CN115189614B - Motor angular position or angular speed compensation method and device - Google Patents
Motor angular position or angular speed compensation method and device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—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
- 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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Abstract
The invention provides a motor angular position or angular speed compensation method and a device, which are applied to a controller of a flywheel energy storage system, wherein the method comprises the following steps: constructing a system model of the motor according to the observation parameters of the motor, and substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor; solving a counter potential first-order estimated value based on the first-order extended sliding mode observer; substituting the counter potential first-order estimated value as range output into a first-order extended sliding mode observer to generate a state estimation error, and generating a second-order extended sliding mode observer; solving a counter potential estimated value of the second-order extended sliding mode observer based on the state estimation error; obtaining a corresponding angular position estimated value and an angular speed estimated value; the angular position estimated value and the angular speed estimated value are input into a first-order low-pass filter to obtain the final angular position value and the final angular speed value of the motor, so that the angular position and the angular speed estimated accuracy of the motor can be greatly improved, and the control accuracy of the motor and the running reliability of the flywheel are improved.
Description
Technical Field
The invention relates to the technical field of displacement detection, in particular to a motor angular position or angular speed compensation method and device.
Background
The flywheel energy storage device is a conversion device of electric energy and kinetic energy, when the electric energy and the kinetic energy are required to be charged, under the control of the flywheel side converter, the flywheel motor drives the flywheel rotor to continuously accelerate so as to absorb external energy, and when the electric energy and the kinetic energy are required to be discharged, under the control of the flywheel side converter, the flywheel motor drives the flywheel rotor to continuously decelerate and generate electricity so as to release energy to the outside. Therefore, the flywheel motor is a very critical component of the flywheel energy storage system and plays a role in mutual conversion between electric energy and kinetic energy. Generally, most of motors adopted by the flywheel energy storage system are alternating current motors, including asynchronous induction motors, permanent magnet synchronous motors, inductor motors, synchronous reluctance motors and the like, the motors drive flywheel rotors to rotate under the action of a machine side converter of the flywheel energy storage device and complete charge and discharge control processes, and vector control, direct torque control and other control methods are generally adopted for motor control. In these control methods, acquiring real-time angular position and angular velocity information of the flywheel motor is an essential process therein.
However, the existing methods for acquiring the angular position and angular velocity information of the motor have a sensor control method and a sensor measurement method. For flywheel energy storage devices, due to the adoption of all-active electromagnetic suspension bearings, a certain gap exists between a flywheel rotor shaft and a shell, and the flywheel energy storage device is not suitable for mounting angular position sensors such as rotary transformers, photoelectric encoders and the like. Therefore, the sensor measurement method is limited in application to a certain extent, and no sensor control is always a hot spot and an important point of flywheel motor research. In the sensorless control of the flywheel motor, the sliding mode observer is a practical engineering method, but the traditional sliding mode observer has the problems of buffeting, large error in estimated angle and the like, and the application of the sliding mode observer in high-speed operation is directly limited.
Disclosure of Invention
Therefore, the invention aims to provide a motor angular position or angular velocity compensation method and device, which can obtain an error estimation value of the angular position of a flywheel motor by designing a second-order expansion sliding mode observer, and can compensate the angular position estimation value in real time by the error estimation value, thereby greatly improving the motor angular position and angular velocity estimation precision, and improving the motor control precision and the flywheel operation reliability.
In a first aspect, an embodiment of the present invention provides a method for compensating an angular position or an angular velocity of a motor, which is applied to a controller of a flywheel energy storage system, and includes: constructing a system model of the motor according to observation parameters of the motor, wherein the observation parameters comprise voltage, current and counter potential; substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor; based on the first-order extended sliding mode observer, solving a state first-order estimated value under the condition that the observed parameter reaches a saturation value; substituting the counter potential first-order estimated value as range output into a first-order expansion sliding mode observer to generate a state estimation error; substituting the state estimation error into a sliding mode observer to generate a second-order extended sliding mode observer; solving a counter potential estimated value of the second-order extended sliding mode observer based on the state estimation error; performing arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular speed value to obtain an angular speed estimated value of the motor; and inputting the angular position estimation value and the angular speed estimation value into a first-order low-pass filter to obtain a final angular position value and an angular speed value of the motor.
Further, before solving the first-order estimate of the counter-potential in the case that the observed parameter reaches the saturation value based on the first-order extended sliding-mode observer, the method further includes: generating an evaluation output matrix based on the evaluation output in the first-order extended sliding mode observer; solving according to the evaluation output matrix to obtain a saturation function of the first-order extended sliding mode observer; substituting the saturation function into a first-order extended sliding mode observer, and solving a saturation value.
Further, before substituting the saturation function into the first-order extended sliding-mode observer, the method further includes: acquiring a preset constant in a saturation function; substituting a preset constant into the state estimation error to obtain a saturated interval of the preset constant; substituting the saturation function into the first-order extended sliding-mode observer based on the saturation interval.
Further, the step of solving the back emf estimation value of the second-order extended sliding-mode observer based on the state estimation error comprises the following steps: obtaining a sliding mode gain matrix of a system equation based on the first-order extended sliding mode observer; structural rewrite is carried out on a structural equation of the second-order expansion sliding mode observer by utilizing a sliding mode gain matrix; utilizing the sliding mode gain matrix to make a difference with the state estimation error to obtain an estimation error equation; and solving to obtain a counter potential estimated value based on an estimated error equation.
Further, wherein the method further comprises: solving an estimation error equation and obtaining the gain of an observer; rewriting back electromotive force estimation matrix based on observer gain; and carrying the back electromotive force estimation matrix into a first-order extended sliding mode observer to obtain a back electromotive force estimation value.
Further, wherein the method further comprises: and solving an estimation error equation by using mathematical software or an analytical formula, and obtaining the gain of the observer.
Further, wherein the method further comprises: and obtaining a final angular position value and an angular speed value of the motor according to a preset time period, and periodically compensating the angular position or the angular speed of the motor according to the time period.
In a second aspect, an embodiment of the present invention provides a motor angular position or angular velocity compensation apparatus, wherein the apparatus includes: the construction module is used for constructing a system model of the motor according to the observation parameters of the motor, wherein the observation parameters comprise voltage, current and counter potential; the first generation module is used for substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor; the first solving module is used for solving a counter potential first-order estimated value under the condition that the observed parameter reaches a saturation value based on the first-order extended sliding mode observer; the second generation module is used for substituting the counter potential first-order estimated value as range output into the first-order extended sliding mode observer to generate a state estimation error; the third generation module is used for substituting the state estimation error into the sliding mode observer to generate a second-order expansion sliding mode observer; the second solving module is used for solving the counter potential estimated value of the second-order extended sliding mode observer based on the state estimation error; the operation module is used for carrying out arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular speed value to obtain an angular speed estimated value of the motor; and the compensation module is used for inputting the angular position estimated value and the angular speed estimated value into a first-order low-pass filter to obtain a final angular position value and an angular speed value of the motor.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, where the memory stores computer executable instructions executable by the processor, and the processor executes the computer executable instructions to implement any one of the methods described above.
In a fourth aspect, an embodiment of the present invention provides an electronic device, a computer program being stored on a computer readable storage medium, wherein the computer program, when executed by a processing device, performs the steps of the method of any one of the above.
The embodiment of the invention has the following beneficial effects:
The embodiment of the invention provides a motor angular position or angular speed compensation method, which is applied to a controller of a flywheel energy storage system and is characterized by comprising the following steps: constructing a system model of the motor according to the observation parameters of the motor, and substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor; solving a counter potential first-order estimated value based on the first-order extended sliding mode observer; substituting the counter potential first-order estimated value as range output into a first-order extended sliding mode observer to generate a state estimation error, and generating a second-order extended sliding mode observer; solving a counter potential estimated value of the second-order extended sliding mode observer based on the state estimation error; obtaining a corresponding angular position estimated value and an angular speed estimated value; the angular position estimated value and the angular speed estimated value are input into a first-order low-pass filter to obtain the final angular position value and the final angular speed value of the motor, so that the angular position and the angular speed estimated accuracy of the motor can be greatly improved, and the control accuracy of the motor and the running reliability of the flywheel are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a motor angular position or angular velocity compensation method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for compensating angular position or angular velocity of a motor according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a motor angular position or angular velocity compensation device according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Currently, there are a sensor control method and a sensor measurement method for acquiring information of angular position and angular velocity of a motor. For flywheel energy storage devices, due to the adoption of all-active electromagnetic suspension bearings, a certain gap exists between a flywheel rotor shaft and a shell, and the flywheel energy storage device is not suitable for mounting angular position sensors such as rotary transformers, photoelectric encoders and the like. Therefore, in the sensorless control of the flywheel motor, the sliding mode observer is a practical engineering method, but the traditional sliding mode observer has the problems of buffeting, larger error of the estimated angle and the like, and the application of the sliding mode observer in high-speed operation is directly limited.
Based on the above, the method and the device for compensating the angular position or the angular speed of the motor provided by the embodiment of the invention can be used for adding the second-order extended state observer on the basis of the estimation of the traditional first-order sliding mode observer, and performing secondary estimation on the estimation error obtained in the first step and compensating the estimation error into the first-step estimation value, so that the estimation value obtained by the first-step sliding mode observer is compensated and corrected in real time, and the overall estimation precision is improved.
For the convenience of understanding the present embodiment, a method for compensating an angular position or an angular velocity of a motor according to an embodiment of the present invention will be described in detail.
The embodiment of the invention provides a motor angular position or angular velocity compensation method, and fig. 1 is a flowchart of the motor angular position or angular velocity compensation method provided by the embodiment of the invention, as shown in fig. 1, and the method specifically comprises the following steps:
Step S101, constructing a system model of the motor according to observation parameters of the motor, wherein the observation parameters comprise voltage, current and counter potential;
in practical application, the system model of the motor can be built by acquiring motor observation parameters at different moments, namely, acquiring voltage, current and counter potential at different moments, and representing each parameter by utilizing a matrix, so that the system model of the motor can be built.
Specifically, in consideration of control voltage disturbance and measurement noise, the system model may be represented by formula (1):
wherein, Is a control variable of the system model, x is a state variable of the system model, A is a system matrix of the system model, B is a control matrix of the system model, u is a control input voltage of the system model, B d is an input interference matrix, D is an interference parameter, y is a measurement variable of the system model, C is a measurement matrix, and D d is a measurement interference matrix.
In practical application, the current and the counter electromotive force at two moments in the rotation process of the flywheel motor can be measured to represent the system model, and then the state variable x can be represented as a matrix of x= [ i α,iβ,eα,eβ]T ], wherein i α,iβ is the current measured at different moments, and e α,eβ is the counter electromotive force measured at different moments; the control input voltage u can be represented as a matrix of u= [ u α,uβ]T ], and then u α,uβ is the control input at different moments respectively; the interference parameter d may be expressed as d= [ v d,nd]T, where v d is control voltage interference, n d is measurement noise, and if the measurement noise variance is considered to be typically 0.1, the system matrix a may be expressed asThe control matrix B may be expressed asThe input interference matrix B d may be represented asThe measurement matrix may be expressed asThe measured interference matrix may be expressed asWherein R s is the stator resistance of the flywheel motor, L s is the stator inductance of the flywheel motor, and omega r is the flywheel angular speed measured by a preset sensor.
Step S103, substituting the system model into a sliding mode observer to generate a state first-order expansion sliding mode observer of the motor;
Step S105, solving a state first-order estimated value under the condition that the observed parameter reaches a saturated value based on a first-order extended sliding mode observer;
specifically, the state estimation error of the first-order extended sliding-mode observer can be defined as e, and can be expressed as Is a first order estimate of the state variable x.
Wherein e may represent the estimation errors of four state variables, specifically:
wherein, A first order estimation error of i α, whereFor the estimated value of i α,Is the estimated error of i β, which, among other things,For the estimated value of i β,Is the estimated error of e α, which, among other things,As an estimate of e α,Is the estimated error of e β, which, among other things,Is an estimate of e β.
Step S107, substituting the first-order estimated value as range output into a first-order extended sliding mode observer to generate a state estimation error;
In practical application, the corresponding state estimation error equation can be obtained after the estimation error is substituted into the first-order extended sliding-mode observer, so that the corresponding state estimation error is obtained. Wherein the state estimation error equation can be expressed as the following formula (2):
wherein, In order to estimate the control amount of the error,For the system estimation matrix, u smo is the sliding mode control input, z is the evaluation output, C Z is the output matrix, K slide is the sliding mode gain matrix, sat () is the saturation function,Is an estimate of the measured variable y. In particular, the method comprises the steps of,
Step S109, substituting the state estimation error into a sliding mode observer to generate a second-order expansion sliding mode observer;
In practical application, according to the design of the first-order sliding mode observer, the first-order estimated values of the current and the counter potential can be obtained Order theIs a second order measurement output, thenIn whichIf the state error is a preset constant, a new state error can be obtained, and a traditional state observer can be adopted to estimate the state error, so that a second-order extended state observer structure is formed, and the second-order extended state observer structure can be represented by the following formula (3):
Wherein K slide is a sliding mode gain matrix, y e is a second order measurement output, C e is an error measurement matrix for estimating error e, To evaluate the estimate of output z, C z is the error measurement matrix of the evaluation output z, and L e is the observer gain.
Specifically, if the sliding mode gain matrix is already obtained in the first-order observer, the following formula can be further written as formula (3):
step S111, solving a counter potential estimated value of the second-order extended sliding mode observer based on the state estimation error;
specifically, after finding the observer gain L e, the first-order state estimation error And substituting the error estimated value obtained by the second-order extended state observer into an estimated error equation of the first-order sliding mode observer to obtain the following equation:
wherein, And (5) the back electromotive force estimated value after compensation.
Step S113, performing arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular speed value to obtain an angular speed estimated value of the motor;
In practical application, according to conventional knowledge, the arctangent of the counter potential ratio is the angular position estimated value, the derivative of the angular position estimated value is the angular speed estimated value, namely the compensated motor angular position estimated value and the angular speed estimated value are:
wherein, As an estimate of the angular position,Is an angular velocity estimate.
Step S115, the angular position estimated value and the angular velocity estimated value are input into a first-order low-pass filter, and the final angular position value and the final angular velocity value of the motor are obtained.
Specifically, the obtained estimated value of the angular position and the estimated value of the angular velocity of the motor are input to a first-order low-pass filter, the cut-off angular frequency of the filter is omega c, and the final estimated value of the angular position and the angular velocity of the motor can be obtained as follows:
An embodiment of the present invention provides another motor angular position or angular velocity compensation method, and fig. 2 shows a flowchart of another motor angular position or angular velocity compensation method, and as shown in fig. 2, the method specifically includes the following steps:
step S201, constructing a system model of the motor according to observation parameters of the motor, wherein the observation parameters comprise voltage, current and counter potential;
In practical application, the motor comprises several important observation parameters including voltage, current and counter potential, wherein an intra-system model of the motor can be built according to the acquired motor observation parameters at different moments, namely, the voltage, the current and the counter potential at different moments are acquired, and the parameters are represented by a matrix, so that a system model of the motor can be built to determine the running state of the motor.
Step S203, substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor;
Step S205, generating an evaluation output matrix based on the evaluation output in the first-order extended sliding mode observer;
step S207, solving according to the evaluation output matrix to obtain a saturation function of the first-order expansion sliding mode observer;
in practical application, based on the above embodiment, the saturation function of the formula (2) may be further expressed as the following formula (4):
wherein, Is a preset constant.
Step S209, obtaining a preset constant in a saturation function;
specifically, by incorporating the following formula (4) into formula (2), it is possible to obtain:
thus, each interval of the preset constant in the saturation function is obtained;
Step S211, substituting a preset constant into the state estimation error to obtain a saturated interval of the preset constant;
In particular, in consideration of AndDuring the interval, the output of the sliding mode observer reaches the saturation value, and under the condition of reasonable design of the sliding mode gain matrix K slide, the state estimation value can be positioned in the linear section of the sliding mode surface, namelyA preset amount of intervals is determined.
Step S213, substituting the saturation function into the first-order extended sliding mode observer based on the saturation interval;
specifically, substituting the saturation function into the first-order extended sliding-mode observer based on the saturation interval can obtain:
step S215, solving a state first-order estimated value under the condition that the observed parameter reaches a saturation value based on a first-order extended sliding mode observer;
Specifically, the saturation function may be substituted into the first-order extended sliding-mode observer, and the saturation value may be solved.
S217, substituting the state first-order estimated value as range output into a first-order extended sliding mode observer to generate a state estimated error;
Step S219, substituting the state estimation error into a sliding mode observer to generate a second-order expansion sliding mode observer;
step S221, obtaining a sliding mode gain matrix of a system equation based on a first-order extended sliding mode observer;
Step S223, structural rewrite is carried out on the structural equation of the second-order expansion sliding mode observer by utilizing the sliding mode gain matrix;
Step S225, utilizing the sliding mode gain matrix to make a difference with the state estimation error to obtain an estimation error equation;
based on the above embodiment, the state estimation error can be expressed as the following formula:
after solving for the sliding mode gain matrix, the state observer can be expressed as follows:
the difference between the two formulas can be used to solve to obtain an estimated error equation, which is expressed as follows:
In practical application, the counter potential estimated value can be obtained through the steps A1-A3;
A1, solving an estimation error equation and obtaining the gain of an observer;
Based on the above embodiment, the above estimation error equation can be regarded as a linear system in which the input signal is interference and the output signal is an estimation error, and thus the estimation error equation can be solved by using a transfer function therein, where the transfer function can be represented by the following formula:
wherein, To evaluate the error, G ZD(s) is a transfer function matrix;
The transfer function matrix is as follows: g zd(s)＝Cz(sI-Ae+LeCe)-1Bd
Thus, the estimation error equation above can be resolved as:
in practical application, mathematical software or an analytical formula can be used for solving the estimation error equation, and the gain of the observer can be obtained.
In particular, the above-mentioned derivation process can be regarded as a classical H-infinity optimization problem, which considers that under the worst interference situation, the state estimation error can still be suppressed within a certain range, which helps to further improve the state estimation accuracy. Resolving the linear matrix inequality as above has a relatively sophisticated tool, such as the LMI tool of MATLAB, while also having a suitable resolving formula, which is a problem of linear matrix inequality constraint and convex optimization of linear objective functions, and will not be described in detail herein.
A2, rewriting back electromotive force estimation matrix based on the gain of the observer;
Specifically, after the observer gain L e is obtained, the state estimation error It can be obtained by substituting the error estimation value obtained by the second-order extended state observer into the estimation error equation, and it can be obtained:
wherein, And (5) the back electromotive force estimated value after compensation.
And A3, carrying the back electromotive force estimation matrix into a first-order extended sliding mode observer to obtain a back electromotive force estimation value.
Step S227, based on an estimated error equation, solving to obtain a counter potential estimated value, performing arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular velocity value to obtain an angular velocity estimated value of the motor;
Step S229, the angular position estimated value and the angular velocity estimated value are input to a first order low pass filter to obtain a final angular position value and an angular velocity value of the motor.
Corresponding to the above method embodiment, the embodiment of the present invention provides a processing device for identifying abnormal fuel flow, fig. 3 shows a schematic structural diagram of a motor angular position or angular velocity compensation device, and as shown in fig. 3, the motor angular position or angular velocity compensation device includes:
A construction module 301, configured to construct a system model of the motor according to observed parameters of the motor, where the observed parameters include voltage, current, and back electromotive force;
A first generation module 302, configured to substitute a system model into a sliding mode observer to generate a first-order extended sliding mode observer of the motor;
a first solving module 303, configured to solve, based on the first-order extended sliding-mode observer, a first-order estimated value of the counter potential in a case where the observed parameter reaches the saturation value;
A second generation module 304, configured to substitute the counter potential first-order estimated value as a range output to the first-order extended sliding mode observer to generate a state estimation error;
a third generating module 305, configured to substitute the state estimation error into the sliding mode observer to generate a second-order extended sliding mode observer;
a second solving module 306, configured to solve the back electromotive force estimation value of the second-order extended sliding-mode observer based on the state estimation error;
an operation module 307, configured to perform arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiate the angular velocity value to obtain an angular velocity estimated value of the motor;
The compensation module 308 is configured to input the angular position estimation value and the angular velocity estimation value to a first-order low-pass filter, so as to obtain a final angular position value and an angular velocity value of the motor.
The embodiment of the present invention further provides an electronic device, as shown in fig. 4, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 51 and a memory 52, and the memory 52 stores machine executable instructions that can be executed by the processor 51, and the processor 51 executes the machine executable instructions to implement the above-mentioned angular position or angular velocity compensation method of the fuel motor.
In the embodiment shown in fig. 4, the electronic device further comprises a bus 53 and a communication interface 54, wherein the processor 51, the communication interface 54 and the memory 52 are connected by means of the bus.
The memory 52 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 54 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc. The bus may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
The processor 51 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 51 or by instructions in the form of software. The processor 51 may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), and the like; but may also be a digital signal processor (DIGITAL SIGNAL Processing, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory and the processor 51 reads the information in the memory 52 and in combination with its hardware performs the steps of the motor angular position or angular velocity compensation method of the previous embodiment.
The embodiment of the invention also provides a machine-readable storage medium, which stores machine-executable instructions that, when being called and executed by a processor, cause the processor to implement the above-mentioned motor angular position or angular velocity compensation method, and the specific implementation can refer to the foregoing method embodiment, which is not repeated herein.
The method, the device and the computer program product of the electronic device for compensating the angular position or the angular velocity of the motor provided by the embodiment of the invention comprise a computer readable storage medium storing program codes, and the instructions included in the program codes can be used for executing the method for compensating the angular position or the angular velocity of the motor described in the foregoing method embodiment, and specific implementation can be referred to the method embodiment and will not be repeated here.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method for compensating angular position or angular velocity of a motor, applied to a controller of a flywheel energy storage system, comprising:
Constructing a system model of the motor according to observed parameters of the motor, wherein the observed parameters comprise voltage, current and counter potential;
substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor;
based on the first-order extended sliding mode observer, solving a state first-order estimated value under the condition that the observed parameter reaches a saturated value;
Substituting the state first-order estimated value as range output into the first-order extended sliding mode observer to generate a state estimated error;
Substituting the state estimation error into the sliding mode observer to generate a second-order expansion sliding mode observer;
Solving a back electromotive force estimated value of the second-order expansion sliding mode observer based on the state estimation error; the back electromotive force estimation value is: substituting the error estimated value obtained by the second-order extended sliding-mode observer into an estimated error equation of the first-order extended sliding-mode observer to obtain a compensated counter-potential estimated value;
Performing arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular position estimated value to obtain an angular speed estimated value of the motor;
inputting the angular position estimated value and the angular speed estimated value into a first-order low-pass filter to obtain a final angular position value and an angular speed value of the motor;
Before solving the state first-order estimated value in the case that the observed parameter reaches the saturation value based on the first-order extended sliding-mode observer, the method further includes:
generating an evaluation output matrix based on the evaluation output in the first-order extended sliding mode observer;
solving and obtaining a saturation function of the first-order extended sliding mode observer according to the evaluation output matrix;
Substituting the saturation function into the first-order expansion sliding mode observer, and solving the saturation value;
before substituting the saturation function into the first-order extended sliding-mode observer, the method further includes:
Acquiring a preset constant in the saturation function;
substituting the preset constant into the state estimation error to obtain a saturated interval of the preset constant;
Substituting the saturation function into the first-order extended sliding mode observer based on the saturation interval;
The step of solving the back emf estimation value of the second-order extended sliding-mode observer based on the state estimation error comprises the following steps:
Obtaining a sliding mode gain matrix of a system equation based on the first-order extended sliding mode observer;
and structural rewrite is carried out on the structural equation of the second-order expansion sliding mode observer by utilizing the sliding mode gain matrix;
Obtaining the estimation error equation by utilizing the difference between the sliding mode gain matrix and the state estimation error;
Solving and obtaining the counter potential estimated value based on the estimated error equation;
the method further comprises the steps of:
solving the estimation error equation and obtaining the gain of the observer;
rewriting a state estimation matrix based on the observer gain;
and carrying out solution on the state estimation matrix to the first-order expansion sliding mode observer to obtain the state first-order estimation value.
2. The motor angular position or angular velocity compensation method according to claim 1, characterized in that the method further comprises:
And solving the estimation error equation by using mathematical software or an analytical formula, and obtaining the gain of the observer.
3. The motor angular position or angular velocity compensation method according to claim 1, characterized in that the method further comprises:
And obtaining a final angular position value and an angular speed value of the motor according to a preset time period, and periodically compensating the angular position or the angular speed of the motor according to the time period.
4. A motor angular position or angular velocity compensation device for implementing a motor angular position or angular velocity compensation method according to any one of claims 1-3, characterized in that the device comprises:
the construction module is used for constructing a system model of the motor according to the observation parameters of the motor, wherein the observation parameters comprise voltage, current and counter potential;
The first generation module is used for substituting the system model into a sliding mode observer to generate a first-order expansion sliding mode observer of the motor;
The first solving module is used for solving a counter potential first-order estimated value under the condition that the observed parameter reaches a saturation value based on the first-order extended sliding mode observer;
the second generation module is used for substituting the counter potential first-order estimated value as range output into the first-order expansion sliding mode observer to generate a state estimation error;
the third generation module is used for substituting the state estimation error into the sliding mode observer to generate a second-order expansion sliding mode observer;
The second solving module is used for solving the counter potential estimated value of the second-order extended sliding mode observer based on the state estimated error;
The operation module is used for carrying out arctangent operation on the counter potential estimated value to obtain an angular position estimated value of the motor, and differentiating the angular position estimated value to obtain an angular speed estimated value of the motor;
and the compensation module is used for inputting the angular position estimated value and the angular speed estimated value into a first-order low-pass filter to obtain a final angular position value and an angular speed value of the motor.
5. An electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the method of any one of claims 1 to 3.
6. A computer readable storage medium having stored thereon a computer program, which when run by a processing device performs the steps of the method according to any of claims 1 to 3.
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| CN107482977A (en) * | 2017-09-27 | 2017-12-15 | 重庆大学 | A kind of permanent-magnet synchronous motor rotor position and Rotating speed measring method |
| CN110350835A (en) * | 2019-07-29 | 2019-10-18 | 南通大学 | A kind of permanent magnet synchronous motor method for controlling position-less sensor |
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| CN111969912B (en) * | 2020-08-18 | 2021-11-09 | 西安速迈智能科技有限责任公司 | Sensorless control method and system for permanent magnet synchronous motor |
| CN112448632B (en) * | 2020-11-12 | 2022-05-27 | 湘潭大学 | SPMSM sensorless composite control method of double-sliding-mode observer |
| CN114337416A (en) * | 2021-12-28 | 2022-04-12 | 海信（山东）空调有限公司 | Motor control method and device, compressor, storage medium and air conditioner |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107482977A (en) * | 2017-09-27 | 2017-12-15 | 重庆大学 | A kind of permanent-magnet synchronous motor rotor position and Rotating speed measring method |
| CN110350835A (en) * | 2019-07-29 | 2019-10-18 | 南通大学 | A kind of permanent magnet synchronous motor method for controlling position-less sensor |
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