CN114257151B - Permanent magnet synchronous motor current sampling on-line calibration method - Google Patents
Permanent magnet synchronous motor current sampling on-line calibration method Download PDFInfo
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- CN114257151B CN114257151B CN202111448954.5A CN202111448954A CN114257151B CN 114257151 B CN114257151 B CN 114257151B CN 202111448954 A CN202111448954 A CN 202111448954A CN 114257151 B CN114257151 B CN 114257151B
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- 238000005070 sampling Methods 0.000 title claims abstract description 58
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004364 calculation method Methods 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000009466 transformation Effects 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 4
- 238000005314 correlation function Methods 0.000 claims description 3
- 230000004907 flux Effects 0.000 claims description 3
- 230000009191 jumping Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 2
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
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- 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 discloses a permanent magnet synchronous motor current sampling online calibration method, which consists of a current detection calculation link, a sliding mode variable structure position identification link, an angle deviation selection link, a position deviation calculation link and a current sampling calculation compensation link, wherein three-phase currents i a、ib and i c obtained by sampling the permanent magnet synchronous motor are used as input, and the sliding mode variable structure position identification link can obtain a position identification result under the sampling current deviationThe angle deviation selecting link can obtain the deviation theta add caused by current sampling when the position sensor exists, and the position deviation calculating link can obtain the deviation caused by current sampling under the control of no position sensorThe current sampling calculation compensation link can calculate the sampling current amplitude deviation of the permanent magnet synchronous motor according to the position identification steady-state deviationThereby obtaining an accurate current sampling value i st.
Description
Technical Field
The invention belongs to the field of signal detection, and particularly relates to an online calibration method for current sampling of a permanent magnet synchronous motor, which is suitable for places requiring high performance indexes of the permanent magnet synchronous motor, in particular to the fields requiring high-precision current detection of the permanent magnet synchronous motor, such as vibration noise treatment, servo drive and the like.
Background
With the improvement of the remanence performance of rare earth permanent magnet materials such as neodymium iron boron and the development of modern control technology, the permanent magnet synchronous motor is widely applied in the field of low-noise marine electric propulsion by virtue of the advantages of convenience in maintenance, rapid response and the like. The permanent magnet synchronous motor is controlled with low noise and high precision, and the high-precision phase current information of the motor needs to be obtained. Therefore, the research on the current sampling on-line calibration method suitable for the permanent magnet synchronous motor has important application value.
According to the relations among phase current amplitude, phase deviation, torque, rotating speed and other state quantities, a series of current sampling correction methods are proposed by a plurality of scholars. In 2020, on the premise of not increasing hardware cost and investment, the accurate three-phase current of the permanent magnet synchronous motor is obtained by adopting a phase current reconstruction and zero drift online estimation method. However, the existing current sampling calibration method has the following disadvantages:
1) The current sampling deviation is usually not fixed and cannot be compensated by off-line table lookup under the influence of the operation condition and electromagnetic and environmental factors;
2) Under the influence of the installation aperture and the space layout, high-precision current sensors and sampling resistors cannot be adopted in certain occasions;
3) The high-precision resistor can influence the phase current sampling performance, but the phase current sampling precision is influenced by multiple factors such as the precision of a current sensor, a sampling conditioning circuit and the like, and the short-plate effect exists in the improvement of the overall sampling performance
Disclosure of Invention
Aiming at the problems, the invention provides a simple and reliable permanent magnet synchronous motor current sampling on-line calibration method suitable for engineering application.
The technical scheme adopted for solving the technical problems is as follows: a permanent magnet synchronous motor current sampling on-line calibration method is used for a three-phase or multi-phase permanent magnet synchronous motor powered by a voltage type or current type inverter, and is based on a control system consisting of a current detection calculation link, a sliding mode variable structure position identification link, an angle deviation selection link, a position deviation calculation link and a current sampling calculation compensation link, and comprises the following steps of
Step 1, sampling three-phase currents i a、ib and i c of a permanent magnet synchronous motor through a current sensor, and performing coordinate transformation on the sampled currents i a、ib and i c to obtain currents i α and i β under a static two-phase coordinate system;
step2, obtaining an initial position identification value of the motor rotor according to a sliding mode variable structure position identification algorithm
Step 3, determining and identifying the angle deviation according to whether a mechanical position sensor is installed or notIf the position sensor exists, the identification angle deviation is derived from the deviation between the position identification value in the step 2 and the mechanical position sensor, and then the step 5 is carried out; otherwise, jumping to the step 4 to calculate the identification angle deviation;
Step 4, obtaining the identification angle deviation without the position sensor by using an extremum searching algorithm based on disturbance
Step 5, identifying deviation according to the positionCalculating the amplitude deviation of the sampling currentThereby calculating an accurate current sampling value i st.
The method for calibrating the current sampling of the permanent magnet synchronous motor on line comprises the following steps:
The currents i a、ib and i c under the static three-phase coordinate system of the motor stator can be obtained through 3s/2s coordinate transformation under the static two-phase coordinate system, and the currents i α and i β are calculated as follows:
In the method for online calibration of current sampling of the permanent magnet synchronous motor, in the step 1, the sliding mode variable structure position identification is realized by sequentially executing a sliding mode observer and a phase-locked loop, wherein the sliding mode observer can be realized by a second-order or high-order state observer based on current and flux linkage, and the phase-locked loop can be configured into a transfer function of a second-order or high-order pole.
The method for calibrating the current sampling of the permanent magnet synchronous motor on line comprises the following specific steps:
step 3.1, if the motor is provided with a mechanical position sensor, identifying the angle deviation Calculated from the following formula:
Wherein θ sensor is derived from a mechanical position sensor;
Step 3.2, if the motor does not have a mechanical position sensor, identifying the angle deviation assignment as calculated in the step 4
The step 4 of the permanent magnet synchronous motor current sampling on-line calibration method specifically comprises the following steps:
Step 4.1, transforming the downsampling currents i a、ib and i c of the static three-phase coordinate system into a torque current i q through 3s/2r rotating coordinate transformation, wherein the motor vector control and the position transformation adopt the compensated identification angle The calculation formula is as follows:
Step 4.2, calculating a torque current deviation Δi q according to the current torque current i q(n+1) and the upper period torque current i q(n), wherein the calculation formula is as follows:
Δiq＝iq(n+1)-iq(n)；
Step 4.3, calculating the step length a of the change of the position disturbance delta theta according to the absolute value of the torque current deviation delta i q, wherein the calculation formula is as follows:
a＝f(|Δiq|)
the position disturbance step a is a positive correlation function of the torque current deviation Δi q, and the position disturbance step a and the torque current deviation Δi q can be in a linear, square or exponential relation.
Step 4.4, if the magnitude and direction of the position disturbance are calculated for the first time, setting the initial value of delta theta as delta theta initial, and setting the position disturbance sign function sgn=1;
Step 4.5, if Δi q is greater than zero, it indicates that the torque current is large, and the position disturbance Δθ sign function assignment needs to be reversed; if the delta i q is smaller than zero, the torque current is reduced, and the position disturbance delta theta symbol function assignment is unchanged; if Δi q is equal to zero, it means that the torque current is unchanged, and the position disturbance Δθ sign function assignment remains unchanged;
step 4.6, if Δi q is equal to zero, indicating that the identification angle deviation under the control of no position sensor is obtained Exiting step 4; if Δi q is not equal to zero or the first calculated position disturbance, it indicates that the identified angular deviation has not been obtainedAt this time, the integral function is usedSuperimposing the deviation to the initial position identification value of the position identification algorithmThe iterative calculation of the position disturbance Δθ then continues.
The step 5 of the permanent magnet synchronous motor current sampling on-line calibration method specifically comprises the following steps:
Step 5.1, according to the identification angle deviation Calculating the amplitude deviation of the sampling currentThe calculation formula is as follows:
Step 5.2, updating an accurate current sampling value i st according to the sampling current amplitude deviation, wherein the calculation formula is as follows:
Wherein I s and I s are the amplitude value and the real-time value of the initial sample of the ABC phase current, and I st is the calibrated phase current sample value.
The beneficial effects of the invention are as follows: and obtaining a position identification initial value by utilizing a sliding mode variable structure position identification algorithm, obtaining a steady state value of position identification deviation under a position-free sensor by utilizing an extremum searching algorithm based on disturbance, and obtaining a compensation value of sampling current according to the relation between the position identification deviation and the phase current sampling deviation after selecting the angle deviation.
Drawings
Fig. 1 is a schematic structural view of the present invention.
The reference numerals are as follows: 1-a current detection calculation link, 2-a sliding mode variable structure position identification link, 3-an angle deviation selection link, 4-a position deviation calculation link and 5-a current sampling calculation compensation link.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings and examples.
As shown in fig. 1, the control system of the three-phase or multi-phase permanent magnet synchronous motor for supplying power to a voltage type or current type inverter of the present invention comprises a current detection calculation link 1, a sliding mode variable structure position identification link 2, an angle deviation selection link 3, a position deviation calculation link 4 and a current sampling calculation compensation link 5, and the control method comprises the following steps:
Step 1, sampling by a current sensor to obtain three-phase currents i a、ib and i c of a permanent magnet synchronous motor, and performing coordinate transformation on the sampled currents i a、ib and i c to obtain currents i α and i β under a stationary two-phase coordinate system, wherein the calculation formula is as follows:
step2, obtaining an initial position identification value of the motor rotor according to a sliding mode variable structure position identification algorithm Wherein the sliding mode observer can be implemented by a second or higher order state observer based on current and flux linkage, and the phase locked loop can be configured as a transfer function of a second or higher order pole.
Step 3, determining and identifying the angle deviation according to whether a mechanical position sensor is installed or notIf a position sensor exists, the identification angle deviation is derived from the deviation between the position identification value in the step 2 and the mechanical position sensorThen go to step 5; otherwise, jumping to step 4 to calculate the identification angle deviation.
Step 4, obtaining the identification angle deviation without the position sensor by using an extremum searching algorithm based on disturbanceThe method specifically comprises the following steps:
Step 4.1, transforming the stationary three-phase coordinate system downsampling currents i a、ib and i c into a torque current i q through 3s/2r rotating coordinate transformation, wherein the motor vector control and the position transformation both adopt the compensated identification angle The calculation formula is as follows:
Step 4.2, calculating a torque current deviation Δi q according to the current torque current i q(n+1) and the upper period torque current i q(n), wherein the calculation formula is as follows:
Δiq＝iq(n+1)-iq(n)
Step 4.3, calculating the step length a of the change of the position disturbance delta theta according to the absolute value of the torque current deviation delta i q, wherein the calculation formula is as follows:
The position disturbance step length a and the torque current deviation Deltai q are in positive correlation function relation, A and B in the above formula are two implementation cases, k 1 and k 2 are required to be positive numbers, and n is required to be a positive integer.
Step 4.4, when the magnitude and direction of the position disturbance are calculated for the first time, setting an initial value delta theta initial of delta theta to be 0.03rad, and enabling a position disturbance sign function sgn to be=1;
Step 4.5, if Δi q is greater than zero, it indicates that the torque current is large, and the sign function assignment of the position disturbance Δθ needs to be inverted sgn= -sgn; if the delta i q is smaller than zero, the torque current is reduced, and the position disturbance delta theta symbol function assignment is unchanged; if Δi q is equal to zero, it means that the torque current is unchanged, and the position disturbance Δθ sign function assignment remains unchanged;
step 4.6, if Δi q is equal to zero, indicating that the identification angle deviation under the control of no position sensor is obtained Step 4 may be exited; if Δi q is not equal to zero or the first calculated position disturbance, it indicates that the identified angular deviation has not been obtainedAt this time, a digital integral function is utilizedSuperimposing the deviation to the initial position identification value of the position identification algorithmThe iterative calculation of the position disturbance Δθ then continues.
Step 5, identifying deviation according to the positionCalculating the amplitude deviation of the sampling currentThereby calculating an accurate current sampling value i st. The method specifically comprises the following steps:
Step 5.1, according to the identification angle deviation Calculating the amplitude deviation of the sampling currentThe calculation formula is as follows:
Step 5.2, calculating an accurate current sampling value i t according to the sampling current amplitude deviation, wherein the calculation formula is as follows:
Wherein I s and I s are respectively the amplitude value and the real-time value of the initial sampling of the ABC phase current, and I st is the sampling value of the calibrated phase current.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and some practical embodiments, and variations and modifications may be made by those skilled in the art without departing from the inventive concept, which are all within the scope of the present invention.
Claims (5)
1. The utility model provides a permanent magnet synchronous motor current sampling on-line calibration method, based on the control system that current detection calculation link (1), slipform change structure position discernment link (2), angle deviation selection link (3), position deviation calculation link (4) and current sampling calculate compensation link (5) are constituteed, its characterized in that: the steps are as follows
Step 1, sampling three-phase currents i a、ib and i c of a permanent magnet synchronous motor through a current sensor, and carrying out coordinate transformation on the sampled currents i a、ib and i c to obtain currents i α and i β under a static two-phase coordinate system;
step2, obtaining an initial position identification value of the motor rotor according to a sliding mode variable structure position identification algorithm
Step 3, determining and identifying the angle deviation according to whether a mechanical position sensor is installed or notIf the position sensor exists, the identification angle deviation is derived from the deviation between the position identification value in the step 2 and the mechanical position sensor, and then the step 5 is carried out; otherwise, jumping to the step 4 to calculate the identification angle deviation;
Step 4, obtaining the identification angle deviation without the position sensor by using an extremum searching algorithm based on disturbance
Step 5, identifying deviation according to the positionCalculating the amplitude deviation of the sampling currentAnd further calculate an accurate current sample value i st:
Step 5.1, according to the identification angle deviation Calculating the amplitude deviation of the sampling currentThe calculation formula is as follows:
Step 5.2, updating an accurate current sampling value i st according to the sampling current amplitude deviation, wherein the calculation formula is as follows:
Wherein I s and I s are the amplitude value and the real-time value of the initial sample of the ABC phase current, and I st is the calibrated phase current sample value.
2. The online calibration method for current sampling of a permanent magnet synchronous motor according to claim 1, wherein the step 1 is specifically:
the currents i a、ib and i c under the static three-phase coordinate system of the motor stator are transformed through the 3s/2s coordinate under the static two-phase coordinate system to obtain currents i α and i β, and the calculation formula is as follows:
3. the online calibration method for current sampling of a permanent magnet synchronous motor according to claim 2, wherein the sliding mode variable structure position identification in the step 2 is implemented by sequential execution of a sliding mode observer and a phase-locked loop, the sliding mode observer is implemented by a second-order or higher-order state observer based on current and flux linkage, and the phase-locked loop is configured as a transfer function of a second-order or higher-order pole.
4. The online calibration method for current sampling of a permanent magnet synchronous motor according to claim 3, wherein the step 3 is specifically:
step 3.1, if the motor is provided with a mechanical position sensor, identifying the angle deviation Calculated from the following formula:
Wherein θ sensor is derived from a mechanical position sensor;
Step 3.2, if the motor does not have a mechanical position sensor, identifying the angle deviation assignment as calculated in the step 4
5. The online calibration method for current sampling of a permanent magnet synchronous motor according to claim 4, wherein the step 4 is specifically:
Step 4.1, transforming the downsampling currents i a、ib and i c of the static three-phase coordinate system into a torque current i q through 3s/2r rotating coordinate transformation, wherein the motor vector control and the position transformation adopt the compensated identification angle The calculation formula is as follows:
Step 4.2, calculating a torque current deviation Δi q according to the current torque current i q(n+1) and the upper period torque current i q(n), wherein the calculation formula is as follows:
Δiq＝iq(n+1)-iq(n)；
Step 4.3, calculating the step length a of the change of the position disturbance delta theta according to the absolute value of the torque current deviation delta i q, wherein the calculation formula is as follows:
a＝f(Δiq|)
the position disturbance step a is a positive correlation function of the torque current deviation delta i q, and the position disturbance step a and the torque current deviation delta i q are in a linear, square or exponential relation;
Step 4.4, if the magnitude and direction of the position disturbance are calculated for the first time, setting the initial value of delta theta as delta theta initial, and setting the position disturbance sign function sgn=1;
Step 4.5, if Δi q is greater than zero, it indicates that the torque current is large, and the position disturbance Δθ sign function assignment needs to be reversed; if the delta i q is smaller than zero, the torque current is reduced, and the position disturbance delta theta symbol function assignment is unchanged; if Δi q is equal to zero, it means that the torque current is unchanged, and the position disturbance Δθ sign function assignment remains unchanged;
step 4.6, if Δi q is equal to zero, indicating that the identification angle deviation under the control of no position sensor is obtained Exiting step 4; if Δi q is not equal to zero or the first calculated position disturbance, it indicates that the identified angular deviation has not been obtainedAt this time, the integral function is usedSuperimposing the deviation to the initial position identification value of the position identification algorithmThe iterative calculation of the position disturbance Δθ then continues.
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| CN109802614A (en) * | 2019-01-01 | 2019-05-24 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | A kind of permanent magnet synchronous motor inductance parameters identification system and method |
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| JP6132948B1 (en) * | 2016-03-29 | 2017-05-24 | 三菱電機株式会社 | Motor control device and motor control method |
| CN110112969A (en) * | 2019-03-04 | 2019-08-09 | 吉林大学 | A kind of method of induction motor parameter on-line identification and compensation |
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| CN109802614A (en) * | 2019-01-01 | 2019-05-24 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | A kind of permanent magnet synchronous motor inductance parameters identification system and method |
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