CN114614724B - Sensorless control method for flux linkage observer of synchronous reluctance motor - Google Patents
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Abstract
A sensorless control method for a flux linkage observer of a synchronous reluctance motor relates to the technical field of motor control. The invention aims to solve the problems of sensitivity to parameter change and poor anti-interference capability of the existing sensorless control method of the synchronous reluctance motor. The invention can carry out vector control of the synchronous reluctance motor without using a position sensor, can detect the rotor angle and the rotating speed signal without injecting an extra voltage signal, and is used for motor closed-loop control. Compared with the traditional sensorless control method, the method has the advantage that negative effects such as noise pollution, torque ripple and power loss are not introduced. Aiming at the structural and performance characteristics of the synchronous reluctance motor, the invention optimizes the flux linkage observer and the phase-locked loop of the angle and rotating speed acquisition part, and improves the accuracy and reliability of angle observation. The invention is suitable for the industrial fields of aerospace, household appliances, electric vehicles and the like which are not suitable for installing position sensors or sensitive to cost.
Description
Technical Field
The invention belongs to the technical field of motor control.
Background
The synchronous reluctance motor adopts the structural design of the rare-earth-free permanent magnet material, has the advantages of simple manufacture, high reliability, low cost and the like, and is an ideal alternative scheme of an induction motor and a permanent magnet synchronous motor. Synchronous reluctance motor belongs to the synchronous quick-witted category, can adopt traditional vector control technique to drive, and rotor angular position is indispensable to vector control, often needs installation position sensor to carry out angular position and obtains. The angular position sensor not only weakens the low cost advantage of the motor, but also reduces the system reliability, so that the high-performance sensorless technology becomes one of the main research directions of the motor.
The synchronous reluctance motor adopts a high salient pole ratio permanent magnet-free design, has the characteristic of strong coupling nonlinearity, has obvious motor parameter change along with working conditions, and has the following two main difficulties in sensorless control: firstly, motor parameters obtained by looking up a table are influenced by the angle observation precision of a sensorless angle, and wrong motor parameters further deteriorate angle observation results; and secondly, the rotor structure of the permanent magnet-free motor has no N pole and S pole due to the design of the permanent magnet-free motor, and compared with a permanent magnet synchronous motor, the situation that the observation angle is too large in lag is easier to occur, so that the output torque is reversed, and the running stability of the sensor-free motor is poor.
Synchronous reluctance motors often work in a wide rotating speed range, and therefore a flux linkage observer sensorless control method is often adopted to achieve full-speed domain control. The traditional observer method mainly comprises a flux linkage method and an effective flux linkage method. The flux linkage method obtains the current rotor angle position through the flux linkage transformation relation under the static and rotating coordinate systems, and has the advantage of higher precision, but has the defect of poor interference resistance. The effective flux linkage method obtains the angle position by observing the effective flux linkage under the static coordinate system, is simple to calculate compared with the flux linkage method, has strong anti-interference capability, introduces more motor parameters, and is easy to influence the observation angle by the accuracy of the parameters. Meanwhile, the traditional flux linkage observer method adopts a phase-locked loop structure to estimate to obtain an angle and a rotating speed on the basis of observing flux linkage, the angle is used for motor parameter table look-up, and a table look-up result is influenced by the phase-locked loop structure and loop bandwidth parameters. In addition, the phase-locked loop structure has steady-state errors in the tracking of the rotating speed and the angle under external disturbances such as load, sudden change of the rotating speed and the like, so that the situation of torque reversal is caused, and sensorless control fails.
In summary, the existing sensorless control method has the defects of sensitivity to parameter change, poor interference resistance and the like, is not suitable for sensorless application occasions with certain requirements on dynamic performance, and limits the engineering application.
Disclosure of Invention
The invention provides a sensorless control method of a flux linkage observer of a synchronous reluctance motor, aiming at solving the problems of sensitivity to parameter change and poor anti-interference capability of the existing sensorless control method of the synchronous reluctance motor.
