CN114744925A - Permanent magnet synchronous motor full-speed domain rotor position measuring method without position sensor - Google Patents
Permanent magnet synchronous motor full-speed domain rotor position measuring method without position sensor Download PDFInfo
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- H—ELECTRICITY
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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- H—ELECTRICITY
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- 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
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- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
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- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals
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Abstract
The invention discloses a method for measuring the position of a permanent magnet synchronous motor rotor in a full speed domain without a position sensor, which combines a rotating high-frequency signal injection method in a zero low-speed operation stage and a counter potential analytic calculation method in a medium high-speed stage to form a full speed domain rotor position measuring strategy, normalizes obtained position estimation error signals of the rotating high-frequency signal injection method and the counter potential analytic calculation method respectively to obtain a mixed position error signal which is used as a position error signal of a control strategy switching interval, and after the position error signal is converged to zero through a PI regulator, the position of the rotor is obtained, and the control of the permanent magnet synchronous motor without the position sensor in the full speed range is realized.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method for measuring the position of a permanent magnet synchronous motor rotor in a full speed domain without a position sensor.
Background
With the continuous development of the technology, the modern permanent magnet synchronous motor system has higher requirements on performance parameters such as volume, quality, cost and reliability, and the industry of the modern permanent magnet synchronous motor system gradually shows the trend of developing towards high efficiency, high performance, low energy consumption, light weight, electromechanical integration, special motors and the like. The control of a permanent magnet synchronous motor generally requires the acquisition of rotational speed and position information of a motor rotor. The traditional permanent magnet synchronous motor obtains the position information of a rotor by installing a mechanical position sensor. Despite the continuous progress of position sensor technology, it is necessary and critical that no position sensor technology is available, because the position sensor cannot be installed in some specific situations, such as insufficient physical space, or the sensor cannot work properly due to external environmental changes in the aerospace field. The research on the permanent magnet synchronous motor position-sensorless control technology starts from the 80 s of the 20 th century, and the earliest slip frequency estimation method realizes the rotation speed and position estimation of an asynchronous motor. Due to the wide application prospect, a large number of domestic and foreign scholars begin to research the position sensorless technology of the permanent magnet synchronous motor, and the technology develops rapidly in the 90 s of the 20 th century. At present, the position-free control methods suitable for the permanent magnet synchronous motor can be divided into two types: 1) a position detection method based on a fundamental wave model; 2) a position detection method based on a harmonic model.
The position detection method based on the fundamental wave model mainly utilizes the waveforms of corresponding physical quantities such as voltage, current, flux linkage, back electromotive force and the like in the fundamental wave model to detect so as to obtain the rotating speed and the position. However, at zero speed and low speed, the counter potential amplitude is small, and extraction is difficult, so that the method is not suitable for zero speed and low speed, and is generally adopted at medium and high speed.
The position detection method based on the harmonic model generally utilizes the saliency of the rotor to realize position detection. Compared with other zero-low-speed position-free control methods, the method has the advantages of simple and flexible implementation mode, good robustness, wide speed regulation range, insensitivity to motor parameter change and suitability for zero-low-speed position-free sensor control.
The rotating high-frequency signal injection method is to inject high-frequency sinusoidal signals into the stator armature winding in a two-phase static coordinate system, detect high-frequency current response and demodulate the high-frequency current response to obtain the position information of the rotor. Compared with other methods, the position tracking observer in the rotating high-frequency voltage injection method independently exists, and a detection system is relatively easy to realize and is more suitable for a salient pole motor; the injected voltage has a relatively small effect on the average torque. However, when the motor speed is high, the counter potential amplitude and the fundamental frequency are large, so that the frequency of the injection voltage cannot meet the condition that the frequency is far higher than the fundamental frequency of the motor, and difficulty is brought to extraction of high-frequency current response. Therefore, the conventional rotational high-frequency signal injection method is not suitable for medium and high speeds, and is generally adopted at zero speed and low speed.
Therefore, a full-speed-domain rotor position measurement strategy for switching two position detection methods is often adopted in the position-sensorless control process of the permanent magnet synchronous motor. The traditional switching method carries out simple weighted average according to the rotating speed, has larger error in the switching process, and even can vibrate when the position of the rotor crosses zero, thus causing the failure of switching.
In summary, there are still several key problems to be solved in the prior art:
1) the application of the position sensor has certain environmental restrictions, such as conditions of high temperature, high humidity, severe vibration and the like, so that the permanent magnet synchronous motor has the problem that the permanent magnet synchronous motor cannot be normally used in certain specific occasions due to the additional installation of the position sensor, for example, the position sensor cannot be installed due to insufficient physical space or the sensor cannot normally work due to external environmental changes in the aerospace field.
2) The additional installation of the position sensor not only increases the cost of the system and the size of the motor, but also needs to add an interface circuit between the position sensor and the control system, so that the structure of the motor is complicated, the motor is easy to interfere, the reliability of the motor is reduced, and the difficulty is brought to the installation and maintenance of the motor.
3) The position detection method based on the fundamental wave model is not suitable for all rotating speed ranges, and the counter potential amplitude is small, the position detection is difficult and the precision is low at zero speed and low speed.
4) According to the position detection method based on the harmonic model, when the motor rotating speed is high, the frequency of the injection voltage cannot meet the condition that the frequency of the injection voltage is far higher than the fundamental wave frequency of the motor due to the fact that the counter electromotive force amplitude and the fundamental wave frequency are large, extraction of high-frequency current response is difficult, and position detection is difficult.
The traditional full-speed-range rotor position measurement strategy without the position sensor performs simple weighted average according to the rotating speed, the error in the switching process is large, and even the rotor position may vibrate when passing zero, so that the switching failure is caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for measuring the position of a permanent magnet synchronous motor rotor in a full speed domain without a position sensor aiming at the defects in the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the method for measuring the position of the permanent magnet synchronous motor rotor in the full speed domain without the position sensor comprises the following steps:
step 1), the speed range of the permanent magnet synchronous motor is set according to a preset first speed threshold value omegap1Second rotational speed threshold ωp2The method is divided into a low speed domain, a switching speed domain and a medium and high speed domain, wherein the range of the low speed domain is (0, omega)p1]The range of the switching speed domain is (omega)p1，ωp2]The range of the medium-high speed region is more than omegap2，ωp1<ωp2；
Step 2), when the permanent magnet synchronous motor is in a zero speed or the speed of the permanent magnet synchronous motor is in a low speed domain, a rotating high-frequency signal injection method is adopted to obtain the position of a rotor;
step 3), when the speed of the permanent magnet synchronous motor is in a medium-high speed domain, the position of the rotor is calculated through motor back electromotive force analysis;
step 4), when the speed of the permanent magnet synchronous motor is in a switching speed domain, firstly obtaining a first position error signal through a rotating high-frequency signal injection method, and obtaining a second position error signal through motor back electromotive force analysis; then, normalizing the first position error signal and the second position error signal to obtain a mixed position error signal; and finally, converging the mixed position error signal to zero through a PI regulator to obtain the position of the rotor.
As a further optimization scheme of the permanent magnet synchronous motor position sensorless full-speed domain rotor position measuring method, the detailed steps of the step 2) are as follows:
step 2.1), the preset angular frequency is omega through an SVPWM modulation modulehAmplitude of vhThe rotating high-frequency voltage signal is applied to an armature winding of the permanent magnet synchronous motor, and the frequency range of the injected high-frequency voltage is 0.5-2 kHz;
step 2.2), collecting three-phase current i of the permanent magnet synchronous motora_h、ib_h、ic_hPerforming Clark transformation to obtain two-phase high-frequency current response i under an alpha-beta coordinate systemβ_hAnd iα_h(ii) a Will iβ_hMultiplication by
iα_hMultiplication by
Then subtracting the two signals, and obtaining an error signal epsilon through heterodyne processingf，
Is a detected value of the rotor position;
step 2.3), the error signal ε is determinedfFiltering out high frequency term by low pass filter to obtain epsilon, which is in direct proportion to error value of actual position and estimated position of rotor, using it as input of position tracking observer, adjusting error value to zero by position regulator to obtain detection value of rotor position
As a further optimization scheme of the position sensor-free full-speed-domain rotor position measuring method of the permanent magnet synchronous motor, the detailed steps of the step 3) are as follows:
step 3.1), phase voltage u of the permanent magnet synchronous motor is collecteda、ub、ucSum phase current ia、ib、icPerforming Clark transformation to obtain two-phase voltage u under an alpha-beta coordinate systemα、uβAnd two-phase current iα、iβAnd obtaining the counter potential e by analytical calculationα、eβIs composed of
In the formula, LdIs a motor stator straight-axis inductor L under a rotating coordinate systemqIs motor stator quadrature axis inductance R under a rotating coordinate systemsIs the motor stator resistance value;
step 3.2), counter-potential e) is appliedα、eβCarrying out Park conversion to obtain an estimated value of the d-axis back electromotive force
In the formula, ωeIs a permanent magnet flux linkage psifThe rotor angular velocity is proportional to the error value between the actual position and the estimated position of the rotor, the error value is input into a PI position regulator for regulation, when the error value is converged to zero, the estimated position is converged to the actual position, and the detection value of the rotor position is obtained at the moment
As a further optimization scheme of the permanent magnet synchronous motor position sensorless full-speed domain rotor position measuring method, the step 4) comprises the following detailed steps:
step 4.1), obtaining a first position error signal by a rotary high-frequency signal injection method
In the formula IhnIs the magnitude of the negative sequence component of the high frequency current response;
obtaining a second position error signal by motor back emf analysis
Since sin (2. delta. theta) ≈ 2. delta. theta when. delta. theta tends to 0, then
In the formula,. DELTA.theta.1Is the position error, Delta theta, obtained by a rotational high-frequency signal injection method2Is a position error obtained by motor back emf analysis;
step 4.2), the first position error signal and the second position error signal are normalized to obtain a mixed position error signal
Is a weighted average coefficient of the full-speed domain rotor position measurement process,
and 4.3) converging the mixed position error signal to zero through a PI regulator to obtain the position of the rotor.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the full-speed-domain rotor position measuring strategy adopted by the invention combines a rotating high-frequency signal injection method and a back electromotive force analysis calculation method, and divides the starting process of the permanent magnet synchronous motor into three stages for position detection, thereby realizing the unification of the two position calculation methods and being suitable for all rotating speed ranges; compared with the traditional full-speed-domain rotor position measuring strategy, the structure is simpler, the calculation speed is higher, the error is smaller, and the smooth and stable switching control is realized.
2. The position tracking observer adopted by the invention exists independently, and the detection system is relatively easy to realize and is more suitable for the salient pole motor; the injected voltage has relatively small influence on the average torque, and the detection result has higher precision.
3. The invention adopts the rotating high-frequency signal injection method to demodulate the high-frequency current response, utilizes the characteristic that the permanent magnet synchronous motor has larger rotor salient pole rate, and adopts Clarke and Park transformation to simplify the calculation link and the control algorithm, so that the position detection result of the rotor is more accurate.
Drawings
FIG. 1 is a block diagram of the control principle of the position sensorless full speed rotor position measurement of a PMSM using a normalized switching method;
FIG. 2(a) and FIG. 2(b) are respectively a high-frequency current response trace diagram in d-q coordinate system and a high-frequency current response trace diagram at different rotor magnetic pole positions;
FIG. 3 is a weighted average coefficient for a full-speed-domain rotor position measurement process
The change image of (1);
FIG. 4 is a waveform of a rotational high-frequency signal injected in the rotational high-frequency signal injection method;
fig. 5(a) and 5(b) are respectively a comparison curve of a rotor calculated position value and an actual position simulation value and an error value curve of a rotor calculated position;
fig. 6(a) and 6(b) are a comparison curve of the calculated speed value of the rotor and the simulated actual speed value, and an error value curve of the calculated speed of the rotor, respectively.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings as follows:
the present 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. In the drawings, components are exaggerated for clarity.
The invention provides a method for measuring the position of a permanent magnet synchronous motor rotor in a full speed domain without a position sensor, which combines a rotating high-frequency signal injection method in a zero low-speed operation stage and a counter potential analytic calculation method in a medium high-speed stage to form a strategy for measuring the position of the rotor in the full speed domain, wherein the method comprises the following steps: referring to fig. 1, in the process of measuring the rotor position of the permanent magnet synchronous motor without the position sensor, at zero speed or low speed, the rotor position is estimated and obtained by adopting a rotating high-frequency signal injection method, the rotor position is analyzed and calculated by the motor back electromotive force under the medium-high speed state, the rotor position of the permanent magnet synchronous motor without the position sensor in the full speed domain is measured, a switching interval is set between the adaptive rotating speed ranges of two different methods, a normalized switching method is adopted, the two methods are jointly solved, a mixed position error signal is obtained after fusion normalization processing is carried out, the mixed position error signal is used as a position error signal of a switching interval of a full speed domain rotor position measurement strategy, the position error signal is converged to zero through a PI regulator, the rotor position is obtained, the normalized switching control of the rotor position measurement in the full speed domain in the switching interval is realized, and the control of the permanent magnet synchronous motor without the position sensor in the full speed range is realized, the method specifically comprises the following steps:
step 1), the speed range of the permanent magnet synchronous motor is set according to a preset first speed threshold value omegap1Second rotational speed threshold ωp2The method is divided into a low speed domain, a switching speed domain and a medium and high speed domain, wherein the range of the low speed domain is (0, omega)p1]The range of the switching speed domain is (omega)p1，ωp2]The range of the medium-high speed region is more than omegap2，ωp1<ωp2；
Step 2), when the permanent magnet synchronous motor is in a zero speed or the speed of the permanent magnet synchronous motor is in a low speed domain, a rotating high-frequency signal injection method is adopted to obtain the position of a rotor;
step 3), when the speed of the permanent magnet synchronous motor is in a medium-high speed domain, the position of the rotor is calculated through motor back electromotive force analysis;
step 4), when the speed of the permanent magnet synchronous motor is in a switching speed domain, firstly, a first position error signal is obtained through a rotating high-frequency signal injection method, and a second position error signal is obtained through motor back electromotive force analysis; then, normalizing the first position error signal and the second position error signal to obtain a mixed position error signal; and finally, converging the mixed position error signal to zero through a PI regulator to obtain the position of the rotor.
The detailed steps of the step 2) are as follows:
step 2.1), the angular frequency is omega through an SVPWM modulation modulehAmplitude of vhThe rotating high-frequency voltage signal is applied to an armature winding of the permanent magnet synchronous motor, and the frequency of the injected high-frequency voltage is 0.5-2 kHz; the frequency value is too high, so that larger noise is generated, and the upper limit of the frequency is limited by the switching frequency of the inverter; if the frequency is too low, the frequency approaches to the fundamental component of the motor, so that the signal extraction is difficult;
step 2.2), neglecting the internal resistance influence of the winding, simplifying the permanent magnet synchronous motor model under the excitation of the high-frequency signal into a model
Wherein v isαβ_hIs a high-frequency response voltage of a motor static coordinate system,
is an armature inductance matrix, L ═ Ld+Lq) (ii)/2 is average inductance, [ delta ] L ═ Ld－Lq) The/2 is half-difference inductance, and theta is a rotor position angle;
the high-frequency current response is composed of two components, namely a positive sequence component and a negative sequence component, wherein the two components are as follows:
in the formula IhpIs a positive sequence component of the high-frequency current response, IhnIs the negative sequence component of the high frequency current response.
The high-frequency current response of the motor in a static coordinate system is as follows:
in the formula iα_h、iβ_hRespectively alpha-phase and beta-phase high-frequency current responses under an alpha-beta coordinate system.
And (3) transforming the above expression to a d-q axis synchronous rotation coordinate system through Park transformation:
in the formula id_h、iq_hRespectively are d-phase and q-phase high-frequency current responses under a d-q coordinate system.
The above formula satisfies: i.e. id_h 2/(Ihp+Ihn)2+iq_h 2/(Ihp-Ihn)2That is, the trajectory of the high-frequency current response in the d-q coordinate system is an ellipse whose major and minor axes are respectively summed, and the major axis of the ellipse coincides with the rotor d-axis, rotating along with the synchronous rotation coordinate system d-q, as shown in fig. 2 (a). In the α - β coordinate system, the motion locus of the high-frequency current response is as shown in fig. 2(b), and as the rotor magnetic pole rotates, the major axis of the ellipse rotates along with the magnetic pole;
referring to fig. 1, three-phase current i is collecteda_h、ib_h、ic_hClark conversion is carried out to obtain two-phase high-frequency current response i under an alpha-beta coordinate systemβ_hAnd iα_h(ii) a Will iβ_hMultiplication by
iα_hMultiplication by
And subtracting the two signals, namely obtaining an error signal through heterodyne processing
Wherein,
as detected value of rotor position, first term
Is at a frequency of
High frequency term of (2), second term
At a frequency of
Including the actual value of the rotor position theta, when
As the angle approaches to the angle theta, the angle,
approaching to 0, the term approaches to DC, and is directly filtered by low-pass filter
High frequency terms to obtain rotor position error signals
Therefore, the system can be used as the input of the position tracking observer;
step 2.3), the error signal ε is determinedfFiltering high-frequency terms by a low-pass filter to obtain epsilon, taking the epsilon as the input of a position tracking observer in proportion to the error value of the actual position and the estimated position of the rotor, adjusting the error value to be zero by a position adjuster, and obtaining an accurate detection value of the position of the rotor
When the position detection is carried out during the middle-high speed operation, the counter electromotive force amplitude and the fundamental wave frequency are increased due to the gradual increase of the rotating speed, so that the method is not applicable any more, and the position of the rotor is calculated through the motor counter electromotive force analysis.
The detailed steps of the step 3) are as follows:
step 3.1), with reference to fig. 1, the phase voltage u of the motor is detecteda、ub、ucSum phase current ia、ib、icPerforming Clark transformation to obtain an alpha-beta coordinate systemTwo-phase voltage uα、uβAnd two-phase current iα、iβThe back electromotive force e can be obtained by analytic calculationα、eβIs composed of
In the formula, LdIs a motor stator straight-axis inductor L under a rotating coordinate systemqIs motor stator quadrature axis inductance R under a rotating coordinate systemsIs the resistance value of the motor stator.
Step 3.2), counter electromotive force e under a static coordinate system according to a motor flux linkage equationα、eβCan be expressed as
In the formula, ωeFor permanent magnet flux linkage psifIs the rotor angular velocity.
Carrying out Park conversion on the counter electromotive force to obtain estimated d and q axes, and obtaining estimated values of the counter electromotive force of the d and q axes
After finishing, the following can be obtained:
The detailed steps of the step 4) are as follows:
error signal obtained by rotating high-frequency signal injection method
And an error signal obtained by motor back electromotive force analysis
Normalization processing is carried out to obtain a mixed position error signal f (delta theta), then an estimated rotating speed and a position are obtained through a PI position regulator and an integral link, the oscillation condition of a high-frequency signal injection method when the position of a rotor crosses the zero point can be effectively avoided through a mode of advancing the mixing process, the unification of two position calculation methods is realized, the structure is simpler, and the calculation speed is improved.
For the normalization processing of the position error signal, sin (2 delta theta) is approximately equal to 2 delta theta when delta theta tends to be 0, and then
In the formula,. DELTA.theta.1Is the position error, Delta theta, obtained by a rotational high-frequency signal injection method2Is the position error obtained by motor back emf resolution.
Obtaining a normalized hybrid position error signal after synthesis
Which is a weighted average coefficient of the full-speed domain rotor position measurement process, referring to figure 3,
the low-speed operation stage and the medium-high speed operation stage are respectively 1 and 0, and when the rotating speed is in a switching interval, the rotating speed is reduced along with the increase of the rotating speedSmall and eventually becomes zero. A lower switching limit ω of the switching sectionp1Higher than the rotation speed corresponding to the lowest rotation speed for reliable operation of counter-potential detection method, and switching the upper limit omegap2Lower than the highest rotation speed at which the rotating high-frequency signal injection method works effectively.
The formula of (1) is as follows:
based on the scheme, in order to verify the method for measuring the position of the permanent magnet synchronous motor position sensorless full-speed domain rotor, a permanent magnet synchronous motor mathematical model is constructed, a position detection module is constructed for simulation analysis, and a permanent magnet synchronous motor position sensorless control model is constructed for simulation verification. The main parameter settings during the test are shown in the following table:
setting parameters for simulation
The specific simulation results and analysis are as follows:
as shown in fig. 4, the signal is the waveform of the injected rotating high-frequency signal, and in order to simulate a discrete system in an actual controller, a trigonometric function curve is fitted in a multi-step form to simulate the injected signal.
Fig. 5 shows the rotor position estimation result, where two lines in fig. 5(a) show the actual rotor position and the estimated rotor position, respectively, and fig. 5(b) shows the rotor position estimation error. The estimation value of the rotor position can be quickly converged to an actual value according to the waveform, the estimation error of the rotor position in the whole loaded starting process is always kept within 0.1rad, and the estimation effect is good. Fig. 6 shows the estimation result of the rotor speed, two lines in fig. 6(a) respectively show the actual rotor speed and the estimated rotor speed, fig. 6(b) shows the estimation error of the rotor speed, which is similar to the position estimation error, the calculated rotor speed follows the actual rotor speed after the power tube starts to work, and as can be seen from the waveform, the estimation error of the rotor speed does not exceed 50rpm in the whole on-load starting process, almost no estimation error of the rotor speed exists after the rotor speed is stable, and the calculation effect is good.
According to the simulation result of the position-sensorless control system of the PMSM, the position-sensorless control method of the permanent magnet synchronous motor is good in effect, can accurately and quickly estimate the position of the rotor and acquire rotating speed information, and almost has no steady-state error. The system controlled by the method without position detection has strong robustness and good dynamic and steady-state performance, and can meet the requirement of smooth starting of the permanent magnet synchronous motor.
Simulation tests verify that the method for measuring the position of the permanent magnet synchronous motor rotor in the full speed domain without the position sensor can realize smooth starting of the permanent magnet synchronous motor, is suitable for all rotating speed ranges, realizes stable control of the whole process of the control of the position sensor, and realizes smooth and stable switching process of the position measurement of the rotor in the full speed domain. The detection system adopted by the invention is relatively easy to realize and is suitable for the salient pole motor, the influence of the injected voltage on the average torque is relatively small, the detection result has higher precision, and the smooth and stable switching control in the position measurement strategy of the permanent magnet synchronous motor position-free full-speed domain rotor is realized.
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.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The method for measuring the position of the permanent magnet synchronous motor rotor in the full speed domain without the position sensor is characterized by comprising the following steps of:
step 1), the speed range of the permanent magnet synchronous motor is set according to a preset first speed threshold value omegap1Second rotational speed threshold ωp2The method is divided into a low speed domain, a switching speed domain and a medium and high speed domain, wherein the range of the low speed domain is (0, omega)p1]The range of the switching speed domain is (omega)p1，ωp2]The range of the medium-high speed region is more than omegap2，ωp1<ωp2；
Step 2), when the permanent magnet synchronous motor is in a zero speed or the speed of the permanent magnet synchronous motor is in a low speed domain, a rotating high-frequency signal injection method is adopted to obtain the position of a rotor;
step 3), when the speed of the permanent magnet synchronous motor is in a medium-high speed domain, the position of the rotor is calculated through motor back electromotive force analysis;
step 4), when the speed of the permanent magnet synchronous motor is in a switching speed domain, firstly, a first position error signal is obtained through a rotating high-frequency signal injection method, and a second position error signal is obtained through motor back electromotive force analysis; then, normalizing the first position error signal and the second position error signal to obtain a mixed position error signal; and finally, converging the mixed position error signal to zero through a PI regulator to obtain the position of the rotor.
2. The permanent magnet synchronous motor position sensorless full speed domain rotor position measurement method according to claim 1, characterized in that the detailed steps of step 2) are as follows:
step 2.1), the preset angular frequency is omega through an SVPWM modulation modulehAmplitude of vhThe rotating high-frequency voltage signal is applied to an armature winding of the permanent magnet synchronous motor, and the frequency range of the injected high-frequency voltage is 0.5-2 kHz;
step 2.2), collecting permanent magnetThree-phase current i of step motora_h、ib_h、ic_hPerforming Clark transformation to obtain two-phase high-frequency current response i under an alpha-beta coordinate systemβ_hAnd iα_h(ii) a Will iβ_hMultiplication by
iα_hMultiplication by
Then subtracting the two signals, and obtaining an error signal epsilon through heterodyne processingf，
Is a detected value of the rotor position;
step 2.3), the error signal ε is determinedfFiltering out high frequency term by low pass filter to obtain epsilon, which is in direct proportion to error value of actual position and estimated position of rotor, using it as input of position tracking observer, adjusting error value to zero by position regulator to obtain detection value of rotor position
3. The permanent magnet synchronous motor position sensorless full speed domain rotor position measurement method according to claim 2, characterized in that the detailed steps of step 3) are as follows:
step 3.1), phase voltage u of the permanent magnet synchronous motor is collecteda、ub、ucSum phase current ia、ib、icPerforming Clark transformation to obtain two-phase voltage u under an alpha-beta coordinate systemα、uβAnd two-phase current iα、iβAnd obtaining the counter potential e by analytical calculationα、eβIs composed of
In the formula, LdIs a motor stator straight-axis inductor L under a rotating coordinate systemqIs motor stator quadrature axis inductance R under a rotating coordinate systemsIs the resistance value of the motor stator;
step 3.2), counter-potential e) is appliedα、eβCarrying out Park conversion to obtain an estimated value of the d-axis back electromotive force
In the formula, ωeFor permanent magnet flux linkage psifThe rotor angular speed is proportional to the error between the actual position and the estimated position of the rotor, and the error is input to a PI position regulator for regulation, when the position is converged to zero, the estimated position is converged to the actual position, and the rotor position detection value is obtained
4. The permanent magnet synchronous motor position sensorless full speed domain rotor position measurement method according to claim 3, characterized in that the detailed steps of step 4) are as follows:
step 4.1), obtaining a first position error signal by a rotating high-frequency signal injection method
In the formula IhnIs the magnitude of the negative sequence component of the high frequency current response;
obtaining a second position error signal by motor back emf analysis
Since sin (2 Δ θ) ≈ 2 Δ θ when Δ θ approaches 0, then
In the formula,. DELTA.theta.1Is a position error obtained by a rotating high-frequency signal injection method，Δθ2Is a position error obtained by motor back emf analysis;
step 4.2), the first position error signal and the second position error signal are normalized to obtain a mixed position error signal
Is a weighted average coefficient of the full-speed domain rotor position measurement process,
and 4.3) converging the mixed position error signal to zero through a PI regulator to obtain the position of the rotor.
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| CN116232151A (en) * | 2022-09-09 | 2023-06-06 | 北方工业大学 | Method for restarting full-speed domain belt speed of permanent magnet synchronous motor without position sensor |
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