CN115224993A - Redundancy control system for failure scene of position sensor of permanent magnet synchronous motor for vehicle - Google Patents
Redundancy control system for failure scene of position sensor of permanent magnet synchronous motor for vehicle Download PDFInfo
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- CN115224993A CN115224993A CN202110409116.0A CN202110409116A CN115224993A CN 115224993 A CN115224993 A CN 115224993A CN 202110409116 A CN202110409116 A CN 202110409116A CN 115224993 A CN115224993 A CN 115224993A
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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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- 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
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A redundant control system for a failure scenario of a permanent magnet synchronous motor position sensor for a vehicle, comprising: the device comprises a current transformation module, a coordinate transformation module, a voltage transformation module and a position transformation module. The invention can realize the starting and the full-speed range control of the motor when key components such as the rotary transformer and the like fail by arranging the current conversion module, the coordinate conversion module, the voltage conversion module and the position conversion module, provides redundancy function backup for a power assembly control system, thereby continuously outputting power in a position sensor-free control mode when position sensor components such as the rotary transformer and the like fail, and realizing the position sensor-free control in a static starting and full-speed range.
Description
Technical Field
The invention relates to a technology in the field of automobile motors, in particular to a redundant control system for a failure scene of a position sensor of an automobile permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is widely applied to new energy automobile power assembly components due to the characteristics of small volume, high power density, flexible control and the like. The permanent magnet synchronous motor drive control system generally needs to rely on a sensor such as a rotary transformer to obtain position signal feedback of a motor rotor, so as to realize current and torque control of the motor. The use of a rotary transformer or the like increases the connection harness and the system volume, and generally requires an additional position decoding chip to demodulate the position signal, which also results in an increase in manufacturing cost. In addition, the reliability of the system is reduced due to the added elements and the connecting wire harness, and when the rotary transformer or the connecting wire harness breaks down, the driving control system cannot control the output torque of the motor, so that the automobile loses power and is anchored, and negative driving experience is brought to passengers.
Disclosure of Invention
The invention provides a redundant control system aiming at the failure scene of a position sensor of a permanent magnet synchronous motor for a vehicle, which aims at the defects in the prior art, can realize the starting and full-rotating-speed range control of the motor when key components such as a rotary transformer and the like fail by arranging a current conversion module, a coordinate conversion module, a voltage conversion module and a position conversion module, and provides redundant function backup for a power assembly control system, so that power can be continuously output in a non-position sensor control mode when the position sensor components such as the rotary transformer and the like fail.
The invention is realized by the following technical scheme:
the invention relates to a control system for the failure of a position sensor of a permanent magnet synchronous motor for a vehicle, which comprises: current transformation module, coordinate transformation module, voltage transformation module and position transformation module, wherein: the current transformation module is connected with the coordinate transformation module, receives and transforms a current instruction and transmits the current instruction to the coordinate transformation module, the coordinate transformation module is connected with the voltage transformation module, receives and transforms a voltage instruction, a current instruction and the position of a motor rotor and transmits the voltage instruction, the current instruction and the position of the motor rotor to the current transformation module and the voltage transformation module respectively, the voltage transformation module receives and transforms the voltage instruction and outputs driving voltage to drive the motor to operate, the position transformation module receives and transforms and outputs a rotor position related signal, and the rotor position signal under different working states of the module is output.
The current conversion module comprises: the current instruction that links to each other distributes unit and current loop control unit, wherein: the current instruction distribution unit receives the torque instruction, obtains a current instruction and transmits the current instruction to the current loop control unit; and the current loop control unit receives the current instruction, calculates to obtain a voltage instruction, sums the voltage instruction with the output result of the position conversion module and transmits the sum to the coordinate conversion module.
The coordinate transformation module comprises: a first coordinate transformation unit and a second coordinate transformation unit connected, wherein: the first coordinate transformation unit receives the voltage command and the position of the motor rotor, calculates the voltage command and transmits the voltage command to the voltage transformation module; and the second coordinate transformation unit receives the three-phase current feedback value and the position of the motor rotor, calculates to obtain current feedback and transmits the current feedback to the current transformation module.
The voltage conversion module comprises: pulse width modulation unit, inverter unit and the motor unit that links to each other in proper order, wherein: the pulse width modulation unit receives the voltage command, calculates to obtain six paths of driving signals, outputs driving voltage and transmits the driving voltage to the inverter unit; the inverter unit receives six paths of driving signals, modulates the direct-current voltage to generate three driving voltages and transmits the three driving voltages to the motor unit; the motor unit receives and outputs three-phase output voltage and torque.