A sensorless control method for a flux linkage observer of a synchronous reluctance motor comprises the following steps:
the method comprises the following steps: observing and obtaining flux linkage observation values of an alpha axis and a beta axis under an alpha beta coordinate system in the current period by using a flux linkage observer
And
step two: by using
And
and the flux linkage table values psi of the d axis and the q axis in the dq coordinate system of the current period d_i And psi q_i Calculating a sinusoidal intermediate signal N sin And cosine intermediate signal N cos ；
Step three: by using N sin And N cos Respectively calculating the angle error signals epsilon of two-stage phase-locked loop 1 And ε 2 ；
Step four: using a first stage phase-locked loop based on epsilon 1 Obtaining the estimated value of the first-stage rotor speed in the current period
Step five: using a second-stage phase-locked loop to adjust its angle error signal epsilon 2 After single gain adjustment, add up to
Obtaining the estimated value of the two-stage rotor speed in the current period
And are aligned with
Integral is carried out to obtain the angle estimation value of the secondary rotor in the current period
Will be provided with
And
and the feedback is fed back to a magnetic field directional controller to realize the sensorless control of the flux linkage observer of the synchronous reluctance motor.
Further, before the first step, current values i of an axis a, an axis b and an axis c in an abc three-phase coordinate system of the current period are collected during the operation process of the synchronous reluctance motor a 、i b And i c And transforming to obtain current values i of the alpha axis and the beta axis in the alpha-beta coordinate system of the current period α And i β 。
Further, the specific process of the first step is as follows:
look-up table values and i using rotor angle of previous cycle α And i β Inquiring and obtaining a flux linkage table lookup value psi of a d axis and a q axis in a dq coordinate system of the current period on a current and flux linkage mapping table d_i And psi q_i And will phi d_i And psi q_i Transforming into magnetic linkage table value psi of alpha axis and beta axis under alpha-beta coordinate system of current period α_i And psi β_i ，
Will i α And i β Voltage set value and psi in last period alpha beta coordinate system α_i And psi β_i All are sent into a flux linkage observer to obtain flux linkage observed values of an alpha axis and a beta axis under an alpha beta coordinate system of the current period
And
further, the calculation method of the k-th period rotor angle look-up table value is as follows:
observing the magnetic linkage of an alpha axis and a beta axis under a k period alpha and beta coordinate system
And
respectively calculating the effective flux linkage values of the alpha axis and the beta axis in the k period alpha beta coordinate system
And
wherein L is q Is the q-axis inductance value, i α (k) And i β (k) Current values of an alpha axis and a beta axis under a k period alpha beta coordinate system respectively;
by using
And
performing arc tangent calculation to obtain the angle table look-up value of the rotor in the kth period
Further, the expression of the flux linkage observer is as follows:
wherein u is α And u β The voltage given values of an alpha axis and a beta axis in an alpha beta coordinate system of the previous period are respectively given, R is stator resistance, p is a differential operator, and g is feedback gain of a flux linkage observer.
Further, the flux linkage observer calculates the flux linkage observed value by using a discrete algorithm:
wherein,
and
respectively are flux linkage observed values of an alpha axis and a beta axis under a k period alpha beta coordinate system,
and
respectively are flux linkage observed values of an alpha axis and a beta axis under a k-1 period alpha beta coordinate system,
i α (k) And i β (k) Current values u of the alpha axis and the beta axis in the k period alpha beta coordinate system respectively α (k-1) and u β (k-1) given values of voltages of the α axis and the β axis in the k-1 th periodic α β coordinate system, ψ α_i (k) And psi β_i (k) Respectively the flux linkage look-up table values of the k period alpha axis and beta axis under the alpha beta coordinate system, T s To calculate the step size.
