the number of pole pairs, psi, of the rotor of the motorfmIs the permanent magnet flux linkage of the motor.
It can be seen that this current produces a frequency of ωhAmplitude of is
Figure BDA0003201882310000129
Torque ripple of (2). As shown in fig. 7, the torque ripple peak to peak value reached 0.2 n.m.
And thirdly, the invention relates to a position-sensorless control method based on double-winding pulse vibration high-frequency injection.
The rotating speed control framework of the position-sensorless control method provided by the invention is shown in fig. 8, and the rotating speed control method of the adopted six-phase permanent magnet motor is shown in fig. 1.
Dividing a six-phase permanent magnet motor winding into two independent windings, wherein A, B and C are a first set of windings, and X, Y and Z are a second set of windings;
obtaining three-phase current i of a first set of windings of a motor through a current sensora，ib，icTo i, paira，ib，icPerforming abc/dq conversion to obtain the actual q-axis current i of the first set of windingsq_set1And d-axis current id_set1(ii) a Will give the electrical angular frequency omega of the motor*And estimating the electrical angular frequency
Figure BDA0003201882310000131
Difference of (2)
Figure BDA0003201882310000132
Input to the first PI link to obtain a given q-axis current i of the motorq *(ii) a Will give q-axis current iq *And the actual q-axis current iq_set1Difference i ofq *-iq_set1Inputting to a second PI link to obtain u* q_set1(ii) a Setting a given d-axis current i* d_set1Will give d-axis current i* d_set1And the actual d-axis current id_set1Difference i of* d_set1-id_set1Inputting to a second PI link to obtain u* d_set1(ii) a For u is paired* d_set1By injecting a high-frequency voltage Uhcosωht obtaining u* d_set1+Uhcosωht, to u* d_set1+Uhcos ω t and u* q_set1Carrying out dq/abc conversion to obtain duty ratios of bridge arms of corresponding inverters A, B and C;
similarly, the three-phase current i of the second set of windings of the motor is obtained through a current sensorx，iy，izTo i, pairx，iy，izPerforming abc/dq conversion to obtain the actual q-axis current i of the second set of windingsq_set2And d-axis current id_set2(ii) a Will give q-axis current iq *And the actual q-axis current iq_set2Difference i ofq *-iq_set2Inputting to a second PI link to obtain u* q_set2(ii) a Setting a given d-axis current i* d_set2Will give d-axis current i* d_set2And the actual d-axis current id_set2Difference i of* d_set2-id_set2Inputting to a second PI link to obtain u* d_set2(ii) a For u is paired* q_set2By injecting a high-frequency voltage Uhsinωht obtaining u* q_set2+Uhsinωht; for u is paired* q_set2+Uhsinωht and u* d_set2And carrying out dq/abc conversion to obtain the duty ratios of the bridge arms of the X, Y and Z phases of the corresponding inverter.
Introducing two independent high-frequency signals, respectively injecting the two independent high-frequency signals into an estimation reference coordinate system of a first set of windings and a second set of windings of a six-phase motor, and estimating the position of a motor rotor, wherein the specific steps are as follows:
step S1, for the first set of windings, will
Figure BDA0003201882310000133
Injected into an estimated reference frame of the first set of windings of the machine, will
Figure BDA0003201882310000134
Injecting the estimated reference coordinate system of the second set of windings of the motor and solving each phase voltage separately, wherein UhFor injecting the amplitude, omega, of the high-frequency signalhIn order to inject the frequency of the high frequency signal,
step L1.1, the first set of windings is being injected
Figure BDA0003201882310000135
The rate of change of the resulting dq-axis current is:
Figure BDA0003201882310000141
step L1.2, calculate separately
Figure BDA0003201882310000142
The three-phase current conversion rate is generated as follows:
Figure BDA0003201882310000143
Figure BDA0003201882310000144
Figure BDA0003201882310000145
step L1.3, calculating respectively
Figure BDA0003201882310000146
The three-phase voltages generated are as follows:
Figure BDA0003201882310000147
Figure BDA0003201882310000148
Figure BDA0003201882310000149
for the second set of windings, a voltage signal is injected
Figure BDA00032018823100001410
The rear phase voltages are solved as follows:
step M1.1, secondTwo sets of windings are injected
Figure BDA00032018823100001411
The rate of change of the resulting dq-axis current is:
Figure BDA00032018823100001412
step M1.2, calculate separately
Figure BDA0003201882310000151
The three-phase current conversion rate is generated as follows:
Figure BDA0003201882310000152
Figure BDA0003201882310000153
Figure BDA0003201882310000154
step M1.3, calculating respectively
Figure BDA0003201882310000155
The three-phase voltages generated are as follows:
Figure BDA0003201882310000156
Figure BDA0003201882310000157
Figure BDA0003201882310000158
step S2, based on the obtained voltages of each phase, obtaining a zero-sequence voltage as follows:
Figure BDA0003201882310000159
step S3, the zero sequence voltage is transformed as follows:
Figure BDA00032018823100001510
the transformation result is input to a low-pass filter for filtering to obtain:
Figure BDA00032018823100001511
wherein k is a filter coefficient;
and step S4, inputting the low-pass filtering result to a PI (proportion integration) adjusting link to obtain the estimated electrical angular frequency of the motor, and inputting the estimated electrical angular frequency to an integrating link to obtain the estimated position of the motor rotor.
It can be seen that for the algorithm of the present invention, the only thing that goes into the PI regulator is
Figure BDA00032018823100001512
There is no interference of the frequency multiplication, as shown in fig. 9, so that compared with the conventional method in fig. 3, the scheme provided by the present invention can effectively improve the rotor identification precision.
Meanwhile, in the scheme provided by the invention, two independent high-frequency signals are injected into two sets of independent windings to carry out position-sensor-free control, the injected high-frequency signals only generate high-frequency current on the q axis of the second set of windings, and the current generated on the q axis by the high-frequency signals is as follows:
Figure BDA0003201882310000161
the torque ripple generated by this current is as follows:
Figure BDA0003201882310000162
it can be seen that this current will produce a frequency of ωhAmplitude of is
Figure BDA0003201882310000163
Compared with the pulse oscillation high-frequency injection position-free method based on the rotation comprehensive vector, the torque ripple generated by the method is reduced by half, and the peak value of the torque ripple is 0.1N.m, as shown in figure 10.
Meanwhile, it is obvious that the interference problem of the six-time frequency is solved by the existing patents and the scheme provided by the invention. But the signal injected by the patent introduces an amplitude of
Figure BDA0003201882310000164
Represented in fig. 7, and the magnitude of the torque ripple generated by the present invention is
Figure BDA0003201882310000165
Reduced to half of the prior patent, shown in figure 10.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (2)

1. A position sensorless control method for pulse vibration high-frequency injection of double-set windings of a six-phase permanent magnet motor divides the windings of the six-phase permanent magnet motor into two sets of independent windings, wherein A, B and C are first sets of windings, and X, Y and Z are second sets of windings;
obtaining three-phase current i of a first set of windings of a motor through a current sensora，ib，icTo i, paira，ib，icPerforming abc/dq transformation to obtain the actual q for the first set of windingsAxial current iq_set1And d-axis current id_set1(ii) a Will give the electrical angular frequency omega of the motor*And estimating the electrical angular frequency
Figure FDA0003201882300000011
Difference of (2)
Figure FDA0003201882300000012
Input to the first PI link to obtain a given q-axis current i of the motorq *(ii) a Will give q-axis current iq *And the actual q-axis current iq_set1Difference i ofq *-iq_set1Inputting to a second PI link to obtain u* q_set1(ii) a Setting a given d-axis current i* d_set1Will give d-axis current i* d_set1And the actual d-axis current id_set1Difference i of* d_set1-id_set1Inputting to a second PI link to obtain u* d_set1(ii) a For u is paired* d_set1By injecting a high-frequency voltage Uhcosωht obtaining u* d_set1+Uhcosωht, to u* d_set1+Uhcos ω t and u* q_set1Carrying out dq/abc conversion to obtain duty ratios of bridge arms of corresponding inverters A, B and C;
similarly, the three-phase current i of the second set of windings of the motor is obtained through a current sensorx，iy，izTo i, pairx，iy，izPerforming abc/dq conversion to obtain the actual q-axis current i of the second set of windingsq_set2And d-axis current id_set2(ii) a Will give q-axis current iq *And the actual q-axis current iq_set2Difference i ofq *-iq_set2Inputting to a second PI link to obtain u* q_set2(ii) a Setting a given d-axis current i* d_set2Will give d-axis current i* d_set2And the actual d-axis current id_set2Difference i of* d_set2-id_set2Inputting to a second PI link to obtain u* d_set2(ii) a For u is paired* q_set2By injecting a high-frequency voltage Uhsinωht obtaining u* q_set2+Uhsinωht; for u is paired* q_set2+Uhsinωht and u* d_set2Carrying out dq/abc conversion to obtain duty ratios of X, Y and Z phase bridge arms of corresponding inverters; the method is characterized in that two independent high-frequency signals are introduced and respectively injected into an estimation reference coordinate system of a first set of winding and a second set of winding of a six-phase motor to estimate the position of a motor rotor, and the method specifically comprises the following steps:
