CN114189181A - Five-phase permanent magnet motor position sensorless driving method and device meeting variable working conditions of electric automobile - Google Patents

Five-phase permanent magnet motor position sensorless driving method and device meeting variable working conditions of electric automobile Download PDF

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CN114189181A
CN114189181A CN202111436455.4A CN202111436455A CN114189181A CN 114189181 A CN114189181 A CN 114189181A CN 202111436455 A CN202111436455 A CN 202111436455A CN 114189181 A CN114189181 A CN 114189181A
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motor
phase
permanent magnet
fault
rotor
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张丽
韩赛
朱孝勇
项子旋
王�忠
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Jiangsu University
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Jiangsu University
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/16—Stator cores with slots for windings
    • H02K1/165—Shape, form or location of the slots
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2786—Outer rotors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
    • 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
    • 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
    • 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
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Abstract

The invention discloses a five-phase permanent magnet motor position sensorless driving method and device meeting the variable working conditions of an electric automobile, wherein the implementation comprises the steps of providing a five-phase magnetic flux enhanced permanent magnet fault-tolerant motor which is more suitable for position sensorless control and the running characteristics of the electric automobile based on a compensation concept; the function of a position sensor is compensated by using a rotor position self-detection method, so that the full-speed-domain sensorless operation is realized; a disturbance self-adaptive controller with strong robustness is designed, so that high-quality torque can be still obtained when a motor fails; when the motor fails, redundant coordinate transformation and voltage compensation are not needed, reconstruction-free driving systems under different faults is achieved, complexity of the driving systems under compound faults is reduced, and reliability of the driving systems under multiple operating conditions is improved. The invention breaks through the technical constraints of fault tolerance and no position sensor of the traditional permanent magnet motor, takes the motor and the drive controller into overall consideration, and provides a new idea for improving the performance of the vehicle motor drive system.

Description

Five-phase permanent magnet motor position sensorless driving method and device meeting variable working conditions of electric automobile
Technical Field
The invention belongs to the technical field of vehicle motor driving systems, and particularly relates to a five-phase permanent magnet motor position sensorless driving method and device meeting changeable working conditions.
Background
The development of electric automobiles effectively relieves the problems of environmental pollution and energy crisis in the world at present. The safety and reliability of the electric automobile as manned equipment are particularly important. The motor driving system is used as the heart of the electric automobile, and not only needs to meet the requirements of high power density, high efficiency, low torque pulsation, wide speed regulation performance and the like, but also has the capabilities of high reliability and freely coping with sudden conditions. The five-phase permanent magnet fault-tolerant motor has the advantages of high efficiency, high power density, wide speed regulation range, low torque ripple, strong fault-tolerant capability and the like, and is widely concerned in the fields of electric automobiles with higher reliability requirements.
The motor driving system comprises a motor body, a controller and a sensor, and the normal work of the motor driving system is influenced by the fault of each part, even the breakdown of the whole system and the occurrence of safety accidents are caused. The position sensor is a component with higher fault, and the function of the position sensor can be effectively compensated by a position-sensor-free control algorithm, so that the position sensor control algorithm becomes a research hotspot in the field of motor control. Similar to the traditional automobile, the electric automobile also needs to meet various driving environments such as urban roads, expressways, rural roads and the like, and meanwhile, has a plurality of operating conditions such as frequent start-stop, acceleration, braking, climbing, high-speed cruising and faults. Therefore, the research of the five-phase permanent magnet motor position sensorless driving system meeting the requirement under the variable operation working condition has important practical significance.
At present, the research of scholars at home and abroad on the operation performance of the motor driving system without the position sensor mainly focuses on the control strategy without the position sensor. The Chinese invention patent 'permanent magnet fault-tolerant motor system low-speed section position sensorless control method' (patent number CN202010129634.2) discloses a high-frequency signal injection method under the motor fault state to extract the rotor position and rotation speed signals, thereby realizing the position sensorless control of the motor in normal and fault states, but the method needs a complex fault-tolerant power drive circuit and is not suitable for the requirement of the motor system on variable working conditions; the Chinese invention patent 'permanent magnet synchronous motor position sensorless control method based on a smooth nonsingular terminal sliding-mode observer' (patent number CN201811184495.2) discloses a position sensorless control method based on a sliding-mode observer, which improves the estimation accuracy of high-speed section position sensorless control, but the algorithm is designed based on the normal operation condition of a motor, does not consider the estimation performance under the fault condition of the motor, and does not improve the robustness of a motor driving system. Generally speaking, most of the existing researches mainly focus on improving the operation performance of the motor without the position sensor from the aspect of control, and the rotor position detection under different operation working conditions of the motor is difficult to ensure to have higher precision, so that the driving performance of the motor for the vehicle without the position sensor under all working conditions is severely limited. For this reason, a patent "a position self-detection based hybrid excitation fault-tolerant motor system" (patent No. 201410460767.2) proposes an improved structure of a hybrid excitation fault-tolerant motor, which attempts to take the position sensorless operation performance of the motor into consideration in the motor design in advance. However, the design theory does not consider the special application occasions of multiple operation conditions of the electric automobile, and is difficult to be directly applied to the field of the electric automobile. Therefore, there is a need to improve overall position sensorless system performance from the perspective of motor design and drive control effectively.
Disclosure of Invention
The purpose of the invention is as follows: according to the problems in the prior art, the invention provides a five-phase permanent magnet motor position sensorless driving method and device meeting changeable working conditions, so that mutual compensation during the operation of multifunctional modules such as a motor, a controller and position detection in a motor driving system for a vehicle under changeable operation working conditions is realized, the motor position sensorless driving system can keep good dynamic and static performances under normal and fault working conditions, the anti-interference capability and robustness of the system are enhanced, and the overall energy efficiency and reliability of the motor driving system for the vehicle under different scene requirements of the changeable working conditions are greatly improved.
