CN115208259A - Speed measuring method for permanent magnet synchronous motor - Google Patents

Speed measuring method for permanent magnet synchronous motor Download PDF

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Publication number
CN115208259A
CN115208259A CN202210960819.7A CN202210960819A CN115208259A CN 115208259 A CN115208259 A CN 115208259A CN 202210960819 A CN202210960819 A CN 202210960819A CN 115208259 A CN115208259 A CN 115208259A
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value
predicted value
rotating speed
motor rotor
permanent magnet
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张明远
陈立鹏
姜鑫
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Tianjin Jinhang Computing Technology Research Institute
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Tianjin Jinhang Computing Technology Research Institute
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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
    • 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
    • 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
    • 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

Abstract

The application provides a speed measuring method of a permanent magnet synchronous motor, which comprises the following steps: acquiring a first position measured value; converting the first position measured value to obtain a second position measured value; predicting the magnetic pole position of the motor rotor and the rotating speed of the motor rotor based on the second position measured value and the Kalman filtering model to obtain a first position predicted value and a first rotating speed predicted value; and performing conversion calculation on the first position predicted value and the first rotating speed predicted value to obtain a second position predicted value and a second rotating speed predicted value. The speed measuring method of the permanent magnet synchronous motor has high measuring precision and does not need to depend on motor parameters and complex calculation.

Description

Speed measuring method for permanent magnet synchronous motor
Technical Field
The application relates to the technical field of motor speed measurement, in particular to a speed measurement method for a permanent magnet synchronous motor.
Background
Because the permanent magnet synchronous motor has the advantages of wide speed regulation range, high efficiency, simple maintenance and the like, the permanent magnet synchronous motor is widely applied to the servo transmission fields of aerospace, weaponry and the like which need high reliability and high precision operation. The vector control is one of the most commonly used control strategies in a permanent magnet synchronous servo control system, and the core of the vector control lies in decoupling current by using coordinate transformation and respectively controlling direct axis current and quadrature axis current. Therefore, it is necessary to accurately acquire the motor rotor magnetic pole position as the coordinate transformation angle in the vector control.
In the existing technology for detecting the rotating speed of the permanent magnet synchronous motor, the rotating speed of the motor is mainly obtained by carrying out first-order difference calculation on an acquisition angle, and the detection method has poor precision and needs to depend on motor parameters and complex calculation. Therefore, the application provides a speed measuring method of the permanent magnet synchronous motor.
Disclosure of Invention
The purpose of the application is to provide a speed measuring method for a permanent magnet synchronous motor aiming at the problems.
The application provides a speed measuring method of a permanent magnet synchronous motor, which comprises the following steps:
acquiring a first position measured value; the first position actual measurement value is an analog quantity actual measurement value of the absolute position of the magnetic pole of the motor rotor;
converting the first position measured value to obtain a second position measured value; the second position actual measurement value is an actual measurement value of a digital quantity of the absolute position of the magnetic pole of the motor rotor;
predicting the magnetic pole position of the motor rotor and the rotating speed of the motor rotor based on the second position measured value and the Kalman filtering model to obtain a first position predicted value and a first rotating speed predicted value; the first position predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor; the first rotating speed predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor;
performing conversion calculation on the first position predicted value and the first rotating speed predicted value to obtain a second position predicted value and a second rotating speed predicted value; the second position predicted value is a physical quantity predicted value of the magnetic pole position of the motor rotor; and the second rotating speed predicted value is a physical quantity predicted value of the rotating speed of the motor rotor.
