CN113904605A - Method and device for determining position of rotor of permanent magnet synchronous motor without position sensor - Google Patents
Method and device for determining position of rotor of permanent magnet synchronous motor without position sensor Download PDFInfo
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- CN113904605A CN113904605A CN202111149624.6A CN202111149624A CN113904605A CN 113904605 A CN113904605 A CN 113904605A CN 202111149624 A CN202111149624 A CN 202111149624A CN 113904605 A CN113904605 A CN 113904605A
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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
- H02P21/13—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
- H02P21/24—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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- 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
Abstract
The embodiment of the invention discloses a method and a device for determining the position of a rotor of a permanent magnet synchronous motor without a position sensor, wherein the method comprises the following steps: acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system; determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to a voltage equation; constructing a current observer in an alpha-beta coordinate system based on a current state space equation; determining a current error of the permanent magnet synchronous motor in an s domain according to a current state space equation and a current observer, and determining an error transformation matrix according to the current error; and multiplying the current error by the error conversion matrix, converting the multiplied result to obtain the rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error. The method and the device for determining the rotor position of the permanent magnet synchronous motor without the position sensor can solve the problem of inaccurate error estimation caused by small back electromotive force under the condition of low speed, so that the accuracy of rotor position estimation is improved.
Description
Technical Field
The embodiment of the invention relates to a motor control technology, in particular to a method and a device for determining the position of a rotor of a permanent magnet synchronous motor without a position sensor.
Background
With the continuous improvement of the manufacturing process of rare earth permanent magnet materials, the development of the permanent magnet synchronous motor is greatly improved, and the permanent magnet synchronous motor has the advantages of light weight, small size, high power density, high working efficiency and the like, and is widely applied to the fields of military, aerospace, industry, civil use and the like. The permanent magnet synchronous motor control system is a multivariable, nonlinear and strong coupling system, and the key for realizing the vector control of the permanent magnet synchronous motor is to obtain the position and speed information of a motor rotor in real time so as to provide necessary rotating speed and rotor position information in a decoupling link, a coordinate transformation link and a speed loop feedback link. Therefore, the research on the control algorithm of the permanent magnet synchronous motor without the position sensor has important significance.
At present, in the existing method for determining the position of the rotor of the permanent magnet synchronous motor without the position sensor, a mechanical sensor such as a magnetic encoder, a photoelectric encoder, a rotary transformer and the like is usually installed coaxially with the rotor of the motor, so that the problems of large motor size, high cost, more leads, high environmental requirements and the like exist, the method is not suitable for the working conditions with medium and high rotating speeds, and the traditional observer estimates the electrical angle error by using the counter electromotive force, and the error estimation is not accurate due to the fact that the counter electromotive force is small under the low-speed condition.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining the position of a rotor of a permanent magnet synchronous motor without a position sensor, which are used for solving the problem of inaccurate error estimation caused by small back electromotive force under the condition of low speed, so that the accuracy of rotor position estimation is improved.
In a first aspect, an embodiment of the present invention provides a method for determining a rotor position of a permanent magnet synchronous motor without a position sensor, where the method includes:
acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system;
determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to a voltage equation;
constructing a current observer in an alpha-beta coordinate system based on a current state space equation;
determining a current error of the permanent magnet synchronous motor in an s domain according to a current state space equation and a current observer, and determining an error transformation matrix according to the current error;
and multiplying the current error by the error conversion matrix, converting the multiplied result to obtain the rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error.
Optionally, a current observer is constructed in the α - β coordinate system based on the current state space equation, and a current error of the permanent magnet synchronous motor in the s domain is determined according to the current state space equation and the current observer, including:
determining an equation of a current observation value in an alpha-beta coordinate system based on a current state space equation;
and performing difference on the current state space equation and the equation of the current observation value to obtain an equation difference, and performing Laplace transformation on the equation difference to obtain a current error of the permanent magnet synchronous motor in the s domain.
Optionally, the equation of the current observed value is:
wherein the content of the first and second substances,
and
respectively, the observed values of the stator current of the permanent magnet synchronous motor in a current observerαAnd uβThe components of the stator voltage of the permanent magnet synchronous motor in the alpha axis and the beta axis, RsAnd LsStator resistance and inductance, psi, of a permanent magnet synchronous machine, respectivelyfIs a permanent magnetic flux linkage, and is characterized in that,
and
estimated values of mechanical angular velocity and rotor electrical angle, PnIs the number of pole pairs of the motor, KαβThe gain factor is fed back for the current error,
iαand iβThe components of the stator current of the permanent magnet synchronous motor on an alpha axis and a beta axis respectively;
the current state space equation is:
wherein, ω ismAnd thetaeThe mechanical rotating speed and the rotor electrical angle of the permanent magnet synchronous motor are respectively.
Optionally, the expression of the current error is:
wherein the content of the first and second substances,
K′αβ＝Kαβ+Rs/Ls。
optionally, determining an error conversion matrix according to the current error, multiplying the current error by the error conversion matrix, and converting a result of the multiplication to obtain the rotor electrical angle error includes:
determining an expression of an error transformation matrix gamma based on the expression of the current error;
multiplying the expression of the current error by the expression of the error conversion matrix, and converting the multiplication result to obtain the rotor electrical angle error delta thetaeThe expression of (1); expression of the error transformation matrix ΓThe formula is as follows:
wherein the content of the first and second substances,
is the observed value of the permanent magnetic flux linkage in a current observer.
Alternatively to this, the first and second parts may,
defining variable A1、A2And B, the amount of the compound to be reacted,
the rotor electrical angle error delta thetaeIs expressed as
Optionally, determining the rotor position according to the rotor electrical angle error includes:
determining the electrical angular speed of the rotor through a phase-locked loop PI controller according to the electrical angle error of the rotor;
and integrating the electric angular velocity of the rotor to obtain the electric angle of the rotor.
Optionally, the rotor electrical angle error is Δ θeThe electrical angular velocity of the rotor is ωe，
KpTo proportional gain, KiFor integral gain, rotor electrical angle is θe，θe＝∫ωedt。
In a second aspect, an embodiment of the present invention further provides a device for determining a rotor position of a permanent magnet synchronous motor without a position sensor, including:
the equation acquisition module is used for acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system;
the equation determining module is used for determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to a voltage equation;
the observer constructing module is used for constructing a current observer in an alpha-beta coordinate system based on a current state space equation;
the error determination module is used for determining the current error of the permanent magnet synchronous motor in the s domain according to the current state space equation and the current observer and determining an error conversion matrix according to the current error;
and the position determining module is used for multiplying the current error by the error conversion matrix, converting the multiplied result to obtain the rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error.
Optionally, the observer constructing module includes:
the equation determining unit is used for determining an equation of a current observed value in an alpha-beta coordinate system based on a current state space equation;
the error determination module includes:
and the error determining unit is used for subtracting the current state space equation and the equation of the current observation value to obtain an equation difference, and performing Laplace transformation on the equation difference to obtain the current error of the permanent magnet synchronous motor in the s domain.
The method and the device for determining the rotor position of the permanent magnet synchronous motor without the position sensor, provided by the embodiment of the invention, are used for acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system; determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to a voltage equation; constructing a current observer in an alpha-beta coordinate system based on a current state space equation; determining a current error of the permanent magnet synchronous motor in an s domain according to a current state space equation and a current observer, and determining an error transformation matrix according to the current error; and multiplying the current error by the error conversion matrix, converting the multiplied result to obtain the rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error. Compared with the conventional mode of estimating the electric angle error by using the back electromotive force through the traditional observer, the method and the device for determining the rotor position of the permanent magnet synchronous motor without the position sensor determine the current error through the constructed current observer, determine the electric angle error of the rotor through the current error, solve the problem of inaccurate error estimation caused by small back electromotive force under the low-speed condition, and improve the accuracy of rotor position estimation.
Drawings
Fig. 1 is a flowchart of a method for determining a position of a rotor of a permanent magnet synchronous motor without a position sensor according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a rotor position of a permanent magnet synchronous motor without a position sensor according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a phase-locked loop control according to a second embodiment of the present invention;
fig. 4 is a block diagram of a device for determining a rotor position of a permanent magnet synchronous motor without a position sensor according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for determining a rotor position of a permanent magnet synchronous motor without a position sensor according to an embodiment of the present invention, where the embodiment is applicable to aspects such as detecting a rotor position of a permanent magnet synchronous motor without a position sensor, and the method may be implemented by a device for determining a rotor position of a permanent magnet synchronous motor without a position sensor, where the device may be implemented by software and/or hardware, and the device may be integrated in an electronic device such as a computer having a function of determining a rotor position of a permanent magnet synchronous motor without a position sensor, and the method specifically includes the following steps:
and 110, acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system.