The technical scheme is as follows: in order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a five-phase permanent magnet motor position sensorless driving method meeting changeable working conditions, which comprises the following steps:
step 1) designing a novel outer rotor five-phase magnetic flux enhanced permanent magnet fault-tolerant motor with good position sensor-free operation capacity under normal and fault conditions;
step 2) designing a position sensor compensation function of a position sensor-free control algorithm meeting changeable operation conditions to obtain an estimated motor position
Figure BDA0003381696350000021
And the rotational speed signal
Figure BDA0003381696350000022
Step 3) utilizing a given rotation speed n*The rotating speed signal obtained in the step 2)
Figure BDA0003381696350000023
And constructing a disturbance self-adaptive rotating speed loop controller to obtain high-quality torque T under variable working conditionse *；
Step 4) detecting the result of step 1)Five-phase current i of five-phase flux enhanced permanent magnet fault-tolerant motorA、iB、iC、iDAnd iEObtaining a current component i under a two-phase rotating coordinate system through Clark and Park conversiond1And iq1；
Step 5) utilizing the torque given T in step 3)e *And the current component i under the two-phase rotating coordinate system in the step 4)d1And iq1Obtaining a given five-phase voltage through current loop PI control and coordinate transformation;
and 6) enabling the given five-phase voltage command to pass through a power converter, and realizing the multi-change working condition operation of the five-phase motor position-sensorless driving system by adopting a pulse width modulation (CPWM) technology.
Furthermore, the novel outer rotor five-phase flux-enhanced permanent magnet fault-tolerant motor comprises a stator (1), a rotor (2) and a rotating shaft (3), armature teeth (4) and fault-tolerant teeth (5) are uniformly distributed on the outer ring of the stator (1) at intervals in the circumferential direction, armature windings (6) are wound on the armature teeth (4), two adjacent armature windings (6) are isolated by the fault-tolerant teeth (5), a single-layer concentrated winding is adopted, the magnetic circuit closure of each phase winding magnetic field is realized through the fault-tolerant teeth (5), the mutual independence of each phase magnetic field is ensured, the mutual inductance between phases is reduced, and the isolation between phases is realized; the rotor tooth top (7) adopts a curved surface to replace an arc surface, so that the air gap width is changed according to a sine rule to obtain more sinusoidal air gap flux density, and the improvement of counter potential sine degree and the reduction of torque pulsation are facilitated;
the permanent magnets (8) are uniformly arranged along the tooth space direction of the rotor (2) at intervals, the permanent magnets (8) are placed in a V shape to form a permanent magnet pair (10), the V-shaped opening faces to an air gap, and the air gap magnetic field is effectively improved and the torque output capacity is improved by utilizing the magnetism gathering effect of the V-shaped permanent magnets (8); the permanent magnet sets up q axle magnetic barrier (9) between to (10), can reduce q axle inductance, and permanent magnet (8) thickness is thinner relatively simultaneously to improve d axle inductance, further promote the reverse salient pole rate of motor, be favorable to realizing the zero low-speed no position sensor operation of motor, the permanent magnet demagnetization risk when reducing high-speed weak magnetism simultaneously promotes the reliability when patrolling at a high speed, has further improved the operational capability of motor under changeable operating mode.
Further, the step 2) specifically comprises the following steps:
2.1) when the motor is in a zero low-speed running state, adopting a pulse vibration high-frequency signal injection method to obtain rotor position information:
by estimating the stationary coordinate system ud1 *Axial injection cosine high frequency voltage
Figure BDA0003381696350000031
In the formula, Vh、ωhAnd t is the amplitude of the injected high frequency voltage, the electrical angular velocity and the time, respectively;
extracting high frequency response current on stator side by band pass filter
Figure BDA0003381696350000032
In the formula, L0＝(Ld1+Lq1) /2 is common mode inductance, L1＝(Ld1-Lq1) The/2 is a differential mode inductor; l isd1、Lq1Respectively a direct axis inductor and a quadrature axis inductor under a rotor reference system;
Figure BDA0003381696350000033
to estimate the rotor angular position;
the high frequency response current is combined with sin omegahthe error function of the rotor position obtained by multiplying t through a low-pass filter is as follows
Figure BDA0003381696350000034
In the formula, delta theta is an estimated rotor error angle; obtaining the estimated rotor position after passing the error function through the phase-locked loop
Figure BDA0003381696350000035
And rotational speed
Figure BDA0003381696350000036
2.2) when the motor is in a medium-high speed running state, acquiring rotor position information by adopting a sliding mode observer:
current equation of state in stationary shafting:
Figure BDA0003381696350000037
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000038
Ld1、Lq1is a stator inductance; omegaeIs the electrical angular velocity; r is a stator resistor; [ i ]α1 iβ1]TIs the stator current; [ u ] ofα1 uβ1]TIs the stator voltage; [ E ]α1 Eβ1]TTo expand the back-emf; therefore, the sliding-mode observer can be designed as follows:
Figure BDA0003381696350000041
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000042
is a stator current observation; [ u ] ofα1 uβ1]TInputting the sliding mode observer; [ v ] ofα1 vβ1]TIs a back emf observation;
observing the stator current
Figure BDA0003381696350000043
With the actual value iα1、iβ1Obtaining an extended back electromotive force through a switching function after making a difference, and obtaining an estimated back electromotive force through the extended back electromotive force through a low-pass filter
Figure BDA0003381696350000044
Then the position of the rotor can be obtained after the phase-locked loop
Figure BDA0003381696350000045
And rotational speed
Figure BDA0003381696350000046
And 2.3) performing algorithm switching in the transition region by adopting a weighted average algorithm to realize the self-detection of the rotor position under the full speed region under the changeable working condition.
