CN114142783A - Permanent magnet synchronous motor sensorless control switching state machine design method and system - Google Patents

Permanent magnet synchronous motor sensorless control switching state machine design method and system Download PDF

Info

Publication number
CN114142783A
CN114142783A CN202111238456.8A CN202111238456A CN114142783A CN 114142783 A CN114142783 A CN 114142783A CN 202111238456 A CN202111238456 A CN 202111238456A CN 114142783 A CN114142783 A CN 114142783A
Authority
CN
China
Prior art keywords
control
motor
frequency
state
torque current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111238456.8A
Other languages
Chinese (zh)
Inventor
熊峰
王傲能
彭洵
陈华进
王胜勇
卢家斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wisdri Wuhan Automation Co Ltd
Original Assignee
Wisdri Wuhan Automation Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wisdri Wuhan Automation Co Ltd filed Critical Wisdri Wuhan Automation Co Ltd
Priority to CN202111238456.8A priority Critical patent/CN114142783A/en
Publication of CN114142783A publication Critical patent/CN114142783A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention belongs to the technical field of motor control, and particularly provides a method and a system for designing a sensorless control switching state machine of a permanent magnet synchronous motor. The method specifies a state machine consisting of 4 operating states of the permanent magnet synchronous motor in two stages of a low-frequency IF control method and a medium-high frequency Sliding Mode Observer (SMO) control method, and then estimates an angle and a torque current i under each state on the basis of the state machineqThe processing method is carried outAnd exposition is carried out so as to realize smooth switching and smooth operation of the system. The results of the measurements show the effectiveness and reliability of the method.

Description

Permanent magnet synchronous motor sensorless control switching state machine design method and system
Technical Field
The invention relates to the technical field of motor control, in particular to a permanent magnet synchronous motor sensorless control switching state machine design method and system.
Background
The vector control strategy is most widely adopted in the field of practical application of the permanent magnet synchronous motor driving system, but the vector control system with the position sensor is adopted, so that the cost and the complexity of the system are increased, the mechanical strength and the anti-interference capability on electromagnetic noise, mechanical vibration and temperature are reduced, and the overall reliability of the system is reduced. In order to improve the operation efficiency, reduce the operation cost and enhance the reliability under special working conditions, a permanent magnet synchronous motor driving system adopting a position-sensorless vector control strategy is the main trend of the development of the permanent magnet motor control technology.
However, no mature method has been found for sensorless control studies, which can achieve high speed and position accuracy in both low-speed and high-speed full-speed ranges. At present, a composite control strategy combining low-speed and medium-high speed sensorless vector control is generally adopted, and good control effects in different speed sections can be realized according to the principles and characteristics of different control strategies, for example, an IF control stall detection method of a permanent magnet synchronous motor disclosed in the patent with the publication number of CN108111082A is a mode of controlling the motor in a low-speed state by adopting an IF control algorithm. For example, patent publication No. CN110661463A discloses that "fractional order PID sliding mode observer design method suitable for magnetic levitation spherical motor" can be used for high speed control in motor. However, this method involves the problem of switching between the low-speed control strategy and the medium-high speed control strategy. Therefore, no matter what composite control strategy is adopted for low-speed and medium-high speed control, how to reasonably design the switching state machine is the key for ensuring that the estimated speed and the torque current of the two strategies at the switching speed point are within a reasonable range, realizing smooth switching and stably operating the system.
Disclosure of Invention
The invention aims to solve the technical problem that the speed and position accuracy of a motor sensorless control mode in the prior art is lower in the low-speed and high-speed full-speed ranges.
The invention provides a design method of a sensorless control switching state machine of a permanent magnet synchronous motor, which comprises the following steps:
s1, a first operation state, when the motor operation frequency is lower than the lower limit w of the switching frequency1In the running state, the control algorithm of the sliding-mode observer is in advanced running observation and does not participate in rotating speed control;
s2, in the second running state, when the running frequency of the motor is not lower than the lower limit w of the switching frequency1Not higher than upper limit w of switching frequency2Setting the switching frequency bandwidth to w2-w1Estimating the angle of the motor rotor by a weighting transition mode;
s3, the third running state, when the running frequency of the motor is higher than the upper limit w of the switching frequency2Estimating the angle of the motor rotor by a sliding-mode observer control algorithm;
and S4, in the fourth operation state, when the permanent magnet synchronous motor is in transition operation from the control state of the medium-high frequency sliding mode observer to the control state of the low frequency IF, the torque current given from the control stage of the sliding mode observer is linearly and smoothly given to the IF control from the given torque current.
Preferably, the "IF control algorithm" in S1 specifically includes the following formula:
θif＝θ0+∫ω1dt；
wherein, thetaifIs the motor rotor angle, θ0Is the initial angle of the rotor of the motor, w1Is the lower limit of the switching frequency.
Preferably, the "weighted transition manner" in S2 specifically includes:
θ*＝D∫widt+(1-D)θSMO
Figure BDA0003318360850000031
wherein, theta*For the current real-time motor rotor angle, θSMOEstimating an angle, w, for a sliding-mode observer control algorithm1For switching the lower limit of frequency, wiFor the current real-time frequency, D is a weighting function, w2Is the upper switching frequency limit.
Preferably, in the second operating state in S2, the torque current is given by the speed loop output value iqThe feedback value of the speed loop is the estimated rotating speed of the sliding mode observer control algorithm in the first running state in S1, and the initial value of the integral component of the speed loop adopts a filling mode; in the rotor angle change process, a larger IF current in a first operation state in S1 is given to the torque current through a rotating speed ring, the torque current is gradually transited to the torque current controlled by the sliding-mode observer, and the motor is in a torque power angle self-balancing state;
initial value of integral component of velocity ring is velocity ring scaling coefficient iqLPF
Wherein the speed ring calibration coefficient is a given value 65535, iqLPFA large torque current setpoint for the IF control algorithm stage.
Preferably, the S3 includes:
the torque current gives a speed loop output value derived from the sliding-mode observer control algorithm.
Preferably, the S4 further includes:
and (5) estimating the rotor angle of the motor by adopting a weighted transition mode in S2.
Preferably, the S4 specifically includes:
Figure BDA0003318360850000032
when the stage of the sliding-mode observer is lower than the upper limit w of the switching frequency2When the torque current begins to transition, the motor frequency is lower than the lower limit w of the switching frequency1When the torque current transition is finished, t is the motor frequency from w2Transition to w1Transition time of time, iqFor the current torque current of the real-time machine, iqIFTorque current, i, for the IF control algorithm stageqSMOThe torque current of the algorithm stage is controlled by the sliding-mode observer.
The invention also provides a permanent magnet synchronous motor sensorless control switching state machine system, which comprises:
a first control module for controlling the motor to run at a first running state when the running frequency of the motor is lower than the lower limit w of the switching frequency1In the running state, the control algorithm of the sliding-mode observer is in advanced running observation and does not participate in rotating speed control;
a second control module for controlling the motor to operate in a second operation state when the motor operating frequency is not lower than the lower limit w of the switching frequency1Not higher than upper limit w of switching frequency2Setting the switching frequency bandwidth to w2-w1Estimating the angle of the motor rotor by a weighting transition mode;
a third control module for controlling the motor to run at a third running state when the running frequency of the motor is higher than the upper limit w of the switching frequency2Estimating the angle of the motor rotor by a sliding-mode observer control algorithm;
and the fourth control module is used for giving a linear smooth given transition of the torque current from the control stage of the sliding mode observer to the given torque current from the given torque current to the IF control in the fourth operation state when the permanent magnet synchronous motor is transitionally operated from the control state of the middle-high frequency sliding mode observer to the low-frequency IF control state.
Has the advantages that: the invention provides a method and a system for designing a sensorless control switching state machine of a permanent magnet synchronous motor. The method specifies a state machine consisting of 4 operating states of the permanent magnet synchronous motor in two stages of a low-frequency IF control method and a medium-high frequency Sliding Mode Observer (SMO) control method, and then on the basis of the state machine, the state machine is used for controlling the permanent magnet synchronous motor in each stateEstimated angle, torque current iqThe processing method of (2) is explained so as to realize smooth switching and stable operation of the system. The results of the measurements show the effectiveness and reliability of the method.
The scheme provides a switching state machine consisting of 4 states in the switching process of a permanent magnet synchronous motor sensorless vector control method based on the combination of IF control and a Sliding Mode Observer (SMO); under two transition states, an estimation angle weighting transition mode and 2 motor torque current smooth transition processing methods are provided, motor jitter caused by sudden change of an estimation angle and a torque current in a switching process is avoided, and system stability before and after switching is maintained.
Drawings
Fig. 1 is a flow chart of a working principle of a method for designing a sensorless control switching state machine of a permanent magnet synchronous motor according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a method for designing a sensorless control switching state machine of a permanent magnet synchronous motor, including:
and S1, in a first operation state, when the operation frequency of the motor is lower than the switching frequency lower limit w1, estimating the rotor angle of the motor by adopting an IF control algorithm, wherein in the operation state, the control algorithm of the sliding mode observer is in advance operation observation and does not participate in rotation speed control. When the operation frequency is lower than the lower limit w of the switching frequency1When the motor is in the low frequency IF control state. In the state, the angle of the permanent magnet synchronous motor estimates the angle of a motor rotor by adopting an IF control algorithm; in this state, since the IF control belongs to the current inner loop closed loop and the rotation speed outer loop open loop control, the current loop input, i.e. the torque current, is given by iqDerived from the IF control algorithm from a given torque current.
S2, in the second running state, when the running frequency of the motor is not lower than the lower limit w of the switching frequency1Not higher than upper limit w of switching frequency2Setting the switching frequency bandwidth to w2-w1And estimating the rotor angle of the motor in a weighted transition mode. The second operating state, the transition state of the IF control to the sliding mode observer control. In this state, when the motor running frequency is greater than the set lower limit w of the switching frequency1In the process, the permanent magnet synchronous motor transits from a low-frequency IF control state to a medium-high frequency sliding-mode observer control state to operate, and the switching frequency bandwidth is set to be w2-w1When the frequency is greater than the upper limit w of the switching frequency2And entering a control state of the sliding mode observer. In the second operation state, the estimated angle of the motor rotor is calculated by adopting a weighted transition mode of two algorithms. In this state, the torque current is given by the output value i of the speed loopqAnd the feedback value of the speed loop is the estimated rotating speed of the sliding mode observer control algorithm in the first running state in S1, and the initial value of the integral component of the speed loop adopts a filling mode. In the rotor angle change process, a larger IF current in the first operation state in S1 is given to the torque current through the rotating speed ring, the torque current is gradually transited to the torque current controlled by the sliding-mode observer, and the motor is in a torque power angle self-balancing state.
S3, the third running state, when the running frequency of the motor is higher than the upper limit w of the switching frequency2And estimating the angle of the motor rotor by a sliding-mode observer control algorithm. And the third running state is the control state of the medium-high frequency sliding mode observer. In the state, the angle of the permanent magnet synchronous motor is estimated by adopting a sliding-mode observer control algorithm, namely thetaSMO(ii) a The control state of the sliding mode observer belongs to current inner loop closed-loop control and rotating speed outer loop closed-loop control, so that the torque current is given to a speed loop output value derived from a sliding mode observer control algorithm.
