CN114389500B - Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor - Google Patents
Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor Download PDFInfo
- Publication number
- CN114389500B CN114389500B CN202110321647.4A CN202110321647A CN114389500B CN 114389500 B CN114389500 B CN 114389500B CN 202110321647 A CN202110321647 A CN 202110321647A CN 114389500 B CN114389500 B CN 114389500B
- Authority
- CN
- China
- Prior art keywords
- bearingless
- rotor position
- current
- sheet motor
- position error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005070 sampling Methods 0.000 claims description 6
- 238000013178 mathematical model Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 9
- 238000001914 filtration Methods 0.000 abstract description 6
- 230000004907 flux Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000084490 Esenbeckia delta Species 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The invention discloses a rotor position error compensation strategy of maximum current characteristic quantity of a bearingless sheet motor, which aims at the problem of rotor position estimation errors caused by non-ideal factors such as loop filtering, motor parameter errors and the like in a traditional rotor flux linkage observer, and carries out self-adaptive compensation on the rotor position errors based on the thought of a disturbance observation method. The strategy takes the characteristic quantity of the current loop as an observation object to realize the compensation of the estimation error of the rotor position of the bearingless sheet motor. The observation quantity is convenient to obtain, rotor position errors can be accurately reflected, the algorithm is simple to realize, and the system structure is simple.
Description
Technical Field
The invention relates to the technical field of rotor position error compensation of a bearingless sheet motor, in particular to a rotor position error compensation strategy of maximum current characteristic quantity of the bearingless sheet motor.
Background
The bearingless sheet motor is a novel motor integrating a magnetic bearing technology and a traditional motor, and has the advantages of no friction, no lubrication, long service life, high speed, high precision and the like. To reduce the system cost, a position-free sensor algorithm based on a rotor flux linkage observer is commonly adopted at present to estimate the rotor position of the bearingless sheet motor. However, the bearingless sheet motor driving system has higher requirements on the accuracy of rotor position estimation, and the traditional rotor flux linkage observer can cause inaccurate rotor position estimation due to non-ideal factors such as loop filtering, motor parameter errors and the like, and even cause instability of the bearingless sheet motor system when serious. It is important to compensate for rotor position estimation errors caused by the non-ideal factors.
Disclosure of Invention
Aiming at the defects of the background technology, the invention provides a rotor position error compensation strategy of maximum current characteristic quantity of a bearingless sheet motor, and aims at the problems of rotor position estimation errors caused by non-ideal factors such as loop filtering, motor parameter errors and the like in a traditional rotor flux linkage observer, and the rotor position errors are adaptively compensated based on the thought of a disturbance observation method. The strategy takes the characteristic quantity of the current loop as an observation object to realize the compensation of the estimation error of the rotor position of the bearingless sheet motor. The observation quantity is convenient to obtain, rotor position errors can be accurately reflected, the algorithm is simple to realize, and the system structure is simple.
The invention adopts the following technical scheme for solving the technical problems:
and (3) compensating the rotor error of the bearingless sheet motor by taking the characteristic quantity of the current ring as an observation object based on the thought of a disturbance observation method by using a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor. The implementation steps of the scheme are as follows:
step 1), firstly, actively applying an algorithm with any polarity to adjust the step dθ c ；
Step 2), sampling a torque current signal of the bearingless sheet motor at the current moment;
step 3), carrying out mathematical treatment on the sampled torque current, and obtaining the current moment torque q-axis current i through a current regulator Tq (k) With torque q-axis command voltage u Tq (k)；
Step 4), i is carried out Tq (k)、u Tq (k) Obtaining a current loop characteristic quantity lambda (k) at the current moment through mathematical treatment;
step 5), comparing the current ring characteristic quantity lambda (k) at the current moment with the current ring characteristic quantity lambda (k-1) at the previous moment, and if lambda (k) is smaller than lambda (k-1), changing the next period adjustment step dθ c Vice versa, unchanged;
step 6), repeating the steps 2) to 5), and obtaining the rotor position error compensation angle delta theta of the bearingless sheet motor in real time c And compensating for rotor position errors.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the step 1) adjusts the step length dθ c The appropriate values may be set according to the system performance requirements.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the torque current signal of the bearingless sheet motor in the step 2) is obtained by sampling the output voltage of the Hall device.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the mathematical processing in the step 3) is coordinate transformation.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the current regulator in the step 3) can be a proportional-integral (PI) based regulator or a motor mathematical model based regulator.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the mathematical processing in the step 4) is that the torque q-axis command voltage u Tq (k) Equivalent phase resistance R with motor s With torque q-axis current i Tq (k) The product of (2) is bad.
As a rotor position error compensation strategy of the maximum current characteristic quantity of the bearingless sheet motor, the rotor position error compensation angle delta theta of the bearingless sheet motor in the step 6) is c The initial value is set to 0.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
1. the rotor position estimation error of the bearingless sheet motor, which is caused by non-ideal factors such as loop filtering, motor parameter error and the like in the traditional rotor flux linkage observer, can be compensated;
2. the selected observation quantity current loop characteristic quantity is convenient to acquire and can accurately reflect the rotor position error;
3. the algorithm is simple to realize and the system structure is simple.
Drawings
FIG. 1 is a flow chart of a method for adaptively compensating rotor position errors of a bearingless sheet motor based on maximum current loop characteristic quantity;
fig. 2 is a relationship between the actual rotational coordinate system and the estimated rotational coordinate system of the bearingless sheet motor of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the accompanying drawings:
this invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The invention discloses a rotor position error compensation strategy for maximum current characteristic quantity of a bearingless sheet motor. The bearingless sheet motor system has higher requirements on rotor position estimation precision, and is used for adaptively compensating rotor position errors based on the thought of a disturbance observation method aiming at the problem of rotor position estimation errors caused by non-ideal factors such as loop filtering, motor parameter errors and the like in a traditional rotor flux linkage observer. The strategy takes the characteristic quantity of the current loop as an observation object to realize the compensation of the estimation error of the rotor position of the bearingless sheet motor. The observation quantity is convenient to obtain, rotor position errors can be accurately reflected, the algorithm is simple to realize, and the system structure is simple. The implementation steps of the scheme are as follows:
step 1), firstly, actively applying an algorithm with any polarity to adjust the step dθ c ；
Step 2), sampling a torque current signal of the bearingless sheet motor at the current moment;
step 3), carrying out mathematical treatment on the sampled torque current, and obtaining the current moment torque q-axis current i through a current regulator Tq (k) With torque q-axis command voltage u Tq (k)；
Step 4), i is carried out Tq (k)、u Tq (k) Obtaining a current loop characteristic quantity lambda (k) at the current moment through mathematical treatment;
step 5), comparing the current ring characteristic quantity lambda (k) at the current moment with the current ring characteristic quantity lambda (k-1) at the previous moment, and if lambda (k) is smaller than lambda (k-1), changing the next period adjustment step dθ c Vice versa, unchanged;
step 6), repeating the steps 2) to 5), and obtaining the rotor position error compensation angle delta theta of the bearingless sheet motor in real time c And compensating for rotor position errors.
Said step 1) adjusting the step dθ c The appropriate values may be set according to the system performance requirements.
The bearingless sheet motor torque current signal in the step 2) is obtained by sampling the output voltage of the Hall device.
The mathematical process in step 3) is a coordinate transformation.
The current regulator in the step 3) may be a proportional-integral (PI) based regulator or a motor mathematical model based regulator.
The mathematical process in the step 4) is torque q-axis command voltage u Tq (k) Equivalent phase resistance R with motor s With torque q-axis current i Tq (k) The product of (2) is bad.
The rotor position error compensation angle delta theta of the bearingless sheet motor in the step 6) c The initial value is set to 0.
Fig. 1 is a flowchart of a method for adaptively compensating rotor position errors of a bearingless sheet motor based on a characteristic quantity of a maximum current loop, and a basic principle of the method is specifically deduced as follows.
The relationship between the actual rotation coordinate system and the estimated rotation coordinate system of the bearingless sheet motor is shown in fig. 2, the dq coordinate system is the actual rotor rotation coordinate system of the bearingless sheet motor,the rotor rotational coordinate system is estimated for a bearingless sheet motor. Due to non-ideal factors such as loop filtering, motor parameter errors and the like, the estimated rotor position is different from the actual rotor position by delta theta r . Based on +.>The voltage equation under the rotating coordinate system can be written as:
wherein, delta theta r For rotor position estimation error, E is back emf, e=ω e ψ r 。
Due to the bearingless sheet motor rotationThe current ripple of the torque system is small, so that the torque inductance voltage drop term is ignored. The torque control system of the bearingless sheet motor adopts' i d Under the control strategy of =0 ", the steady state will beThe shaft voltage equation is simplified, and the current loop characteristic quantity lambda can be obtained:
based on the above, when the rotation speed of the bearingless sheet motor is constant, the larger the rotor position error is, the smaller the current loop characteristic quantity lambda is. When there is no rotor position error, i.e. delta theta r =0, and the current loop feature quantity λ is the maximum value.
The specific flow of the rotor position error compensation strategy for maximum current characteristic of the bearingless sheet motor of the present invention is described in detail below with reference to fig. 1. First actively applying an adjusting step dθ of arbitrary polarity c Comparison of dθ c The variation of the current loop characteristic quantity lambda before and after application. If the current loop characteristic quantity lambda becomes larger, dθ is described c The polarity is correct, the rotor position error is reduced, and the next period dθ c The polarity of (2) remains unchanged; if the current loop characteristic lambda becomes smaller, dθ is described c Polarity error, rotor position error increases, change dθ of next circle c Is a polarity of (c). The direction of the next period adjusting step length is adjusted according to the change of the characteristic quantity lambda of the current ring in the front period and the back period, so that the compensation angle is dynamically adjusted, and the iteration is circulated until lambda converges to the maximum value, and the compensation of the rotor position error is realized. Δθ c Can be expressed as:
it will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (5)
1. The maximum current characteristic quantity rotor position error compensation strategy of the bearingless sheet motor is characterized by comprising the following implementation steps:
step 1, firstly, actively applying an algorithm with any polarity to adjust the step length dθ c ；
Step 2, sampling a torque current signal of the bearingless sheet motor at the current moment;
step 3, carrying out coordinate transformation on the sampled torque current, and obtaining the current moment torque q-axis current i through a current regulator Tq (k) With torque q-axis command voltage u Tq (k)；
Step 4, converting the torque q-axis command voltage u Tq (k) Equivalent phase resistance R with motor s With torque q-axis current i Tq (k) The product of the current loop characteristic quantity lambda (k) at the current moment is obtained by difference;
step 5, comparing the current loop characteristic quantity lambda (k) at the current moment with the current loop characteristic quantity lambda (k-1) at the previous moment, and if lambda (k) is smaller than lambda (k-1), changing the next period adjustment step dθ c Vice versa, unchanged;
step 6, repeating the steps 2 to 5, and obtaining the rotor position error compensation angle delta theta of the bearingless sheet motor in real time c And compensating for rotor position errors.
2. The bearingless sheet motor maximum current feature rotor position error compensation strategy of claim 1, wherein the step 1 adjusts the step dθ c The appropriate values may be set according to the system performance requirements.
3. The bearingless sheet motor maximum current feature rotor position error compensation strategy of claim 1, wherein the bearingless sheet motor torque current signal of step 2 is obtained by sampling the hall device output voltage.
4. The bearingless sheet motor maximum current feature rotor position error compensation strategy of claim 1, wherein the current regulator in step 3 may be a proportional-integral (PI) based regulator or a motor mathematical model based regulator.
5. The bearingless sheet motor maximum current feature rotor position error compensation strategy of claim 1, wherein the bearingless sheet motor rotor position error compensation angle Δθ in step 6 c The initial value is set to 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110321647.4A CN114389500B (en) | 2021-03-25 | 2021-03-25 | Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110321647.4A CN114389500B (en) | 2021-03-25 | 2021-03-25 | Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114389500A CN114389500A (en) | 2022-04-22 |
| CN114389500B true CN114389500B (en) | 2023-11-03 |
Family
ID=81194804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110321647.4A Active CN114389500B (en) | 2021-03-25 | 2021-03-25 | Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114389500B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108336937A (en) * | 2018-02-27 | 2018-07-27 | 武汉理工大学 | A kind of permanent-magnet synchronous motor rotor position error compensating method based on High Frequency Injection |
| CN108847793A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of rotor position estimation method of self-correcting |
| CN108988723A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of hall position sensor segmented estimation rotor-position method |
| 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 |
| CN111510042A (en) * | 2019-01-30 | 2020-08-07 | 广东美的白色家电技术创新中心有限公司 | Rotor position estimation method and device of motor and motor control system |
-
2021
- 2021-03-25 CN CN202110321647.4A patent/CN114389500B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108336937A (en) * | 2018-02-27 | 2018-07-27 | 武汉理工大学 | A kind of permanent-magnet synchronous motor rotor position error compensating method based on High Frequency Injection |
| CN108847793A (en) * | 2018-07-20 | 2018-11-20 | 张懿 | A kind of rotor position estimation method of self-correcting |
| CN108988723A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of hall position sensor segmented estimation rotor-position method |
| 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 |
| CN111510042A (en) * | 2019-01-30 | 2020-08-07 | 广东美的白色家电技术创新中心有限公司 | Rotor position estimation method and device of motor and motor control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114389500A (en) | 2022-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110086400A (en) | A kind of electromechanical servo system non-linear variable gain control method and system | |
| CN107883990B (en) | Zero calibration method and system for permanent magnet synchronous motor rotary transformer for electric automobile | |
| CN109873586B (en) | Motor mechanical parameter identification method and system based on high-order sliding-mode observer | |
| CN108768232B (en) | Control method and system for propulsion motor of semi-submersible vessel dynamic positioning system | |
| CN107612445B (en) | Control method of follow-up speed regulation system with load acceleration feedback | |
| CN110572091A (en) | optimized sensorless control method for permanent magnet synchronous motor | |
| CN105811840B (en) | A kind of dead beat current control method of permanent magnet synchronous servo motor | |
| CN113067520B (en) | Non-sensor response self-adaptive motor control method based on optimized residual error | |
| CN112532133B (en) | Filtering compensation sliding mode active-disturbance-rejection control method suitable for permanent magnet synchronous motor | |
| CN114389500B (en) | Rotor position error compensation strategy for maximum current characteristic quantity of bearingless sheet motor | |
| CN109194224B (en) | Permanent magnet synchronous motor sensorless control method based on extended state observer | |
| CN115037202A (en) | PID parameter self-adaptive control method and system based on flexible neural network | |
| CN109936319B (en) | Method and device for setting parameters of rotating speed controller | |
| CN109889113A (en) | A kind of magneto parameter scanning control system based on Active Disturbance Rejection Control | |
| CN113067519B (en) | Residual error-based control method for injection-free self-adaptive permanent magnet motor without position sensor | |
| CN114977904A (en) | PMSM sensorless starting method based on load estimation and dynamic speed regulation | |
| CN115313931A (en) | Sensor-free vector control method of permanent magnet synchronous motor based on AEKF | |
| CN109510555B (en) | Method and device for inhibiting fluctuation of rotating speed of compressor | |
| CN110277941B (en) | Permanent magnet motor and rotor position control method and device | |
| CN113572394A (en) | Method for calibrating and compensating torque fluctuation of synchronous motor servo system on line | |
| CN109379014A (en) | The LPV speed observer design method of permanent magnet synchronous motor | |
| CN114389499A (en) | Self-adaptive compensation strategy for minimum output current position error of bearingless sheet motor | |
| CN117294199B (en) | On-line identification method for counter electromotive force constant of motor | |
| CN114261442B (en) | Compound position control method for steering-by-wire system | |
| Liu et al. | Speed measurement error reduction via adaptive strong tracking Kalman filters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |