CN114448314B - Electromagnetic torque observation method and control system for synchronous reluctance motor - Google Patents
Electromagnetic torque observation method and control system for synchronous reluctance motor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
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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
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The application discloses an electromagnetic torque observation method and a control system of a synchronous reluctance motor, and relates to the technical field of control of a step reluctance motor, wherein the method comprises the following steps: injecting complementary high-frequency square wave voltage signals, and sampling the generated dq axis total current; based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods, carrying out signal separation on the collected dq-axis total current to obtain a dq-axis high-frequency response signal; extracting envelope curves of the dq-axis high-frequency response signals, and calculating dq-axis inductance of the synchronous reluctance motor; and calculating the electromagnetic torque of the synchronous reluctance motor according to the dq axis inductance. The method can solve the problem that the existing synchronous reluctance motor torque observation method based on the high-frequency injection method has larger torque pulsation and uses more filters to cause the chip operation load.
Description
Technical Field
The application relates to the technical field of synchronous reluctance motor control, in particular to a synchronous reluctance motor electromagnetic torque observation method and a control system.
Background
The synchronous reluctance motor (Synchronous Reluctance Motor, synRM) has the characteristics of high control precision, higher torque density, high power factor and the like, and particularly, the synchronous reluctance motor does not need a permanent magnet, can get rid of the dependence of the permanent magnet synchronous motor on rare earth permanent magnets, and has stronger and reliable rotor, so the synchronous reluctance motor is widely considered by industry as a powerful choice for replacing the traditional permanent magnet synchronous motor and asynchronous motor in the fields of fans, pumps, electric vehicles and the like in the future.
At present, in order to make the synchronous reluctance motor widely put into practical use for a long time, research on a control algorithm of the synchronous reluctance motor has been carried out, in many existing controllers, particularly for a Direct Torque Control (DTC) controller, the output torque of the motor is taken as an important feedback quantity, whether the accuracy greatly influences the effect of a control strategy or not, and when the synchronous reluctance motor is taken as a load motor to carry out research on a generator and optimize the design of the motor, an accurate torque value needs to be obtained.
In practical studies, it is common to choose to use a torque sensor in the system to obtain the output torque of the motor, while a precision and expensive torque sensor not only dilutes the low cost advantage of the reluctance motor, but also takes up additional space, transmission lines and reduces the reliability of the system. The research on the torque observation of the synchronous reluctance motor, which is generated by bypassing the torque sensor, is quite a lot, but has a common problem that the inductance change generated by the saturation of the magnetic circuit and the cross coupling phenomenon of the reluctance motor cannot be considered in the algorithm, and the inductance change range of the synchronous reluctance motor under different working conditions is quite large, so the accuracy degree of the torque observation is quite limited.
The high-frequency injection method is used for detecting the two-axis inductance of the motor in a rotor synchronous speed rotation coordinate system (namely a d-q coordinate system) on line in a mode of adding a high-frequency voltage excitation signal, corrects inductance parameters in a torque equation in real time, has higher torque observation precision, can be suitable for occasions with larger speed regulation range or larger load change of a reluctance motor, and becomes one of research hot spots for improving the accuracy of torque observation at present.
The high-frequency injection method is used for detecting the dq axis inductance of the motor on line by adding a high-frequency voltage excitation signal, correcting the inductance parameter in a torque equation in real time, has higher torque observation precision, and can be suitable for occasions with larger speed regulation range or larger load change of the reluctance motor.
Disclosure of Invention
Aiming at the defects in the prior art, the first aspect of the application provides an electromagnetic torque observation method of a synchronous reluctance motor, which can solve the problems of larger torque pulsation and more chip operation load caused by using a filter in the existing torque observation method of the synchronous reluctance motor based on a high-frequency injection method.
In order to achieve the above purpose, the application adopts the following technical scheme:
a method for observing electromagnetic torque of a synchronous reluctance motor, the method comprising the steps of:
injecting complementary high-frequency square wave voltage signals, and sampling the generated dq axis total current;
based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods, carrying out signal separation on the collected dq-axis total current to obtain a dq-axis high-frequency response signal;
extracting envelope curves of the dq-axis high-frequency response signals, and calculating dq-axis inductance of the synchronous reluctance motor;
and calculating the electromagnetic torque of the synchronous reluctance motor according to the dq axis inductance.
In some embodiments, the injecting the complementary high frequency square wave voltage signal and sampling the resulting dq axis total current includes:
according to the formulaInjecting high-frequency square wave voltage signals with the same frequency amplitude but opposite signs into d-axis and q-axis, wherein u is as follows dh High-frequency square wave voltage signal injected for d axis, u qh High-frequency square wave voltage signal injected for q-axis, U inj The amplitude of the high-frequency square wave voltage signal is injected;
sampling three-phase current of the synchronous reluctance motor under a three-phase static coordinate system, and converting the three-phase current into a current signal under a two-phase rotating coordinate system through Clark conversion and Park conversion in sequence so as to realize the sampling of the total current of the dq axis.
In some embodiments, the U inj Is 0.1 times of rated voltage of the synchronous reluctance motor.
In some embodiments, the signal separation is performed on the collected dq-axis total current based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods to obtain a dq-axis high-frequency response signal, including:
obtaining d-axis total current i in the kth and kth-1 sampling process d (k) And i d (k-1) q-axis total current i q (k) And i q (k-1)；
According to the formulaSignal separation is performed to obtain dq-axis high-frequency response signal i dh (k) And i qh (k)。
In some embodiments of the present application,
according to the formulaSignal separation is performed to obtain the dq-axis fundamental frequency current signal i as a feedback signal df (k) And i qf (k)。
In some embodiments, the extracting the envelope curve of the high-frequency response signal, calculating the dq axis inductance of the synchronous reluctance motor, includes:
according to the formulaTo represent the I of the envelope of the high-frequency response signal dh And I qh ；
According to the I dh 、I qh Formula (I)Calculating to obtain d-axis inductance +.>q-axis inductance->Where p is a differential operator, f inj Is the frequency of the injected high frequency square wave voltage signal.
In some embodiments, said calculating the synchronous reluctance motor electromagnetic torque from the dq axis inductance comprises:
according to the formulaCalculating electromagnetic torque of synchronous reluctance motor>Wherein p is n Is the pole pair number of the synchronous reluctance motor.
In some embodiments, the frequency of the injected high frequency square wave voltage signal is half the inverter switching frequency.
In some embodiments, the frequency at which the dq axis total current is sampled is equal to the inverter switching frequency.
The application provides an electromagnetic torque control system of a synchronous reluctance motor, which can solve the problem that the existing torque ripple of the torque observation method of the synchronous reluctance motor based on a high-frequency injection method is large, and more filters are used to cause the chip operation load.
In order to achieve the above purpose, the application adopts the following technical scheme:
a synchronous reluctance motor electromagnetic torque control system comprising:
the control end is used for generating a driving signal, injecting a complementary high-frequency square wave voltage signal and sampling the total dq axis current of the synchronous reluctance motor;
a signal separator for separating the collected dq-axis total current based on the symmetrical characteristic of the dq-axis high-frequency response currents of the adjacent two periods to obtain a dq-axis high-frequency response signal;
and the torque observer is used for extracting the envelope curve of the dq-axis high-frequency response signal, calculating the dq-axis inductance of the synchronous reluctance motor, and calculating the electromagnetic torque of the synchronous reluctance motor according to the dq-axis inductance.
Compared with the prior art, the application has the advantages that:
according to the electromagnetic torque observation method for the synchronous reluctance motor, the problem of larger torque pulsation of the existing synchronous reluctance motor torque observation method based on the high-frequency injection method can be solved by injecting the complementary high-frequency square wave voltage signals; meanwhile, as the dq axis total current collected by two adjacent periods is subjected to mathematical operation, the separation of the High-frequency signal and the fundamental frequency signal is realized, and a High Pass Filter (HPF) or a Band Pass Filter (BPF) is not needed in the process, so that the High-frequency response signal and the fundamental frequency current signal can be obtained, and the problem of chip operation load caused by more filters is solved.
Drawings
FIG. 1 is a flow chart of a method for observing electromagnetic torque of a synchronous reluctance motor according to an embodiment of the present application;
FIG. 2 is a diagram illustrating the separation of the high frequency response signal from the fundamental frequency current signal according to an embodiment of the present application;
FIG. 3 is a graph showing the relationship between PWM carrier, high frequency square wave voltage signal, high frequency response signal and fundamental frequency current signal in an embodiment of the present application;
FIG. 4 is a block diagram of an inductance solution and torque observer in an embodiment of the application;
FIG. 5 is a schematic diagram of extracting an envelope of a high frequency response signal according to an embodiment of the present application;
fig. 6 is a block diagram of a synchronous reluctance motor electromagnetic torque control system according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, an embodiment of the present application provides a method for observing electromagnetic torque of a synchronous reluctance motor, which includes the following steps:
s1, injecting complementary high-frequency square wave voltage signals, and sampling the generated dq axis total current.
Specifically, in this embodiment, step S1 specifically includes:
s11, according to the formulaInjecting high-frequency square wave voltage signals with the same frequency amplitude but opposite signs into d-axis and q-axis, wherein u is as follows dh High-frequency square wave voltage signal injected for d axis, u qh High-frequency square wave voltage signal injected for q-axis, U inj Is the amplitude of the injected high frequency square wave voltage signal.
In this embodiment, the d-axis injection signal and the q-axis injection signal have the same frequency and amplitude but opposite signs and are complementary signals, and in this way, torque fluctuations generated by the high-frequency injection method can be effectively reduced.
The main reason is that in general, the equivalent mathematical model of a synchronous reluctance motor is:
wherein u is d For d-axis fundamental frequency voltage, u q For q-axis fundamental frequency voltage, R s Is stator resistance L d For inductance on d-axis, L q For inductance on q-axis, ω e For electric angular velocity, i d For the d-axis total current, i q As d-axis total current, ψ d Sum phi q Respectively, the d-axis flux linkage and the q-axis flux linkage of the synchronous reluctance motor.
And the electromagnetic torque expression of the synchronous reluctance motor expressed by physical quantity under the dq coordinate system is obtained according to the law of electromagnetic induction:
wherein p is n Is the pole pair number of the synchronous reluctance motor.
If the response current signals generated on the dq axes by the injection method are respectively x 1 And x 2 Compared with the existing method of injecting the completely consistent signal, the injection method provided by the embodiment can reduce torque pulsation.
Specifically, when the injection method in this embodiment is adopted:
and when the existing method is adopted to inject the completely consistent signals:
it can be appreciated that, in combination with the electromagnetic torque expression of the synchronous reluctance motor, the absolute T can be known according to the number theory e -T e1 |＜|T e -T e2 The injection method proposed in this embodiment can reduce torque ripple.
It should be noted that, in the present embodiment, the modulation mode of the inverter is an SVPWM mode, the switching frequency is recorded as Ts, the high-frequency square wave signal is injected into the controller, and the injected signal can be reflected in the three-phase ac voltage converted after the control signal passes through the inverter through the SVPWM algorithm, and in the three-phase power of the driving motor, the voltage is the superposition of the fundamental frequency voltage and the high-frequency voltage.
In a preferred embodiment, the amplitude U of the injected high frequency square wave voltage signal inj For a synchronous reluctance motor rated voltage 0.1 times, too large an injection signal amplitude may result in large torque ripple, while too small an injection signal amplitude may result in reduced sampling signal-to-noise ratio.
In some embodiments, the frequency of the injected high frequency square wave voltage signal is half of the inverter switching frequency, and the dq axis total current is sampled at the same sampling frequency as the switching frequency employed by the inverter in the rotor synchronous speed rotation coordinate system.
S12, sampling three-phase current of the synchronous reluctance motor under a three-phase static coordinate system, and converting the three-phase current into a current signal under a two-phase rotating coordinate system through Clark conversion and Park conversion in sequence so as to realize sampling of total current of a dq axis.
S2, based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods, performing signal separation on the collected dq-axis total current to obtain a dq-axis high-frequency response signal.
The purpose of step S2 is to perform a filter-free signal separation process on the sampled current obtained in step 1, so as to obtain a high-frequency response signal and a fundamental frequency current signal, the high-frequency response signal is input into a torque observer, the fundamental frequency current signal can be input into a controller as a feedback signal, and a signal separator separation block diagram of the signal separator is shown in fig. 2.
It can be understood that, since the frequency of the injected high-frequency square wave signal is generally much greater than that of the fundamental frequency signal during medium-low speed operation, and in the high-frequency square wave injection method, the sampling interval is generally half of the period of the injected signal, in such a short time interval, the fundamental frequency current signal can be completely assumed to be kept constant, and when the high-frequency square wave is injected, the waveform of the high-frequency response current on the dq axis is also a square wave, and has the characteristic of symmetrical positive and negative half periods, that is, the amplitudes are equal and the signs are opposite in two adjacent sampling periods, and the specific relation can be seen in fig. 3.
Assuming the kth sample, the dq-axis high frequency response current can be expressed as:
the variable suffix (k) represents the kth sampling value, (k-1) represents the kth-1 sampling value, and the dq-axis high frequency response signal is i dh (k) And i qh (k) A. The application relates to a method for producing a fibre-reinforced plastic composite It follows that the method does not require a large number of high-pass or band-pass filters as in the conventional method, but only stores the last sampled value at the time of one sample, which is easy to do. Meanwhile, if the system adopts a vector control method, the dq-axis fundamental frequency current signal used as a feedback signal does not need a low-pass filter, but can be expressed as:
s3, extracting envelope curves of the dq-axis high-frequency response signals, and calculating the dq-axis inductance of the synchronous reluctance motor.
And (3) extracting the envelope curve of the dq axis high-frequency response signal obtained in the step (2), and calculating the two-axis inductance and the difference inductance of the synchronous reluctance motor in real time, so that the accurate output torque of the synchronous reluctance motor can be further estimated, and the inductance calculation and torque observer block diagram is shown in figure 4.
For the envelope of the high frequency response signal separated in step 2, an envelope extractor may be used for extraction, and the processing block diagram of the envelope extractor is shown in fig. 5.
The envelope extraction method is numerous, and for the high-frequency response current generated by the high-frequency square wave voltage signal selected in the step 1, the method can be realized by subtracting the high-frequency current obtained by the kth sampling from the high-frequency current obtained by the kth sampling and multiplying the high-frequency current by + -1 (the sign depends on the polarity of the injection signal), namely
According to the formulaTo represent the I of the envelope of the high-frequency response signal dh And I qh 。
The equivalent mathematical model of the motor described above with synchronous reluctance is:
since the frequency of the high-frequency injection method adopted in the embodiment is high enough, the mathematical model of the synchronous reluctance motor can be rewritten as:
the equation with the high-frequency injection voltage as a dependent variable and the high-frequency response current as an independent variable can be obtained by further rewriting the equation into a current-voltage equation and performing matrix operation:
i of envelope curve of recombined high-frequency response signal dh And I qh The above equation can be rewritten as a form of high frequency current envelope-high frequency injection voltage:
thereby the d-axis inductance can be calculatedq-axis inductance->Where p is a differential operator, f inj Is the frequency of the injected high frequency square wave voltage signal.
S4, calculating electromagnetic torque of the synchronous reluctance motor according to the dq axis inductance.
Step S3 calculates d-axis inductance L dh And q-axis inductance L qh Then, the difference inductance can be calculated:
then can be according to the formulaCalculating electromagnetic torque of synchronous reluctance motor>
In summary, according to the electromagnetic torque observation method for the synchronous reluctance motor, the problem of larger torque pulsation of the existing synchronous reluctance motor torque observation method based on the high-frequency injection method can be solved by injecting the complementary high-frequency square wave voltage signal; meanwhile, as the dq axis total current collected by two adjacent periods is subjected to mathematical operation, the separation of the High-frequency signal and the fundamental frequency signal is realized, and a High Pass Filter (HPF) or a Band Pass Filter (BPF) is not needed in the process, so that the High-frequency response signal and the fundamental frequency current signal can be obtained, and the problem of chip operation load caused by more filters is solved.
Meanwhile, the embodiment of the application also provides an electromagnetic torque control system of the synchronous reluctance motor, which comprises a control end, a signal separator and a torque observer.
The control end is used for generating a driving signal, injecting a complementary high-frequency square wave voltage signal and sampling the total dq axis current of the synchronous reluctance motor.
The signal separator is used for carrying out signal separation on the collected dq-axis total current based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods to obtain a dq-axis high-frequency response signal.
The torque observer is used for extracting the envelope curve of the dq-axis high-frequency response signal, calculating the dq-axis inductance of the synchronous reluctance motor, and calculating the electromagnetic torque of the synchronous reluctance motor according to the dq-axis inductance.
Referring to fig. 6, the control terminal in this embodiment mainly includes a controller, an inverter (SVPWM module), and a sensor. After each feedback quantity of the synchronous reluctance motor is input into the controller, the voltage dq axis command value of the synchronous reluctance motor which is actually driven is finally output through the internal calculation of the controllerAnd injected with dq axis high frequency voltage signal u dh 、u dh And superposing, converting the DC voltage into three-phase AC voltage for driving a synRM (synchronous reluctance motor), wherein the three-phase AC voltage is used as an input instruction value of the SVPWM module, and outputting a control signal for driving a switching tube of an inversion bridge after being processed by the SVPWM module.
i abc In order to obtain ABC three-phase total current value and theta through sensor sampling under a static three-phase coordinate system e Is a position sensorThe total current i of the dq axis of the motor can be obtained after the output motor electric angle signal is transformed by 3s/2r d 、i q Then the fundamental frequency current signal i is obtained through a signal separator df 、i qf And a high frequency response signal i dh 、i qh The fundamental frequency current signal can be input into the controller as a feedback value, and the high frequency current signal is input into the torque observer for inductance parameter calculation and further torque observation.
The electromagnetic torque control system of the synchronous reluctance motor is a double-closed-loop alternating current speed regulation system controlled by rotating speed and current feedback and formed by a controller (comprising two PI controllers), the output of the controller is used as the input of a current inner loop PI regulator, the output of the current loop PI controller controls an inverter modulator to further control a power electronic device, and an SVPWM modulation mode is selected in the embodiment.
By establishing a high-frequency square wave injection and vector control system, a high-frequency square wave voltage signal with the frequency half of the switching frequency of an inverter is injected into an inverter control device (SVPWM modulation mode is used in the application, but other modulation modes are not available), corresponding high-frequency response current is generated on a rotor, three-phase current of a synchronous reluctance motor in a three-phase static coordinate system is sampled by a Hall sensor at the same sampling frequency as the switching frequency adopted by the inverter under the synchronous speed rotation coordinate system of the rotor, and the three-phase current is converted into a current signal under a two-phase rotation coordinate system through Clark conversion (3 s/2 s) and Park conversion (2 s/2 r) in sequence, so that the sampling of the total current of a dq axis is realized.
The signal separator performs mathematical operation on dq axis total current collected in two adjacent periods to separate a High-frequency signal from a fundamental frequency signal, a High Pass Filter (HPF) or a Band Pass Filter (BPF) is not needed in the process, a High-frequency response signal and a fundamental frequency current signal are obtained, the High-frequency response signal is input into the parameter observer, and the fundamental frequency current signal can be input into the controller as a feedback signal. A sign function sgn (u) of the obtained dq-axis high frequency response signal and the dq-axis high frequency response signal at the previous time and the dq-axis injection voltage dqh ) The high-frequency signal can be obtained by substituting the formula to perform operationEnvelope curve, real-time calculating two-axis inductance L of motor dh ,L qh And difference inductance L diff ＝L dh -L qh Further, the accurate output torque of the synchronous reluctance motor can be estimatedCan be input to the controller as a feedback value.
In summary, according to the electromagnetic torque control system for the synchronous reluctance motor, the problem of larger torque pulsation of the existing synchronous reluctance motor torque observation method based on the high-frequency injection method can be solved by injecting the complementary high-frequency square wave voltage signal; meanwhile, as the dq axis total current collected by two adjacent periods is subjected to mathematical operation, the separation of the High-frequency signal and the fundamental frequency signal is realized, and a High Pass Filter (HPF) or a Band Pass Filter (BPF) is not needed in the process, so that the High-frequency response signal and the fundamental frequency current signal can be obtained, and the problem of chip operation load caused by more filters is solved.
The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The electromagnetic torque observation method of the synchronous reluctance motor is characterized by comprising the following steps of:
injecting complementary high-frequency square wave voltage signals, and sampling the generated dq axis total current;
based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods, carrying out signal separation on the collected dq-axis total current to obtain a dq-axis high-frequency response signal;
extracting envelope curves of the dq-axis high-frequency response signals, and calculating dq-axis inductance of the synchronous reluctance motor;
calculating electromagnetic torque of the synchronous reluctance motor according to the dq axis inductance;
wherein the injecting the complementary high frequency square wave voltage signal and sampling the generated dq axis total current comprises:
according to the formulaInjecting high-frequency square wave voltage signals with the same frequency amplitude but opposite signs into d-axis and q-axis, wherein u is as follows dh High-frequency square wave voltage signal injected for d axis, u qh High-frequency square wave voltage signal injected for q-axis, U inj The amplitude of the high-frequency square wave voltage signal is injected;
sampling three-phase current of the synchronous reluctance motor under a three-phase static coordinate system, and converting the three-phase current into a current signal under a two-phase rotating coordinate system through Clark conversion and Park conversion in sequence so as to realize the sampling of the total current of the dq axis;
the method for obtaining the dq-axis high-frequency response signal based on the symmetrical characteristic of the dq-axis high-frequency response currents of two adjacent periods to perform signal separation on the collected dq-axis total current comprises the following steps:
obtaining d-axis total current i in the kth and kth-1 sampling process d (k) And i d (k-1) q-axis total current i q (k) And i q (k-1)；
According to the formulaSignal separation is performed to obtain dq-axis high-frequency response signal i dh (k) And i qh (k)；
The extracting the envelope curve of the high-frequency response signal, calculating the dq axis inductance of the synchronous reluctance motor comprises the following steps:
according to the formulaTo represent the envelope of the high frequency response signalI of the wire dh And I qh ；
According to the I dh 、I qh Formula (I)Calculating to obtain d-axis inductance +.>q-axis inductance->Where p is a differential operator, f inj Is the frequency of the injected high frequency square wave voltage signal.
2. The electromagnetic torque observation method for a synchronous reluctance motor according to claim 1, wherein: the U is inj Is 0.1 times of rated voltage of the synchronous reluctance motor.
3. The electromagnetic torque observation method for a synchronous reluctance motor according to claim 1, wherein:
according to the formulaSignal separation is performed to obtain the dq-axis fundamental frequency current signal i as a feedback signal df (k) And i qf (k)。
4. The electromagnetic torque observation method of a synchronous reluctance motor according to claim 1, wherein the calculating the electromagnetic torque of the synchronous reluctance motor based on the dq-axis inductance comprises:
according to the formulaCalculating electromagnetic torque of synchronous reluctance motor>Wherein p is n Is the pole pair number of the synchronous reluctance motor.
5. The electromagnetic torque observation method for a synchronous reluctance motor according to claim 1, wherein: the frequency of the injected high-frequency square wave voltage signal is half of the switching frequency of the inverter.
6. The electromagnetic torque observation method for a synchronous reluctance motor according to claim 1, wherein: the frequency at which the dq axis total current is sampled is equal to the inverter switching frequency.
7. A synchronous reluctance motor electromagnetic torque control system for realizing the synchronous reluctance motor electromagnetic torque observing method according to claim 1, comprising:
the control end is used for generating a driving signal, injecting a complementary high-frequency square wave voltage signal and sampling the total dq axis current of the synchronous reluctance motor;
a signal separator for separating the collected dq-axis total current based on the symmetrical characteristic of the dq-axis high-frequency response currents of the adjacent two periods to obtain a dq-axis high-frequency response signal;
and the torque observer is used for extracting the envelope curve of the dq-axis high-frequency response signal, calculating the dq-axis inductance of the synchronous reluctance motor, and calculating the electromagnetic torque of the synchronous reluctance motor according to the dq-axis inductance.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110971163A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Synchronous reluctance motor low-torque-ripple sensorless control method |
| CN111786606A (en) * | 2020-06-09 | 2020-10-16 | 哈尔滨工业大学 | Self-adaptive adjustment sensorless control method for synchronous reluctance motor |
| CN112688614A (en) * | 2020-12-17 | 2021-04-20 | 西安理工大学 | Novel synchronous reluctance motor rotating speed estimation method |
| CN113241975A (en) * | 2021-06-23 | 2021-08-10 | 西安科技大学 | Double-winding PMSM rotor initial position detection method for eliminating torque pulsation |
| CN113489410A (en) * | 2021-07-15 | 2021-10-08 | 哈尔滨工业大学 | Sensorless control method for period complementary high-frequency square wave injection |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110971163A (en) * | 2019-12-23 | 2020-04-07 | 哈尔滨工业大学 | Synchronous reluctance motor low-torque-ripple sensorless control method |
| CN111786606A (en) * | 2020-06-09 | 2020-10-16 | 哈尔滨工业大学 | Self-adaptive adjustment sensorless control method for synchronous reluctance motor |
| CN112688614A (en) * | 2020-12-17 | 2021-04-20 | 西安理工大学 | Novel synchronous reluctance motor rotating speed estimation method |
| CN113241975A (en) * | 2021-06-23 | 2021-08-10 | 西安科技大学 | Double-winding PMSM rotor initial position detection method for eliminating torque pulsation |
| CN113489410A (en) * | 2021-07-15 | 2021-10-08 | 哈尔滨工业大学 | Sensorless control method for period complementary high-frequency square wave injection |
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