CN113992087B - Full-speed-domain sensorless position estimation and control method and system for motor - Google Patents
Full-speed-domain sensorless position estimation and control method and system for motor Download PDFInfo
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- 230000007704 transition Effects 0.000 claims abstract description 12
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Classifications
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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
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- 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
- H02P27/08—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 with pulse width modulation
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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 invention discloses a full-speed domain sensorless position estimation and control method and a full-speed domain sensorless position estimation and control system of a motor, wherein firstly, a normalized signal of a rotor flux linkage in the motor during high-speed operation is extracted through a rotor flux linkage observer; secondly, extracting normalized high-frequency current derivative envelope signals during zero-speed and low-speed operation of the motor based on the square wave injection estimator; then, a nonlinear transition algorithm based on the normalized flux linkage and the normalized envelope curve is used for finishing the stable switching from zero low-speed operation to medium-high-speed operation; and finally, adding a high-order term of the rotor estimation error to enhance the anti-interference capability of the system and improve the convergence speed of the estimator. Compared with the traditional phase-locked loop technology, the invention has high estimation precision, good anti-interference capability and stronger anti-noise capability; the method is applicable to zero-speed, low-speed, medium-speed and high-speed running states at the same time, and covers a full-speed domain; and compared with the traditional transition strategy based on angle switching, the switching process is stable.
Description
Technical Field
The invention belongs to the field of motor control, and particularly relates to a full-speed-domain sensorless position estimation and control method and system for a motor.
Background
The permanent magnet synchronous and DC brushless motors are widely applied to industry due to the characteristics of high power density, small volume, good speed regulation performance and the like. In order to obtain the position and speed information of the motor rotor, it is generally necessary to install hall sensors, photoelectric encoders, rotary transformers and other sensors on the rotating shaft, which increases the size of the motor and increases the cost, and the sensors are easily damaged in severe environments such as high temperature, high humidity, dust, vibration, electromagnetic interference and the like, resulting in reduced reliability of the system, so how to realize high performance control of the motor without using the sensors is a current research hotspot and difficulty.
Existing sensorless algorithms are mainly divided into two categories: one is a back emf-based estimation method suitable for high-speed operation in an electric machine. This approach essentially uses the back emf generated as the motor rotor rotates to directly calculate or construct an observer to obtain motor rotor position or speed information. Such methods typically employ conventional PID phase-locked loop techniques, but they cannot accurately and quickly track the rotor position and velocity signals when the system conditions change rapidly. And because the back electromotive force signal generated by the motor in low-speed operation is weaker, noise or uncertainty of motor parameters introduced in the measurement process can cause larger deviation of estimated position and speed values, so that the running stability of the motor is seriously affected, and when the motor is stationary, the amplitude of the back electromotive force signal is 0, and the position and speed of the rotor at the moment can not be calculated. The other type is a high-frequency signal injection method suitable for the static or low-speed running state of the motor, which uses the structural saliency or saturation saliency of the motor and needs to superimpose the high-frequency signal on the basis of the voltage command in the original magnetic field directional control method. Under the action of motor saliency, the amplitude or phase of the high-frequency current excited by the high-frequency voltage signal can change along with the change of the rotor position. At this time, the position or speed of the rotor can be obtained by only processing the high-frequency current signal, but when the rotating speed of the motor is high, the back electromotive force signal generated by the rotation of the motor affects the estimation accuracy of the high-frequency injection method. To achieve sensorless control of a motor in the full speed domain, two algorithms are typically combined and a linear weighting algorithm is used to switch the estimated position and speed in the transition region of the two methods. But this method can produce large speed fluctuations during the switching process that affect the control performance. In addition, the traditional sensorless position estimation method also limits the quick response capability due to the slow convergence speed, which is unfavorable for the application to the situations where the load or input needs to change quickly.
Disclosure of Invention
The invention aims to: the invention aims to provide a full-speed-domain sensorless position estimation and control method and system for a motor, which have the advantages of high estimation accuracy, good anti-interference capability and stronger anti-noise capability.
The technical scheme is as follows: the invention relates to a full-speed domain sensorless position estimation and control method of a motor, which comprises the following steps:
(1) Extracting a normalized signal of the rotor flux linkage in the motor during high-speed operation through a rotor flux linkage observer;
(2) Extracting normalized high-frequency current derivative envelope signals of the motor in zero-speed and low-speed operation based on the square wave injection estimator;
(3) The nonlinear transition algorithm based on the normalized flux linkage and the normalized envelope curve achieves the stable switching from zero low-speed operation to medium-high-speed operation;
(4) By adding a high-order term of rotor estimation error, the anti-interference capability of the full-speed-domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of an estimator is improved.
Further, the step (1) includes the steps of:
(11) Establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u is α 、u β And i α 、i β Respectively stator voltage and stator current under two-phase static shafting, R is stator phase resistance, L d And L q Respectively, the dq axis phase inductance of the stator, theta e Is the rotor electrical angle omega e Is the rotor electrical angular velocity, ψ f Is a rotor flux linkage;
(12) Establishing reduced state observer
Wherein, gamma i (i=1 … 4) is the observer gain;the projection of the rotor flux linkage vector under a static two-phase coordinate system; sgn is a signed function; />Is an estimate of the rotor position,/, for>Is an estimate of rotor speed;
(13) Obtaining the flux linkage size of the motor rotor by using a reduced-order state observer: processing the obtained rotor flux linkage by adopting a normalization method to obtain a normalized flux linkage signal F cos 、F sin ：
Further, the implementation process of the step (2) is as follows:
when the injection signal frequency is higher, neglecting the resistance and the back electromotive force of the motor stator, and establishing a motor high-frequency signal model:
wherein u is dh 、u qh And i dh 、i qh The stator voltage high-frequency component and the stator current high-frequency component under the rotor synchronous shaft system are respectively;
high frequency voltage signal in estimated rotor synchronous coordinate system:
wherein V is inj For the amplitude of the injected square wave voltage, deltaT is the sampling time interval, and n is the current sampling times;
mathematical model of excited high-frequency current in stationary alpha beta coordinate system:
by using differential instead of differential and substituting the injected high-frequency signal
Taking the envelope curve and normalizing to obtain:
further, the implementation process of the step (3) is as follows:
G cos ＝F cos *r+E cos (1-r)
G sin ＝F sin *r+E sin (1-r)
wherein omega d And omega u G for the start and end speeds of the handover procedure cos 、G sin Respectively sine and cosine signals of rotor angle lambda>0 is used to control the switching speed of the transition phase, the larger λ, the faster the switching.
Further, the implementation process of the step (4) is as follows:
Δ 2 ω(k)＝η 1 e(k)+η 2 e(k-1)+η 3 e(k-2)+η 4 e 2 (k)+η 5 e 2 (k-1)+η 6 e 2 (k-2)+η 7 e(k)*e(k-1)+η 8 e(k)e(k-2)+η 9 e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ 2 ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ 2 ω(k)
where e (K) is the equivalent error in the K-th calculation, η i (i=1 …) is an estimator parameter.
Based on the same inventive concept, the invention also provides a full-speed domain sensorless position estimation and control system of the motor, comprising: a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a space vector pulse width modulation SVPWM module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a low pass filter LPF, a high pass filter HPF, a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator; the rotor flux linkage observer is realized by a microcontroller algorithm, a state observer is constructed according to input voltage and current signals, and the rotor flux linkage vector is estimated and normalized by using the observer; the square wave injection estimator is realized by a microcontroller algorithm, processes an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative, and normalizes the envelope signal; the position estimator completes the calculation of the rotor position and speed according to the input normalized flux linkage and normalized envelope curve signals.
The beneficial effects are that: compared with the prior art, the invention has the beneficial effects that: compared with the traditional phase-locked loop technology, the phase-locked loop method has the advantages of high estimation precision, good anti-interference capability and stronger anti-noise capability; compared with a Kalman filtering algorithm, the calculation efficiency is high; the method is applicable to zero-speed, low-speed, medium-speed and high-speed running states at the same time, and covers a full-speed domain; in the switching process of the motor from zero low-speed to medium-high-speed operation, the invention adopts a nonlinear transition algorithm to finish smooth switching of two paths of sine and cosine signals of normalized magnetic linkage and normalized high-frequency current derivative envelope curve, and compared with the traditional transition strategy based on angle switching, the switching process of the method is stable.