The inverter unit is a three-phase six-bridge arm power supply type topological structure.
The position conversion module comprises: a position sensor unit, a position decoding unit, a position signal selection unit and a position observer unit, wherein: the position sensor unit generates a feedback motor rotor position signal and transmits the feedback motor rotor position signal to the position decoding unit; the position decoding unit receives the motor rotor position signal, calculates to obtain a rotor position sampling signal and transmits the rotor position sampling signal to the position signal selection unit; the position signal selection unit receives the rotor position sampling signal and the rotor position estimation signal, and selects and outputs the rotor position signal according to the working states of the position sensor unit and the position decoding unit; the position observer unit receives a feedback value, a voltage instruction and a torque instruction of the three-phase current of the motor and outputs an injection voltage, a rotor position estimation signal, a motor electrical angular velocity estimation signal and a motor rotating speed estimation signal.
The position observer unit includes: the device comprises a third coordinate transformation unit, a fourth coordinate transformation unit, a polarity identification unit for identifying the initial rotor position when the motor is started in a static state, a high-frequency injection observer unit, a flux linkage observer unit, an injection voltage selection unit for selecting injection voltage in a starting stage, an angle compensation unit and a phase-locked loop unit.
And the third coordinate transformation unit receives a feedback value of the three-phase current of the motor, calculates to obtain a coordinate system current, and transmits the coordinate system current to the fourth coordinate transformation unit and the flux linkage observer unit.
And the fourth coordinate transformation unit receives the current and the rotor position estimation signal, calculates to obtain a coordinate system current, and respectively transmits the coordinate system current to the polarity identification unit and the high-frequency injection observer unit.
The high-frequency injection observer unit comprises: a high-frequency voltage generating unit and an angle error calculating unit connected to each other, wherein: the high-frequency voltage generation unit receives the motor rotating speed estimation signal, generates a high-frequency voltage and a voltage polarity signal and transmits the high-frequency voltage and the voltage polarity signal to the angle error calculation unit; the angle error calculation unit receives the current and voltage polarity signals and calculates a high frequency injection angle error signal.
The flux linkage observer unit includes: a low-pass filtering unit, a phase compensation unit and an error calculation unit, wherein: the low-pass filtering unit receives the electrical angular velocity, calculates a signal to adaptively select a cut-off frequency, and outputs a voltage signal after low-pass filtering; the phase compensation unit receives the low-pass filtering voltage signal, compensates the delay of the low-pass filtering, subtracts a flux linkage generated by phase current, and outputs an effective flux linkage to the error calculation unit; the error calculation unit receives the effective flux linkage and the rotor position estimation signal and calculates a flux linkage observation angle error signal.
The angle compensation unit receives the rotating speed estimation signal and the torque command, acquires an estimation angle error, and adds the estimation angle error and the polarity compensation angle to obtain an estimation angle compensation value.
The phase-locked loop unit includes: error selection unit, proportional-integral control unit, integral unit and low pass filter unit, wherein: the error selection unit receives the rotating speed estimation signal, selects an angle error signal and transmits the angle error signal to the proportional-integral control unit; the proportional-integral control unit receives the angle error signal, calculates to obtain an electric angular velocity estimation signal before filtering, and transmits the electric angular velocity estimation signal to the integral unit and the low-pass filtering unit; the integral unit receives the angle signal and adds the angle signal with the estimated angle compensation value to obtain a rotor position estimated signal; the low-pass filtering unit receives the electric angular velocity estimation signal before filtering, low-pass filtering processing is carried out to obtain an electric angular velocity estimation signal of the motor, and the electric angular velocity estimation signal of the motor is multiplied by the coefficient to obtain a rotating speed estimation signal of the motor.