Further, the specific steps of constructing the disturbance adaptive rotation speed loop controller include:
the relation between the torque and the mechanical angular speed of the novel outer rotor five-phase flux enhanced permanent magnet fault-tolerant motor is as follows:
Figure BDA0003381696350000047
in the formula, ωrMechanical angular velocity, B damping coefficient, J moment of inertia, and TLIs the load torque;
when the novel five-phase flux-enhanced permanent magnet fault-tolerant motor is in a fault mode or under load disturbance, the electromagnetic torque is rewritten into the following expression
Te＝Td+ΔTe
In the formula, TdRepresenting a steady component of electromagnetic torque, Δ TeT designed to represent torque ripple component of electromagnetic torque caused by fault, sudden load, system parameter variation disturbance, etcdUsed for ensuring the stability of a five-phase flux enhanced permanent magnet fault-tolerant motor system, and the delta TeThe method is considered as uncertain factors such as sudden faults, sudden load and sudden system parameters of a motor system, and adopts a disturbance adaptive control strategy to eliminate a torque ripple component delta TeTherefore, the torque pulsation of the five-phase flux enhanced permanent magnet fault-tolerant motor under the changeable working conditions of sudden faults, sudden load, sudden system parameters and the like is restrained;
let Δ Te＝ρ1TdWhere ρ is1Unknown, but bounded value, satisfies
Figure BDA0003381696350000048
|ρ1| is ρ1The absolute value of (a) is,
Figure BDA0003381696350000049
is rho1Thus, the relationship between the electromagnetic torque of the motor and the mechanical angular velocity can be rewritten as:
Figure BDA00033816963500000410
in the formula, BhAnd JhThe upper bound values of B and J are respectively and are larger than zero, and can be set according to various possible working condition environments of the motor driving system; omegarIs the mechanical angular velocity; t isLIs the load torque; rho2＝1-(JhPerJ) is an adjustable coefficient, rho2The value range is as follows: rho is not less than 02<1, let δ be ω ═ ωr-ωr *，ωr *Given a mechanical angular velocity for the rotor, the above equation can be rewritten as:
Figure BDA0003381696350000051
according to a robust control rule, designing a disturbance adaptive controller as follows:
Figure BDA0003381696350000052
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000053
| δ | is the absolute value of δ; i omegarI is omegarAbsolute value of (d); t ishIs TLAnd is greater than zero;
Figure BDA0003381696350000054
is rho2Maximum value of (d);
Figure BDA0003381696350000055
ε is a constant greater than zero.
Further, a current component i of the five-phase flux enhanced permanent magnet fault-tolerant motor under a two-phase rotating coordinate systemd1And iq1Expressed as:
Figure BDA0003381696350000056
further, the specific implementation of obtaining the given five-phase voltage includes:
(1) giving T the torque in the step 3)eObtaining optimal reference quadrature-direct axis current i after maximum torque current ratio MTPA distributiond1*,iq1*；
(2) Will refer to the quadrature-direct axis current id1*,iq1And feedback AC-DC axis current id1,iq1The difference is processed by PI regulator to obtain the given u of the quadrature-direct axis voltaged1*,uq1*；
(3) The voltage of the quadrature-direct axis is given to ud1Sum of uq1Obtaining a reference five-phase voltage under a natural coordinate system after five-phase coordinate transformation, wherein the reference five-phase voltage is expressed as:
Figure BDA0003381696350000057
the invention relates to a five-phase permanent magnet motor position sensorless driving device meeting changeable working conditions, which comprises the following components in sequential connection:
the five-phase flux enhanced permanent magnet fault-tolerant motor unit is used as a driving motor of the device;
a rotor position self-detection unit for acquiring the position of the motor rotor
Figure BDA0003381696350000058
And the rotational speed signal
Figure BDA0003381696350000059
Disturbance adaptationA controller unit for obtaining a high-quality torque given T of the drive device under variable operating conditionse *；
A command voltage input unit for acquiring a command voltage signal u of the drive deviceABCDE；
CPWM unit for converting a command voltage signal uABCDEAnd the PWM signals are modulated by the CPWM module to generate ten paths of PWM pulse signals for driving the five-phase flux enhanced permanent magnet fault-tolerant motor.
The invention has the beneficial effects that:
1) according to the invention, the drive control modules such as the five-phase flux enhanced permanent magnet fault-tolerant motor, the disturbance adaptive controller and the position sensor in the five-phase permanent magnet motor position-sensorless drive system are comprehensively considered under the characteristic of the variable operation condition of the system for the first time, so that the mutual compensation of the functions of the modules is realized, the variable operation condition of the vehicle drive control system is adapted, the steady operation capability of the vehicle motor drive control system is improved, and the control system has strong anti-interference capability and dynamic and steady-state characteristics.
2) In the motor design stage, the variable operation working conditions of the driving system are comprehensively considered, and the estimation precision of the rotor position of the motor in the operation without the position sensor is further improved on the basis of ensuring the fault tolerance performance of the motor, wherein the fault tolerance performance comprises electric isolation, magnetic isolation, demagnetization risk of a permanent magnet and the like, and the estimation precision of the rotor position of the motor in the operation without the position sensor comprises the magnitude of an error angle, the stability degree and the like, so that the high-performance, high-reliability and strong fault tolerance operation of the driving system without the position sensor of the multiphase motor is comprehensively realized. In addition, the five-phase magnetic flux enhanced permanent magnet fault-tolerant motor structure skillfully designs the magnetic resistance in the directions of the d axis and the q axis and optimizes the tooth tops of the stators, and can further improve the anti-salient rate of the motor on the basis of reducing the cross coupling of magnetic circuits, so that the motor can meet the control of a zero-low-speed position-free sensor and simultaneously keep the error stable, the operation precision of the position-free sensor is improved to a great extent, and the fault-tolerant capability and the control performance of a motor driving system are further improved.