Drawings
FIG. 1 is a schematic diagram of a full speed domain sensorless position estimation and control system for a motor;
FIG. 2 is a functional schematic of a square wave injection estimator;
fig. 3 is a functional schematic of a position estimator.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The invention provides a full-speed domain sensorless position estimation and control system of a motor, as shown in fig. 1, comprising: the device comprises a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a space vector pulse width modulation SVPWM module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a low pass filter LPF, a high pass filter HPF, a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator. Wherein: the speed loop controller is realized by a microcontroller algorithm, and the main function is to give a d-axis current command value according to the current speed error; the d-axis current loop controller is realized by a microcontroller algorithm, and has the main function of giving a d-axis voltage command according to the current d-axis current error; the q-axis current loop controller is realized by a microcontroller algorithm, and the main function is to give a q-axis voltage command according to the current q-axis current error; the inverse Park conversion module is realized by a microcontroller algorithm and has the main function of converting physical quantity under a rotor synchronous coordinate system into a static two-phase coordinate system; the Space Vector Pulse Width Modulation (SVPWM) module is realized by a microcontroller algorithm, and has the main function of generating six paths of Pulse Width Modulation (PWM) signals according to a voltage command under a given stationary two-phase coordinate system; the three-phase inverter can be realized by using a driving chip and an NMOS tube, and has the main function of completing three-phase voltage control according to six paths of PWM signals; the three-phase permanent magnet synchronous motor is a controlled object; the current sampling module acquires three-phase current values of the permanent magnet synchronous motor by using a current sensor, a sampling resistor and the like; the Park conversion module is realized by a microcontroller algorithm and has the main function of converting physical quantity under a static three-phase coordinate system into physical quantity under a static two-phase coordinate system; the low-pass filter LPF is realized by a microcontroller algorithm, and has the main function of filtering high-frequency components in an input signal; the high-pass filter HPF is realized by a microcontroller algorithm, and has the main function of filtering low-frequency components in an input signal; the Clarke transformation module is realized by a microcontroller algorithm, and has the main function of transforming the physical quantity under the static two-phase shafting to the synchronous coordinate system of the rotor; the rotor flux linkage observer is realized by a microcontroller algorithm, and has the main functions of constructing a state observer according to input voltage and current signals, estimating a rotor flux linkage vector by using the observer, and normalizing the rotor flux linkage vector; the square wave injection estimator is realized by a microcontroller algorithm, and has the main functions of processing an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative and normalizing the envelope signal; the position estimator completes the calculation of the rotor position and speed according to the input normalized flux linkage and normalized envelope curve signals. The specific process is as follows:
first, a given electrical angular velocityAnd position estimatorEstimated angular velocity +.>The difference is transmitted into the speed loop controller to obtain the quadrature command current +.>When i is adopted d When the control method is=0 (i d The control method of =0 is exemplified, but other control algorithms, such as sliding mode, fuzzy, model reference adaptation, etc. can also be used, given the direct current command +.>Three-phase line current i obtained by current sampling module a 、i b 、i c Obtaining the actual AC-DC axis current through coordinate transformation>D-axis current to be measured +.>Is->Subtracting to obtain d-axis current error +.>Transmitting the voltage command to a d-axis current loop controller to obtain a d-axis voltage command +.>The measured q-axis current +.>Is->Subtracting to obtain q-axis current error +.>Transmitting the voltage command to a q-axis current loop controller to obtain a q-axis voltage command +.>For observing the rotor position at rest or low speed +.>Voltage command on d-axis is required +.>Superimposed high-frequency square-wave voltage signal +.>Obtaining the final dq-axis voltage command value +.>Converting the voltage command of the dq axis into the voltage command +.>Will->And the signals are input into the SVPWM module to obtain six paths of PWM signals to control the three-phase inverter circuit so as to drive the PMSM. To obtain the rotor position, three-phase currents Ia, ib, ic of the PMSM motor need to be obtained by a current sampling module. The three are used as input to be transmitted into a Clarke transformation module to obtain stator current i under a two-phase static coordinate system α 、i β . Filtering i using a low pass filter α 、i β The high frequency component of (b) gets the low frequency component of the two-phase current +.>On the one hand low frequency component->The current signal +.f. under the synchronous coordinate system of the rotor is obtained by the Clarke transformation module>As feedback of the current loop, on the other hand +.>And the rotor flux linkage observer module is transmitted to complete the rotor flux linkage estimation at medium and high speeds. While the high-frequency component of the stator current is obtained by means of a high-pass filter when the motor is running at low speed>Into square wave estimator to obtain normalized high frequency current derivative envelope signal E cos 、E sin . In the full-speed domain, the envelope signal E output by the square wave estimator cos 、E sin Normalized rotor flux linkage signal F output by flux linkage estimator cos 、F sin An incoming position estimator module obtaining rotor position +.>And the estimated value of the velocity +.>
The invention also provides a full-speed domain sensorless position estimation and control method of the motor, which specifically comprises the following steps:
step 1: and extracting a normalized signal of the rotor flux linkage in the motor during high-speed operation through a rotor flux linkage observer.