And S4, in the fourth operation state, when the permanent magnet synchronous motor is in transition operation from the control state of the medium-high frequency sliding mode observer to the control state of the low frequency IF, the torque current given from the control stage of the sliding mode observer is linearly and smoothly given to the IF control from the given torque current. And in the fourth operation state, the sliding mode observer controls a transition state to IF control. In the state, the permanent magnet synchronous motor is controlled from the state controlled by the medium-high frequency sliding-mode observer to the low-frequency IF stateAnd (5) performing state transition operation. The angle is calculated from a weighted transition of the two algorithms. In this state, the torque current given is derived from the stage torque current of the sliding-mode observer to IF control to linearly smooth a given transition from the given torque current. When the stage of the sliding-mode observer is lower than the upper limit w of the switching frequency2When the torque current begins to transition, the motor frequency is lower than the lower limit w of the switching frequency1The torque current transition is complete.
In one particular implementation scenario:
the method comprises the following steps: and in the first operation state, the operation frequency of the motor in the first state is lower than the lower limit of the switching frequency. When the operation frequency is lower than the lower limit w of the switching frequency1In time, that is, the motor is in a low frequency state, an IF (current-frequency ratio, that is, a ratio of a reference current to a reference frequency) control method is adopted at this time. In the state, the angle of the permanent magnet synchronous motor is estimated by adopting an IF control algorithm, namely the angle of the motor rotor
Figure BDA0003318360850000071
Wherein, thetaifIs the motor rotor angle, θ0Is the initial angle of the rotor of the motor, w1Is the lower limit of the switching frequency.
In this state, since the IF control belongs to the current inner loop closed loop and the rotation speed outer loop open loop control, the current loop input, i.e. the torque current, is given by iqFrom a given torque current, i, derived from the IF control algorithmq＝IIFset。
Step two: the second operating state, the transition state of the IF control to the sliding mode observer control. In this state, when the motor running frequency is greater than the set lower limit w of the switching frequency1In the process, the permanent magnet synchronous motor transits from a low-frequency IF control state to a medium-high frequency sliding-mode observer control state to operate, and the switching frequency bandwidth is set to be w2-w1When the frequency is greater than the upper limit w of the switching frequency2And entering a control state of a medium-high frequency sliding mode observer. In the second operation state, the estimated motor rotor angle is calculated in a weighted transition mode of two algorithms, namely the current real-time motor rotor angle is as follows:
θ*＝D∫widt+(1-D)θSMO
wherein, θ*For the current real-time motor rotor angle, θSMOEstimating an angle, w, for a sliding-mode observer control algorithm1For switching the lower limit of frequency, wiFor the current real-time frequency, D is a weighting function, w2Is the upper switching frequency limit. The weighting function D is calculated as follows.
Figure BDA0003318360850000081
In this state, the torque current is given by the output value iq of the rotation speed loop, in order to avoid the abrupt cut-in of the rotation speed loop, the output value of the rotation speed loop, that is, the violent jitter of the torque current value setting, in this state, the initial value of the integral component of the rotation speed loop is superimposed on the output component of the rotation speed loop by adopting a filling mode, that is:
initial value of integral component of velocity ring is velocity ring scaling coefficient iqLPF
The speed loop scaling factor in this embodiment is 65535, so that the initial value of the speed loop output is given by a larger torque current in the IF control algorithm stage, i.e., iqLPFAnd the current is gradually transited to the control stage of the sliding-mode observer, so that the unstable operation of the motor caused by the jitter of the current is avoided.
Step three: and the third running state is the control state of the medium-high frequency sliding mode observer. In the state, the angle of the permanent magnet synchronous motor is estimated by adopting a sliding-mode observer control algorithm, namely thetaSMOThe control state of the sliding-mode observer belongs to current inner-loop closed-loop control and rotating speed outer-loop closed-loop control. Thus, for a given torque current, the angle estimate is derived from the speed loop control output.
Step four: and in the fourth operation state, the sliding mode observer controls a transition state to IF control. In the state, the permanent magnet synchronous motor transits from the control state of the medium-high frequency sliding-mode observer to the low-frequency IF control state. The angle is calculated from a weighted transition of the two algorithms.
θ*＝D∫widt+(1-D)θSMO
The weighting function D is calculated as follows:
Figure BDA0003318360850000082
in this state, the torque current given still derives from the sliding-mode observer stage torque current to IF control to linearly smooth a given transition from the given torque current. Namely:
Figure BDA0003318360850000091
when the stage of the sliding-mode observer is lower than the upper limit w of the switching frequency2When the torque current begins to transition, the motor frequency is lower than the lower limit w of the switching frequency1When the torque current transition is finished, t is the motor frequency from w2Transition to w1Transition time of time, iqFor the current torque current of the real-time machine, iqIFTorque current, i, for the IF control algorithm stageqSMOThe torque current of the algorithm stage is controlled by the sliding-mode observer.
The invention has the innovative effects that:
(1) a switching state machine consisting of 4 states in the switching process of a permanent magnet synchronous motor sensorless vector control method based on the combination of IF control and a Sliding Mode Observer (SMO) is specified;
(2) under two transition states, 1 estimation angle weighting transition mode and 2 motor torque current smooth transition processing methods are provided, so that motor jitter caused by sudden change of an estimation angle and a torque current in a switching process is avoided, and system stability before and after switching is maintained.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (8)

1. A permanent magnet synchronous motor sensorless control switching state machine design method is characterized by comprising the following steps:
s1, a first operation state, when the motor operation frequency is lower than the lower limit w of the switching frequency1In the running state, the control algorithm of the sliding-mode observer is in advanced running observation and does not participate in rotating speed control;
s2, in the second running state, when the running frequency of the motor is not lower than the lower limit w of the switching frequency1Not higher than upper limit w of switching frequency2Setting the switching frequency bandwidth to w2-w1Estimating the angle of the motor rotor by a weighting transition mode;
s3, the third running state, when the running frequency of the motor is higher than the upper limit w of the switching frequency2Estimating the angle of the motor rotor by a sliding-mode observer control algorithm;
and S4, in the fourth operation state, when the permanent magnet synchronous motor is in transition operation from the control state of the medium-high frequency sliding mode observer to the control state of the low frequency IF, the torque current given from the control stage of the sliding mode observer is linearly and smoothly given to the IF control from the given torque current.
2. The method for designing the sensorless control switching state machine of the permanent magnet synchronous motor according to claim 1, wherein the "IF control algorithm" in S1 specifically includes the following formula:
θif＝θ0+∫ω1dt；
wherein, thetaifIs the motor rotor angle, θ0Is the initial angle of the rotor of the motor, w1Is the lower limit of the switching frequency.
3. The permanent magnet synchronous motor sensorless control switching state machine design method according to claim 1, wherein the "weighted transition mode" in S2 specifically includes:
θ*＝D∫widt+(1-D)θSMO
Figure FDA0003318360840000021
wherein, theta*For the current real-time motor rotor angle, θSMOEstimating an angle, w, for a sliding-mode observer control algorithm1For switching the lower limit of frequency, wiFor the current real-time frequency, D is a weighting function, w2Is the upper switching frequency limit.
4. The PMSM sensorless control switching state machine design method as claimed in claim 3, wherein in the second operation state in S2, torque current is given by a rotation speed ring output value iqThe feedback value of the speed loop is the estimated rotating speed of the sliding mode observer control algorithm in the first running state in S1, and the initial value of the integral component of the speed loop adopts a filling mode; in the rotor angle change process, the torque current is given and gradually transited to the torque current controlled by the sliding-mode observer through an IF current in the first operation state in the rotation speed ring S1, and the motor is in a torque power angle self-balancing state;
initial value of integral component of velocity ring is velocity ring scaling coefficient iqLPF
Wherein the speed ring calibration coefficient is a given value 65535, iqLPFA large torque current setpoint for the IF control algorithm stage.
5. The PMSM sensorless control switching state machine design method according to claim 1, wherein the S3 includes:
the torque current gives a speed loop output value derived from the sliding-mode observer control algorithm.
6. The PMSM sensorless control switching state machine design method according to claim 3, wherein the S4 further includes:
and (5) estimating the rotor angle of the motor by adopting a weighted transition mode in S2.
7. The method for designing the sensorless control switching state machine of the permanent magnet synchronous motor according to claim 1, wherein the S4 specifically includes:
Figure FDA0003318360840000031
when the stage of the sliding-mode observer is lower than the upper limit w of the switching frequency2When the torque current begins to transition, the motor frequency is lower than the lower limit w of the switching frequency1When the torque current transition is finished, t is the motor frequency from w2Transition to w1Transition time of time, iqFor the current torque current of the real-time machine, iqIFTorque current, i, for the IF control algorithm stageqSMOThe torque current of the algorithm stage is controlled by the sliding-mode observer.
8. A permanent magnet synchronous motor sensorless control switching state machine system is characterized by comprising:
a first control module for controlling the motor to run at a first running state when the running frequency of the motor is lower than the lower limit w of the switching frequency1Estimating the angle of the motor rotor by adopting an IF control algorithm;
a second control module for controlling the motor to operate in a second operation state when the motor operating frequency is not lower than the lower limit w of the switching frequency1Not higher than upper limit w of switching frequency2Setting the switching frequency bandwidth to w2-w1Estimating the angle of the motor rotor by a weighting transition mode;
a third control module for controlling the motor to run at a third running state when the running frequency of the motor is higher than the upper limit w of the switching frequency2Estimating the angle of the motor rotor by a sliding-mode observer control algorithm;
and the fourth control module is used for giving a linear smooth given transition of the torque current from the control stage of the sliding mode observer to the given torque current from the given torque current to the IF control in the fourth operation state when the permanent magnet synchronous motor is transitionally operated from the control state of the middle-high frequency sliding mode observer to the low-frequency IF control state.
CN202111238456.8A 2021-10-25 2021-10-25 Permanent magnet synchronous motor sensorless control switching state machine design method and system Pending CN114142783A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111238456.8A CN114142783A (en) 2021-10-25 2021-10-25 Permanent magnet synchronous motor sensorless control switching state machine design method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111238456.8A CN114142783A (en) 2021-10-25 2021-10-25 Permanent magnet synchronous motor sensorless control switching state machine design method and system