Further, in the second step, the sinusoidal intermediate signal N is calculated according to the following formula sin And cosine intermediate signal N cos ：
Further, in the third step, the angle error signals of the two-stage phase-locked loops are respectively calculated according to the following formula:
wherein,
for the first-stage rotor angle estimate of the previous cycle,
is the secondary rotor angle estimated value of the previous period.
Further, in the fourth step, the estimated value of the first-stage rotor speed in the current period is obtained according to the following formula
Wherein k is p And k i Proportional and integral parameters, ε, respectively, of PI control 1 Converging to 0.
Further, in the fifth step, the estimated value of the two-stage rotor speed in the current period is obtained according to the following formula
Wherein k is a fixed gain;
obtaining the angle estimated value of the secondary rotor in the current period according to the formula
According to the sensorless control method of the flux linkage observer of the synchronous reluctance motor, vector control of the synchronous reluctance motor can be carried out without using a position sensor, and rotor angle and rotating speed signals can be detected without injecting extra voltage signals and used for motor closed-loop control. Compared with the traditional sensorless control method, the method has the advantage that negative effects such as noise pollution, torque ripple and power loss are not introduced. Aiming at the structure and performance characteristics of the synchronous reluctance motor, the invention simultaneously optimizes the flux linkage observer and the phase-locked loop of the angle and rotating speed acquisition part, and improves the accuracy and reliability of angle observation. The invention is suitable for the industrial fields of aerospace, household appliances, electric vehicles and the like which are not suitable for installing position sensors or sensitive to cost.
Drawings
FIG. 1 is a block diagram of a synchronous reluctance machine flux linkage observer sensorless control method according to the present invention;
FIG. 2 is a schematic view of a flux linkage observer;
fig. 3 is a schematic diagram of a two-stage phase-locked loop architecture.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The traditional flux linkage observation position-free method needs to look up a table according to an angle obtained by a phase-locked loop to obtain inductance parameters, which means that when errors exist in the angle observed by the phase-locked loop in a dynamic process, the errors can directly introduce errors into an inductance table look-up result, so that the accuracy of the inductance parameters is directly influenced by the phase-locked loop structure and the parameters. For this reason, the following embodiments are given to solve the problems thereof.
The first embodiment is as follows: specifically, the present embodiment is described with reference to fig. 1 to 3, and the sensorless control method for a flux linkage observer of a synchronous reluctance motor in the present embodiment specifically includes:
collecting current values i of an a axis, a b axis and a c axis in an abc three-phase coordinate system of a current period in the operation process of the synchronous reluctance motor a 、i b And i c I is transformed by Clark a 、i b And i c Converting into current values i of an alpha axis and a beta axis under an alpha beta coordinate system of the current period α And i β The specific expression is as follows:
look-up table values and i using rotor angle of previous cycle α And i β Inquiring and obtaining a flux linkage table lookup value psi of a d axis and a q axis in a dq coordinate system of the current period on a current and flux linkage mapping table d_i And psi q_i And will phi d_i And psi q_i Transforming into magnetic linkage table value psi of alpha axis and beta axis under current period alpha beta coordinate system α_i And psi β_i 。
In this embodiment, fig. 2 is a schematic structural diagram of a flux linkage observer, the flux linkage observer adopts a voltage-current model structure, a difference between flux linkage values obtained by a voltage model and a current model is fed back to the voltage model through a gain element for compensation, and an expression of the flux linkage observer is as follows:
wherein u is α And u β The voltage given values of an alpha axis and a beta axis in an alpha beta coordinate system of the previous period are respectively given, R is stator resistance, p is a differential operator, g is feedback gain of a flux linkage observer, and a fixed gain form can be selected in the implementation process.
Based on the expression of the flux linkage observer, a discrete algorithm is adopted to calculate a flux linkage observation value, and the formula is as follows:
wherein,
and
respectively are flux linkage observed values of an alpha axis and a beta axis under a k period alpha beta coordinate system,
i α (k) And i β (k) Current values u of the alpha axis and the beta axis in the k period alpha beta coordinate system α (k-1) and u β (k-1) given values of voltages of the alpha axis and the beta axis in the k-1 cycle alpha beta coordinate system, psi α_i (k) And psi β_i (k) Respectively the flux linkage look-up table values of the alpha axis and the beta axis of the kth period under an alpha beta coordinate system, T s To calculate the step size.
Thus, based on the above formula, i α And i β Voltage set value and psi in last period alpha beta coordinate system α_i And psi β_i All are sent into a flux linkage observer, and thenObtaining the flux linkage observed values of an alpha axis and a beta axis under an alpha beta coordinate system of the current period
And
by using
And
and the flux linkage table values psi of the d axis and the q axis in the dq coordinate system of the current period d_i And psi q_i Calculating the sinusoidal intermediate signal N according to sin And cosine intermediate signal N cos ：
By using N sin And N cos And respectively calculating the angle error signals of the two-stage phase-locked loop according to the following formula:
wherein,
for the first-stage rotor angle estimate of the previous cycle,
is the secondary rotor angle estimated value of the previous period.
The first-stage phase-locked loop adopts a proportional-integral controller as a loop filter, thereby being beneficial toUsing a first stage phase-locked loop based on epsilon 1 Obtaining the estimated value of the first-stage rotor speed in the current period according to the following formula
Wherein k is p And k i Proportional and integral parameters, ε, of PI control, respectively 1 Converging to 0.
Further, it is to
Integrating to obtain the angle estimation value of the first-stage rotor in the current period
According to the embodiment, on the basis of flux linkage identification, effective flux linkage calculation is introduced to obtain a first-stage rotor angle estimation value, the first-stage rotor angle estimation value is used for inductance parameter table lookup, and the influence of a phase-locked loop structure and bandwidth parameters on the error of inductance parameter query is avoided.
The second phase-locked loop adopts a single gain controller as a loop filter and utilizes the second phase-locked loop to carry out angle error signal epsilon 2 Make single gain adjustment and then add up to
Obtaining the estimated value of the two-stage rotor speed in the current period
The specific formula is as follows:
where k is a fixed gain.
Further, it is to
Integral is carried out to obtain the angle estimation value of the secondary rotor in the current period
The specific formula is as follows:
finally, will
And
and the feedback is fed back to the magnetic field directional controller to realize the sensorless control of the flux linkage observer of the synchronous reluctance motor.
The embodiment relates to a parameter of a rotor angle look-up table value in the previous period in practical application, the rotor angle look-up table value is only used for flux look-up table and is not used in the FOC control process of the motor, the angle is not obtained through a subsequent phase-locked loop, and decoupling between the angle rotating speed acquisition module and the flux observer is realized.
Assuming that the value of the rotor angle table in the kth period is obtained, the calculation process is as follows:
observing the magnetic linkage of an alpha axis and a beta axis under a k period alpha and beta coordinate system
And
respectively calculating the effective flux linkage values of the alpha axis and the beta axis under the k period alpha-beta coordinate system
And
wherein L is q Is the q-axis inductance value, i α (k) And i β (k) The current values of the alpha axis and the beta axis in the k period alpha beta coordinate system are respectively.
By using
And
performing arc tangent calculation to obtain the angle table look-up value of the rotor in the kth period
In the embodiment, the effective flux linkage is calculated by utilizing the observed flux linkage, and the angle is further obtained by arc tangent calculation, and is used for inductor table look-up, so that the processing of a phase-locked loop is avoided, and the precision of inductor parameter table look-up is improved. In addition, the improvement of the flux linkage observer combines the advantages of strong anti-interference capability of an effective flux linkage method and high precision of the flux linkage observer method.
In the sensorless control method of the flux linkage observer based on the voltage-current model, the current flux linkage value is observed in real time in the operation process of the synchronous reluctance motor, and thus the angle position observation is completed. Specifically, when the flux linkage observer of the voltage-current model runs at a low speed of the motor, the observer takes the current model as a main part, and flux linkage observation errors caused by factors such as nonlinearity of the inverter, inaccurate resistance parameters and the like are reduced to the maximum extent. When the motor runs at a high speed, the observer mainly takes a voltage model, and flux linkage observation errors caused by flux linkage parameter errors of the motor are inhibited. The method and the device are suitable for low-speed and high-speed running occasions at the same time, algorithm switching is not needed between high speed and low speed, and the method and the device have the advantages of simplicity and reliability.
According to the embodiment, on the premise of ensuring the normal operation of the sensorless system of the synchronous reluctance motor, the effective flux linkage calculation is carried out on the basis of flux linkage amplitude observation, and the angle required by the motor parameter table lookup is obtained through direct calculation according to the effective flux linkage. Compared with the traditional flux linkage observer, the table look-up result is not influenced by the structure and bandwidth parameters of the angular rotation speed acquisition module, and the decoupling between flux linkage acquisition and angle and rotation speed acquisition is realized. In addition, the method combines the advantages of strong effective flux linkage anti-interference capability and high flux linkage precision, obtains the angle required by table lookup without complicated links such as a phase-locked loop and the like, improves the reliability and the observation precision of the sensorless algorithm, and is simple and easy to realize.
The embodiment optimizes the structure of the angular rotation speed acquisition module, adopts a two-stage phase-locked loop structure, improves the tracking performance of the angular rotation speed and the rotation speed in the transient process under external disturbances such as sudden load, sudden rotation speed and the like, and ensures the control performance of the sensorless operation. In addition, in N sin And N cos When calculating, all are divided by
The square sum of the angle error signal is normalized subsequently, so that the introduction of variables into the phase-locked loop parameters is avoided; meanwhile, the parameters of the two-stage phase-locked loop structure can be independently adjusted, the parameter design of the phase-locked loop is simple, and online parameter adjustment and optimization are easy to realize.
In summary, in the present embodiment, the vector control of the synchronous reluctance motor can be performed without using a position sensor, and the rotor angle and the rotation speed signal can be detected without injecting an additional voltage signal, and are used for the closed-loop control of the motor. Compared with the traditional sensorless control method, the method has the advantage that negative effects such as noise pollution, torque ripple and power loss are not introduced. The implementation mode optimizes the design of the flux linkage observer and the phase-locked loop of the angle and rotating speed acquisition part aiming at the structure and performance characteristics of the synchronous reluctance motor, improves the accuracy of angle observation, greatly improves the reliability of sensorless control, and provides a new choice for the application of sensorless control engineering of the synchronous reluctance motor.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (8)
1. A sensorless control method of a flux linkage observer of a synchronous reluctance motor is characterized by comprising the following steps:
the method comprises the following steps: observing and obtaining flux linkage observation values of an alpha axis and a beta axis under an alpha beta coordinate system in the current period by using a flux linkage observer
And
step two: by using
And
and the flux linkage table values psi of the d axis and the q axis in the dq coordinate system of the current period d_i And psi q_i Calculating a sinusoidal intermediate signal N sin And cosine intermediate signal N cos ；
Step three: by using N sin And N cos Separately calculating the angle error signals epsilon of two-stage phase-locked loops 1 And ε 2 ；
Step four: using a first stage of a phase-locked loop based on epsilon 1 Obtaining the estimated value of the first-stage rotor speed in the current period
Step five: angle error signal epsilon of second-stage phase-locked loop 2 Make single gain adjustment and then add up to
Obtaining the estimated value of the two-stage rotor speed in the current period
And to
Integral is carried out to obtain the angle estimation value of the secondary rotor in the current period
Will be provided with
And
the feedback is carried out to the magnetic field directional controller to realize the sensorless control of the flux linkage observer of the synchronous reluctance motor;
in the second step, a sinusoidal intermediate signal N is calculated according to the following formula sin And cosine intermediate signal N cos ：
ψ d_i And psi q_i Respectively checking the values of the magnetic chains of the d axis and the q axis in the dq coordinate system in the current period;
respectively calculating the angle error signals of the two-stage phase-locked loop according to the following formula:
wherein,
is a primary rotor angle estimation value of the previous period,
is the secondary rotor angle estimated value of the previous period.
2. The sensorless flux observer control method for the synchronous reluctance machine according to claim 1, wherein before the step one, the current values i of the a-axis, the b-axis and the c-axis in the abc three-phase coordinate system of the current period are collected during the operation of the synchronous reluctance machine a 、i b And i c And transforming to obtain current values i of the alpha axis and the beta axis in the alpha beta coordinate system of the current period α And i β 。
3. The sensorless control method for the flux linkage observer of the synchronous reluctance motor according to claim 2, wherein the specific process of the first step is as follows:
using last cycle rotor angle look-up table value and i α And i β Inquiring and obtaining a flux linkage table value psi of a d axis and a q axis under a dq coordinate system in the current and flux linkage mapping table d_i And psi q_i And will phi d_i And psi q_i Transforming into magnetic linkage table value psi of alpha axis and beta axis under current period alpha beta coordinate system α_i And psi β_i ，
Will i α And i β Voltage set value and psi under last cycle alpha beta coordinate system α_i And psi β_i All are sent into a flux linkage observer to obtain flux linkage observed values of an alpha axis and a beta axis under an alpha beta coordinate system of the current period
And
4. the sensorless control method of the flux linkage observer of the synchronous reluctance machine according to claim 3, wherein the calculation method of the k-th cycle rotor angle look-up table value is as follows:
observing the magnetic linkage of an alpha axis and a beta axis under a k period alpha and beta coordinate system
And
respectively calculating the effective flux linkage values of the alpha axis and the beta axis in the k period alpha beta coordinate system
And
wherein L is q Is the q-axis inductance value, i α (k) And i β (k) Current values of an alpha axis and a beta axis under a k period alpha beta coordinate system respectively;
by using
And
performing arc tangent calculation to obtain the angle table value of the rotor in the kth period
5. The sensorless flux linkage observer control method of the synchronous reluctance machine according to claim 3, wherein the expression of the flux linkage observer is:
wherein u is α And u β The voltage given values of an alpha axis and a beta axis in an alpha beta coordinate system of the previous period are respectively given, R is stator resistance, p is a differential operator, and g is feedback gain of a flux linkage observer.
6. The sensorless control method of the flux linkage observer of the synchronous reluctance motor according to claim 5, wherein the flux linkage observer calculates the flux linkage observed value by using a discrete algorithm:
wherein,
and
respectively are flux linkage observed values of an alpha axis and a beta axis under a k period alpha beta coordinate system,
i α (k) And i β (k) Respectively are current values of an alpha axis and a beta axis under a k period alpha beta coordinate system,
u α (k-1) and u β (k-1) are respectively given values of the voltage of an alpha axis and a beta axis in an alpha beta coordinate system of the k-1 period,
ψ α_i (k) And psi β_i (k) Respectively are flux linkage look-up table values of an alpha axis and a beta axis of a kth period under an alpha beta coordinate system,
T s to calculate the step size.
7. The sensorless control method of flux linkage observer for synchronous reluctance machine according to claim 1, wherein in step four, the estimated value of the first-stage rotor speed in the current cycle is obtained according to the following formula
Wherein k is p And k i Proportional and integral parameters, ε, of PI control, respectively 1 Converging to 0.
8. The sensorless flux observer control method for the synchronous reluctance machine according to claim 1, wherein in step five, the estimated value of the secondary rotor speed in the current period is obtained according to the following formula
Wherein k is a fixed gain;
obtaining the angle estimated value of the secondary rotor in the current period according to the following formula
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