The position sensor unit includes: the device comprises a software initialization unit, a bit unit for reading the EEPROM position sensor fault signal flag, a position sensor fault judgment unit, a position sensor signal selection unit, a software internal estimation position signal selection unit, a main program operation unit, a power-off permission judgment unit and a position sensor fault storage unit, wherein:
the software initialization unit executes initialization work of external equipment and software variables of the controller after the system is powered on, and the program execution unit reads the EEPROM position sensor fault signal flag bit unit after the initialization work is finished;
the position sensor fault signal flag reading unit reads a position sensor fault signal flag which is pre-stored in the EEPROM to a software memory A through an interface function of an NVM module in basic software, and then executes a position sensor fault judgment unit;
the position sensor fault judging unit reads the flag bit in the memory A and judges whether the position sensor has a fault or not, when the position sensor has no fault, the position sensor signal selecting unit is executed, and when the position sensor has a fault, the position sensor signal selecting unit internally estimated by software is executed;
the position sensor signal selection unit updates the position sensor selection flag bit to be in a position sensor state and writes the position sensor state into the memory B;
the software internal estimated position signal selection unit updates the position sensor selection flag bit to be in a state without a position sensor and writes the position sensor selection flag bit into the memory B;
the main program operation unit reads a sensor selection flag bit in the memory B, a position signal for controlling the motor is switched into a corresponding signal source according to the state bit, and software position estimation and rotation signal diagnosis are periodic execution functions;
the power-off permission judging unit periodically monitors the power-off permission flag bit of the system, executes the power-off permission flag bit when the system permits the small shop flag bit, and stores the position sensor fault into the EEPROM execution unit, otherwise, continues to execute the main program operation unit;
and the position sensor fault is stored in an EEPROM execution unit, a position sensor fault signal zone bit is stored in a designated EEPROM space through an interface function of an NVM module in basic software, and the system is powered off after the completion.
The invention relates to a control method of the system, which comprises the following specific steps:
step 1: the current instruction distribution unit receives a torque instruction, obtains a current instruction and transmits the current instruction to the current loop control unit, and the current loop control unit receives the current instruction, calculates the current instruction to obtain a voltage instruction, sums the voltage instruction with an output result of the position conversion module and transmits the sum to the coordinate conversion module;
step 2: the first coordinate transformation unit receives a voltage command and the position of the motor rotor, calculates the voltage command and transmits the voltage command to the voltage transformation module, and the second coordinate transformation unit receives a three-phase current feedback value and the position of the motor rotor, calculates the current feedback and transmits the current feedback to the current transformation module;
and step 3: the pulse width modulation unit receives a voltage command, calculates to obtain six driving signals, outputs driving voltage and transmits the driving voltage to the inverter unit, the inverter unit receives the six driving signals, modulates direct-current voltage to generate three driving voltages and transmits the three driving voltages to the motor unit, and the motor unit receives and outputs three-phase output voltage and torque;
and 4, step 4: the position observer unit receives a feedback value, a voltage instruction and a torque instruction of a three-phase current of the motor and outputs an injection voltage, a rotor position estimation signal, a motor electrical angular velocity estimation signal and a motor rotating speed estimation signal, the position sensor unit generates a feedback motor rotor position signal and transmits the feedback motor rotor position signal to the position decoding unit, the position decoding unit receives the motor rotor position signal, a rotor position sampling signal is obtained through calculation and is transmitted to the position signal selection unit, the position signal selection unit receives the rotor position sampling signal and the rotor position estimation signal and selects a rotor position signal to output according to the working states of the position sensor unit and the position decoding unit, and normal operation of a motor driving system is ensured.
The specific working modes of the position signal selection unit are as follows: when the position sensor unit and the position decoding unit are in failure partially or simultaneously, the rotor position estimation signal is selected as the rotor position signal to be output.
Technical effects
The invention integrally solves the defect that the existing permanent magnet synchronous motor for the vehicle cannot continuously operate under the condition that the position sensor fails; compared with the prior art, the method can switch the control mode to the control mode without the position sensor by switching on and off the key after detecting that the position sensor fails, thereby solving the problem of inconvenience brought to a driver after the position sensor fails.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a position observer according to the present invention;
FIG. 3 is a schematic diagram of a high frequency injection observer according to the present invention;
FIG. 4 is a schematic view of a flux linkage observer unit according to the present invention;
FIG. 5 is a schematic view of an angle compensation structure according to the present invention
FIG. 6 is a diagram illustrating a phase-locked loop structure according to the present invention;
FIG. 7 is a schematic view of a polarity identification structure according to the present invention;
FIG. 8 is a schematic diagram of a position sensor signal switching logic configuration according to the present invention;
FIG. 9 is a schematic diagram illustrating the effects of the embodiment;
in the figure: a current command distributing unit 1, a current loop control unit 2, a first coordinate transformation unit 3, a second coordinate transformation unit 4, a pulse width modulation unit 5, an inverter unit 6, a motor unit 7, a position sensor unit 8, a position observer unit 9, a position decoding unit 10, a position signal selection unit 11, a third coordinate transformation unit 12, a fourth coordinate transformation unit 13, a polarity identifying unit 14, a high frequency injection observer unit 15, a flux linkage observer unit 16, an injection voltage selection unit 17, an angle compensation unit 18, a phase-locked loop unit 19, a high frequency voltage generation unit 20, an angle error calculation unit 21, a low pass filter unit 22, a phase compensation unit 23, an error calculation unit 24, an error selection unit 25, a proportional integral control unit 26, an integrating unit 27, a low pass filter unit 28, a software initialization unit 29, a read EEPROM position sensor fault signal flag bit unit 30, a position sensor fault determination unit 31, a position sensor signal selection unit 32, a software internal estimated position signal selection unit 33, an EEPROM operation unit 34, a power-down permission determination unit 35, a position sensor fault storage to an execution unit 36, a current transformation module 37, a position transformation module 38, a voltage transformation module 40, and an EEPROM conversion module 40.
Detailed Description
As shown in fig. 1, a system for controlling failure of a position sensor of a permanent magnet synchronous motor for a vehicle according to the present embodiment includes: a current transformation module 37, a coordinate transformation module 38, a voltage transformation module 39, and a position transformation module 40, wherein: the current transformation module 37 is connected with the coordinate transformation module 38, receives and transforms a current instruction and transmits the current instruction to the coordinate transformation module 38, the coordinate transformation module 38 is connected with the voltage transformation module 39, receives and transforms a voltage instruction, a current instruction and a motor rotor position and transmits the voltage instruction, the current instruction and the motor rotor position to the current transformation module 37 and the voltage transformation module 39 respectively, the voltage transformation module 39 receives and transforms the voltage instruction and outputs a driving voltage to drive the motor to operate, the position transformation module 40 receives and transforms a rotor position related signal, and outputs a rotor position signal under different working states of the module.
The current transformation module 37 includes: a current instruction distribution unit 1 and a current loop control unit 2 connected to each other, wherein: the current command distribution unit 1 receives the torque command T e Obtaining d and q axis current commands
And transmits to the current loop control unit 2; the current loop control unit 2 receives d-axis and q-axis current commands
And d, q-axis current feedback
D and q axis voltage command u is obtained through calculation d 、u q D-axis voltage command u d D-axis injection voltage generated by the position observer unit 9
The summed result is compared with a q-axis voltage command u q And transmitted to the coordinate transformation unit 103.
The coordinate transformation module 38 includes: a first coordinate transformation unit 3 and a second coordinate transformation unit 4 connected.
The first coordinate transformation unit 3 receives a voltage command and a motor rotor position theta e And calculating to obtain a voltage command u under an alpha beta coordinate system α 、u β And transmits to the pulse width modulation unit 5, specifically:
the second coordinate transformation unit 4 receives a three-phase current feedback value i a 、i b 、i c And motor rotor position θ e Calculating current feedback of d and q axes
And transmits to the current loop control unit 2, specifically:
the voltage conversion module 39 includes: pulse width modulation unit 5, inverter unit 6 and the motor unit 7 that link to each other in proper order, wherein: the pulse width modulation unit 5 receives the voltage command u α 、u β Six paths of driving signals are calculated and generated by adopting a Space Vector Pulse Width Modulation (SVPWM) strategy, and driving voltage is output and transmitted to the inverter unit 6; the inverter unit 6 receives the six driving signals, modulates the direct-current voltage to generate three driving voltages and transmits the three driving voltages to the motor unit 7; the motor unit 7 is a permanent magnet synchronous motor, receives and outputs three-phase output voltage and outputs torque, and provides power output for automobile parts.
The inverter unit 6 is a three-phase six-leg power supply type topological structure, and the adopted power device is an Insulated Gate Bipolar Transistor (IGBT).
The position conversion module 40 includes: a position sensor unit 8, a position decoding unit 10, a position signal selection unit 11 and a position observer unit 9, wherein: the position sensor unit 8 generates a feedback motor rotor position signal and transmits the feedback motor rotor position signal to the position decoding unit 10; the position decoding unit 10 receives the motor rotor position signal and calculates to obtain a rotor position sampling signal theta s And transmitted to the position signal selection unit 11; the position signal selection unit 11 receives the rotor position sampling signal theta from the position decoding unit 10 s And a rotor position estimation signal theta from the position observer unit 9 est And according to the working state of the position sensor unit 8 and the position decoding unit 10, selecting a rotor position signal to output; the position observer unit 9 receives the feedback value i of the three-phase current of the motor a 、i b 、i c Voltage command u α 、u β And torque command T e Output d-axis injection voltage
Rotor position estimation signal theta est Electric angular velocity estimation signal omega of motor est And motor speed estimation signal n est 。
The position sensor unit 8 is a physical sampling device that rotates coaxially with the motor unit 7, and may be an element such as a photoelectric encoder.
The working modes of the position signal selection unit 11 are as follows: when the position sensor unit 8 and the position decoding unit 10 are normally operated, the rotor position sampling signal θ is selected s As rotor position signal theta e Output of the rotor position sampling signal theta when the position sensor unit 8 and the position decoding unit 10 are partially or simultaneously disabled s When not available, the rotor position estimation signal theta is selected est As rotor position signal theta e And outputting to ensure that the motor driving system can continuously operate.
The position observer unit 9 comprises: a third coordinate transformation unit 12, a fourth coordinate transformation unit 13, a polarity identification unit 14 for identifying the initial rotor position when the motor is started in a stationary state, a high frequency injection observer unit 15, a flux linkage observer unit 16, an injection voltage selection unit 17 for selecting an injection voltage during a start-up phase, an angle compensation unit 18 and a phase locked loop unit 19.
The third coordinate transformation unit 12 receives a feedback value i of the three-phase current of the motor a 、i b 、i c Calculating to obtain the current i under the alpha beta coordinate system α 、i β And transmitted to the fourth coordinate transformation unit 13 and the flux linkage observer unit 16.
The above-mentionedThe fourth coordinate transformation unit 13 receives the current i in the α β coordinate system α 、i β And rotor position estimation signal theta est D and q axis currents i are obtained through calculation d 、i q And transmitted to the polarity identification unit 14 and the high frequency injection observer unit 15, respectively.
The polarity identification unit 14 is used for identifying the polarity of the initial rotor position when the motor is started in a static state, and d-axis pulse voltages with equal magnitude and opposite polarity are injected into the motor unit 7 in sequence
Comparing the injection voltages with different polarities to generate d-axis current i d The magnitude of the absolute value of the peak value, the corresponding polarity of the current initial rotor position is judged, and a polarity compensation angle theta is generated pol When the polarity is N-pole, θ pol =0 °, θ when the polarity is S-pole pol ＝180°。
As shown in fig. 7, a schematic diagram of signals of a polarity identification process in this embodiment is provided, where the polarity identification process includes forward pulse voltage injection, forward current recovery, reverse voltage pulse injection, and reverse current recovery, and an absolute value of a peak value of a d-axis current during the forward pulse voltage injection is greater than an absolute value of a peak value of a d-axis current during the reverse pulse voltage injection in the diagram, which indicates that the polarity corresponding to the initial rotor position is S-pole, and thus a final polarity compensation angle θ is obtained pol =180 °. On the contrary, if the absolute value of the d-axis current peak value during positive pulse voltage injection is smaller than the absolute value of the d-axis current peak value during negative pulse voltage injection, which indicates that the corresponding polarity of the initial rotor position is N-pole, the final polarity compensation angle θ is obtained pol ＝0°。
The high frequency injection observer unit 15 comprises: a high-frequency voltage generating unit 20 and an angle error calculating unit 21 connected to each other, wherein: the high-frequency voltage generating unit 15 receives the motor speed estimation signal n est Generating a d-axis high-frequency voltage
And voltage polarity signal
When the motor speed estimates the signal n est ≤n hfi Generating d-axis high-frequency voltage according to set amplitude and frequency
And voltage polarity signal
When the motor speed estimates the signal n est ＞n hfi Make the time
And voltage polarity signal
Is kept at zero, n hfi Is a preset rotational speed threshold value and is transmitted to the angle error calculation unit 21. In this embodiment, d-axis high frequency voltage
Is composed of voltage signals with equal amplitude, opposite polarity and 50% duty ratio, and has a period T c 。
The angle error calculation unit 21 receives the q-axis current i q And voltage polarity signal
Calculating a high frequency injection angle error signal Δ θ hfi (ii) a High frequency injection angle error signal
Wherein: t denotes the sampling instant, K h The high frequency injection angle error correction coefficient.
The flux linkage observer unit 16 includes: a low pass filtering unit 22, a phase compensation unit 23 and an error calculation unit 24 s Is the motor stator resistance, L q Is a q-axis inductance of a motor, wherein: the low-pass filtering unit 22 receives the electrical angular velocity ω est Calculating a signal self-adaptive selection cut-off frequency, and outputting a voltage signal after low-pass filtering; the phase compensation unit 23 receives the low-pass filtered voltage signal, compensates the delay of the low-pass filtering, subtracts the flux linkage generated by the phase current, and outputs the effective flux linkage under the alpha-beta coordinate system
An error calculation unit; an error calculation unit receives the effective flux linkage
And rotor position estimation signal theta est Calculating flux linkage observation angle error signal
In this embodiment, the flux linkage observation angle error signal
Wherein:
the angle error correction factor is observed for flux linkage.