3) In the aspect of motor control, the function of a mechanical position sensor is compensated, the full-speed-domain position-sensor-free operation is realized, the fault probability and the cost of the system are reduced, the multi-working-condition operation capacity of the system is enhanced, and the structure of a driving system is simplified; the disturbance adaptive controller is designed to inhibit torque jitter caused by motor failure and compensate partial motor failure functions, so that high-quality torque can still be obtained when the motor fails, and the robustness of a driving system is greatly improved; redundant coordinate transformation and voltage compensation are not needed when the motor fails, the algorithm of the controller is simplified, the drive system is not reconstructed under different faults, the complexity of the drive system without the position sensor under the composite fault is reduced, and the reliability of the drive system without the position sensor of the five-phase motor under multiple operating conditions is improved.
4) The method provides a new idea for improving the performance of the driving system without the position sensor and simplifying the driving system without the position sensor under the fault, and is beneficial to accelerating the engineering process of the driving system.
Drawings
FIG. 1 is a schematic diagram of a five-phase permanent magnet motor position sensorless drive system of the present invention that satisfies a multi-varying condition;
FIG. 2 is a schematic block diagram of a system/apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a conventional five-phase permanent magnet fault-tolerant motor;
FIG. 4 is a schematic structural diagram of a five-phase flux-enhanced permanent magnet fault-tolerant motor according to the present invention;
FIG. 5 is a partial enlarged view of a conventional five-phase permanent magnet fault tolerant motor;
FIG. 6 is a partial enlarged view of a five-phase flux-enhanced permanent magnet fault-tolerant motor of the present invention;
FIG. 7 is a radial flux density waveform of the air gap of the present invention;
FIG. 8 is a partial enlarged view of a rotor of a conventional five-phase fault-tolerant permanent magnet motor;
FIG. 9 is an enlarged partial view of the rotor of the present invention;
FIG. 10 is a no-load back emf waveform of the motor of the present invention;
FIG. 11 is a graph showing the angular error waveforms of the motor of the present invention and a conventional motor;
FIG. 12 is a diagram of the relationship between the actual reference frame and the estimated reference frame;
FIG. 13 is a block diagram of a rotor position observation module;
fig. 14 is a position sensorless operating waveform under a large load change in the normal operating condition of the conventional five-phase permanent magnet motor and the five-phase permanent magnet motor of the present invention. (a) The traditional five-phase permanent magnet motor has no position sensor operation waveform; (b) the five-phase permanent magnet motor of the invention has no position sensor operation waveform;
fig. 15 is a dynamic performance waveform of the five-phase permanent magnet motor position sensorless driving system under the failure of the a-phase winding. (a) A rotational speed waveform; (b) current and torque waveforms;
fig. 16 is a sensorless operating waveform of a conventional five-phase permanent magnet motor and a five-phase permanent magnet motor according to the present invention under a fault operating condition. (a) The traditional five-phase permanent magnet motor has no position sensor operation waveform; (b) the invention relates to a five-phase permanent magnet motor sensorless operation waveform.
In the figure: 1. stator, 2, rotor, 3, pivot, 4, armature tooth, 5, fault-tolerant tooth, 6, armature winding, 7, tooth top, 8, permanent magnet, 9, air magnetic barrier, 10, permanent magnet pair.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and 2, the invention provides a position sensorless driving system and device for a five-phase permanent magnet motor meeting a changeable working condition, which comprises a novel five-phase flux enhanced permanent magnet fault-tolerant motor, a Park conversion module, a motor rotor position observation module, a robust torque giving module, a PI controller, an inverse Park conversion module, a CPWM module and an inverter.
The invention relates to a five-phase permanent magnet motor sensorless driving system meeting changeable working conditions, which comprises the following specific implementation steps:
step 1) designs a novel five-phase magnetic flux enhanced permanent magnet fault-tolerant motor with good sensorless operation capability under normal and fault conditions.
The specific design scheme of the novel five-phase flux-enhanced permanent magnet fault-tolerant motor is as follows:
1.1) compare with traditional permanent magnet fault-tolerant motor (as shown in fig. 3), the novel five-phase flux enhanced permanent magnet fault-tolerant motor (as shown in fig. 4) considering the operation of no position sensor under the variable working condition, provided by the invention, comprises a stator (1), a rotor (2) and a rotating shaft (3), wherein armature teeth (4) and fault-tolerant teeth (5) are uniformly distributed at intervals in the circumferential direction of the outer ring of the stator, armature windings (6) are wound on the armature teeth (4), two adjacent armature windings (6) are isolated by the fault-tolerant teeth (5), and a single-layer concentrated winding is adopted, so that the motor has higher inductance, the short-circuit current inhibition capability is improved, and meanwhile, the magnetic circuit closure of each phase winding magnetic field is realized through the fault-tolerant teeth (5), the mutual independence of each phase magnetic field is ensured, the mutual inductance is reduced, and the isolation between phases is realized; the air gap of the traditional motor is a uniform air gap (as shown in figure 5), so that the magnetic density of the air gap in the range of a magnetic pole is close to a fixed value, and the sine degree of no-load counter electromotive force is further reduced; the rotor tooth crest (7) adopts a curved surface instead of a circular arc surface (as shown in figure 6) to obtain more sinusoidal air gap flux density (as shown in figure 7), thereby being beneficial to improving the sine degree of counter electromotive force and reducing torque pulsation.
