CN114826042B - Control method for high-speed permanent magnet synchronous motor without position sensor - Google Patents
Control method for high-speed permanent magnet synchronous motor without position sensor 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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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- 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
Abstract
The invention discloses a position sensorless control method applied to a high-speed permanent magnet synchronous motor. Extracting a rotor position angle and a rotating speed of the permanent magnet synchronous motor by using a sliding-mode observer, and realizing position-sensor-free control by adopting a position-free control algorithm according to the rotor position angle and the rotating speed; and a compensation algorithm is added on the basis of the position-free control algorithm to realize the accurate extraction of the rotor position angle so as to compensate. The method only uses the relation between the q-axis current and the rotor position error, can compensate the rotor position error of the high-speed permanent magnet synchronous motor under the control of no position sensor when the high-speed permanent magnet synchronous motor operates in a middle and high-speed area, realizes one-time compensation of the rotor position error caused by various non-ideal factors, does not use motor parameters, and has better robustness.
Description
Technical Field
The invention relates to a method for controlling a high-speed permanent magnet synchronous motor without a position sensor, in particular to a method for compensating a rotor position angle under the control of the high-speed surface-mounted permanent magnet synchronous motor without the position sensor.
Background
The high-speed permanent magnet synchronous motor has unique advantages and is widely applied to occasions with strict requirements on the size, weight and reliability of the motor, such as aerospace, flywheel energy storage, new energy automobiles, national defense industry and the like. High-performance control is performed on the high-speed permanent magnet synchronous motor, and accurate rotor position angle and rotation speed information needs to be acquired. The rotor position angle and the rotational speed are usually obtained by a position sensor mounted on the motor shaft. However, the installation of the position sensor increases the system cost, reduces reliability, and for high speed permanent magnet synchronous motors, the position sensor is difficult to accommodate high speed operation. The sensorless control method can extract the rotor position angle and rotation speed information by using the motor port voltage and current, thereby playing a role of replacing a position sensor, and has attracted much attention in recent years. However, due to the high fundamental frequency of the high-speed permanent magnet synchronous motor, the limited control frequency and switching frequency generally cause a large rotor position error when the conventional counter electromotive force sliding mode observer-based scheme is applied to high-speed driving.
The main factors causing the rotor position error include: buffeting problems, inverter non-linearities, magnetic field space harmonics, time delays due to digital implementation, and the like. The rotor position error can increase the current amplitude of the motor, reduce the output electromagnetic torque and reduce the operation efficiency, and particularly when the motor operates at a high-speed region, the influence of the rotor position error is larger, and even the motor cannot be normally driven if the rotor position error is not compensated. Therefore, the rotor position angle compensation of the high-speed permanent magnet synchronous motor without position sensor control is particularly important.
To solve this problem, researchers at home and abroad have conducted extensive research. The rotor position angle compensation method under the control of the high-speed permanent magnet synchronous motor without a position sensor at present mainly comprises two main categories: classified compensation and full compensation.
The classified compensation idea is to carefully analyze each non-ideal factor causing the position error of the rotor, find a proper method, respectively compensate each non-ideal factor, and eliminate the position error of the rotor caused by the factor. Firstly, the position-sensorless control algorithm has certain errors, and the buffeting problem of the commonly used sliding mode observer algorithm is the most prominent. In order to suppress the buffeting, a low-pass filter needs to be introduced, the introduction of the low-pass filter causes phase lag, the error is related to the rotating speed, the influence is particularly obvious under the high-speed condition, the compensation can be carried out through calculation, and the problem of inaccurate calculation exists. Secondly, due to the non-linear characteristic of the inverter, a certain error exists between the output voltage and the input voltage of the inverter, and the error needs to be compensated to improve the control accuracy. Thirdly, due to the influence of the nonlinearity of the inverter and the magnetic field space harmonics, 6k harmonics can exist in the estimated rotor position angle, and harmonic errors can be eliminated by designing a proper adaptive notch filter or a synchronous frequency extraction filter. Finally, due to the influence of the processes of data sampling, processing calculation and the like, a certain time delay exists between the measured signal and the actual signal. At low speeds this part of the delay is negligible, but at high speeds the error contribution is large. The research on the methods is mature, but the classified compensation only analyzes and compensates the error caused by a certain non-ideal factor. At high speed, the fundamental frequency of the motor is high, the influence caused by various errors cannot be ignored, and only part of compensation effects are not ideal.