The injection voltage selection unit 17 is used for selecting the injection voltage of the d axis in the starting stage
The working modes are as follows: when the motor unit 7 is started in a stationary state, a d-axis high-frequency voltage is first injected through the high-frequency injection observer unit 15
That is, the injection voltage selection unit 17 selects the d-axis high-frequency voltage
Injecting voltage for d-axis
High frequency injection angle error signal delta theta calculated by high frequency injection observer unit 15 hfi The rotor position estimation signal theta is processed by the phase locked loop unit 19 est As an initial rotor position; then the high frequency injection observer unit 15 and the phase locked loop 19 unit are not operated any more, the polarity identification unit 14 starts operation, and the injection voltage selection unit 17 selects the d-axis pulse voltage
Injecting voltage for d-axis
The polarity identification unit 14 identifies the current i according to the d-axis d Completing the polarity identification and updating the polarity compensation angle theta pol (ii) a Finally, the polarity identification unit 14 stops operating, the high-frequency injection observer unit 15 and the phase-locked loop 19 unit recover to operate, and the injection voltage selection unit 17 selects the d-axis high-frequency voltage
Injecting voltage for d-axis
At the moment, the motor driving system enters a position closed loop operation mode, and the motor can be driven to operate according to a torque command in a mode shown in the figure 1.
As shown in fig. 5, the angle compensation unit 18 receives the rotation speed estimation signal n est And torque command T e Obtaining the error of the estimated angle under the current working condition and compensating the angle theta with the polarity pol Adding to obtain an estimated angle compensation value theta com 。
The phase-locked loop unit 19 includes: an error selection unit 25, a proportional-integral control unit 26, an integration unit 27 and a low-pass filtering unit 28, wherein: the error selection unit 25 receives the speed estimation signal n est When n is est <n 1 While, the high frequency injection angle error signal Delta theta is selected hfi As the angle error signal Δ θ, when n est >n 2 Selecting flux linkage observation angle error signal
As the angle error signal Δ θ, when n 1 ≤n est ≤n 2 While, it remains unchanged and is transmitted to the proportional integral control unit 26; the proportional-integral control unit 26 receives the angle error signal delta theta, and calculates to obtain an electric angular velocity estimation signal omega before filtering e To the integrating unit 27 and the low-pass filtering unit 28; the integration unit 27 receives the angle signal Δ θ, the angle signal obtained by the integration operation, and the estimated angle compensation value θ com Adding the two to obtain a rotor position estimation signal theta est (ii) a The low-pass filtering unit 28 receives the electrical angular velocity estimation signal omega before filtering e Low-pass filtering to obtain the electric angular velocity estimation signal omega of the motor est Electric angular velocity estimation signal omega of motor est And coefficient K n Multiplying to obtain motor speed estimation signal n est 。
The position sensor unit 8 includes: a software initialization unit 29, a read EEPROM position sensor malfunction signal flag bit unit 30, a position sensor malfunction judgment unit 31, a position sensor signal selection unit 32, a software internal estimated position signal selection unit 33, a main program execution unit 34, a power-down permission judgment unit 35, and a position sensor malfunction storage to an EEPROM execution unit 36, wherein:
the software initialization unit 29 executes initialization work of controller external equipment and software variables after the system is powered on, and after the initialization work is finished, the program execution unit reads the EEPROM position sensor fault signal flag bit unit 30;
the reading EEPROM location sensor fault signal flag bit unit 30 reads the location sensor fault signal flag bit pre-stored in the EEPROM into the software memory a through the interface function of the NVM module in the base software, and then executes the location sensor fault judgment unit 31 after completion;
the position sensor fault judging unit 31 reads the flag bit in the memory A and judges whether the position sensor has a fault, when the position sensor has no fault, the position sensor signal selecting unit 32 is executed, and when the position sensor has a fault, the software internal estimation position signal selecting unit 33 is executed;
the position sensor signal selection unit 32 updates the position sensor selection flag bit to be in a position sensor state and writes the position sensor state into the memory B;
the software internal estimated position signal selection unit 33 updates the position sensor selection flag bit to be in a no-position-sensor state and writes the no-position-sensor state into the memory B;
the main program operation unit 34 reads the sensor selection flag bit in the memory B, the position signal for motor control is switched to the corresponding signal source according to the status bit, and the software position estimation and the rotation signal diagnosis are periodic execution functions;
the power-off permission judging unit 35 periodically monitors the power-off permission flag bit of the system, and executes the power-off permission flag bit when the power-off permission flag bit of the system is set, and the position sensor fault is stored in the EEPROM executing unit 31, otherwise, the main program running unit 34 is continuously executed;
the position sensor fault is stored in the EEPROM execution unit 36, and the position sensor fault signal flag bit is stored in the designated EEPROM space through the interface function of the NVM module in the basic software, and the system is powered off after completion.
Through specific practical experiments, under the environment setting of the bench test of the electric drive assembly, the failure working condition of the motor position sensor is simulated, and the method is integrated in operation, for example, fig. 9 shows that the steady-state three-phase current waveforms of 350V bus voltage, 500rpm of the motor and 40NM torque are actually measured; from the data, it is known that the output torque can be stabilized when the effective value of the three-phase current is about 125 Arms.
Compared with the problem that how to switch the control without the position sensor after the position sensor fails when the permanent magnet synchronous motor is used as a driving motor in the prior art, the vehicle limping function can be realized according to the switching logic after the vehicle synchronous motor control system for measuring identifies the fault of the position sensor, so that the inconvenience brought to a driver after the position sensor fails is eliminated.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A redundant control system for a failure scene of a position sensor of a permanent magnet synchronous motor for a vehicle is characterized by comprising: current transformation module, coordinate transformation module, voltage transformation module and position transformation module, wherein: the current transformation module is connected with the coordinate transformation module, receives and transforms a current instruction and transmits the current instruction to the coordinate transformation module, the coordinate transformation module is connected with the voltage transformation module, receives and transforms a voltage instruction, a current instruction and the position of a motor rotor and transmits the voltage instruction, the current instruction and the position of the motor rotor to the current transformation module and the voltage transformation module respectively, the voltage transformation module receives and transforms the voltage instruction and outputs a driving voltage to drive the motor to operate, the position transformation module receives and transforms and outputs a rotor position related signal, and the rotor position signal under different working states of the module is output;
the position conversion module comprises: a position sensor unit, a position decoding unit, a position signal selection unit and a position observer unit, wherein: the position sensor unit generates a feedback motor rotor position signal and transmits the feedback motor rotor position signal to the position decoding unit; the position decoding unit receives the motor rotor position signal, calculates to obtain a rotor position sampling signal and transmits the rotor position sampling signal to the position signal selection unit; the position signal selection unit receives the rotor position sampling signal and the rotor position estimation signal, and selects and outputs the rotor position signal according to the working states of the position sensor unit and the position decoding unit; the position observer unit receives a feedback value, a voltage instruction and a torque instruction of the three-phase current of the motor and outputs an injection voltage, a rotor position estimation signal, a motor electrical angular velocity estimation signal and a motor rotating speed estimation signal.
2. The control system of claim 1, wherein said current transformation module comprises: the current instruction that links to each other distributes unit and current loop control unit, wherein: the current instruction distribution unit receives the torque instruction, obtains a current instruction and transmits the current instruction to the current loop control unit; and the current loop control unit receives the current instruction, calculates to obtain a voltage instruction, sums the voltage instruction with the output result of the position conversion module and transmits the sum to the coordinate conversion module.
3. The control system of claim 1, wherein the coordinate transformation module comprises: a first coordinate transformation unit and a second coordinate transformation unit connected, wherein: the first coordinate transformation unit receives the voltage command and the position of the motor rotor, calculates the voltage command and transmits the voltage command to the voltage transformation module; and the second coordinate transformation unit receives the three-phase current feedback value and the position of the motor rotor, calculates to obtain current feedback and transmits the current feedback to the current transformation module.
4. The control system of claim 1, wherein said voltage conversion module comprises: pulse width modulation unit, inverter unit and the motor unit that links to each other in proper order, wherein: the pulse width modulation unit receives the voltage command, calculates to obtain six paths of driving signals, outputs driving voltage and transmits the driving voltage to the inverter unit; the inverter unit receives six paths of driving signals, modulates the direct-current voltage to generate three driving voltages and transmits the three driving voltages to the motor unit; the motor unit receives and outputs three-phase output voltage and outputs torque.
5. The control system of claim 4, wherein the inverter unit is a three-phase six leg power topology.
6. The control system of claim 1, wherein the position observer unit comprises: the device comprises a third coordinate transformation unit, a fourth coordinate transformation unit, a polarity identification unit for identifying the initial rotor position when the motor is started in a static state, a high-frequency injection observer unit, a flux linkage observer unit, an injection voltage selection unit for selecting injection voltage in a starting stage, an angle compensation unit and a phase-locked loop unit, wherein: the third coordinate transformation unit receives a feedback value of the three-phase current of the motor, calculates to obtain a coordinate system current, and transmits the coordinate system current to the fourth coordinate transformation unit and the flux linkage observer unit; the fourth coordinate transformation unit receives the current and the rotor position estimation signal, calculates to obtain a coordinate system current, and respectively transmits the coordinate system current to the polarity identification unit and the high-frequency injection observer unit; the angle compensation unit receives the rotating speed estimation signal and the torque command, acquires an estimation angle error, and adds the estimation angle error and the polarity compensation angle to obtain an estimation angle compensation value.
7. The control system of claim 6, wherein the high frequency injection observer unit comprises: a high-frequency voltage generating unit and an angle error calculating unit connected to each other, wherein: the high-frequency voltage generation unit receives the motor rotating speed estimation signal, generates a high-frequency voltage and a voltage polarity signal and transmits the high-frequency voltage and the voltage polarity signal to the angle error calculation unit; the angle error calculation unit receives the current and voltage polarity signals and calculates a high frequency injection angle error signal.
8. The control system of claim 6, wherein the flux linkage observer unit comprises: a low-pass filtering unit, a phase compensation unit and an error calculation unit, wherein: the low-pass filtering unit receives the electrical angular velocity, calculates a signal self-adaptive selection cut-off frequency, and outputs a voltage signal after low-pass filtering; the phase compensation unit receives the low-pass filtering voltage signal, compensates the delay of the low-pass filtering, subtracts a flux linkage generated by phase current, and outputs an effective flux linkage to the error calculation unit; the error calculation unit receives the effective flux linkage and the rotor position estimation signal and calculates a flux linkage observation angle error signal.
9. The control system of claim 6, wherein the phase-locked loop unit comprises: error selection unit, proportional-integral control unit, integral unit and low pass filter unit, wherein: the error selection unit receives the rotating speed estimation signal, selects an angle error signal and transmits the angle error signal to the proportional-integral control unit; the proportional-integral control unit receives the angle error signal, calculates to obtain an electric angular velocity estimation signal before filtering, and transmits the electric angular velocity estimation signal to the integral unit and the low-pass filtering unit; the integral unit receives the angle signal and adds the angle signal with the estimated angle compensation value to obtain a rotor position estimation signal; and the low-pass filtering unit receives the electric angular velocity estimation signal before filtering, performs low-pass filtering processing to obtain an electric angular velocity estimation signal of the motor, and multiplies the electric angular velocity estimation signal of the motor by a coefficient to obtain a rotating speed estimation signal of the motor.
10. A control method of a control system according to any one of the preceding claims, comprising the steps of:
step 1: the current instruction distribution unit receives a torque instruction, obtains a current instruction and transmits the current instruction to the current loop control unit, and the current loop control unit receives the current instruction, calculates the current instruction to obtain a voltage instruction, sums the voltage instruction with an output result of the position conversion module and transmits the sum to the coordinate conversion module;
step 2: the first coordinate transformation unit receives a voltage command and the position of the motor rotor, calculates the voltage command and transmits the voltage command to the voltage transformation module, and the second coordinate transformation unit receives a three-phase current feedback value and the position of the motor rotor, calculates the current feedback and transmits the current feedback to the current transformation module;
and step 3: the pulse width modulation unit receives a voltage instruction, calculates to obtain six paths of driving signals, outputs the driving voltage and transmits the driving voltage to the inverter unit, the inverter unit receives the six paths of driving signals, modulates direct-current voltage to generate three driving voltages and transmits the three driving voltages to the motor unit, and the motor unit receives and outputs three-phase output voltage and outputs torque;
and 4, step 4: the position observer unit receives a feedback value, a voltage instruction and a torque instruction of a three-phase current of the motor and outputs an injection voltage, a rotor position estimation signal, a motor electrical angular velocity estimation signal and a motor rotating speed estimation signal;
the specific working modes of the position signal selection unit are as follows: when the position sensor unit and the position decoding unit are in failure partially or simultaneously, the rotor position estimation signal is selected as the rotor position signal to be output.
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| WO2024139994A1 (en) * | 2022-12-30 | 2024-07-04 | 广东汇天航空航天科技有限公司 | Fault-tolerant control method for electric motor position sensor, and flying car and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024139994A1 (en) * | 2022-12-30 | 2024-07-04 | 广东汇天航空航天科技有限公司 | Fault-tolerant control method for electric motor position sensor, and flying car and storage medium |
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