CN113890438A - Speed-sensorless control method based on built-in permanent magnet synchronous motor - Google Patents
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
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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
- H02P21/20—Estimation of torque
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
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Abstract
A speed sensorless control method based on a built-in permanent magnet synchronous motor is characterized in that the speed sensorless control method writes out a voltage equation of the built-In Permanent Magnet Synchronous Motor (IPMSM) neglecting iron loss eddy current loss and saturation effect under an alpha beta coordinate system, and establishes an IPMSM state equation by taking stator current as a state variable; b. constructing a sliding mode surface, establishing an effective flux linkage supercoiled sliding mode observer according to a state equation and providing stability analysis; c. the effective flux linkage information obtained by an observer is used as input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position; the control method of the invention can be applied to a medium-high speed region, and is only applied to a low-speed region compared with a method of pulse vibration high-frequency injection.
Description
Technical Field
The invention provides a method without a speed sensor, aiming at a permanent magnet synchronous motor. In particular to a control method of an effective flux linkage supercoiled sliding-mode observer based on a built-in permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied due to superior performances of high power factor, wide operation range, low maintenance cost, simple structure and the like. In order to improve the motor driving performance and reduce the cost of the control system, many methods have been proposed. The high-performance alternating current motor drive control is realized on the premise that the rotor position information needs to be accurately acquired. At present, the rotor position information of the motor is generally detected by installing a photoelectric encoder and a rotary transformer on a rotating shaft of the motor, and the use of the mechanical sensor not only increases the complexity of a driving system, but also increases the cost of system implementation. In some special environments, the sensor is not allowed to be installed on the rotating shaft of the motor, so that the application occasions of the permanent magnet synchronous motor are greatly limited.
The chinese patent application, application No. CN201010508205.2, published 2011, 2.2.2011, discloses a sensorless control method for a permanent magnet synchronous motor, which includes a flux linkage/current state observer and a back electromotive force measurement module, where the flux linkage/current state observer is a sliding mode observer, the sliding mode observer is controlled by a sliding mode variable structure, a coordinate system of the sliding mode observer is an estimated rotation coordinate system, and the coordinate system rotates at an angular velocity and lags behind an electrical angle of the coordinate system; the control parameter calculation module calculates the position error of the rotor, and the sliding mode observer is adopted in the patent, so that compared with the supercoiled sliding mode algorithm, the extracted signal has stronger buffeting.
The Chinese patent application, application number CN201710117341.0, published 2019, 8.2. discloses a permanent magnet synchronous motor position sensorless control method, wherein the position and the rotating speed of a motor rotor are estimated from high-frequency current response through pulse vibration high-frequency voltage signal injection. The method comprises the following steps: generating a high-frequency voltage signal vh, injecting the high-frequency voltage signal vh into an estimated shafting, and generating a signal modulation array Am; the method comprises the steps of sampling stator winding current by a current sensor, carrying out coordinate transformation, extracting high-frequency components, multiplying the stator winding current by a signal modulation array Am to obtain a target value Pv1, obtaining a magnetic pole position estimated value and a rotating speed estimated value, multiplying the magnetic pole position estimated value by the signal modulation array Am to obtain a target value Pv2, judging the polarity of a magnetic pole, outputting a rotor position estimated value after compensation. The method for injecting the high-frequency signals is adopted to extract the rotor position signals, and the method is only suitable for low-speed areas, and can be used for observing medium-speed and high-speed areas.
1. Technical problem to be solved
Aiming at the problem of sensorless control in the built-in permanent magnet synchronous motor, the invention provides a control method based on an effective flux linkage supercoiled sliding-mode observer, which is used for estimating the position and the rotating speed of a rotor of the permanent magnet synchronous motor at medium and high speeds.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
A speed sensorless control method based on an interior permanent magnet synchronous motor comprises the following steps:
a. writing a voltage equation of an Interior Permanent Magnet Synchronous Motor (IPMSM) under an alpha beta coordinate system, and establishing an IPMSM state equation by taking stator current as a state variable;
b. constructing a sliding mode surface, establishing an effective flux linkage supercoiled sliding mode observer according to a state equation and providing stability analysis;
c. the effective flux linkage information obtained by an observer is used as input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position;
further, by using newton's law of motion, a nominal model of the tandem elastic actuators SEA in an exoskeleton robot can be written as:
obtaining voltage equation of IPMSM by neglecting iron loss, eddy current loss and saturation effect
Wherein u isαβ，iαβIs the voltage, current, R in a stationary coordinate systemS,LqStator resistance and q-axis inductance. Typically, the mechanical time constant of the motor is much larger than thatAn electrical time constant of
Wherein
LdFor rotor flux linkage and d-axis inductance, θrIs the rotor position angle.