The full compensation method generally includes two ideas:
one is to establish a permanent magnet synchronous motor model with position error, solve a rotor position error expression from a voltage equation, and use the solved value as compensation or control the error to zero by using a PI controller. The method is based on direct calculation of a permanent magnet synchronous motor model, and the compensation effect depends on the accuracy of the model. However, the parameters of the motor have certain differences under different operating conditions, and particularly, parameters such as stator resistance, inductance and the like of a high-speed motor can change along with the increase of the rotating speed. Therefore, the compensation precision of the idea is not enough, and the real full compensation can not be realized.
The second method is that according to the phase or amplitude relation between the rotor position angle and some physical quantity in the permanent magnet synchronous motor operation, the ideal value of the physical quantity is obtained by compensating the rotor position angle, thereby controlling the rotor position error to be zero.
1) By utilizing the phase relation, the counter electromotive force and the current are in the same phase when the high-speed permanent magnet synchronous motor is in a steady state. Some have proposed a dual phase-locked loop scheme for fully compensating the rotor position angle. The basic principle is that on the basis of the traditional quadrature phase-locked loop, the counter potential and the current are controlled to be in the same phase, so that the full compensation of the rotor position angle is realized.
2) By using the amplitude relationship, if the rotor position error is zero, the bus current amplitude is minimum. Through analysis and derivation, when the position error of the rotor is zero, the bus current amplitude is minimum, and simultaneously, the first-order partial derivative of the bus current amplitude relative to the position error of the rotor is zero. On the basis of the position angle compensation method, a first-order partial derivative of the bus current amplitude relative to the rotor position error can be calculated in a direct derivation mode, and the derivative is controlled to be zero, so that complete compensation of the rotor position angle can be achieved. However, in a digital control system, the existence of differentiation and division operations should be avoided as much as possible, otherwise extra noise is generated, resulting in inaccurate compensation. Therefore, the learners propose that a dynamic compensation angle is continuously superposed on the estimated rotor position angle in software, and the change of the current amplitude value is compared to detect the point with the minimum current amplitude value, so that the accurate extraction of the rotor position angle is realized. However, this method has more requirements for selecting the compensation angle, and the smaller the compensation angle, the slower the iterative convergence speed, and the larger the selection, the larger the buffeting in the compensated rotor position angle, and it is difficult to achieve a balance between suppressing the buffeting and increasing the iteration speed.
Disclosure of Invention
The invention aims to overcome the limitations in the prior art, and provides a position sensorless control method applied to a high-speed permanent magnet synchronous motor, in particular to extraction and accurate compensation of a rotor position angle, wherein a control block diagram of the whole system is shown in fig. 2, and a block diagram of a rotor position angle compensation algorithm based on virtual signal injection is shown in fig. 3.
As shown in fig. 4, the object of the present invention is achieved by the following technical solutions:
extracting a rotor position angle and a rotating speed of the permanent magnet synchronous motor by using a sliding-mode observer, and realizing position-sensor-free control by adopting a position-free control algorithm according to the rotor position angle and the rotating speed;
and step two, due to the influence of non-ideal factors, errors exist between the rotor position observed by the sliding-mode observer and the actual position of the motor, and a compensation algorithm is added on the basis of a position-free control algorithm to realize accurate extraction of the rotor position angle and further compensate.
In the first step, a back electromotive force waveform under a two-phase static coordinate system is observed by using a sliding mode observer, and the position and rotating speed information of the motor rotor is extracted by using a phase-locked loop.
In the first step, the three-phase stator current i obtained by sampling is used a 、i b 、i c Obtaining stator current i under alpha and beta two-phase static coordinate system through coordinate transformation α 、i β And constructing a sliding-mode observer by using the voltage and the current under the two-phase static coordinate system. A saturation function is adopted to replace a sign function to serve as a sliding mode control rate, so that a back electromotive force waveform under a two-phase static coordinate system is observed, and the position and rotating speed information of a motor rotor is extracted by utilizing a phase-locked loop, so that the problem of buffeting of a traditional sliding mode observer is solved.
When the high-speed permanent magnet synchronous motor runs in a middle and high speed area, due to the existence of various non-ideal factors, a certain error exists between the rotor position angle obtained by the sliding-mode observer and the actual position of the rotor, so that the compensation algorithm is added subsequently to compensate the high-speed permanent magnet synchronous motor.
The second step specifically comprises the following steps:
s1, measuring the amplitude and the phase angle of a stator current vector of a permanent magnet synchronous motor, injecting a high-frequency signal into the phase angle of the stator current vector in a virtual signal injection mode, and decomposing the stator current vector injected with the virtual signal to obtain q-axis current;
and S2, extracting high-frequency components in the q-axis current through a band-pass filter to obtain a first-order partial derivative of the q-axis current relative to the rotor position error, controlling the first-order partial derivative to be zero by using a PI (proportional integral) controller, taking the output of the PI controller as a compensation angle of a rotor position angle at the moment, and realizing the rotor position angle compensation of the high-speed permanent magnet synchronous motor without a position sensor by using the compensation angle of the rotor position angle.
In S1, the stator current vector amplitude I s And phase angle beta 0 (phase angle means the angle between the current vector and the positive direction of the d-axis), as shown in the following formula:
β 0 ＝arctan(i q /i d )。
in S1, the stator current vector amplitude I is obtained s And phase angle beta 0 Phase angle beta of rear to stator current vector 0 Middle injection high frequency signal δ = Asin (ω) h t), where A denotes the amplitude of the injected high-frequency signal, ω h Indicates the frequency of the injected high frequency signal, t indicates time; then decomposing the stator current vector after the injection of the high-frequency signal along a two-phase synchronous rotating coordinate system to obtain a q-axis current i containing the injection of the high-frequency signal qσ 。
The high frequency is higher than the operation fundamental frequency of the permanent magnet synchronous motor.
The phase angle refers to an included angle between a current vector and the positive direction of the d axis.
The current i of the q axis in S2 qσ To perform TaylorDecomposing to obtain:
in S2, q-axis current component i of the injected high-frequency signal is included qσ And (3) introducing a band-pass filter to obtain a first harmonic component B with the same frequency as the injection signal, wherein the formula is as follows:
where σ denotes a rotor position error, t denotes time, A denotes an amplitude of the injected high-frequency signal, ω denotes h Representing the frequency of the injected high frequency signal;
and then, processing the first harmonic component B by using an heterodyne method to obtain a direct current component C:
and finally, controlling the direct current quantity C to be zero by utilizing a PI controller, and outputting a compensation angle serving as a rotor position angle by the PI controller and applying the compensation angle to a rotor position angle signal obtained by a no-position control algorithm to realize compensation.
The specific implementation can be obtained from the relations of fig. 1 (b) and (c), at this time, the q-axis current reaches the minimum value, and the corresponding rotor position error is zero, so that the complete compensation of the rotor position angle is realized.
The method only uses the relation between the q-axis current and the rotor position error in the process of obtaining the rotor position compensation angle, can compensate the rotor position error of the high-speed permanent magnet synchronous motor under the control of no position sensor when the high-speed permanent magnet synchronous motor operates in a middle and high speed area, and has the greatest advantage of compensating the rotor position error caused by various non-ideal factors at one time; in addition, the method does not use motor parameters in the implementation process, has better robustness, and is also suitable for the ultra-high speed permanent magnet synchronous motor with easily changed parameters under the ultra-high speed operation working condition.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
(1) According to the method, the saturation function is used for replacing the traditional sign function to serve as the sliding mode control rate, and the buffeting problem of the sliding mode observer is greatly reduced.
(2) The invention has the advantages of minimum current of tracking q axis, simple control process and capability of compensating rotor position errors caused by various non-ideal factors at one time.
(3) In the process of obtaining the rotor position compensation angle, the invention only needs to consider the relation between the q-axis current and the rotor position error, does not depend on a permanent magnet synchronous motor model, can be applied to different working conditions, can compensate the angle deviation caused by the working condition change, is insensitive to the parameter change of the motor when the motor operates under different working conditions, has strong robustness, and is also suitable for the ultra-high speed permanent magnet synchronous motor.
(4) The invention is used in cooperation with a position-sensorless control algorithm to fully compensate the rotor position angle under the control of the position-sensorless control, solve the problem of inaccurate position estimation at high speed, and avoid the problems of current amplitude increase, loss increase, torque reduction, motor efficiency reduction and the like caused by position inaccuracy.
Drawings
FIG. 1 is a graph of q-axis current versus position error;
FIG. 2 is a block diagram of a position sensorless control system of a high-speed surface-mounted permanent magnet synchronous motor with a rotor position angle compensation algorithm;
FIG. 3 is a flow chart of the method of the present invention;
FIG. 4 is a control block diagram of a rotor position angle compensation algorithm proposed by the present invention;
FIG. 5 is a simulink simulated motor speed waveform;
FIG. 6 is a graph of current waveforms and comparative analysis of a simulink simulated motor;
FIG. 7 is a graph comparing electromagnetic torque waveforms and fluctuations for a simulink simulated motor;
fig. 8 is a waveform of the rotor position of the simulink simulated motor.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention and the implementation process thereof are as follows:
step one, extracting a rotor position angle by a sliding-mode observer
When the permanent magnet synchronous motor operates in a middle and high speed area, the component of the counter electromotive force in the two-phase static coordinate system contains rotor position information, and the counter electromotive force is estimated by using a sliding mode observer.
Three-phase stator current i obtained by sampling a 、i b 、i c Obtaining stator current i under an alpha beta two-phase static coordinate system through coordinate transformation α 、i β And then, establishing a voltage and current model of the permanent magnet synchronous motor based on the alpha and beta two-phase static coordinate system, and constructing a sliding-mode observer according to the permanent magnet synchronous motor model based on the alpha and beta two-phase static coordinate system.
Under the alpha beta two-phase static coordinate system,
the voltage equation is rewritten into a current equation, and the difference is made between the actual value and the estimated value, so that an error current equation can be obtained:
in the formula,. DELTA.i α 、Δi β Respectively representing the observation errors (the difference between an actual value and an estimated value) of the stator currents of the alpha axis and the beta axis; r, L s Respectively a stator resistor and a winding inductor; e α 、E β Is a counter potential; v. of α 、v β Representing the value of the estimated back emf.
In order to suppress the buffeting problem of the conventional sliding mode observer, a saturation function is adopted to replace a conventional sign function as a sliding mode control rate, and the following steps are included:
in the formula, v α 、v β A value representing the estimated back emf; k is sliding mode gain, the stability of the sliding mode observer is ensured by selecting the value of k, and k is generally selected>max{E α ，E β }；sat(Δi α )、sat(Δi β ) And respectively represent saturation functions of stator current observation errors of alpha and beta axes.
Observing back electromotive force waveform under a two-phase static coordinate system by using the improved sliding mode observer, extracting the position and rotating speed information of the motor rotor by using a phase-locked loop, and estimating the position angle of the rotor
And (4) showing.
In the formula (I), the compound is shown in the specification,
is an estimated value of the rotor position angle estimated by the sliding-mode observer; v. of α 、v β A value representing the estimated back emf; k is a radical of PLL_p And k PLL_i Respectively is a proportional coefficient and an integral coefficient of a PI controller in the phase-locked loop; 1/s represents the continuous integration element in the frequency domain.
When the high-speed permanent magnet synchronous motor runs in a middle and high speed area, due to the existence of various non-ideal factors, a certain error exists between the rotor position angle obtained by the sliding-mode observer and the actual position of the rotor, and a compensation algorithm needs to be added on the basis of a position-free control algorithm to realize the accurate extraction of the rotor position angle so as to compensate.
Step two, compensating the rotor position angle by a virtual signal injection method
The second step is specifically as follows:
s1, measuring the amplitude and the phase angle of a stator current vector of a permanent magnet synchronous motor, injecting a high-frequency signal into the phase angle of the stator current vector in a virtual signal injection mode, and decomposing the stator current vector injected with the virtual signal to obtain q-axis current;
and S2, extracting high-frequency components from the q-axis current through a band-pass filter to obtain a first-order partial derivative of the q-axis current relative to the rotor position error, controlling the first-order partial derivative to be zero by using a PI (proportional integral) controller, taking the output of the PI controller at the moment as a compensation angle of a rotor position angle, and realizing the rotor position angle compensation of the high-speed permanent magnet synchronous motor without a position sensor by using the compensation angle of the rotor position angle.
In S1, the stator current vector amplitude I s And phase angle beta 0 (phase angle refers to the angle between the current vector and the positive direction of the d-axis), as shown in the following formula:
β 0 ＝arctan(i q /i d )
the high-speed surface-mounted permanent magnet synchronous motor generally adopts i d Control of =0, ideally beta 0 =90 °, however due to rotor position error the stator current phase angle β 0 =90 ° + σ, where σ denotes a rotor position error (rotor position error refers to an angular difference between the actual rotational coordinate system and the estimated rotational coordinate system).
Phase angle beta of current vector to stator 0 Middle injection high frequency signal δ = Asin (ω) h t), stator current vector phase angle β given in the algorithm 0 Adding a high-frequency signal delta, wherein the stator current vector phase angle is beta = beta 0 +Asin(ω h t), wherein A is the amplitude of the injected high-frequency signal, and is generally less than 0.1; omega h In order to inject the high-frequency signal frequency, the frequency is greater than the operation fundamental frequency of the permanent magnet synchronous motor and much smaller than the control frequency.
Decomposing the stator current vector of the injected high-frequency signal along a two-phase synchronous rotating coordinate system to obtain a q-axis current component containing the injected high-frequency signali qσ To illustrate, the q-axis current may be expressed as i in relation to the rotor position error qσ (σ+Asin(ω h t)), including the rotor position error σ and the high frequency signal Asin (ω) h t)。
The expression of the output electromagnetic torque of the high-speed surface-mounted permanent magnet synchronous motor is as follows:
T em ＝1.5pi q Ψ f
in the formula, T em Is the motor electromagnetic torque; p is the number of pole pairs; i all right angle q Q-axis current without rotor position error; Ψ f Is a permanent magnet flux linkage.
When there is a rotor position error σ, the electromagnetic torque expression can be written as
T emσ ＝1.5pi qσ Ψ f ·cosσ
In the formula, T emσ The electromagnetic torque output by the motor when the position error sigma exists; i.e. i qσ The q-axis current under the condition of the rotor position error sigma; σ is the rotor position error.
The output electromagnetic torque of the motor in the presence of a rotor position error is equal to the electromagnetic torque in the absence of a rotor position error, i.e. T em ＝T emσ . From this, it can be derived that the q-axis current in the presence of rotor position error is related to its ideal value by:
i qσ ＝1/cosσ·i q
according to the above relation, when the rotor position error σ is zero, the q-axis current is minimum, and the first derivative of the q-axis current with respect to the rotor position error is zero, and the phase relation is as shown in fig. 1 (a), and the amplitude relation is as shown in fig. 1 (b) and fig. 1 (c), respectively.