1.2) as shown in FIG. 9, the rotor part of the invention is uniformly provided with permanent magnets (8) at intervals along the circumferential direction of the rotor, the permanent magnets (8) are placed in a V shape to form a permanent magnet pair (10), the V-shaped opening faces to an air gap, the magnetizing mode is the same as that of the traditional motor (as shown in FIG. 8), and the magnetic concentration effect of the V-shaped permanent magnets (8) is utilized to effectively improve the air gap magnetic field and improve the torque output capability; as shown in fig. 9, a q-axis magnetic barrier (9) is arranged between the permanent magnet pair (10) to reduce q-axis inductance, and the thickness of the permanent magnet (8) is relatively thin to improve d-axis inductance and further improve the anti-saliency. As shown in fig. 11, when there is no position sensor control, the significant angle (angle error) of the conventional motor may generate different degrees of offset following the change of the load current, which greatly affects the estimation accuracy of the position sensor-less control; on the contrary, the salient angle of the motor is basically and stably kept at a small value in the process of load current change, which is favorable for realizing the stable operation of the motor without a position sensor at zero and low speed, improving the estimation precision of the control without the position sensor and further improving the stable operation capability of the motor under the changeable working conditions.
Step 2) designing a position sensor compensation function of a position sensor-free control algorithm meeting changeable operation conditions to obtain an estimated motor position
Figure BDA0003381696350000081
And the rotational speed signal
Figure BDA0003381696350000082
The method comprises the following specific steps:
fig. 12 shows the relationship between the actual and estimated synchronous reference systems, based on which the corresponding coordinate transformations are performed. Fig. 13 is a rotor position estimation algorithm of the motor in different speed domains, a pulse vibration high-frequency injection method is adopted at zero low speed, and rotor position and rotation speed information is estimated at medium and high speed by a sliding mode observer.
2.1) when the motor is in the zero low-speed running state, because the back emf amplitude is lower, seriously influences the estimation precision, and the high frequency injection method can effectively estimate the rotor position when the low-speed is operated, so adopt the pulse vibration high frequency signal injection method to obtain rotor position information when zero low-speed:
by estimating the stationary coordinate system ud1 *Axial injection cosine high frequency voltage
Figure BDA0003381696350000083
In the formula, Vh、ωhAnd t is the amplitude of the injected high frequency voltage, the electrical angular velocity and the time, respectively;
extracting high frequency response current on stator side by band pass filter
Figure BDA0003381696350000084
In the formula, L0＝(Ld1+Lq1)/2,L1＝(Ld1-Lq1)/2；
The high frequency response current is combined with sin omegahthe error function of the rotor position obtained by multiplying t through a low-pass filter is as follows
Figure BDA0003381696350000091
In the formula, delta theta is an estimated rotor error angle;
obtaining the estimated rotor position after passing the error function through the phase-locked loop
Figure BDA0003381696350000092
And rotational speed
Figure BDA0003381696350000093
2.2) when the motor is in a medium-high speed running state, acquiring rotor position information by adopting a sliding mode observer:
current equation of state in stationary shafting:
Figure BDA0003381696350000094
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000095
therefore, the sliding-mode observer can be designed as follows:
Figure BDA0003381696350000096
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000097
is a stator current observation; u. ofα1、uβ1Is the sliding mode observer input.
Observing the stator current
Figure BDA0003381696350000098
With the actual value iα1、iβ1Obtaining an extended back electromotive force through a switching function after making a difference, and obtaining an estimated back electromotive force through the extended back electromotive force through a low-pass filter
Figure BDA0003381696350000099
Then the position of the rotor can be obtained after the phase-locked loop
Figure BDA00033816963500000910
And rotational speed
Figure BDA00033816963500000911
And 2.3) performing algorithm switching in the transition region by adopting a weighted average algorithm to realize the self-detection of the rotor position under the full speed region under the changeable working condition.
Different algorithms are adopted in different speed domains, more accurate rotor position information can be obtained under multiple operating conditions, and the stability of the system in control without a position sensor is improved.
Step 3) utilizing a given rotation speed n*The rotating speed signal obtained in the step 2)
Figure BDA00033816963500000912
And constructing a disturbance adaptive rotating speed ring controller (as shown in figure 13) to obtain high-quality torque T under variable working conditions according to the differencee *. The method comprises the following specific steps:
the relationship between the torque and the mechanical angular speed of the novel five-phase flux enhanced permanent magnet fault-tolerant motor is as follows:
Figure BDA00033816963500000913
in the formula, ωrMechanical angular velocity, B damping coefficient, J moment of inertia, and TLIs the load torque;
when the novel five-phase flux-enhanced permanent magnet fault-tolerant motor is in a fault mode or under load disturbance, the electromagnetic torque is rewritten into the following expression
Te＝Td+ΔTe (7)
In the formula, TdRepresenting a steady component of electromagnetic torque, Δ TeT designed to represent torque ripple component of electromagnetic torque caused by fault, sudden load, system parameter variation disturbance, etcdUsed for ensuring the stability of a five-phase flux enhanced permanent magnet fault-tolerant motor system, and the delta TeThe method is considered as uncertain factors such as sudden faults, sudden load and sudden system parameters of a motor system, and adopts a disturbance adaptive control strategy to eliminate a torque ripple component delta TeTherefore, the torque pulsation of the five-phase flux enhanced permanent magnet fault-tolerant motor under the changeable working conditions of sudden faults, sudden load, sudden system parameters and the like is restrained.
Let Δ Te＝ρ1TdWhere ρ is1Unknown, but bounded value, satisfies
Figure BDA0003381696350000101
|ρ1| is ρ1The absolute value of (a) is,
Figure BDA0003381696350000102
is rho1Thus, the relationship between the electromagnetic torque of the motor and the mechanical angular velocity can be rewritten as:
Figure BDA0003381696350000103
in the formula, BhAnd JhThe upper bound values of B and J are respectively and are larger than zero, and can be set according to various possible working condition environments of the motor driving system; rho2＝1-(Jh/J)，ρ2The value range is as follows: rho is not less than 02<1, let δ be ω ═ ωr-ωr *，ωr *Given a mechanical angular velocity for the rotor, the above equation can be rewritten as:
Figure BDA0003381696350000104
according to a robust control rule, designing a disturbance adaptive controller as follows:
Figure BDA0003381696350000105
in the formula (I), the compound is shown in the specification,
Figure BDA0003381696350000106
| δ | is the absolute value of δ; i omegarI is omegarAbsolute value of (d); t ishIs TLAnd is greater than zero;
Figure BDA0003381696350000107
is rho2Maximum value of (d);
Figure BDA0003381696350000108
ε is a constant greater than zero.