Further, an IPMSM state equation is established with the stator current as a state variable:
wherein, ω iseAs to the electrical angular velocity of the rotor,
is the α β axis effective flux linkage value.
Further, a sliding mode surface is constructed, and an effective flux linkage supercoiled sliding mode observer is established according to a state equation:
the structural slip form surface is
The observer can be established as:
wherein "" represents a variable estimate. The basic form of the supercoiled algorithm with perturbations can be written as:
wherein,
ki,ρiand sign () are state variables, estimated values and actual values, respectivelyDifference, sliding mode gain, perturbation term and sign function. Will be provided with
And
substituting equation (4) into equation (4), then equation (4) can be written as:
then the disturbance term
Can be designed as follows:
the observer can then be described in the following way:
as long as the perturbation term | ρ1|≤δ1|x1|1/2,ρ 20 and
the system converges to the sliding mode face for a finite time, where δ1Is a positive number. Substituting (6) into the above formula
For a sufficiently large delta1The above inequality can be easily satisfied.
Subtracting (2) from (7), the state equation of the current error of α β axis is:
when the system is stable, the estimation error is on the sliding mode surface, which means that the estimation value is close to the actual value (i)α≈0,iβ0) then
Is that
5. Furthermore, the effective flux linkage information obtained by the observer is used as an input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position:
according to the attached figure 3, let
When in use
And thetarWhen the difference is small, then it can be considered that
Then error signal
Is just as
To pair
With normalization, the equivalent position error information can be expressed as:
by aligning the position error signal delta thetarThe rotating speed estimation value can be obtained by PI regulation, then the rotating speed estimation value can be obtained by integrating the estimated rotating speed, and then the rotor position information can be obtained by integrating the estimated rotating speed, so that the control without a speed sensor is realized. The PI regulation process can be represented by the following formula:
wherein k isi,kpThe gain coefficients of the PI regulators are all normal numbers.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) an effective flux linkage supercoiled sliding-mode observer is designed, most methods are directed to surface-mounted permanent magnet synchronous motors at present, and the invention is applied to built-in permanent magnet synchronous motors.
(2) The control method of the invention can be applied to a medium-high speed region, and is only applied to a low-speed region compared with a method of pulse vibration high-frequency injection.
Drawings
FIG. 1 is a block diagram of an implementation of the proposed sensorless approach to interior permanent magnet synchronous motors;
FIG. 2 is a block diagram of an efficient flux linkage supercoiled sliding-mode observer;
fig. 3 is a block diagram of a phase locked loop.
FIG. 4 is a schematic flow chart.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
FIG. 1 shows that the present invention provides a super-spiro based effective flux linkageAnd (3) a sensorless control block diagram of the built-in permanent magnet synchronous motor of the rotating sliding mode observer. The intelligent permanent magnet synchronous motor comprises an IPMSM (interior permanent magnet synchronous motor), a three-phase inverter module, an SVPWM vector control module, a flux linkage torque observation module and an effective flux linkage supercoiled sliding-mode observer module. The control method adopts direct torque control with maximum torque current ratio, converts three-phase current and voltage acquired by a sensor into current component i on an alpha axis under a two-phase static coordinate system through ClarkαOn the beta axis of the current component iβCalculating the voltage component u on the alpha-beta axis under the two-phase static coordinate system by inverse park coordinate transformationα,uβThen i isα，iβAnd uα，uβThe torque, flux linkage, rotating speed and rotor position information estimated by the two modules are calibrated through a magnetic chain loop PI controller, a torque loop PI controller and a rotating speed loop PI controller, and the calibration output is the voltage component u on the dq axis under a synchronous rotating coordinate systemd,uqThen, the voltage component u on the alpha-beta axis under the two-phase static coordinate system is calculated through inverse park coordinate transformationα,uβAnd after Space Vector Pulse Width Modulation (SVPWM), the SVPWM is input to an inverter, the voltage is converted into three-phase alternating current through the inverter and is supplied to a motor, and finally, a motor control system forms a closed-loop control loop.
A speed sensorless control method based on an interior permanent magnet synchronous motor comprises the following steps:
a. writing a voltage equation of an Interior Permanent Magnet Synchronous Motor (IPMSM) under an alpha beta coordinate system, and establishing an IPMSM state equation by taking stator current as a state variable;
b. constructing a sliding mode surface, establishing an effective flux linkage supercoiled sliding mode observer according to a state equation and providing stability analysis;
c. the effective flux linkage information obtained by an observer is used as input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position;
further, by using newton's law of motion, a nominal model of the tandem elastic actuators SEA in an exoskeleton robot can be written as:
obtaining voltage equation of IPMSM by neglecting iron loss, eddy current loss and saturation effect
Wherein u isαβ，iαβIs the voltage, current, R in a stationary coordinate systemS,LqStator resistance and q-axis inductance. Usually, the mechanical time constant of the motor is much larger than the electrical time constant thereof
Wherein
LdFor rotor flux linkage and d-axis inductance, θrIs the rotor position angle.
Further, an IPMSM state equation is established with the stator current as a state variable:
wherein, ω iseAs to the electrical angular velocity of the rotor,
is the α β axis effective flux linkage value.
Further, a sliding mode surface is constructed, and an effective flux linkage supercoiled sliding mode observer is established according to a state equation:
the structural slip form surface is
The observer can be established as:
wherein "" represents a variable estimate. The basic form of the supercoiled algorithm with perturbations can be written as:
wherein,
ki,ρiand sign () are the state variable, the error between the estimated and actual values, the sliding mode gain, the perturbation term, and the sign function, respectively. Will be provided with
And
substituting equation (4) into equation (4), then equation (4) can be written as:
then the disturbance term
Can be designed as follows:
the observer can then be described in the following way:
as long as the perturbation term ρ1≤δ1x1 1/2,ρ 20 and
then the system willConvergence to the slip form surface for a finite time, where δ1Is a positive number. Substituting (6) into the above formula
For a sufficiently large delta1The above inequality can be easily satisfied.
Subtracting (2) from (7), the state equation of the current error of α β axis is:
when the system is stable, the estimation error is on the sliding mode surface, which means that the estimation value is close to the actual value
Then
Is that
Furthermore, the effective flux linkage information obtained by the observer is used as an input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position:
according to the attached figure 3, let
When in use
And thetarWhen the difference is small, then it can be considered that
Then error signal
Is just as
To pair
With normalization, the equivalent position error information can be expressed as:
by aligning the position error signal delta thetarThe rotating speed estimation value can be obtained by PI regulation, then the rotating speed estimation value can be obtained by integrating the estimated rotating speed, and then the rotor position information can be obtained by integrating the estimated rotating speed, so that the control without a speed sensor is realized. The PI regulation process can be represented by the following formula:
wherein k isi,kpThe gain coefficients of the PI regulators are all normal numbers.
The invention is realized by adopting DSP through software programming, and the DSP controller adopts a TMS320F2812 chip special for motor control of TI company. The model of the alternating current permanent magnet synchronous motor is 130SFM _ E050254, and the parameters are shown in the following table:
Claims (5)
1. a speed sensorless control method based on a built-in permanent magnet synchronous motor is characterized by comprising the following steps:
a. writing a voltage equation of the Interior Permanent Magnet Synchronous Motor (IPMSM) neglecting iron loss eddy current loss and saturation effect under an alpha beta coordinate system, and establishing an IPMSM state equation by taking stator current as a state variable;
b. constructing a sliding mode surface, establishing an effective flux linkage supercoiled sliding mode observer according to a state equation and providing stability analysis;
c. and the effective flux linkage information obtained by the observer is used as input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position.