step S1, for the first set of windings, will
Figure FDA0003201882300000013
Injected into an estimated reference frame of the first set of windings of the machine, will
Figure FDA0003201882300000014
Injecting the estimated reference coordinate system of the second set of windings of the motor and solving each phase voltage respectively as follows, wherein UhFor injecting the amplitude, omega, of the high-frequency signalhIs the frequency of the injected high frequency signal;
Figure FDA0003201882300000021
Figure FDA0003201882300000022
Figure FDA0003201882300000023
Figure FDA0003201882300000024
Figure FDA0003201882300000025
Figure FDA0003201882300000026
wherein L is0Average value of self-inductance of motor, M0Is the mean value of the mutual inductance of the motor, LdIs d-axis inductance, L, of the motorqIs an inductance of the q-axis of the motor,
Figure FDA0003201882300000027
wherein
Figure FDA0003201882300000028
Is the difference between the actual d-axis position and the estimated d-axis position;
step S2, based on the obtained voltages of each phase, obtaining a zero-sequence voltage as follows:
Figure FDA0003201882300000029
step S3, the zero sequence voltage is transformed as follows:
Figure FDA00032018823000000210
the transformation result is input to a low-pass filter for filtering to obtain:
Figure FDA00032018823000000211
wherein k is a filter coefficient;
and step S4, inputting the low-pass filtering result to a PI (proportion integration) adjusting link to obtain the estimated electrical angular frequency of the motor, and inputting the estimated electrical angular frequency to an integrating link to obtain the estimated position of the motor rotor.
2. The position sensorless control method for high frequency injection of double-winding pulse vibration for six-phase permanent magnet motor according to claim 1, wherein the first winding is injecting voltage signal in step S1
Figure FDA00032018823000000212
The rear phase voltages are solved as follows:
step L1.1, the first set of windings is being injected
Figure FDA00032018823000000213
The rate of change of the resulting dq-axis current is:
Figure FDA0003201882300000031
step L1.2, calculate separately
Figure FDA0003201882300000032
The three-phase current conversion rate is generated as follows:
Figure FDA0003201882300000033
Figure FDA0003201882300000034
Figure FDA0003201882300000035
step L1.3, calculating respectively
Figure FDA0003201882300000036
Produced byThe three-phase voltages are as follows:
Figure FDA0003201882300000037
Figure FDA0003201882300000038
Figure FDA0003201882300000039
for the second set of windings, a voltage signal is injected
Figure FDA00032018823000000310
The rear phase voltages are solved as follows:
step M1.1, the second set of windings is being injected
Figure FDA00032018823000000311
The rate of change of the resulting dq-axis current is:
Figure FDA00032018823000000312
step M1.2, calculate separately
Figure FDA0003201882300000041
The three-phase current conversion rate is generated as follows:
Figure FDA0003201882300000042
Figure FDA0003201882300000043
Figure FDA0003201882300000044
step M1.3, calculating respectively
Figure FDA0003201882300000045
The three-phase voltages generated are as follows:
Figure FDA0003201882300000046
Figure FDA0003201882300000047
Figure FDA0003201882300000048
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