Publications (1)

Publication Number Publication Date
CN114142783A true CN114142783A (en) 2022-03-04

Family

ID=80394786

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111238456.8A Pending CN114142783A (en) 2021-10-25 2021-10-25 Permanent magnet synchronous motor sensorless control switching state machine design method and system

Country Status (1)

Country Link
CN (1) CN114142783A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115242154A (en) * 2022-07-13 2022-10-25 重庆大学 Self-adaptive smooth switching method for starting I-f to position sliding mode observer
CN117767835A (en) * 2024-02-22 2024-03-26 江苏纳通能源技术有限公司 Non-inductive motor starting control method, device, system and storage medium

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109995293A (en) * 2019-04-22 2019-07-09 宁波工程学院 The switching method of I/F starting and closed-loop control under permanent magnet synchronous motor senseless control

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109995293A (en) * 2019-04-22 2019-07-09 宁波工程学院 The switching method of I/F starting and closed-loop control under permanent magnet synchronous motor senseless control

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
刘安康: "全速范围永磁同步电机无传感器控制系统设计", 《中国优秀硕士学位论文全文数据库 工程科技II辑》, no. 07, pages 4 *
王轶昆: "永磁同步电机全速度无传感器控制研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑;信息科技 》, no. 01, pages 2 - 3 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115242154A (en) * 2022-07-13 2022-10-25 重庆大学 Self-adaptive smooth switching method for starting I-f to position sliding mode observer
CN117767835A (en) * 2024-02-22 2024-03-26 江苏纳通能源技术有限公司 Non-inductive motor starting control method, device, system and storage medium
CN117767835B (en) * 2024-02-22 2024-06-11 江苏纳通能源技术有限公司 Non-inductive motor starting control method, device, system and storage medium

Similar Documents

Publication Publication Date Title
KR101304665B1 (en) Method for controlling ac motor
WO2022088440A1 (en) Model predictive current control method for two-motor torque synchronization system
JP7078809B1 (en) Systems and methods for embedded magnet type synchronous motor control
CN105071731A (en) Efficient acceleration control method for permanent-magnet synchronous motor
TWI476409B (en) Motor speed estimation method
CN112886893B (en) Switched reluctance motor torque control method and system based on turn-off angle optimization
CN103117702B (en) A kind of Speedless sensor method of estimation of high accuracy permagnetic synchronous motor
CN110492805A (en) Method for controlling permanent magnet synchronous motor, system and storage medium based on fuzzy control
CN113922724B (en) Permanent magnet synchronous motor control method
CN111800056A (en) Permanent magnet synchronous motor three-vector model predicted torque control method based on novel switch table
CN112671287A (en) Electronic water pump permanent magnet synchronous motor sensorless control device and method
CN111756288A (en) Method for improving estimation performance of permanent magnet synchronous motor without position sensor
Gu et al. Matlab/simulink based modeling and simulation of fuzzy PI control for PMSM
CN113659904A (en) SPMSM sensorless vector control method based on nonsingular rapid terminal sliding-mode observer
CN114142783A (en) Permanent magnet synchronous motor sensorless control switching state machine design method and system
Naassani et al. Synthesis of direct torque and rotor flux control algorithms by means of sliding-mode theory
TWI426698B (en) Intelligent control model for adaptive control of sensors without sensor control method
JP5517851B2 (en) Refrigeration equipment having a motor control device and a compressor drive device using the motor control device
CN110096077B (en) Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor
CN116345976A (en) Algorithm and system for realizing low-frequency control of brushless motor non-inductive FOC
CN110572105A (en) method for improving sensorless control starting performance of permanent magnet synchronous motor
Li et al. Torque ripple minimization in direct torque control of brushless DC motor
CN113037169B (en) System and method for starting non-inductive FOC control low-frequency band load of permanent magnet synchronous motor
CN114977904A (en) PMSM sensorless starting method based on load estimation and dynamic speed regulation
CN114785234A (en) Switched reluctance motor torque distribution function sectional control method based on fuzzy control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination