CN115021640B - High-dynamic-response permanent magnet synchronous motor zero low-speed rotor position estimation method - Google Patents
High-dynamic-response permanent magnet synchronous motor zero low-speed rotor position estimation method Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P25/024—Synchronous motors controlled by supply frequency
Abstract
The invention relates to a high dynamic response permanent magnet synchronous motor zero low speed rotor position estimation method, which comprises the steps of injecting pulse vibration voltage signals under an alpha/beta static coordinate system, extracting response signals under an alpha beta two-phase static coordinate system by adopting a pure delay filtering method, and carrying out zero speed initial rotor position estimation; at the same time, a corresponding DC component is obtained in the zero-speed stationary state and used for rotor position estimation in the low-speed section. The method does not depend on motor parameters, can effectively reduce data operand, adopts a mode of cascading a combination filter, namely a band-pass filter and a low-pass filter, greatly expands the bandwidth of the low-pass filter adopted in the traditional method, and improves the dynamic response speed of the system and the estimation precision of the rotor position; when the rotor position is estimated at zero-speed standstill, the coordinate transformation of the estimated angle is not needed.
Description
Technical Field
The invention belongs to the technical field of synchronous motor rotor position estimation, and relates to a high-dynamic-response permanent magnet synchronous motor zero-low-speed rotor position estimation method, in particular to a method for injecting high-frequency pulse vibration voltage signals into a zero-low-speed section under an alpha/beta static coordinate system and estimating the rotor position of a salient pole type permanent magnet synchronous motor according to high-frequency current response signals under the alpha beta static coordinate system.
Background
Permanent magnet synchronous motors (Permanent Magnet Synchronous Motor, PMSM) are widely used in aerospace and other industrial fields due to advantages such as high power density and high efficiency. At present, a vector control mode based on rotor magnetic field orientation is mostly adopted to realize high-performance control of the permanent magnet synchronous motor, so that accurate rotor position information is required to be obtained. The traditional rotor position acquisition mode based on the position sensor not only increases the cost, the size and the weight of the system, but also has stricter requirements on the use environment, and the application range and the reliability of the system are reduced.
The rotor position estimation technology realizes accurate estimation of the rotor position by detecting effective signals such as voltage/current carrying rotor position information in the three-phase windings of the motor and adopting a certain control algorithm, so that the limitation can be avoided, and the development trend of a three-phase PMSM system is represented. According to the operation mechanism of the rotor position estimation technology, the rotor position estimation method is mainly divided into two types of rotor position estimation methods under the zero low-speed section and the medium-high speed section, wherein the extraction of rotor position information is mainly realized according to the motor saliency and with auxiliary signals in the zero low-speed section, and the estimation of rotor position is mainly realized through fundamental wave back electromotive force or the magnetic linkage of the motor in the medium-high speed section. The rotor position estimation technology of the middle and high speed sections is mature.
At zero low speed, the rotor position is estimated by extracting a response signal containing rotor position information, mainly using motor saliency and injecting a high frequency auxiliary voltage signal. The rotor position estimation at zero speed rest also includes an identification of the rotor flux linkage direction. The conventional zero low speed rotor position estimation step mainly includes: 1. rotation or high frequency signal injection; 2. the band-pass filter extracts the response signal; 3. demodulating the signals; 4. a low-pass filter acquires a signal envelope; 5. the phase locked loop or inverse tangent method estimates the rotor position.
As can be seen from the above steps, when the response signal is processed in the conventional method, the response signal is processed by using, for example, a band-pass filter and a low-pass filter, which inevitably causes the following problems: 1. the bandwidth of a corresponding control loop of the system is reduced, so that the dynamic response characteristic of the system is poor; 2. the rotor position estimation is brought with larger phase delay and error; 3. the data operation amount is large, and the requirement on a processor is high. When the zero-speed static state judges the magnetic pole direction, the coordinate transformation is carried out according to the estimated angle.
The invention adopts a pure delay filtering method by injecting a high-frequency pulse vibration voltage signal under an alpha/beta static coordinate system, extracts a response signal under an alpha beta two-phase static coordinate system and carries out zero-speed initial rotor position estimation; at the same time, a corresponding DC component is obtained in the zero-speed stationary state and used for rotor position estimation in the low-speed section. The method does not depend on motor parameters, can effectively reduce data operand, simultaneously expands the equivalent bandwidth of a filter, and improves the dynamic response speed of the system and the estimation precision of the rotor position; when the rotor position is estimated at zero-speed standstill, the coordinate transformation of the estimated angle is not needed.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a high-dynamic-response zero-low-speed rotor position estimation method of a permanent magnet synchronous motor, and the method is used for providing the zero-low-speed rotor position estimation method of the salient pole permanent magnet synchronous motor with the characteristic of quick dynamic response by combining the requirements of high dynamic response, small phase delay and small calculated amount in the rotor position estimation process of the salient pole permanent magnet synchronous motor, so that the equivalent bandwidth of a filter is expanded, and the system can estimate the rotor position in real time at zero and low speed more quickly and accurately.
Technical proposal
A method for estimating the zero low-speed rotor position of a permanent magnet synchronous motor with high dynamic response is characterized by comprising the following steps: based on sine pulse vibration signal injection, the method comprises the following steps:
step 1: injecting pulse voltage signals into an alpha axis and a beta axis respectively under an alpha and beta stationary coordinate system, and estimating the rotor position under a zero-speed stationary state according to response current signals;
the method comprises the following steps: pulse vibration high-frequency voltage is injected into the alpha-axis when the permanent magnet synchronous motor is stationary
Wherein the subscript h represents a high frequency component; omega i ＞＞ω r ，ω i ＝2πf, wherein f is the frequency of the injection signal; omega r Is the rotation speed;
thereby obtaining
I in αh And i βh 、The high-frequency voltage, the high-frequency current and the initial position of the rotor of the stator on the alpha axis and the beta axis are respectively; l (L) 0 For the average inductance +.>L 1 Is half differential inductance>
For signal i αh 、i βh Using synchronous demodulation techniques, i.e. multiplying by sin delta, respectively, the demodulated current signal:
will demodulate the signal i αh1 、i βh1 Through a central angular frequency of 2ω i The single frequency trap attenuates signals at twice the injection frequency, but has little effect on other frequency signals (the single frequency trap is an existing method and is not within the scope of the invention). Obtaining signals:
injecting pulse vibration voltage into the beta axis when the permanent magnet synchronous motor is stationary:
for signal i αh 、i βh The demodulated current signals are obtained using synchronous demodulation techniques, i.e. multiplying by sin delta, respectively:
through a central angular frequency of 2ω i The signal obtained by the single frequency trap is:
will beAnd->Summing to obtain a quantity i independent of position information dc The method comprises the steps of carrying out a first treatment on the surface of the Will->And->Summing, will->And->The difference is taken to give the position-dependent and amplitude doubled quantities, denoted +.>
To direct current component i dc Warp yarnHeterodyne method and phase-locked loop to obtain rotor position information without magnetic pole polarity
Step 2: at the position ofDifferent positions, the injection amplitude is U h1 Sampling three-phase current at the end time of pulse square wave injection, and performing coordinate transformation to obtain a response current at the alpha axis at the moment:
1. when (when)At the time of +alpha axis injection amplitude is U h1 Pulse square wave of (a) response current i in the alpha-axis α+ ；
Injecting pulse square waves with the same amplitude and pulse width at alpha to obtain a response current i at the alpha axis α- ；
When |i α+ |＞|i α- I, the initial position of the rotorOn the contrary->
2. When (when)At the time of injection amplitude of U at +beta axis h1 Pulse square wave of (c), response current i in the beta-axis β+ ；
Injecting pulse square waves with the same amplitude and pulse width at-beta, and responding current i at beta axis β- ；
If |i β+ |＞|i β- I, the initial position of the rotorOn the contrary->
3. When (when)At the time of +alpha axis injection amplitude is U h1 Pulse square wave of a, response current i of alpha axis α+ ；
Injecting pulse square waves with the same amplitude and pulse width at-alpha, and responding current i of alpha axis α- ；
If |i α+ |＞|i α- I, the initial position of the rotorOn the contrary->
4. When (when)At the time of injection amplitude of U at +beta axis h1 Pulse square wave of (a), response current i of beta axis β+ ；
Injecting pulse square waves with the same amplitude and pulse width at-beta, and responding current i of beta axis β- ；
If |i β+ |＞|i β- I, the initial position of the rotorOn the contrary->
Step 3: injecting the same high-frequency signal as that in the step 1 into the alpha axis, extracting a high-frequency response signal under an alpha beta static coordinate system by adopting a cascaded pure delay filter, wherein the high-frequency response signal is marked as i αh 、i βh ；
Responsive to high frequency signals i αh 、i βh Multiplying sin delta for demodulation to obtain a demodulated signal as follows:
the two signals are first passed through a central angular frequency of 2ω i The single-frequency trap is passed through a low-pass filter to obtain the following signals:
will i αh1_1 And i dc Is twice as bad as follows:
the obtained signal is processed by heterodyne method and phase-locked loop to obtain the estimated position theta of the motor r . At zero-speed stationary start, θ r ＝θ r0 During low-speed operation after start-up, the estimated position θ r I.e. the estimated position in real time.