2. The speed sensorless control method based on the interior permanent magnet synchronous motor according to claim 1, characterized in that:
voltage equation for Interior Permanent Magnet Synchronous Machine (IPMSM) neglecting iron loss eddy current loss and saturation effect
Wherein u isαβ，iαβIs the voltage, current, R in a stationary coordinate systemS,LqStator resistance and q-axis inductance. Usually, the mechanical time constant of the motor is much larger than the electrical time constant thereof
Wherein
LdFor rotor flux linkage and d-axis inductance, θrIs the rotor position angle.
3. The speed sensorless control method based on the interior permanent magnet synchronous motor according to claim 1, characterized in that: establishing an IPMSM state equation by taking the stator current as a state variable:
wherein, ω iseAs to the electrical angular velocity of the rotor,
is the α β axis effective flux linkage value.
4. The speed sensorless control method based on the interior permanent magnet synchronous motor according to claim 1, characterized in that: constructing a sliding mode surface, and establishing an effective flux linkage supercoiled sliding mode observer according to a state equation:
the structural slip form surface is
The observer can be established as:
wherein "" represents a variable estimate. The basic form of the supercoiled algorithm with perturbations can be written as:
wherein x isi,
ki,ρiAnd sign () are the state variable, the error between the estimated and actual values, the sliding mode gain, the perturbation term, and the sign function, respectively. Will be provided with
And
substituting equation (4) into equation (4), then equation (4) can be written as:
then the disturbance term
Can be designed as follows:
the observer can then be described in the following way:
as long as the perturbation term | ρ1|≤δ1|x1|1/2,ρ20 and
the system converges to the sliding mode face for a finite time, where δ1Is a positive number. Substituting (6) into the above formula
For a sufficiently large delta1The above inequality can be easily satisfied.
Subtracting (2) from (7), the state equation of the current error of α β axis is:
when the system is stable, the estimation error is on the sliding mode surface, which means that the estimation value is close to the actual value
Then
Is that
5. The speed sensorless control method based on the interior permanent magnet synchronous motor according to claim 1, characterized in that: the effective flux linkage information obtained by an observer is used as input, and a rotor position estimation method based on a phase-locked loop is adopted to realize real-time tracking of the rotor position:
order to
When in use
And thetarWhen the difference is small, then it can be considered that
Then error signal
Is just as
To pair
With normalization, the equivalent position error information can be expressed as:
by aligning the position error signal delta thetarThe rotating speed estimation value can be obtained by PI regulation, then the rotating speed estimation value can be obtained by integrating the estimated rotating speed, and then the rotor position information can be obtained by integrating the estimated rotating speed, so that the control without a speed sensor is realized. The PI regulation process can be represented by the following formula:
wherein k isi,kpThe gain coefficients of the PI regulators are all normal numbers.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116317747A (en) * | 2023-01-18 | 2023-06-23 | 北京航空航天大学 | Full-rotation-speed range tracking method for ultra-high-speed permanent magnet synchronous motor |
| CN117498745A (en) * | 2023-11-10 | 2024-02-02 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
| CN117674660A (en) * | 2023-12-11 | 2024-03-08 | 南京工业大学 | Second-order rapid discretization method for full-order observer of induction motor |
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| CN113300645A (en) * | 2021-05-14 | 2021-08-24 | 大连海事大学 | Improved control method of superspiral sliding die position-free sensor of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113300645A (en) * | 2021-05-14 | 2021-08-24 | 大连海事大学 | Improved control method of superspiral sliding die position-free sensor of permanent magnet synchronous motor |
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| Title |
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| 张萌 等: ""IPMSM有效磁链二阶滑模自适应估计控制"", 《控制工程》, pages 1 - 8 * |
| 苗敬利 等: ""基于超螺旋算法的永磁同步电机无传感器控制策略"", 《现代电子技术》, vol. 43, no. 17, pages 162 - 165 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116317747A (en) * | 2023-01-18 | 2023-06-23 | 北京航空航天大学 | Full-rotation-speed range tracking method for ultra-high-speed permanent magnet synchronous motor |
| CN117498745A (en) * | 2023-11-10 | 2024-02-02 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
| CN117498745B (en) * | 2023-11-10 | 2024-06-21 | 浙江大学 | Permanent magnet synchronous motor sensorless control method based on pole region matching |
| CN117674660A (en) * | 2023-12-11 | 2024-03-08 | 南京工业大学 | Second-order rapid discretization method for full-order observer of induction motor |
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