The device for determining the position of the rotor of the permanent magnet synchronous motor without the position sensor can acquire the voltage equation of the permanent magnet synchronous motor in the alpha-beta coordinate system through an interface which is arranged on the device and is electrically connected with the motor control system so as to determine a current state space equation.
And step 120, determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to the voltage equation.
The permanent magnet synchronous motor comprises a voltage equation of an alpha-beta coordinate system and a current observer, wherein the voltage equation of the alpha-beta coordinate system comprises current components of an alpha-beta axis, so that a current state space equation can be determined by converting the voltage equation, and the current observer is constructed on the basis of the current state space equation.
And step 130, constructing a current observer in an alpha-beta coordinate system based on a current state space equation.
Specifically, the current observer may be constructed based on an expression of a current state space equation, that is, an equation of a current observed value may be determined based on the expression of the current state space equation, so as to determine a current error according to the equation of the current observed value.
And 140, determining the current error of the permanent magnet synchronous motor in the s domain according to the current state space equation and the current observer, and determining an error conversion matrix according to the current error.
Specifically, a current state space equation and an equation of a current observation value can be subjected to difference to obtain an equation difference, and laplace transformation is performed on the obtained equation difference to determine a current error of the permanent magnet synchronous motor in the s domain, so that an error transformation matrix can be determined.
And 150, multiplying the current error by the error conversion matrix, converting the multiplied result to obtain a rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error.
Specifically, the expression of the current error may be multiplied by the expression of the error transformation matrix, forThe multiplied result is converted to obtain the rotor electrical angle error delta thetaeAccording to the rotor electrical angle error, the electrical angular speed of the rotor is determined through a phase-locked loop PI controller, and the electrical angular speed of the rotor is integrated to obtain the rotor electrical angle, namely the rotor position is determined.
The method for determining the rotor position of the permanent magnet synchronous motor without the position sensor according to the embodiment includes the steps of constructing a current observer in an alpha-beta coordinate system based on a determined current state space equation of the permanent magnet synchronous motor in the alpha-beta coordinate system, determining a current error of the permanent magnet synchronous motor in an s domain according to the current state space equation and the current observer, determining an error conversion matrix according to the current error, multiplying the current error by the error conversion matrix, converting a multiplication result to obtain a rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error. Compared with the existing mode of estimating the electric angle error by using the back electromotive force through the traditional observer, the method for determining the rotor position of the permanent magnet synchronous motor without the position sensor determines the current error through the constructed current observer, determines the rotor electric angle error through the current error, solves the problem of inaccurate error estimation caused by small back electromotive force under the low-speed condition, and improves the accuracy of rotor position estimation.
Example two
Fig. 2 is a flowchart of a method for determining a rotor position of a permanent magnet synchronous motor without a position sensor according to a second embodiment of the present invention, where this embodiment is applicable to aspects such as detecting a rotor position of a permanent magnet synchronous motor without a position sensor, and the method may be implemented by a device for determining a rotor position of a permanent magnet synchronous motor without a position sensor, where the device may be implemented by software and/or hardware, and the device may be integrated in an electronic device such as a computer having a function of determining a rotor position of a permanent magnet synchronous motor without a position sensor, and the method specifically includes the following steps:
and step 210, acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system.
Specifically, a voltage equation and a mechanical equation of the permanent magnet synchronous motor in an alpha-beta coordinate system are as follows:
wherein u isαAnd uβComponent i of stator voltage of permanent magnet synchronous motor in alpha axis and beta axis respectivelyαAnd iβThe components of the stator current in the alpha and beta axes, RsAnd LsStator resistance and inductance, psi, of a permanent magnet synchronous machine, respectivelyfIs a permanent magnetic flux linkage, omegamAnd thetaeMechanical speed and rotor electrical angle, P, respectivelynIs the number of pole pairs of the motor, J and B are respectively the moment of inertia and the friction coefficient, TLAnd TeRespectively, the load torque and the output electromagnetic torque.
And step 220, determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to the voltage equation.
Specifically, the current state space equation can be determined based on the voltage equation as follows:
wherein, ω ismAnd thetaeThe mechanical rotating speed and the rotor electrical angle of the permanent magnet synchronous motor are respectively.
And step 230, determining an equation of the current observed value in the alpha-beta coordinate system based on the current state space equation.
Specifically, based on the current state space equation, the equation that can determine the current observed value is:
wherein the content of the first and second substances,
and
respectively the observed values of the stator current of the permanent magnet synchronous motor in a current observer,
and
estimated values of mechanical angular velocity and rotor electrical angle, KαβThe gain factor is fed back for the current error,
and 240, subtracting the current state space equation and the current observation value equation to obtain an equation difference, and performing Laplace transform on the equation difference to obtain a current error of the permanent magnet synchronous motor in the s domain.
Specifically, the current state space equation and the current observation value equation are subjected to difference, and after the equation difference is subjected to laplace transform, an expression of the current error in the s domain is obtained as follows:
wherein the content of the first and second substances,
K′αβ＝Kαβ+Rs/Ls。
and step 250, determining an expression of an error transformation matrix gamma based on the expression of the current error.
Specifically, based on the above expression of the current error, the expression of the error transformation matrix Γ may be determined as:
wherein the content of the first and second substances,
is the observed value of the permanent magnetic flux linkage in a current observer.
Wherein the content of the first and second substances,
Δωmfor mechanical angular velocity error, a variable A is defined1、A2And B, the amount of the compound to be reacted,
the rotor electrical angle error delta thetaeIs expressed as
And step 270, determining the electrical angular speed of the rotor through a phase-locked loop PI controller according to the electrical angle error of the rotor.
Wherein the rotor electrical angle error is delta thetaeThe electrical angular velocity of the rotor is ωe，
KpTo proportional gain, KiIs the integral gain.
And step 280, integrating the electrical angular velocity of the rotor to obtain the electrical angle of the rotor.
Wherein the rotor electrical angle is thetaeIntegrating the electrical angular velocity of the rotor to obtain the electrical angle of the rotor, i.e. thetae＝∫ωedt. Fig. 3 is a schematic structural diagram of a phase-locked loop control according to a second embodiment of the present invention, which is obtained by the above steps based on the variable a1、A2And B to estimate the rotorThe phase-locked loop structure of the electrical angle and the mechanical angular velocity is shown in fig. 3, the electrical angular velocity of the rotor is determined based on a defined variable, and the electrical angular velocity of the rotor is integrated, so that the electrical angle of the rotor, that is, the position of the rotor, is obtained.
The method for determining the rotor position of the permanent magnet synchronous motor without the position sensor includes determining an equation of a current observation value in an alpha-beta coordinate system based on a current state space equation, subtracting the current state space equation from the equation of the current observation value to obtain a equation difference, performing laplace transform on the equation difference to obtain a current error of the permanent magnet synchronous motor in an s domain, determining an error conversion matrix according to the current error, further multiplying the current error by the error conversion matrix, converting a multiplication result to obtain an electric angle error of a rotor, determining an electric angular velocity of the rotor through a phase-locked loop PI controller according to the electric angle error of the rotor, and integrating the electric angular velocity of the rotor to obtain an electric angle of the rotor. Compared with the existing mode of estimating the electric angle error by using the back electromotive force through the traditional observer, the method for determining the rotor position of the permanent magnet synchronous motor without the position sensor determines the current error through the constructed current observer, determines the rotor electric angle error through the current error, solves the problem of inaccurate error estimation caused by small back electromotive force under the low-speed condition, and improves the accuracy of rotor position estimation.
EXAMPLE III
Fig. 4 is a block diagram of a device for determining a rotor position of a permanent magnet synchronous motor without a position sensor according to a third embodiment of the present invention, where the device for determining a rotor position of a permanent magnet synchronous motor without a position sensor includes an equation obtaining module 310, an equation determining module 320, an observer constructing module 330, an error determining module 340, and a position determining module 350; the equation obtaining module 310 is configured to obtain a voltage equation of the permanent magnet synchronous motor in an α - β coordinate system; the equation determining module 320 is configured to determine a current state space equation of the permanent magnet synchronous motor in an α - β coordinate system according to a voltage equation; the observer constructing module 330 is configured to construct a current observer in an α - β coordinate system based on a current state space equation; the error determination module 340 is configured to determine a current error of the permanent magnet synchronous motor in the s domain according to the current state space equation and the current observer, and determine an error transformation matrix according to the current error; the position determining module 350 is configured to multiply the current error by the error conversion matrix, convert the multiplied result to obtain a rotor electrical angle error, and determine a rotor position according to the rotor electrical angle error.
Optionally, the observer constructing module 330 includes: the equation determining unit is used for determining an equation of a current observed value in an alpha-beta coordinate system based on a current state space equation; the error determination module 340 includes: and the error determining unit is used for subtracting the current state space equation and the equation of the current observation value to obtain an equation difference, and performing Laplace transformation on the equation difference to obtain the current error of the permanent magnet synchronous motor in the s domain. The equation for the current observations is:
wherein the content of the first and second substances,
and
respectively, the observed values of the stator current of the permanent magnet synchronous motor in a current observerαAnd uβThe components of the stator voltage of the permanent magnet synchronous motor in the alpha axis and the beta axis, RsAnd LsStator resistance and inductance, psi, of a permanent magnet synchronous machine, respectivelyfIs a permanent magnetic flux linkage, and is characterized in that,
and
estimated values of mechanical angular velocity and rotor electrical angle, PnIs the number of pole pairs of the motor, KαβThe gain factor is fed back for the current error,
iαand iβThe components of the stator current of the permanent magnet synchronous motor on an alpha axis and a beta axis respectively;
the current state space equation is:
wherein, ω ismAnd thetaeThe mechanical rotating speed and the rotor electrical angle of the permanent magnet synchronous motor are respectively.
The expression for the current error is:
wherein the content of the first and second substances,
K′αβ＝Kαβ+Rs/Ls。
on the basis of the above embodiment, the error determination module 340 includes a matrix expression determination unit, and the position determination module 350 includes an error expression determination unit; the expression determining unit is used for determining an expression of an error conversion matrix gamma based on the expression of the current error; the error expression determining unit is used for multiplying the expression of the current error by the expression of the error conversion matrix and converting the multiplication result to obtain the rotor electrical angle error delta thetaeThe expression of (1); the expression of the error transformation matrix Γ is:
wherein the content of the first and second substances,
is the observed value of the permanent magnetic flux linkage in a current observer.
Defining variable A1、A2And B, the amount of the compound to be reacted,
the rotor electrical angle error delta thetaeIs expressed as
In one embodiment, the position determination module 350 includes an electrical angular velocity determination unit and an electrical angle determination unit; the electric angular velocity determining unit is used for determining the electric angular velocity of the rotor through a phase-locked loop PI controller according to the electric angle error of the rotor; the electric angle determining unit is used for integrating the electric angular speed of the rotor to obtain the electric angle of the rotor. Wherein the rotor electrical angle error is delta thetaeThe electrical angular velocity of the rotor is ωe，
KpTo proportional gain, KiFor integral gain, rotor electrical angle is θe，θe＝∫ωedt。
The device for determining the rotor position of the permanent magnet synchronous motor without the position sensor provided by the embodiment of the invention and the method for determining the rotor position of the permanent magnet synchronous motor without the position sensor provided by any embodiment of the invention belong to the same inventive concept, and have corresponding beneficial effects, and detailed technical details in the embodiment are not found in the method for determining the rotor position of the permanent magnet synchronous motor without the position sensor provided by any embodiment of the invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for determining the position of a rotor of a permanent magnet synchronous motor without a position sensor is characterized by comprising the following steps:
acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system;
determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to the voltage equation;
constructing a current observer in an alpha-beta coordinate system based on the current state space equation;
determining a current error of the permanent magnet synchronous motor in an s domain according to the current state space equation and the current observer, and determining an error conversion matrix according to the current error;
and multiplying the current error by an error conversion matrix, converting a multiplication result to obtain a rotor electrical angle error, and determining the rotor position according to the rotor electrical angle error.
2. The method for determining the position of the rotor of the permanent magnet synchronous motor without the position sensor according to claim 1, wherein a current observer is constructed in an alpha-beta coordinate system based on the current state space equation; according to the current state space equation and the current observer, determining the current error of the permanent magnet synchronous motor in the s domain, wherein the method comprises the following steps:
determining an equation of a current observation in an alpha-beta coordinate system based on the current state space equation;
and carrying out difference on the current state space equation and the equation of the current observation value to obtain an equation difference, and carrying out Laplace transformation on the equation difference to obtain a current error of the permanent magnet synchronous motor in the s domain.
3. The method of determining a position sensorless rotor position of a permanent magnet synchronous motor according to claim 2, wherein the equation for the current observation is:
wherein the content of the first and second substances,
and
respectively, the observed values of the stator current of the permanent magnet synchronous motor in a current observerαAnd uβThe components of the stator voltage of the permanent magnet synchronous motor in the alpha axis and the beta axis, RsAnd LsStator resistance and inductance, psi, of a permanent magnet synchronous machine, respectivelyfIs a permanent magnetic flux linkage, and is characterized in that,
and
estimated values of mechanical angular velocity and rotor electrical angle, PnIs the number of pole pairs of the motor, KαβThe gain factor is fed back for the current error,
iαand iβThe components of the stator current of the permanent magnet synchronous motor on an alpha axis and a beta axis respectively;
the current state space equation is:
wherein, ω ismAnd thetaeThe mechanical rotating speed and the rotor electrical angle of the permanent magnet synchronous motor are respectively.
4. The method of determining the position of a sensorless rotor of a PMSM according to claim 3, wherein the current error is expressed as:
wherein the content of the first and second substances,
K′αβ＝Kαβ+Rs/Ls。
5. the method of determining a position sensorless rotor position of a permanent magnet synchronous motor according to claim 4, wherein the determining an error transformation matrix from the current error; multiplying the current error by an error conversion matrix, and converting a multiplication result to obtain a rotor electrical angle error by the current error and the error conversion matrix, wherein the step of multiplying the current error by the error conversion matrix comprises the following steps:
determining an expression of an error transformation matrix gamma based on the expression of the current error;
multiplying the expression of the current error by the expression of the error conversion matrix, and converting the multiplication result to obtain the rotor electrical angle error delta thetaeThe expression of (1); the expression of the error transformation matrix gamma is as follows:
wherein the content of the first and second substances,
is the observed value of the permanent magnetic flux linkage in a current observer.
6. The method for determining the position of a rotor of a PMSM without position sensor according to claim 5,
defining variable A1、A2And B, the amount of the compound to be reacted,
the rotor electrical angle error Δ θeIs expressed as
7. The method of determining a position sensorless rotor position of a permanent magnet synchronous motor according to claim 1, wherein the determining a rotor position according to the rotor electrical angle error comprises:
determining the electrical angular speed of the rotor through a phase-locked loop PI controller according to the electrical angle error of the rotor;
and integrating the electric angular velocity of the rotor to obtain the electric angle of the rotor.
8. The method of claim 7, wherein the rotor electrical angle error is Δ θeThe electrical angular velocity of the rotor is omegae，
KpTo proportional gain, KiFor integral gain, the rotor electrical angle is thetae，θe＝∫ωedt。
9. A device for determining a position of a rotor of a permanent magnet synchronous motor without a position sensor, comprising:
the equation acquisition module is used for acquiring a voltage equation of the permanent magnet synchronous motor in an alpha-beta coordinate system;
the equation determining module is used for determining a current state space equation of the permanent magnet synchronous motor in an alpha-beta coordinate system according to the voltage equation;
the observer constructing module is used for constructing a current observer in an alpha-beta coordinate system based on the current state space equation;
the error determination module is used for determining the current error of the permanent magnet synchronous motor in the s domain according to the current state space equation and the current observer and determining an error conversion matrix according to the current error;
and the position determining module is used for multiplying the current error by the error conversion matrix, converting the multiplied result to obtain a rotor electrical angle error, and determining the position of the rotor according to the rotor electrical angle error.
10. The apparatus of claim 9, wherein the observer building block comprises:
an equation determination unit for determining an equation of a current observation in an α - β coordinate system based on the current state space equation;
the error determination module includes:
and the error determination unit is used for subtracting the current state space equation from the equation of the current observation value to obtain an equation difference, and performing Laplace transformation on the equation difference to obtain a current error of the permanent magnet synchronous motor in the s domain.
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