In the step 3, the same high-frequency pulse vibration voltage signal as in the step 1 is injected into the alpha axis, and the high-frequency pulse vibration voltage signal as in the step 1 is also injected into the beta axis, and the signal processing process is similar to that when the high-frequency pulse vibration voltage signal is injected into the alpha axis, so that corresponding results are obtained.
Advantageous effects
The invention provides a high dynamic response zero low-speed rotor position estimation method of a permanent magnet synchronous motor, which comprises the steps of injecting pulse vibration voltage signals under an alpha/beta static coordinate system, extracting response signals under an alpha beta two-phase static coordinate system by adopting a pure delay filtering method, and carrying out zero-speed initial rotor position estimation; at the same time, a corresponding DC component is obtained in the zero-speed stationary state and used for rotor position estimation in the low-speed section. The method does not depend on motor parameters, can effectively reduce data operand, adopts a mode of cascading a combination filter, namely a band-pass filter and a low-pass filter, greatly expands the bandwidth of the low-pass filter adopted in the traditional method, and improves the dynamic response speed of the system and the estimation precision of the rotor position; when the rotor position is estimated at zero-speed standstill, the coordinate transformation of the estimated angle is not needed.
The beneficial effects of the invention are as follows: the method realizes rotor position estimation of a zero low-speed section under an alpha beta static coordinate system, avoids the dependence of magnetic pole judgment on estimated positions in a zero-speed state, adopts a combined filter, namely a band-pass filter and a low-pass filter to be cascaded in the low-speed section, greatly expands the bandwidth of a simple low-pass filter adopted by the traditional method, reduces the operand and estimation delay, and improves the dynamic response. The method is simple and easy to implement, and is beneficial to improving the accuracy of the estimated position and the operation efficiency of the controller when the PMSM runs at a low speed.
Drawings
FIG. 1 is a block diagram of a salient pole permanent magnet synchronous motor zero low speed section rotor position estimation start control;
FIG. 2 is a flow chart of rotor position estimation for a zero low speed section of a salient pole permanent magnet synchronous motor;
FIG. 3 is a signal diagram of injected high frequency pulse voltage and response current;
FIG. 4 is a graph of simulation results of a zero speed initial rotor position estimation;
FIG. 5 is a graph of simulation results of estimating rotor position at low speed;
fig. 6 is a simulation diagram comparing the actual rotation speed and the estimated rotation speed of the motor.
Detailed Description
The invention will now be further described with reference to examples, figures:
in the embodiment, a rotor position estimation starting control block diagram of a zero low speed section of the salient pole type permanent magnet synchronous motor is shown in fig. 1, wherein the running speed range of the permanent magnet synchronous motor in the zero low speed section is 0-200rpm. The specific steps included in the examples are as follows:
1: and respectively injecting high-frequency pulse vibration voltage signals into the alpha axis and the beta axis under the alpha beta static coordinate system, and estimating the rotor position under the zero-speed static state according to the response current signals. The method comprises the following steps:
1.1 injecting amplitude u into the alpha axis i =20v, angular frequency ω i The expression of the high-frequency pulse vibration voltage signal of 500 x 2 pi is shown in the formula (1):
the three-phase current of the stator is collected through a sensor and is recorded as i ah 、i bh 、i ch . According to the coordinate transformation formula
Calculating the current of the three-phase high-frequency response current under the alpha beta two-phase static coordinate system, and marking the current as i α_αh 、i α_βh . Then there is
Wherein the method comprises the steps ofθ r0 And the initial position of the rotor is at zero-speed static state.