According to the technical scheme provided by some embodiments of the present application, based on the second position measured value and the kalman filter model, the magnetic pole position of the motor rotor and the rotation speed of the motor rotor are predicted to obtain a first position predicted value and a first rotation speed predicted value, which specifically includes:
defining the rotation speed error of the motor rotor, wherein the expression of the rotation speed error is as follows:
e(k)＝a(k)-a p (k-1)-ω p (k-1) (1)
wherein k is a natural number greater than zero; e (k) is the rotation speed error of the kth carrier cycle; a (k) is a second position measured value of the kth carrier period; a is a p (k-1) a first position prediction value for the k-1 carrier cycle; omega p (k-1) a first rotation speed prediction value of the k-1 carrier cycle;
based on a Kalman filtering model, defining the first position prediction value and the first rotation speed prediction value of a k carrier cycle, wherein the first position prediction value of the k carrier cycle is expressed as follows:
a p (k)＝(1-k 1 )[a p (k-1)+ω p (k-1)]+k 1 a(k) (2)
wherein k is 1 Is a first filter coefficient with a value range of 0<k 1 <1；
The expression of the first rotation speed prediction value for the k-th carrier period is as follows:
ω p (k)＝(1-k 2 )ω p (k-1)+k 2 [a(k)-a p (k-1)] (3)
wherein k is 2 Is a second filter coefficient with a value range of 0<k 2 <1；
Substituting equation (1) into equations (2) and (3), respectively, yields:
a p (k)＝a p (k-1)+ω p (k-1)+k 1 ·e(k) (4)
ω p (k)＝ω p (k-1)+k 2 ·e(k) (5)。
according to the technical solution provided by some embodiments of the present application, the conversion calculation formula of the second position prediction value θ (k) is as follows:
Figure BDA0003792932920000021
wherein, θ (k) is a second position predicted value of the kth carrier period, and the unit is degree; p is the number of pole pairs of the motor.
The conversion calculation formula of the second rotation speed predicted value n (k) is as follows:
Figure BDA0003792932920000022
wherein n (k) is a second rotating speed predicted value of the kth carrier period, and the unit is rpm; t is a unit of s Is the carrier period in seconds.
According to the technical solution provided in some embodiments of the present application, a specific method for obtaining the first position measured value is as follows:
measuring the absolute position of a magnetic pole of a permanent magnet synchronous motor rotor by using a rotary transformer as a sensor;
the resolver signal is processed by using the AD2S1210 as a decoding chip to obtain a first position measured value, wherein the resolution of the digital output of the decoding chip is set to m bits.
According to the technical scheme provided by some embodiments of the present application, the method further comprises: and judging that the rotating speed error is processed by passing when the absolute value of the difference between the second position actual measurement value of the kth carrier period and the second position actual measurement value of the kth carrier period is larger than a first set value n, namely | a (k) -a (k-1) | > n.
According to the technical scheme provided by some embodiments of the present application, the value of the first set value n is:
Figure BDA0003792932920000031
according to the technical scheme provided by some embodiments of the present application, the method for loop-through processing specifically includes:
when the rotor of the permanent magnet synchronous motor rotates in the positive direction, and the difference between the second position measured value of the k-1 th carrier cycle and the second position measured value of the k-th carrier cycle is larger than a first set value, namely a (k-1) -a (k) > n, the rotating speed error e (k) of the k-th carrier cycle is adjusted to be as follows:
e(k)＝a(k)-a p (k-1)-ω p (k-1)+2 m (8)；
when the rotor of the permanent magnet synchronous motor rotates reversely and the difference between the second position measured value of the kth carrier cycle and the second position measured value of the kth carrier cycle is larger than a first set value, namely a (k) -a (k-1) > n, the rotating speed error e (k) of the kth carrier cycle is adjusted to be as follows:
e(k)＝a(k)-a p (k-1)-ω p (k-1)-2 m (9)。
compared with the prior art, the beneficial effect of this application: the method comprises the steps that a rotary transformer is used as a sensor to measure the absolute position of a magnetic pole of a permanent magnet synchronous motor rotor, an AD2S1210 is used as a decoding chip to process signals of the rotary transformer, and a DSP chip is used for reading the position of the magnetic pole of the motor rotor digitally output by the decoding chip; then, predicting the digital quantity of the magnetic pole position and the rotating speed of the motor rotor based on a Kalman filtering algorithm; finally, carrying out conversion calculation on the predicted value of the digital quantity to obtain the position and the rotating speed value of the permanent magnet synchronous motor; the rotary transformer decoding chip adopted by the invention has simple peripheral circuits and strong anti-interference capability, and is suitable for digital-to-analog conversion of output signals of various rotary transformers; due to the reasons of the transformation ratio difference of the rotary transformer, the nonideal excitation signal, the series disturbance in a signal wire and the like, the position output of the rotary transformer can generate periodic errors and random errors, a Kalman filter is used for predicting the position and the rotating speed of a magnetic pole of a motor rotor, the position error is effectively eliminated, and meanwhile, the rotating speed is subjected to smooth filtering, so that the anti-interference capability of a system is greatly improved; the permanent magnet synchronous motor speed measuring method ingeniously fuses measured data and predicted data, closed-loop control is conducted on errors, the introduced measured data can achieve a correction effect on the predicted data, the error of the predicted data is prevented from being too large, the errors are limited in a certain range, and a good filtering effect is achieved on noise of measured signals, so that the measuring accuracy is high, and meanwhile, dependence on motor parameters and complex calculation can be avoided.
Drawings
Fig. 1 is a flowchart of a method for measuring speed of a permanent magnet synchronous motor according to an embodiment of the present application.
Detailed Description
The following detailed description of the present application is given for the purpose of enabling those skilled in the art to better understand the technical solutions of the present application, and the description in this section is only exemplary and explanatory, and should not be taken as limiting the scope of the present application in any way.
The present embodiment provides a method for measuring speed of a permanent magnet synchronous motor, where a flowchart of the method is shown in fig. 1, and the method includes the following steps:
s1, acquiring a first position measured value; the first position actual measurement value is an analog quantity actual measurement value of the absolute position of the magnetic pole of the motor rotor.
The specific method for acquiring the first position measured value comprises the following steps:
s11, measuring the absolute position of a magnetic pole of a permanent magnet synchronous motor rotor by using a rotary transformer as a sensor; the rotary transformer is characterized in that the rotary transformer comprises the following types: wire wound 80XFW975.
And S12, processing the resolver signal by adopting the AD2S1210 as a decoding chip to obtain a first position measured value, wherein the resolution of the digital output of the decoding chip is set to be m bits.
The resolver' S decoding chip is the ADI AD2S1210 chip, which has A0 and A1 input pins for the AD2S1210 chip, and the AD2S1210 allows the user to read angular position or velocity data directly from the parallel output or through a serial interface. The desired information can be selected using the A0 and A1 inputs. These inputs may also be used to place the device into a configuration mode, which is set as shown in table 1.
TABLE 1
Figure BDA0003792932920000041
The AD2S1210 chip also has RES0 and RES1 input pins, with the resolution of the digital output being selected using the RES0 and RES1 input pins in the normal mode. In the configuration mode, the resolution is selected by setting RES0 and RES1 bits in the control register, and when the common mode and the configuration mode are switched, a user is responsible for ensuring that the resolution set in the control register is consistent with the resolution set by RES0 and RES1 input pins; the resolution setting manner is shown in table 2.
TABLE 2
Figure BDA0003792932920000051
When the chip is used, the chip pins A0 and A1 are configured to be low level, and the working mode is set to be the normal mode position output; then, configuring the chip pins RES0 and RES1 to be high level, and setting the resolution of digital output to be 16 bits; then configuring the chip pin SOE (serial output enable) to be high level, and selecting a parallel interface to be directly connected with the DSP chip; and finally, according to the writing time sequence of the parallel port of the chip, configuring level changes of a pin CS (chip selection), a pin RD (edge triggered logic input) and a SAMPLE.
S2, converting the first position actual measurement value to obtain a second position actual measurement value; the second position actual measurement value is an actual measurement value of a digital quantity of the absolute position of the magnetic pole of the motor rotor.
The DSP chip used in this embodiment is TMS320F28335 of TI, and its development environment is CCS3.3, and the XINTF interface of the DSP chip reads the magnetic pole position of the motor rotor digitally output by the AD2S1210 chip in a certain sampling period, that is, the DSP chip samples the analog data of the resolver acquired by the AD2S1210 chip in a certain sampling period to obtain a corresponding digital quantity, and in this embodiment, the sampling period is 100 microseconds.
S3, predicting the magnetic pole position of the motor rotor and the rotating speed of the motor rotor based on the second position measured value and a Kalman filtering model to obtain a first position predicted value and a first rotating speed predicted value; the first position predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor; the first rotating speed predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor.
The method specifically comprises the following steps:
s31, defining a rotating speed error of the motor rotor, wherein the rotating speed error has the following expression:
e(k)＝a(k)-a p (k-1)-ω p (k-1) (1)
wherein k is a natural number greater than zero; e (k) is the rotation speed error of the kth carrier period; a (k) is a second position measured value of the kth carrier cycle; a is p (k-1) a first position prediction value for a k-1 carrier period; omega p (k-1) is a first predicted value of the rotation speed of the (k-1) th carrier cycle, which is expressed in digital quantity of the rotation of the resolver for each carrier cycle.
S32, defining the first position predicted value and the first rotating speed predicted value of the kth carrier period based on a Kalman filtering model, wherein the expression of the first position predicted value of the kth carrier period is as follows:
a p (k)＝(1-k 1 )[a p (k-1)+ω p (k-1)]+k 1 a(k) (2)
wherein k is 1 The first filter coefficient is the larger the noise is, the smaller the filter coefficient is, and the value range is 0<k 1 <1；
The expression of the first rotation speed prediction value for the k-th carrier period is as follows:
ω p (k)＝(1-k 2 )ω p (k-1)+k 2 [a(k)-a p (k-1)] (3)
wherein k is 2 The second filter coefficient is the larger the noise is, the smaller the filter coefficient is, and the value range is 0<k 2 <1。
The present application estimates speed by differencing the rotor position for a fixed sampling period, setting k 1 And k 2 And the two coefficients, namely the weight, are used for distributing the weight of the predicted value and the acquired actual value of the Kalman model, so that the final estimated values of the position and the rotating speed are obtained.
S33, substituting the formula (1) into the formula (2) and the formula (3) respectively to obtain:
a p (k)＝a p (k-1)+ω p (k-1)+k 1 ·e(k) (4)
ω p (k)＝ω p (k-1)+k 2 ·e(k) (5)。
in this embodiment, the actual value of the digital value of the magnetic pole position of the rotor, which is acquired for the first time when the system is powered on, is used as the first position predicted value a p (0) Predicting the first rotation speed by ω p (0) Is set to 0.
Next, how to obtain the first position prediction value and the first rotation speed prediction value of each carrier cycle of the permanent magnet synchronous motor is exemplified.
Assuming that the absolute position of the rotor magnetic pole of the permanent magnet synchronous motor is 30 degrees when the permanent magnet synchronous motor is electrified, the first position predicted value a is p (0) Is a binary number corresponding to 30 DEG, the first rotation speed predicted value omega p (0) Set to 0, then:
for the 1 st carrier cycle, i.e. k = 1:
according to equation (1), the rotational speed error is: e (1) = a (1) -a p (0)-ω p (0) Wherein a is p (0) And ω p (0) All the values are known values, a (1) is a second position actual measurement value actually obtained by the carrier period DSP chip, namely, is also a known value, so that e (1) can be obtained through the known value;
according to equation (4), the first position prediction value is: a is p (1)＝a p (0)+ω p (0)+k 1 e (1) wherein a p (0) And ω p (0) All are known values, e (1) can be found from the known values, also known values, k 1 Is a first filter coefficient with a value range of 0<k 1 <1, in this example, k 1 Since the value of (a) can be 0.1, a can be obtained from the above known value p (1)；
According to equation (5), the first predicted speed is: omega p (1)＝ω p (0) + e (1), wherein ω p (0) For a known value, e (1) is found from a known value, which is also a known value, so ω can be found from the known value p (1)。
For the 2 nd carrier period, i.e. k =2,
according to equation (1), the rotational speed error is: e (2) = a (2) -a p (1)-ω p (1) Wherein, a (2) is a second position measured value actually obtained by the carrier period DSP chip, a p (1) And ω p (1) The calculation results of the previous carrier period are all known values, so that e (2) can be obtained by the known values;
according to equation (4), the first position prediction value is: a is p (2)＝a p (1)+ω p (1)+k 1 e (2) wherein, a p (1) And ω p (1) All the results of the previous carrier period are known values, and e (2) can be obtained from the known values, and also known values, so that a can be obtained from the known values p (2)；
According to equation (5), the first predicted speed is: omega p (2)＝ω p (1) + e (2), wherein ω is p (1) As a result of the previous carrier period, which is a known value, e (2) is found from the known value, which is also a known value, and thus ω can be found from the known value p (2)。
By analogy, according to a first position predicted value and a first rotating speed predicted value obtained in the last carrier cycle and a second position measured value actually obtained in the current carrier cycle, a first position predicted value and a first rotating speed predicted value of the motor rotor in each carrier cycle can be obtained through an iterative operation mode.
S4, performing conversion calculation on the first position predicted value and the first rotating speed predicted value to obtain a second position predicted value and a second rotating speed predicted value; the second position predicted value is a physical quantity predicted value of the magnetic pole position of the motor rotor; and the second rotating speed predicted value is a physical quantity predicted value of the rotating speed of the motor rotor.
The conversion calculation formula of the second position prediction value θ (k) is as follows:
Figure BDA0003792932920000071
wherein, θ (k) is a second position predicted value of the kth carrier period, and the unit is degree; p is the number of pole pairs of the motor.
The conversion calculation formula of the second rotation speed predicted value n (k) is as follows:
Figure BDA0003792932920000072
wherein n (k) is a second rotating speed predicted value of the kth carrier period, and the unit is rpm; t is s Is the carrier period in seconds.
Further, in step S3, the method further includes: and judging that the rotation speed error is processed by passing when the absolute value of the difference between the second position actual measurement value of the kth carrier cycle and the second position actual measurement value of the kth carrier cycle is larger than a first set value n, namely | a (k) -a (k-1) | > n.
In this embodiment, the value of the first setting value n is:
Figure BDA0003792932920000081
specifically, the method for processing the loop specifically includes:
when the rotor of the permanent magnet synchronous motor rotates in the positive direction, and the difference between the second position measured value of the k-1 th carrier cycle and the second position measured value of the k-th carrier cycle is larger than a first set value, namely a (k-1) -a (k) > n, the rotating speed error e (k) of the k-th carrier cycle is adjusted to be as follows:
e(k)＝a(k)-a p (k-1)-ω p (k-1)+2 m (8)；
when the rotor of the permanent magnet synchronous motor rotates reversely and the difference between the second position measured value of the kth carrier period and the second position measured value of the kth carrier period is larger than a first set value, namely a (k) -a (k-1) > n, adjusting the rotation speed error e (k) of the kth carrier period to be:
e(k)＝a(k)-a p (k-1)-ω p (k-1)-2 m (9)。
to ensure the accuracy of the calculation result, it is necessary to perform over-rotation processing on the speed error, such asIf the forward over-lap condition occurs, the rotating speed error and the full deviation digital quantity need to be added, and if the reverse over-lap condition occurs, the rotating speed error and the full deviation digital quantity need to be subtracted, wherein the full deviation digital quantity is 2 16 Next, how to perform the lap processing will be exemplified.
In this embodiment, since the resolution of the digital output of the AD2S1210 chip is set to 16 bits, the range of the second position actual value is between 0 and 65536, when the pmsm is rotating in the forward direction, the second position actual value of the kth carrier cycle is larger than the second position actual value of the kth-1 carrier cycle, and when the second position actual value acquired in a certain carrier cycle is smaller than the previous carrier cycle, for example, the second position actual value in the previous carrier cycle is 65530, and the second position actual value acquired in the current carrier cycle is 20, 65530-20=65510, 65510>65530/2, if it means that the forward over-winding phenomenon occurs, the second position measured value of the current carrier period is adjusted by adding the full offset value, i.e. adding 2 16 I.e. the rotational speed error plus the full offset number.
When the permanent magnet synchronous motor rotates reversely, the second position actual value of the kth carrier cycle is smaller than the second position actual value of the kth-1 carrier cycle, and when the second position actual value acquired in a certain carrier cycle is larger than the previous carrier cycle, for example, the second position actual value of the previous carrier cycle is 20, and the second position actual value acquired in the current carrier cycle is 65530, 65530-20=65510, 65510>65530/2, if reverse over-loop occurs, adjusting the second position measured value of the current carrier cycle by subtracting the full offset value, i.e. subtracting 2 16 I.e. the speed error minus the full offset number.
The method for measuring the speed of the permanent magnet synchronous motor provided by the embodiment of the application comprises the steps of firstly, taking a rotary transformer as a sensor to measure the absolute position of a magnetic pole of a rotor of the permanent magnet synchronous motor, taking an AD2S1210 as a decoding chip to process a signal of the rotary transformer, and reading the position of the magnetic pole of the rotor of the motor digitally output by the decoding chip by using a Digital Signal Processor (DSP) chip XINTF interface; then, predicting the digital quantity of the magnetic pole position and the rotating speed of the motor rotor based on a Kalman filtering algorithm; and finally, performing conversion calculation on the predicted value of the digital quantity. The rotary transformer decoding chip adopted by the invention has simple peripheral circuits and strong anti-interference capability, and is suitable for digital-to-analog conversion of output signals of various rotary transformers; because of the reasons such as the variable ratio difference of the rotary transformer, the nonideal of an excitation signal, the series disturbance in a signal wire and the like, the position output of the rotary transformer can generate periodic errors and random errors.
The principles and embodiments of the present application are described herein using specific examples, which are only used to help understand the method and its core idea of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are no specific structures which are objectively limitless due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes can be made without departing from the principle of the present invention, and the technical features mentioned above can be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention in other instances, which may or may not be practiced, are intended to be within the scope of the present application.

Claims (7)

1. A speed measuring method for a permanent magnet synchronous motor is characterized by comprising the following steps:
acquiring a first position measured value; the first position actual measurement value is an analog quantity actual measurement value of the absolute position of the magnetic pole of the motor rotor;
converting the first position measured value to obtain a second position measured value; the second position actual measurement value is an actual measurement value of a digital value of the absolute position of the magnetic pole of the motor rotor;
predicting the magnetic pole position of the motor rotor and the rotating speed of the motor rotor based on the second position measured value and the Kalman filtering model to obtain a first position predicted value and a first rotating speed predicted value; the first position predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor; the first rotating speed predicted value is a digital quantity predicted value of the magnetic pole position of the motor rotor;
performing conversion calculation on the first position predicted value and the first rotating speed predicted value to obtain a second position predicted value and a second rotating speed predicted value; the second position predicted value is a physical quantity predicted value of the magnetic pole position of the motor rotor; and the second rotating speed predicted value is a physical quantity predicted value of the rotating speed of the motor rotor.
2. The method according to claim 1, wherein predicting a magnetic pole position of the motor rotor and a rotation speed of the motor rotor based on the second position measured value and the kalman filter model to obtain a first position predicted value and a first rotation speed predicted value specifically comprises:
defining a motor rotor rotation speed error, wherein the expression of the rotation speed error is as follows:
e(k)＝a(k)-a p (k-1)-ω p (k-1) (1)
wherein k is a natural number greater than zero; e (k) is the rotation speed error of the kth carrier period; a (k) is a second position measured value of the kth carrier cycle; a is a p (k-1) a first position prediction value for the k-1 carrier cycle; omega p (k-1) a first rotation speed prediction value of the k-1 carrier cycle;
based on a Kalman filtering model, defining the first position prediction value and the first rotation speed prediction value of a k-th carrier period, wherein an expression of the first position prediction value of the k-th carrier period is as follows:
a p (k)＝(1-k 1 )[a p (k-1)+ω p (k-1)]+k 1 a(k) (2)
wherein k is 1 Is a first filter coefficient with a value range of 0<k 1 <1；
The expression of the first rotation speed prediction value for the k-th carrier period is as follows:
ω p (k)＝(1-k 2 )ω p (k-1)+k 2 [a(k)-a p (k-1)] (3)
wherein k is 2 Is a second filter coefficient with a value range of 0<k 2 <1；
Substituting equation (1) into equations (2) and (3), respectively, yields:
a p (k)＝a p (k-1)+ω p (k-1)+k 1 ·e(k) (4)
ω p (k)＝ω p (k-1)+k 2 ·e(k) (5)。
3. the method according to claim 2, wherein said second predicted position value θ (k) is converted by the following formula:
Figure FDA0003792932910000021
wherein, θ (k) is a second position predicted value of the kth carrier period, and the unit is degree; p is the number of pole pairs of the motor.
The conversion calculation formula of the second rotation speed predicted value n (k) is as follows:
Figure FDA0003792932910000022
wherein n (k) is a second rotating speed predicted value of the kth carrier period, and the unit is rpm; t is s Is the carrier period in seconds.
4. The method according to claim 3, wherein the specific method for obtaining the first position measured value is as follows:
measuring the absolute position of a magnetic pole of a permanent magnet synchronous motor rotor by using a rotary transformer as a sensor;
the resolver signal is processed by using the AD2S1210 as a decoding chip to obtain a first position measured value, wherein the resolution of the digital output of the decoding chip is set to m bits.
5. The method for measuring the speed of the permanent magnet synchronous motor according to claim 4, further comprising the following steps: and judging that the rotating speed error is processed by passing when the absolute value of the difference between the second position actual measurement value of the kth carrier period and the second position actual measurement value of the kth carrier period is larger than a first set value n, namely | a (k) -a (k-1) | > n.
6. The method according to claim 5, characterized in that said first set value n is:
Figure FDA0003792932910000023
7. the method for measuring the speed of the permanent magnet synchronous motor according to claim 5, wherein the method for the over-turn processing specifically comprises the following steps:
when the rotor of the permanent magnet synchronous motor rotates in the positive direction, and the difference between the second position measured value of the k-1 th carrier cycle and the second position measured value of the k-th carrier cycle is larger than a first set value, namely a (k-1) -a (k) > n, the rotating speed error e (k) of the k-th carrier cycle is adjusted to be:
e(k)＝a(k)-a p (k-1)-ω p (k-1)+2 m (8)；
when the rotor of the permanent magnet synchronous motor rotates reversely and the difference between the second position measured value of the kth carrier period and the second position measured value of the kth carrier period is larger than a first set value, namely a (k) -a (k-1) > n, adjusting the rotation speed error e (k) of the kth carrier period to be:
e(k)＝a(k)-a p (k-1)-ω p (k-1)-2 m (9)。
CN202210960819.7A 2022-08-11 2022-08-11 Speed measuring method for permanent magnet synchronous motor Pending CN115208259A (en)

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