Therefore, the constructed disturbance adaptive controller loads the motor TLSystem variable parameters (J and B) and electromagnetic torque ripple (Delta T) caused by multi-condition environment of driving systeme) And the factors are considered, so that the disturbance caused by uncertain factors such as load, variable operation conditions and system parameters can be well inhibited, and the anti-interference capability of the driving system is enhanced.
Step 4) detecting five-phase current i of the five-phase flux enhanced permanent magnet fault-tolerant motor in the step 1)A、iB、iC、iDAnd iEObtaining a current component i under a two-phase rotating coordinate system through Clark and Park conversiond1And iq1。
Current component i under two-phase rotating coordinate system of five-phase flux enhanced permanent magnet fault-tolerant motord1And iq1Expressed as:
Figure BDA0003381696350000109
step 5) utilizing the torque given T in step 3)e *And the step of4) Current component i under middle two-phase rotating coordinate systemd1And iq1And obtaining the given five-phase voltage through current loop PI control and coordinate transformation.
5.1) setting the torque in step 3) to Te *Obtaining the optimal reference quadrature-direct axis current i after MTPA distributiond1 *,iq1 *；
5.2) will refer to the quadrature-direct axis current id1 *,iq1 *With feedback quadrature-direct axis current id1,iq1The difference is processed by PI regulator to obtain the given u of the quadrature-direct axis voltaged1 *,uq1 *。
5.3) setting the quadrature-direct axis voltage to ud1 *And uq1 *Obtaining a reference five-phase voltage under a natural coordinate system after the five-phase coordinate transformation, wherein the reference five-phase voltage is expressed as:
Figure BDA0003381696350000111
and 6) enabling the given five-phase voltage command to pass through a power converter, and realizing the multi-change working condition operation of the five-phase motor position-sensorless driving system by adopting a pulse width modulation (CPWM) technology.
Fig. 14 shows the sensorless operating waveforms under large load variations under normal operating conditions of the conventional five-phase permanent magnet motor and the five-phase permanent magnet motor of the present invention. It has been found that for a conventional five-phase permanent magnet machine, the estimated rotor position error increases with increasing load. However, for the five-phase permanent magnet motor, the estimated rotor position error is hardly influenced by load change, and the five-phase permanent magnet motor has better sensorless operation performance under different load operation conditions.
Fig. 15 shows the dynamic performance waveforms of the five-phase permanent magnet motor position sensorless driving system under the failure of the a-phase winding. The motor operation conditions are as follows: the rotation speed is 500r/min, the initial load is 4 N.m, the mutation is 0 N.m at 0.3s, and the mutation is 4 N.m at 0.4 s. As can be seen from the actual rotation speed and the estimated rotation speed waveforms in fig. 15(a), the five-phase permanent magnet motor position sensorless driving system of the present invention still has good dynamic and steady tracking performance under the fault condition. As can be seen from the torque waveform in fig. 15(b), the torque ripple under the fault of the position sensorless driving system of the five-phase permanent magnet motor of the invention is better suppressed under the whole operation condition. Due to the quick response of the system, the driving system has good disturbance resistance under the condition that the fault position-free sensor operates.
Fig. 16 shows the sensorless operating waveforms of the conventional five-phase permanent magnet motor and the five-phase permanent magnet motor of the present invention under the fault operating condition. As can be seen from fig. 16(a), for the conventional five-phase permanent magnet motor, the rotor position error under the fault condition is larger than that under the normal operation condition, although the rotor position error under the fault-tolerant operation condition is reduced, the rotor position error is still larger than that under the normal operation condition. However, the five-phase permanent magnet motor has better rotor position tracking performance no matter under any operation condition.
In conclusion, the position sensorless driving system of the five-phase permanent magnet motor meets the requirement of the multi-variable working condition. Firstly, designing a five-phase magnetic flux enhanced permanent magnet fault-tolerant motor which has high fault-tolerant performance and is more suitable for the operation without a position sensor according to the characteristic that a motor driving system is in a changeable operation condition; designing a position-sensorless control algorithm according to different running speed domains of the motor to compensate the function of a mechanical position sensor; constructing a disturbance adaptive controller which comprehensively considers various disturbances caused by the variable working conditions of the system so as to obtain high-quality given torque; giving an optimum given current i according to MTPA controld1 *，iq1 *The voltage u of the alternating and direct axes is obtained after passing through a PI controllerd1 *，uq1 *(ii) a Carrying out Park inverse transformation on the given quadrature-direct axis voltage to obtain a given five-phase voltage; and finally, carrying out CPWM (pulse Width modulation) on the given five-phase voltage to realize the control operation of the five-phase flux enhanced permanent magnet fault-tolerant motor without a position sensor. In the invention, the designed novel five-phase magnetic flux enhanced permanent magnet fault-tolerant motor has excellent fault-tolerant performance, and the anti-salient pole characteristic improves the observation capability of a position-sensorless motor;the designed algorithm without the position sensor can replace the function of the position sensor, thereby further improving the anti-interference capability of the system; the designed disturbance adaptive controller enables the system to have better fault-tolerant operation performance and enhances the capability of the system to cope with variable working conditions; and MTPA control is adopted, so that the running efficiency of the motor is improved. Compared with the existing research of control without a position sensor, the invention has the advantages that the overall consideration is carried out from the aspects of motor design and motor control, and the overall performance of the driving system is greatly improved.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.