1.2 Signal modulation is performed by multiplying the signal in equation (3) by sin delta, and the demodulated current signal is denoted as i α_αh1 、i α_βh1 Can be obtained
1.3 passing the demodulated signal through a center angular frequency of 2ω i The single frequency trap strongly attenuates signals at twice the injection frequency, but hardly affects signals at other frequencies (the single frequency trap is an existing method and is not within the scope of the invention). Can obtain the following signals
1.4 injection amplitude u into beta axis i =20v, angular frequency ω i The expression of the high-frequency pulse vibration voltage signal of 500 x 2 pi is shown in the formula (6):
the three-phase current of the stator is collected through a sensor, coordinate transformation is carried out by using the sensor (2), and the response current of the high-frequency response current under an alpha beta static coordinate system is calculated and is recorded as i β_αh 、i β_βh Then there is
1.5 Signal modulation is performed by multiplying the signal in equation (7) by sin delta, and the demodulated current signal is denoted as i β_αh1 、i β_βh1 Can be obtained
1.6 passing the demodulated signal through a center angular frequency of 2ω i The single frequency trap can obtain the following signals
1.7 pairs of signals obtainedAnd->Mathematical processing is performed. Will->And->Summing to obtain a quantity i independent of position information dc The method comprises the steps of carrying out a first treatment on the surface of the Will->And->Summing, will->And->The difference is taken to give the position-dependent and amplitude doubled quantities, denoted +.>I.e.
1.7 in formula (10)By heterodyning and phase-locked loop, the rotor position information without magnetic pole polarity can be estimated>
1.8 whenAt the time of +alpha axis injection amplitude is U h1 At the end of pulse square wave injection, sampling three-phase current, and coordinate transforming with formula (2) to obtain response current i at the alpha axis α+ The method comprises the steps of carrying out a first treatment on the surface of the Injecting pulse square waves with the same amplitude and pulse width into alpha, and obtaining the response current i in the alpha axis by adopting the same method α- The method comprises the steps of carrying out a first treatment on the surface of the If |i α+ |＞|i α- I, then rotor initial position +.>On the contrary->When->At the time of injection amplitude of U at +beta axis h1 At the end of pulse square wave injection, sampling three-phase current, and coordinate transforming with formula (2) to obtain response current i at the time of beta-axis β+ The method comprises the steps of carrying out a first treatment on the surface of the Injecting pulse square waves with the same amplitude and pulse width into beta, and obtaining the response current i on the beta axis by adopting the same method β- The method comprises the steps of carrying out a first treatment on the surface of the If |i β+ |＞|i β- I, then rotor initial position +.>On the contrary->When->At the time of +alpha axis injection amplitude is U h1 At the end of pulse square wave injection, sampling three-phase current, and coordinate transforming with formula (2) to obtain response current i at the alpha axis α+ The method comprises the steps of carrying out a first treatment on the surface of the Injecting pulse square waves with the same amplitude and pulse width into alpha, and obtaining the response current i in the alpha axis by adopting the same method α- The method comprises the steps of carrying out a first treatment on the surface of the If |i α+ |＞|i α- I, then rotor initial position +.>OtherwiseWhen->At the time of injection amplitude of U at +beta axis h1 At the end of pulse square wave injection, sampling three-phase current, and coordinate transforming with formula (2) to obtain response current i at the time of beta-axis β+ The method comprises the steps of carrying out a first treatment on the surface of the Injecting pulse square waves with the same amplitude and pulse width into beta, and obtaining the response current i on the beta axis by adopting the same method β- The method comprises the steps of carrying out a first treatment on the surface of the If |i β+ |＞|i β- I, then rotor initial position +.>On the contrary->
2: and injecting a high-frequency pulse vibration voltage signal into the alpha axis under the alpha beta static coordinate system, and estimating the rotor position at low speed according to the high-frequency response current signal. The method comprises the following steps:
2.1 injecting the same high frequency pulse vibration voltage signal as 1.1 into alpha axis, extracting high frequency response signal under alpha beta static coordinate system by adopting cascade type pure delay filter (cascade type pure delay filter is not in the scope of the invention as the prior method), wherein the high frequency response signal can be expressed as
2.2 demodulating the high-frequency response signal multiplied by sin delta to obtain a demodulated signal
2.3 passing the two signals of equation (12) through a center angular frequency of 2ω i The single-frequency trap is passed through a low-pass filter with larger cut-off frequency to obtain the following signals
2.4 i in formula (13) αh2 And i in formula (10) dc Is twice the difference, the following signal can be obtained
2.5 according to the initial position of the rotor obtained in step 1, and combining with the method (14), the real-time rotor position theta at low speed can be obtained through heterodyne and phase-locked loop processing r 。
In the step 2 of the invention, the high-frequency pulse vibration voltage signal is injected to the alpha axis, and the high-frequency pulse vibration voltage signal can also be injected to the beta axis, and the signal processing process is the same as the position estimation method.
Claims (2)
1. A method for estimating the zero low-speed rotor position of a permanent magnet synchronous motor with high dynamic response is characterized by comprising the following steps: based on sine pulse vibration signal injection, the method comprises the following steps:
step 1: injecting pulse voltage signals into an alpha axis and a beta axis respectively under an alpha and beta stationary coordinate system, and estimating the rotor position under a zero-speed stationary state according to response current signals;
the method comprises the following steps: pulse vibration high-frequency voltage is injected into the alpha-axis when the permanent magnet synchronous motor is stationary
δ＝ω i t
Wherein the subscript h represents a high frequency component; omega i ＞＞ω r ，ω i =2pi f, where f is the frequency of the injection signal; omega r Is the rotation speed;
for signal i αh 、i βh Using synchronous demodulation techniques, i.e. multiplying by sin delta, respectively, the demodulated current signal:
will demodulate the signal i αh1 、i βh1 Through a central angular frequency of 2ω i The single-frequency wave trap is used for attenuating signals with twice injection frequency to obtain signals:
injecting pulse vibration voltage into the beta axis when the permanent magnet synchronous motor is stationary:
δ＝ω i t
for signal i αh 、i βh The demodulated current signals are obtained using synchronous demodulation techniques, i.e. multiplying by sin delta, respectively:
through a central angular frequency of 2ω i The signal obtained by the single frequency trap is:
will beAnd->Summing to obtain a quantity i independent of position information dc The method comprises the steps of carrying out a first treatment on the surface of the Will->And->Summing, will->And->The difference is taken to give the position-dependent and amplitude doubled quantities, denoted +.>
To direct current component i dc After heterodyning and phase-locked loop, rotor position information without magnetic pole polarity is obtained
Step 2: at the position ofDifferent positions, the injection amplitude is U h1 Sampling three-phase current at the end time of pulse square wave injection, and performing coordinate transformation to obtain a response current at the alpha axis at the moment:
1. when (when)At the time of +alpha axis injection amplitude is U h1 Pulse square wave of (a) response current i in the alpha-axis α+ ；
Injecting pulse square waves with the same amplitude and pulse width at alpha to obtain a response current i at the alpha axis α- ；
When |i α+ |＞|i α- I, the initial position of the rotorOn the contrary->
2. When (when)At the time of injection amplitude of U at +beta axis h1 Pulse square wave of (c), response current i in the beta-axis β+ ；
Injecting pulse square waves with the same amplitude and pulse width at-beta, and responding current i at beta axis β- ；
If |i β+ |＞|i β- I, the initial position of the rotorOn the contrary->
3. When (when)At the time of +alpha axis injection amplitude is U h1 Pulse square wave of a, response current i of alpha axis α+ ；
Injecting pulse square waves with the same amplitude and pulse width at-alpha, and responding current i of alpha axis α- ；
If |i α+ |＞|i α- I, the initial position of the rotorOn the contrary->
4. When (when)At the time of injection amplitude of U at +beta axis h1 Pulse square wave of (a), response current i of beta axis β+ ；
Injecting pulse square waves with the same amplitude and pulse width at-beta, and responding current i of beta axis β- ；
If |i β+ |＞|i β- I, then the rotor initial positionDevice for placing articlesOn the contrary->
Step 3: injecting the same high-frequency signal as that in the step 1 into the alpha axis, extracting a high-frequency response signal under an alpha beta static coordinate system by adopting a cascaded pure delay filter, wherein the high-frequency response signal is marked as i αh 、i βh ；
Responsive to high frequency signals i αh 、i βh Multiplying sin delta for demodulation to obtain a demodulated signal as follows:
the two signals are first passed through a central angular frequency of 2ω i The single-frequency trap is passed through a low-pass filter to obtain the following signals:
will i αh1_1 And i dc Is twice as bad as follows:
the obtained signal is processed by heterodyne method and phase-locked loop to obtain the estimated position theta of the motor r， At zero-speed stationary start, θ r ＝θ r0 During low-speed operation after start-up, the estimated position θ r I.e. the estimated position in real time.
2. The method for estimating the zero low-speed rotor position of a high-dynamic-response permanent magnet synchronous motor according to claim 1, wherein: in the step 3, the same high-frequency pulse vibration voltage signal as in the step 1 is injected into the alpha axis, and the high-frequency pulse vibration voltage signal as in the step 1 is also injected into the beta axis, and the signal processing process is similar to that when the high-frequency pulse vibration voltage signal is injected into the alpha axis, so that corresponding results are obtained.
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