The current i of the q axis in S2 qσ Carrying out Taylor decomposition to obtain:
in the step S2, since the amplitude a of the injected high-frequency signal is small, the secondary and higher frequency components obtained by decomposition in the above formula can be ignored, and the q-axis current component i containing the injected high-frequency signal will be included qσ And (3) introducing a band-pass filter, wherein the frequency of the signal which is allowed to pass through by the band-pass filter is equal to the frequency of the injection signal, and a first harmonic component B which is the same as the frequency of the injection signal can be obtained, wherein the formula is as follows:
where σ denotes the rotor position error, t denotes time, A denotes the amplitude of the injected high-frequency signal, ω h Representing the frequency of the injected high frequency signal;
including the first partial derivative of the q-axis current with respect to position error
The first harmonic component B is processed by heterodyne method, i.e. the sum of the first harmonic component B and the frequency of omega h The sine signal is multiplied and then is led into a low-pass filter, so that the direct current quantity C related to the first-order partial derivative only and unrelated to the high-frequency signal can be obtained:
will contain this first order partial derivative
The direct current quantity C is introduced into a PI controller, the output of the PI controller is used as a rotor position compensation angle and added into an estimated rotor position angle obtained by a position-free control algorithm, and the method is as follows:
in the formula (I), the compound is shown in the specification,
indicating the precise rotor position angle used in the coordinate transformation,
the estimated rotor position angle extracted by the improved sliding-mode observer is shown, and delta theta represents the rotor position compensation angle obtained by the position compensation algorithm.
By using the control function of the PI controller, the direct current quantity C containing the first-order partial derivative of the q-axis current relative to the rotor position error is converged to zero, and the first-order partial derivative of the q-axis current relative to the rotor position error is realized
The control is zero, which can be obtained from the relationship between fig. 1 (b) and (c), and the q-axis current reaches the minimum value at this time, and the corresponding rotor position error is zero, thereby realizing complete compensation of the rotor position angle.
In order to prove the effectiveness of the method, simulation analysis is carried out on a controlled object of a motor with the rated rotation speed of 120000rpm, the rated torque of 1.25Nm and the rated power of 15kw in simulink. The motor parameters are shown in table 1:
TABLE 1 Motor parameters
An improved sliding mode observer is used as a non-position control algorithm of the system, a Hall sensor arranged in a simulation module is used for obtaining the position and the rotating speed of a rotor at zero and low speeds, namely, a mechanical position sensor mode is used for starting the motor, the motor is stably operated at 5000rpm for a period of time, when the speed is 0.2s, the motor is switched to be controlled without the position sensor, the motor is accelerated to 120000rpm, rated torque is applied between 1.2s and 2s, rated torque is applied between 1.25Nm, and a given rotating speed is 100000rpm between 2.5s and 3s, and simulation results of the rotor position compensation algorithm are compared.
Fig. 5 shows a given rotational speed and an actual rotational speed waveform of the motor, the rotational speed tracking being good.
Fig. 6 shows the current situation of the motor; wherein, fig. 6 (a) is the waveform of phase a current under rated load, and fig. 6 (b) and (c) are the current FFT spectrum analysis under two conditions, respectively; FIG. 6 (b) shows the uncompensated algorithm, the current amplitude is 62.59A, and the harmonic distortion rate is 4.59%; FIG. 6 (c) is added with a rotor position error compensation algorithm, the current amplitude is 60.29A, and the harmonic distortion rate is 4.43%; after the rotor position error compensation algorithm is added, the current harmonic content is reduced to a certain extent, the current amplitude is reduced under the condition that the output electromagnetic torque is the same, and the amplitude relation accords with the theoretical analysis in the prior art and is consistent with that shown in the figure 1.
FIG. 7 illustrates an electromagnetic torque waveform of the motor; wherein FIG. 7 (a) is an overall waveform, and FIGS. 7 (b), (c) are torque fluctuations in two cases, respectively; FIG. 7 (b) shows the uncompensated algorithm with torque fluctuations between 1.19 and 1.38 at 0.19Nm; FIG. 7 (c) incorporates the compensation algorithm of the present invention with a torque fluctuation between 1.24 and 1.36 at 0.12Nm; after the rotor position error compensation algorithm provided by the invention is added, the torque fluctuation is reduced, and the fluctuation quantity is reduced by about 36.8%.
FIG. 7 shows a rotor position angle of a motor, from top to bottom, in order of true position, estimated position, position error; wherein FIG. 8 (a) shows the uncompensated algorithm, the mean value of the position errors is 0.27rad, and the fluctuation amount is + -0.02 rad; FIG. 8 (b) is a schematic diagram showing the addition of a rotor position error compensation algorithm, wherein the position error is substantially 0 and the fluctuation amount is within + -0.01 rad; after the algorithm is added, the direct current component of the rotor position angle error is completely compensated, and the harmonic content is reduced. In order to prove the advantages of the present invention, simulation analysis was performed by using a full compensation algorithm for rotor position angle proposed by other scholars, and the result is shown in fig. 8 (c), after the compensation algorithm for comparison is added, the rotor position error is still about 0.02rad, and the fluctuation amount is within ± 0.01 rad. From the comparison results of fig. 8 (b) and (c), the compensation effect of the present invention is better.
In summary, the embodiments of the present invention can implement full compensation of the rotor position angle of the high-speed surface-mounted permanent magnet synchronous motor under the control of the position sensor, and can compensate the rotor position error caused by various non-ideal factors at one time, solve the problem of inaccurate estimation of the position at a high speed, and avoid the problems of increased current amplitude, increased loss, decreased electromagnetic torque, decreased motor efficiency, and the like caused by inaccurate position. The simulation comparison results are shown in table 2:
TABLE 2 simulation comparison results
In the embodiment of the present invention, except for the specific description of the model of each device, the model of other devices is not limited, as long as the device can perform the above functions.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
The present invention is not limited to the embodiments described above. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make various changes in form and details without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A control method without a position sensor applied to a high-speed permanent magnet synchronous motor is characterized by comprising the following steps:
extracting a rotor position angle and a rotating speed of the permanent magnet synchronous motor by using a sliding-mode observer, and realizing position-sensor-free control by adopting a position-free control algorithm according to the rotor position angle and the rotating speed;
secondly, adding a compensation algorithm on the basis of the position-free control algorithm to realize accurate extraction of the rotor position angle so as to compensate;
the second step specifically comprises the following steps:
s1, measuring the amplitude and the phase angle of a stator current vector of a permanent magnet synchronous motor, injecting a high-frequency signal into the phase angle of the stator current vector in a virtual signal injection mode, and decomposing the stator current vector injected with the virtual signal to obtain q-axis current, wherein the phase angle refers to an included angle between the current vector and the positive direction of a d axis;
s2, extracting high-frequency components from the q-axis current through a band-pass filter to obtain a first-order partial derivative of the q-axis current relative to a rotor position error, controlling the first-order partial derivative to be zero by using a PI (proportional integral) controller, taking the output of the PI controller at the moment as a compensation angle of a rotor position angle, and realizing the rotor position angle compensation of the high-speed permanent magnet synchronous motor without a position sensor by using the compensation angle of the rotor position angle;
in S2, q-axis current i containing injected high-frequency signals qσ And (3) introducing a band-pass filter to obtain a first harmonic component B with the same frequency as the injection signal, wherein the formula is as follows:
where σ denotes the rotor position error, t denotes time, A denotes the amplitude of the injected high-frequency signal, ω h Indicating the frequency of the injected high frequency signal;
and then, processing the first harmonic component B by using an heterodyne method to obtain a direct current component C:
and finally, controlling the direct current quantity C to be zero by utilizing a PI controller, and outputting a compensation angle serving as a rotor position angle by the PI controller and applying the compensation angle to a rotor position angle signal without a position control algorithm to realize compensation.
2. The sensorless control method applied to the high-speed permanent magnet synchronous motor according to claim 1, characterized in that: in the first step, a sliding mode observer is used for observing a back electromotive force waveform under a two-phase static coordinate system, and then a phase-locked loop is used for extracting the position and the rotating speed information of the motor rotor.
3. The sensorless control method applied to the high-speed permanent magnet synchronous motor according to claim 1, characterized in that: in S1, the phase angle beta of the stator current vector 0 Middle injection high frequency signal δ = Asin (ω) h t), where A represents the amplitude of the injected high frequency signal, ω h Indicates the frequency of the injected high frequency signal, t indicates time; then decomposing the stator current vector after the injection of the high-frequency signal along a two-phase synchronous rotating coordinate system to obtain a q-axis current i containing the injection of the high-frequency signal qσ 。
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