Claims (7)

1. A five-phase permanent magnet motor position sensorless driving method meeting changeable working conditions is characterized by comprising the following steps:
step 1) designing a novel outer rotor five-phase magnetic flux enhanced permanent magnet fault-tolerant motor with good position sensor-free operation capacity under normal and fault conditions;
step 2) designing a position sensor compensation function of a position sensor-free control algorithm meeting changeable operation conditions to obtain an estimated motor position
Figure FDA0003381696340000011
And the rotational speed signal
Figure FDA0003381696340000012
Step 3) utilizing a given rotation speed n*The rotating speed signal obtained in the step 2)
Figure FDA0003381696340000013
And constructing a disturbance self-adaptive rotating speed loop controller to obtain high-quality torque T under variable working conditionse *；
Step 4) detecting five-phase current i of the five-phase flux enhanced permanent magnet fault-tolerant motor in the step 1)A、iB、iC、iDAnd iEObtaining a current component i under a two-phase rotating coordinate system through Clark and Park conversiond1And iq1；
Step 5) utilizing the torque given T in step 3)e *And the current component i under the two-phase rotating coordinate system in the step 4)d1And iq1Obtaining a given five-phase voltage through current loop PI control and coordinate transformation;
and 6) enabling the given five-phase voltage command to pass through a power converter, and realizing the multi-change working condition operation of the five-phase motor position-sensorless driving system by adopting a pulse width modulation (CPWM) technology.
2. The position sensorless driving method of the five-phase permanent magnet motor meeting the variable working conditions according to claim 1, wherein the novel outer rotor five-phase flux-enhanced permanent magnet fault-tolerant motor comprises a stator (1), a rotor (2) and a rotating shaft (3), armature teeth (4) and fault-tolerant teeth (5) are uniformly distributed on the outer ring of the stator (1) at intervals in the circumferential direction, armature windings (6) are wound on the armature teeth (4), two adjacent armature windings (6) are isolated by the fault-tolerant teeth (5), a single-layer concentrated winding is adopted, magnetic circuit closure of each phase winding magnetic field is achieved through the fault-tolerant teeth (5), and the fact that each phase magnetic field is independent from each other, mutual inductance between phases is reduced, and isolation between phases is achieved is guaranteed; the rotor tooth top (7) adopts a curved surface to replace an arc surface, so that the air gap width is changed according to a sine rule to obtain more sinusoidal air gap flux density, and the improvement of counter potential sine degree and the reduction of torque pulsation are facilitated;
the permanent magnets (8) are uniformly arranged along the tooth space direction of the rotor (2) at intervals, the permanent magnets (8) are placed in a V shape to form a permanent magnet pair (10), the V-shaped opening faces to an air gap, and the air gap magnetic field is effectively improved and the torque output capacity is improved by utilizing the magnetism gathering effect of the V-shaped permanent magnets (8); a q-axis magnetic barrier (9) is arranged between the permanent magnet pairs (10), so that q-axis inductance can be reduced, and meanwhile, the thickness of the permanent magnet (8) is relatively thin, so that d-axis inductance is improved, and the reverse salient pole rate of the motor is further improved.
3. The position sensorless driving method of the five-phase permanent magnet motor meeting the polytropic working conditions according to claim 1, wherein the step 2) is realized by the following steps:
2.1) when the motor is in a zero low-speed running state, adopting a pulse vibration high-frequency signal injection method to obtain rotor position information:
by estimating the stationary coordinate system ud1 *Axial injection cosine high frequency voltage
Figure FDA0003381696340000021
In the formula, Vh、ωhAnd t is the amplitude of the injected high frequency voltage, the electrical angular velocity and the time, respectively;
extracting high frequency response current on stator side by band pass filter
Figure FDA0003381696340000022
In the formula, L0＝(Ld1+Lq1) /2 is common mode inductance, L1＝(Ld1-Lq1) The/2 is a differential mode inductor; l isd1、Lq1Respectively a direct axis inductor and a quadrature axis inductor under a rotor reference system;
Figure FDA0003381696340000023
to estimate the rotor angular position;
the high frequency response current is combined with sin omegahthe error function of the rotor position obtained by multiplying t through a low-pass filter is as follows
Figure FDA0003381696340000024
In the formula, delta theta is an estimated rotor error angle; obtaining the estimated rotor position after passing the error function through the phase-locked loop
Figure FDA0003381696340000025
And rotational speed
Figure FDA0003381696340000026
2.2) when the motor is in a medium-high speed running state, acquiring rotor position information by adopting a sliding mode observer:
current equation of state in stationary shafting:
Figure FDA0003381696340000027
in the formula (I), the compound is shown in the specification,
Figure FDA0003381696340000028
Ld1、Lq1is a stator inductance; omegaeIs the electrical angular velocity; r is a stator resistor; [ i ]α1 iβ1]TIs the stator current; [ u ] ofα1 uβ1]TIs the stator voltage; [ E ]α1 Eβ1]TTo expand the back-emf; therefore, the sliding-mode observer can be designed as follows:
Figure FDA0003381696340000029
in the formula (I), the compound is shown in the specification,
Figure FDA00033816963400000210
is a stator current observation; [ u ] ofα1 uβ1]TInputting the sliding mode observer; [ v ] ofα1 vβ1]TIs a back emf observation;
observing the stator current
Figure FDA00033816963400000211
With the actual value iα1、iβ1After the difference is made, the expanded counter potential is obtained through a switching function,the extended counter potential is processed by a low-pass filter to obtain an estimated counter potential
Figure FDA00033816963400000212
Then the position of the rotor can be obtained after the phase-locked loop
Figure FDA00033816963400000213
And rotational speed
Figure FDA00033816963400000214
And 2.3) performing algorithm switching in the transition region by adopting a weighted average algorithm to realize the self-detection of the rotor position under the full speed region under the changeable working condition.
4. The position sensorless driving method for the five-phase permanent magnet motor meeting the polytropic working conditions according to claim 1, wherein the concrete steps of constructing the disturbance adaptive rotating speed loop controller comprise:
the relation between the torque and the mechanical angular speed of the novel outer rotor five-phase flux enhanced permanent magnet fault-tolerant motor is as follows:
Figure FDA0003381696340000031
in the formula, ωrMechanical angular velocity, B damping coefficient, J moment of inertia, and TLIs the load torque;
when the novel five-phase flux-enhanced permanent magnet fault-tolerant motor is in a fault mode or under load disturbance, the electromagnetic torque is rewritten into the following expression
Te＝Td+ΔTe
In the formula, TdRepresenting a steady component of electromagnetic torque, Δ TeT designed to represent torque ripple component of electromagnetic torque caused by fault, sudden load, system parameter variation disturbance, etcdUsed for ensuring the stability of a five-phase flux enhanced permanent magnet fault-tolerant motor system, and the delta TeIs considered as a motor systemUncertainty factors such as faults, sudden load, sudden system parameters and the like are eliminated by adopting a disturbance adaptive control strategyeTherefore, the torque pulsation of the five-phase flux enhanced permanent magnet fault-tolerant motor under the changeable working conditions of sudden faults, sudden load, sudden system parameters and the like is restrained;
let Δ Te＝ρ1TdWhere ρ is1Unknown, but bounded value, satisfies
Figure FDA0003381696340000032
|ρ1| is ρ1The absolute value of (a) is,
Figure FDA0003381696340000033
is rho1Thus, the relationship between the electromagnetic torque of the motor and the mechanical angular velocity can be rewritten as:
Figure FDA0003381696340000034
in the formula, BhAnd JhThe upper bound values of B and J are respectively and are larger than zero, and can be set according to various possible working condition environments of the motor driving system; omegarIs the mechanical angular velocity; t isLIs the load torque; rho2＝1-(JhPerJ) is an adjustable coefficient, rho2The value range is as follows: rho is not less than 02<1, let δ be ω ═ ωr-ωr *，ωr *Given a mechanical angular velocity for the rotor, the above equation can be rewritten as:
Figure FDA0003381696340000035
according to a robust control rule, designing a disturbance adaptive controller as follows:
Figure FDA0003381696340000036
in the formula (I), the compound is shown in the specification,
Figure FDA0003381696340000037
| δ | is the absolute value of δ; i omegarI is omegarAbsolute value of (d); t ishIs TLAnd is greater than zero;
Figure FDA0003381696340000038
is rho2Maximum value of (d);
Figure FDA0003381696340000039
ε is a constant greater than zero.
5. The position sensorless driving method for the five-phase permanent magnet motor meeting the multi-variable working condition according to claim 1, wherein a current component i of the five-phase flux enhanced permanent magnet fault-tolerant motor in a two-phase rotating coordinate system isd1And iq1Expressed as:
Figure FDA0003381696340000041
6. the position sensorless driving method of the five-phase permanent magnet motor meeting the variable working conditions according to claim 1, wherein the specific implementation of obtaining the given five-phase voltage comprises:
(1) giving T the torque in the step 3)eObtaining optimal reference quadrature-direct axis current i after maximum torque current ratio MTPA distributiond1*,iq1*；
(2) Will refer to the quadrature-direct axis current id1*,iq1And feedback AC-DC axis current id1,iq1The difference is processed by PI regulator to obtain the given u of the quadrature-direct axis voltaged1*,uq1*；
(3) The voltage of the quadrature-direct axis is given to ud1Sum of uq1Coordinates of the five phases of the XinjingObtaining a reference five-phase voltage under a natural coordinate system after transformation, wherein the reference five-phase voltage is expressed as:
Figure FDA0003381696340000042
7. the utility model provides a satisfy five looks permanent-magnet machine of changeable operating mode does not have position sensor drive arrangement, includes that connect gradually:
the five-phase flux enhanced permanent magnet fault-tolerant motor unit is used as a driving motor of the device;
a rotor position self-detection unit for acquiring the position of the motor rotor
Figure FDA0003381696340000043
And the rotational speed signal
Figure FDA0003381696340000044
A disturbance adaptive controller unit for obtaining high-quality torque given T of the driving device under variable operation conditionse *；
A command voltage input unit for acquiring a command voltage signal u of the drive deviceABCDE；
CPWM unit for converting a command voltage signal uABCDEAnd the PWM signals are modulated by the CPWM module to generate ten paths of PWM pulse signals for driving the five-phase flux enhanced permanent magnet fault-tolerant motor.
CN202111436455.4A 2021-11-29 2021-11-29 Five-phase permanent magnet motor position sensorless driving method and device meeting variable working conditions of electric automobile Pending CN114189181A (en)

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CN112436776A (en) * 2020-11-19 2021-03-02 江苏大学 Open-circuit fault-tolerant direct torque control method for five-phase fractional slot concentrated winding fault-tolerant motor
CN112332718A (en) * 2020-11-27 2021-02-05 南京信息工程大学 Full-speed-domain sensorless composite control system and control method for permanent magnet synchronous motor
CN113271048A (en) * 2021-03-02 2021-08-17 江苏大学 Open-circuit unified fault-tolerant control method for five-phase permanent magnet fault-tolerant motor vector and direct torque control driving system

Cited By (3)

* Cited by examiner, † Cited by third party
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WO2024050897A1 (en) * 2022-09-05 2024-03-14 江苏大学 Permanent magnet fault-tolerant hub electric motor based on active position-sensorless policy, and driving and design methods therefor
CN116861720A (en) * 2023-06-01 2023-10-10 青岛大学 Multi-objective layered optimization method for field modulation motor based on power factor expansion
CN116861720B (en) * 2023-06-01 2024-04-05 青岛大学 Multi-objective layered optimization method for field modulation motor based on power factor expansion

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