Firstly, establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u is α 、u β And i α 、i β Respectively stator voltage and stator current under two-phase static shafting, R is stator phase resistance, L 0 And L 1 Respectively common-mode inductance and differential-mode inductance, L d And L q Respectively, the dq axis phase inductance of the stator, theta e Is the rotor electrical angle omega e Is the rotor electrical angular velocity, ψ f Is rotor flux linkage, Q (θ) e ) Is a transformation matrix that is related to the rotor position.
The following reduced state observer is established according to the model:
wherein, gamma i (i=1 … 4) is the observer gain;the projection of the rotor flux linkage vector under a static two-phase coordinate system; sgn is a signed function; />Is an estimate of the rotor position,/, for>Is an estimate of the rotor speed.
And obtaining the flux linkage size of the motor rotor by using the state observer. In order to reduce the influence of the amplitude change of the motor rotor flux linkage on the bandwidth of the position estimator, the method adopts a normalization method to process the obtained rotor flux linkage to obtain a normalized flux linkage signal F cos 、F sin ：
Step 2: and extracting a normalized high-frequency current derivative envelope signal when the motor runs at zero speed and low speed based on the square wave injection estimator.
At low speed operation, the rotor back emf signal is too small and additional injection signals are needed to complete closed loop control of rotor position and speed. The invention adopts a square wave signal injection method, and a high-frequency signal demodulation method is shown in figure 2. When the injection signal frequency is high, the resistance and the counter electromotive force of the motor stator can be ignored, and a motor high-frequency signal model is built at the moment as follows:
wherein u is dh 、u qh And i dh 、i qh The high-frequency component of the stator voltage and the high-frequency component of the stator current under the rotor synchronous shaft system are respectively.
A high frequency voltage signal in the estimated rotor synchronization coordinate system of the formula:
wherein V is inj For the amplitude of the injected square wave voltage, Δt is the sampling time interval, and n is the current sampling number.
The mathematical model of the excited high-frequency current under the static alpha beta coordinate system is as follows:
using the difference instead of the derivative and substituting the injected high frequency signal can obtain:
when estimating errorsIn this case, the above formula can be simplified as:
taking the envelope curve and normalizing to obtain:
step 3: the nonlinear transition algorithm based on the normalized flux linkage and the normalized envelope curve achieves smooth switching from zero low-speed to medium-high-speed operation.
When the motor runs at high speed, the back electromotive force signal is stronger, and the normalized flux linkage signal F can be obtained cos 、F sin The position and speed of the rotor are extracted, and at low speed, the back electromotive force signal is weak, and the normalized envelope signal E is needed to be utilized cos 、E sin The position and the speed of the rotor are obtained, if the estimated position and the speed can generate larger fluctuation by directly switching from one method to the other method, the stable running of the rotor is influenced, and therefore, the invention adopts a nonlinear transition algorithm based on normalized flux linkage and normalized envelope curve.
G cos ＝F cos *r+e cos (1-r)
G sin ＝F sin *r+E sin (1-r)
Wherein omega d And omega u For the start speed and end speed of the switching process, λ (λ>0) Is a parameter of this transition algorithm, the larger λ, the shorter the switching process.
Step 4: by adding a high-order term of rotor estimation error, the anti-interference capability of the full-speed-domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of an estimator is improved.
Obtain sine and cosine signals G related to the angle of the rotor cos 、G sin Then, the actual position and angular velocity information of the rotor needs to be extracted from both. The invention adopts a position estimation algorithm based on an error high-order item control strategy, and the form is as follows:
Δ 2 ω(k)＝η 1 e(k)+η 2 e(k-1)+η 3 e(k-2)+η 4 e 2 (k)+η 5 e 2 (k-1)+B 6 e 2 (k-2)+η 7 e(k)*e(k-1)+η 8 e(k)e(k-2)+η 9 e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ 2 ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ 2 ω(k)
where e (K) is the equivalent error in the K-th calculation, η i (i=1 …) is an estimator parameter.
When the system estimation error is small, the higher order term of the error is approximately 0, and the first three primary terms play a main role in the algorithm. When the system error increases, the higher order term of the error increases faster, the higher order term of the changed error playing the leading role at the moment, the control quantity under the same error is larger, and the system converges faster.
Claims (2)
1. The full-speed domain sensorless position estimation and control method of the motor is characterized by comprising the following steps of:
(1) Extracting a normalized signal of the rotor flux linkage in the motor during high-speed operation through a rotor flux linkage observer;
(2) Extracting normalized high-frequency current derivative envelope signals of the motor in zero-speed and low-speed operation based on the square wave injection estimator;
(3) The nonlinear transition algorithm based on the normalized flux linkage and the normalized envelope curve achieves the stable switching from zero low-speed operation to medium-high-speed operation;
(4) By adding a high-order item of rotor estimation error, the anti-interference capability of a full-speed domain sensorless position estimation and control system of the motor is enhanced, and the convergence speed of an estimator is improved;
the step (1) comprises the following steps:
(11) Establishing a fundamental wave mathematical model of the motor under a two-phase static coordinate system:
wherein u is α 、u β And i α 、i β Respectively stator voltage and stator current under two-phase static shafting, R is stator phase resistance, L d And L q Respectively, the dq axis phase inductance of the stator, theta e Is the rotor electrical angle omega e Is the rotor electrical angular velocity, ψ f Is a rotor flux linkage;
(12) Establishing reduced state observer
Wherein, gamma i (i=1 … 4) is the observer gain;the projection of the rotor flux linkage vector under a static two-phase coordinate system; sgn is a signed function; />Is an estimate of the rotor position,/, for>Is an estimate of rotor speed;
(13) Obtaining the flux linkage size of the motor rotor by using a reduced-order state observer: processing the obtained rotor flux linkage by adopting a normalization method to obtain a normalized flux linkage signal F cos 、F sin ：
The implementation process of the step (2) is as follows:
when the injection signal frequency is higher, neglecting the resistance and the back electromotive force of the motor stator, and establishing a motor high-frequency signal model:
wherein u is dh 、u qh And i dh 、i qh The stator voltage high-frequency component and the stator current high-frequency component under the rotor synchronous shaft system are respectively;
high frequency voltage signal in estimated rotor synchronous coordinate system:
wherein V is inj For the amplitude of the injected square wave voltage, deltaT is the sampling time interval, and n is the current sampling times;
mathematical model of excited high-frequency current in stationary alpha beta coordinate system:
by using differential instead of differential and substituting the injected high-frequency signal
Taking the envelope curve and normalizing to obtain:
the implementation process of the step (3) is as follows:
G cos ＝F cos *r+E cos (1-r)
G sin ＝F sin *r+E sin (1-r)
wherein omega d And omega u G for the start and end speeds of the handover procedure cos 、G sin Respectively sine and cosine signals of the rotor angle, wherein lambda > 0 is used for controlling the switching speed of the transition stage, and the larger lambda is, the faster the switching is;
the implementation process of the step (4) is as follows:
Δ 2 ω(k)＝η 1 e(k)+η 2 e(k-1)+η 3 e(k-2)+η 4 e 2 (k)+η 5 e 2 (k-1)+η 6 e 2 (k-2)+η 7 e(k)*e(k-1)+η 8 e(k)e(k-2)+η 9 e(k-1)e(k-2)
Δω(k)＝Δω(k-1)+Δ 2 ω(k)
ω(k)＝ω(k-1)+Δω(k-1)+Δ 2 ω(k)
where e (K) is the equivalent error in the K-th calculation, η i (i=1..9) is an estimator parameter.
2. A full speed domain sensorless position estimation and control system for a motor employing the method of claim 1, comprising: a speed loop controller, a d-axis current loop controller, a q-axis current loop controller, an inverse Park conversion module, a space vector pulse width modulation SVPWM module, a three-phase inverter, a three-phase permanent magnet synchronous motor, a current sampling module, a Park conversion module, a low pass filter LPF, a high pass filter HPF, a Clarke conversion module, a rotor flux linkage observer, a square wave injection estimator and a position estimator; the rotor flux linkage observer is realized by a microcontroller algorithm, a state observer is constructed according to input voltage and current signals, and the rotor flux linkage vector is estimated and normalized by using the observer; the square wave injection estimator is realized by a microcontroller algorithm, processes an input high-frequency current signal to obtain an envelope signal of a high-frequency current derivative, and normalizes the envelope signal; the position estimator completes the calculation of the rotor position and speed according to the input normalized flux linkage and normalized envelope curve signals.
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| CN107171610A (en) * | 2017-06-29 | 2017-09-15 | 广东美芝制冷设备有限公司 | Rotor position estimate method, rotor position estimate device and motor |
| CN108288936A (en) * | 2018-01-03 | 2018-07-17 | 东南大学 | A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor |
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| CN102075136A (en) * | 2011-01-10 | 2011-05-25 | 江苏大学 | Soft measurement method for magnetic flux linkage of bearingless permanent magnet synchronous motor |
| CN107171610A (en) * | 2017-06-29 | 2017-09-15 | 广东美芝制冷设备有限公司 | Rotor position estimate method, rotor position estimate device and motor |
| CN108288936A (en) * | 2018-01-03 | 2018-07-17 | 东南大学 | A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor |
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