CN115459641A - Method and device for estimating the rotor position of a three-stage motor - Google Patents

Method and device for estimating the rotor position of a three-stage motor Download PDF

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CN115459641A
CN115459641A CN202211214854.0A CN202211214854A CN115459641A CN 115459641 A CN115459641 A CN 115459641A CN 202211214854 A CN202211214854 A CN 202211214854A CN 115459641 A CN115459641 A CN 115459641A
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rotor position
estimated
permanent magnet
motor
main motor
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CN115459641B (en
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孟涛
刘振国
李思齐
管毅
姜宇
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Shaanxi Aero Electric Co Ltd
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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
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • 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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Abstract

本申请属于电机数据处理技术领域，具体涉及一种三级式电机转子位置估算方法及装置。该方法包括步骤S1、采用高频注入法估算主电机零低速段转子位置和转速，确定其与真实转子位置的第一差值；步骤S2、对采集的三相电压进行CLARK变换；步骤S3、确定用于估算永磁机转子位置的中间变量；步骤S4、利用锁相环估算转子位置；步骤S5、确定主电机的中高速段估算转子位置；步骤S6、确定中高速段估算转子位置与真实转子位置的第二差值；步骤S7、确定所述第一差值与所述第二差值的偏差，确定转速区间；步骤S8、在转速区间内，通过加权平均获得估算的转子位置。本申请避免了中高速段电机电气参数变化对估算结果的影响，算法计算量小，容易实现工程化应用。

Figure 202211214854

The application belongs to the technical field of motor data processing, and in particular relates to a three-stage motor rotor position estimation method and device. The method includes step S1, using the high-frequency injection method to estimate the rotor position and rotational speed in the zero-low speed section of the main motor, and determining the first difference between it and the real rotor position; step S2, performing CLARK transformation on the collected three-phase voltage; step S3, Determine the intermediate variable used to estimate the rotor position of the permanent magnet machine; step S4, estimate the rotor position by using the phase-locked loop; step S5, determine the estimated rotor position of the medium and high speed section of the main motor; step S6, determine the estimated rotor position of the medium and high speed section and the real The second difference of rotor position; step S7, determine the deviation between the first difference and the second difference, and determine the rotation speed interval; step S8, obtain the estimated rotor position by weighted average within the rotation speed interval. This application avoids the influence of the electrical parameter change of the motor in the middle and high speed section on the estimation result, the calculation amount of the algorithm is small, and the engineering application is easy to realize.

Figure 202211214854

Description

一种三级式电机转子位置估算方法及装置Method and device for estimating the rotor position of a three-stage motor

技术领域technical field

本申请属于电机数据处理技术领域，具体涉及一种三级式电机转子位置估算方法。The application belongs to the technical field of motor data processing, and in particular relates to a three-stage motor rotor position estimation method.

背景技术Background technique

三级式电机由三个电机级联组成，主要包括主电机、励磁机、永磁机、旋转整流器及旋转变压器，旋转整流器与各电机转子、旋转变压器转子同轴安装。该电机与电机控制器配合，可以实现起动发动机和发电功能。在起动发动机过程中，电机控制器通过对励磁机励磁电压和主电机定子电压的控制完成电机加速起动，永磁机不参与起动过程，起动控制算法所需的转子位置(即主电机转子位置)信息由旋转变压器及配套解码电路提供。The three-stage motor consists of three cascaded motors, mainly including the main motor, exciter, permanent magnet machine, rotary rectifier and resolver. The rotary rectifier is coaxially installed with the rotors of each motor and resolver. The motor cooperates with the motor controller to realize the functions of starting the engine and generating electricity. In the process of starting the engine, the motor controller completes the acceleration start of the motor by controlling the excitation voltage of the exciter and the stator voltage of the main motor. The permanent magnet machine does not participate in the starting process, and the rotor position required by the starting control algorithm (that is, the rotor position of the main motor) The information is provided by the resolver and supporting decoding circuit.

由于三级式电机工作环境复杂，由旋转变压器和解码电路组成的机械位置传感系统容易受到电磁干扰而出现转子位置解码错误的情况，导致起动过程电机电磁转矩输出不平滑。为此相关学者对转子位置估算方法开展深入研究。目前转子位置估算方法主要分为两类：用于零低速段转子位置估算的高频注入法和用于中高速段转子位置估算的反电势法。现有公开转子位置估算方法中，其研究对象大都基于主电机，即在主电机注入高频信号并提取高频响应信号，或利用主电机的电气参数估算其反电势，从而完成转子位置估算。由于起动过程负载特性复杂，在中高速段电气参数变化范围较大，电机升速过程转子位置估算精度较低。也有相关文献结合参数辨识等方法来提高转子位置估算精度，但算法复杂度较高，工程应用难度较大。Due to the complex working environment of the three-stage motor, the mechanical position sensing system composed of the resolver and the decoding circuit is susceptible to electromagnetic interference and the decoding error of the rotor position occurs, resulting in the unsmooth output of the motor's electromagnetic torque during the starting process. For this reason, relevant scholars have conducted in-depth research on rotor position estimation methods. At present, the rotor position estimation methods are mainly divided into two categories: the high-frequency injection method for rotor position estimation at zero and low speeds and the back-EMF method for rotor position estimation at medium and high speeds. In the existing public rotor position estimation methods, most of the research objects are based on the main motor, that is, inject high-frequency signals into the main motor and extract high-frequency response signals, or use the electrical parameters of the main motor to estimate its back EMF, so as to complete the rotor position estimation. Due to the complex load characteristics during the starting process, the electrical parameters vary widely in the medium and high speed section, and the rotor position estimation accuracy is low during the motor speed up process. There are also related literatures that combine parameter identification and other methods to improve the accuracy of rotor position estimation, but the complexity of the algorithm is high and the engineering application is difficult.

由于永磁机不参与起动过程，且其转子为永磁体，转子磁场稳定，起动过程不受电机负载特性的影响，若能获取其定子电压，则可利用反电势法完成永磁机中高速段转子位置估算。Since the permanent magnet machine does not participate in the starting process, and its rotor is a permanent magnet, the rotor magnetic field is stable, and the starting process is not affected by the load characteristics of the motor. If the stator voltage can be obtained, the high-speed section of the permanent magnet machine can be completed by using the back EMF method. Rotor position estimation.

发明内容Contents of the invention

为了解决上述问题，本申请提供了一种三级式电机转子位置估算方法及装置，利用高频注入法完成零低速段转子位置估算，同时对现有控制电路增加电压采样功能以完成永磁机三相电压的采集，利用基于永磁机三相电压的反电势法完成中高速段转子位置估算，以此来提高起动过程转子位置的可靠性，减小电磁转矩冲击。In order to solve the above problems, this application provides a method and device for estimating the rotor position of a three-stage motor, which uses the high-frequency injection method to complete the rotor position estimation in the zero-low speed section, and at the same time adds a voltage sampling function to the existing control circuit to complete the permanent magnet motor. The acquisition of three-phase voltage uses the back electromotive force method based on the three-phase voltage of the permanent magnet machine to complete the estimation of the rotor position in the medium and high speed section, so as to improve the reliability of the rotor position during the starting process and reduce the impact of electromagnetic torque.

本申请第一方面提供了一种三级式电机转子位置估算方法，主要包括：The first aspect of the present application provides a three-stage motor rotor position estimation method, which mainly includes:

步骤S1、采用高频注入法估算主电机零低速段转子位置和转速，确定其与真实转子位置的第一差值；Step S1, using the high-frequency injection method to estimate the rotor position and speed of the main motor at zero and low speed, and determine the first difference between it and the real rotor position;

步骤S2、对采集的三相电压进行CLARK变换，获得等效的两相电压；Step S2, performing CLARK transformation on the collected three-phase voltage to obtain an equivalent two-phase voltage;

步骤S3、基于所述两相电压确定用于估算永磁机转子位置的中间变量；Step S3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltage;

步骤S4、利用锁相环估算转子位置及转速；Step S4, using the phase-locked loop to estimate the rotor position and rotational speed;

步骤S5、利用主电机与永磁机极对数对应关系，确定主电机的中高速段估算转子位置和估算转速；Step S5, using the pole logarithm correspondence between the main motor and the permanent magnet machine, determine the estimated rotor position and the estimated rotational speed of the middle and high speed section of the main motor;

步骤S6、确定所述中高速段估算转子位置与真实转子位置的第二差值；Step S6, determining the second difference between the estimated rotor position and the real rotor position in the medium-high speed section;

步骤S7、对任一转速值，确定所述第一差值与所述第二差值的偏差，确定所述偏差小于偏差阈值时所对应的转速区间；Step S7. For any rotation speed value, determine the deviation between the first difference and the second difference, and determine the corresponding rotation speed range when the deviation is smaller than the deviation threshold;

步骤S8、在所述转速区间内，将采用高频注入法估算的主电机转子位置与在中高速段估算的转子位置进行加权平均，获得转速区间内的估算的转子位置。Step S8 , within the speed range, weighted average the rotor position of the main motor estimated by the high-frequency injection method and the rotor position estimated in the medium-high speed section, to obtain the estimated rotor position within the speed range.

优选的是，步骤S1及步骤S5中，真实转子位置通过旋转变压器解算。Preferably, in step S1 and step S5, the real rotor position is calculated by a resolver.

优选的是，步骤S3中，利用如下公式获取用于估算永磁机转子位置的中间变量：Preferably, in step S3, the intermediate variable used to estimate the rotor position of the permanent magnet machine is obtained by using the following formula:

Figure BDA0003875782840000021
Figure BDA0003875782840000021

其中，UPMα、UPMβ为等效的两相电压，

Figure BDA0003875782840000022
为初始给定的永磁机估算位置或由步骤S4中锁相环解算的永磁机估算位置。Among them, U PMα and U PMβ are equivalent two-phase voltages,
Figure BDA0003875782840000022
The estimated position of the initially given permanent magnet machine or the estimated position of the permanent magnet machine solved by the phase-locked loop in step S4.

优选的是，步骤S5中，利用如下公式确定主电机的中高速段估算转子位置和估算转速：Preferably, in step S5, the estimated rotor position and the estimated rotational speed of the middle and high speed section of the main motor are determined using the following formula:

Figure BDA0003875782840000023
Figure BDA0003875782840000023

Figure BDA0003875782840000024
Figure BDA0003875782840000024

其中，pMM为主电机极对数，pPM为永磁机极对数，

Figure BDA0003875782840000025
为永磁机估算转速，
Figure BDA0003875782840000026
为永磁机估算位置，
Figure BDA0003875782840000027
为主电机估算转速，
Figure BDA0003875782840000028
为主电机估算位置。Among them, p MM is the number of pole pairs of the main motor, p PM is the number of pole pairs of the permanent magnet machine,
Figure BDA0003875782840000025
Estimate the rotational speed for a permanent magnet machine,
Figure BDA0003875782840000026
Estimate the position for the permanent magnet machine,
Figure BDA0003875782840000027
Estimated speed of the main motor,
Figure BDA0003875782840000028
Estimated position for the main motor.

优选的是，步骤S7中，所述偏差阈值为0.02rad。Preferably, in step S7, the deviation threshold is 0.02rad.

本申请第二方面提供了一种三级式电机转子位置估算装置，主要包括：The second aspect of the present application provides a three-stage motor rotor position estimation device, which mainly includes:

第一差值计算模块，用于采用高频注入法估算主电机零低速段转子位置和转速，确定其与真实转子位置的第一差值；The first difference calculation module is used to estimate the rotor position and speed of the main motor at zero and low speeds by using the high-frequency injection method, and determine the first difference between it and the real rotor position;

CLARK变换模块，用于对采集的三相电压进行CLARK变换，获得等效的两相电压；The CLARK transformation module is used to perform CLARK transformation on the collected three-phase voltage to obtain an equivalent two-phase voltage;

中间变量计算模块，用于基于所述两相电压确定用于估算永磁机转子位置的中间变量；an intermediate variable calculation module, configured to determine an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltage;

锁相环模块，用于利用锁相环估算转子位置及转速；The phase-locked loop module is used to estimate the rotor position and speed by using the phase-locked loop;

主电机转子位置估算模块，用于利用主电机与永磁机极对数对应关系，确定主电机的中高速段估算转子位置和估算转速；The main motor rotor position estimation module is used to determine the estimated rotor position and estimated speed of the main motor in the middle and high speed section by using the corresponding relationship between the main motor and the permanent magnet pole logarithm;

第二差值计算模块，用于确定所述中高速段估算转子位置与真实转子位置的第二差值；The second difference calculation module is used to determine the second difference between the estimated rotor position and the real rotor position in the middle and high speed section;

转速区间确定模块，用于对任一转速值，确定所述第一差值与所述第二差值的偏差，确定所述偏差小于偏差阈值时所对应的转速区间；A rotational speed range determination module, configured to determine the deviation between the first difference and the second difference for any rotational speed value, and determine the corresponding rotational speed range when the deviation is smaller than the deviation threshold;

转速区间内转子位置平滑设计模块，用于在所述转速区间内，将采用高频注入法估算的主电机转子位置与在中高速段估算的转子位置进行加权平均，获得转速区间内的估算的转子位置。The rotor position smoothing design module within the speed range is used to perform a weighted average of the rotor position of the main motor estimated by the high-frequency injection method and the rotor position estimated in the medium-high speed section within the speed range, to obtain the estimated value in the speed range rotor position.

优选的是，真实转子位置通过旋转变压器解算。Preferably, the true rotor position is resolved by a resolver.

优选的是，在所述中间变量计算模块中，利用如下公式获取用于估算永磁机转子位置的中间变量：Preferably, in the intermediate variable calculation module, the following formula is used to obtain the intermediate variable for estimating the rotor position of the permanent magnet machine:

Figure BDA0003875782840000031
Figure BDA0003875782840000031

其中，UPMα、UPMβ为等效的两相电压，

Figure BDA0003875782840000032
为初始给定的永磁机估算位置或由锁相环解算的永磁机估算位置。Among them, U PMα and U PMβ are equivalent two-phase voltages,
Figure BDA0003875782840000032
Estimated position for an initially given permanent magnet machine or an estimated position for a permanent magnet machine solved by a phase-locked loop.

优选的是，在所述主电机转子位置估算模块中，利用如下公式确定主电机的中高速段估算转子位置和估算转速：Preferably, in the rotor position estimating module of the main motor, the following formula is used to determine the estimated rotor position and the estimated rotational speed of the middle and high speed section of the main motor:

Figure BDA0003875782840000033
Figure BDA0003875782840000033

Figure BDA0003875782840000034
Figure BDA0003875782840000034

其中，pMM为主电机极对数，pPM为永磁机极对数，

Figure BDA0003875782840000035
为永磁机估算转速，
Figure BDA0003875782840000036
为永磁机估算位置，
Figure BDA0003875782840000037
为主电机估算转速，
Figure BDA0003875782840000038
为主电机估算位置。Among them, p MM is the number of pole pairs of the main motor, p PM is the number of pole pairs of the permanent magnet machine,
Figure BDA0003875782840000035
Estimate the rotational speed for a permanent magnet machine,
Figure BDA0003875782840000036
Estimate the position for the permanent magnet machine,
Figure BDA0003875782840000037
Estimated speed of the main motor,
Figure BDA0003875782840000038
Estimated position for the main motor.

优选的是，所述偏差阈值为0.02rad。Preferably, the deviation threshold is 0.02rad.

本申请的发明点在于：The invention point of this application is:

1、利用高频注入法完成零低速段转子位置估算；1. Use the high-frequency injection method to complete the estimation of the rotor position in the zero-low speed section;

2、对现有控制电路增加电压采样功能以完成永磁机三相电压的采集，利用基于永磁机三相电压的反电势法完成中高速段转子位置估算，以此来提高起动过程转子位置的可靠性，减小电磁转矩冲击；2. Add the voltage sampling function to the existing control circuit to complete the acquisition of the three-phase voltage of the permanent magnet machine, and use the back electromotive force method based on the three-phase voltage of the permanent magnet machine to complete the estimation of the rotor position in the medium and high speed section, so as to improve the rotor position during the starting process High reliability, reduce electromagnetic torque impact;

3、通过加权平均来处理低速段转子位置估算值向中高速断转子位置估算值的过渡值，以实现平滑过渡。3. The transition value from the estimated value of the rotor position in the low speed section to the estimated value of the broken rotor position in the middle and high speed section is processed by weighted average to achieve a smooth transition.

本申请避免了中高速段电机电气参数变化对估算结果的影响，算法计算量小，容易实现工程化应用。This application avoids the influence of the electrical parameter change of the motor in the middle and high speed section on the estimation result, the calculation amount of the algorithm is small, and the engineering application is easy to realize.

附图说明Description of drawings

图1为基于高频注入法的主电机零低速段转子位置估算结果示意图。Figure 1 is a schematic diagram of the rotor position estimation results of the main motor at zero and low speeds based on the high-frequency injection method.

图2为基于永磁机三相电压的反电势法原理框图。Figure 2 is a block diagram of the back EMF method based on the three-phase voltage of the permanent magnet machine.

图3为基于反电势法的永磁机转子估算位置与主电机转子位置估算值示意图。Fig. 3 is a schematic diagram of the estimated position of the rotor of the permanent magnet machine and the estimated value of the rotor position of the main motor based on the back EMF method.

图4为切换区间零低速段转子位置估算误差与中高速段转子位置估算误差对比结果示意图。Fig. 4 is a schematic diagram of the comparison results of the rotor position estimation error in the zero-low speed section and the rotor position estimation error in the medium-high speed section in the switching interval.

图5为全速段无位置传感器起动控制相关波形。Figure 5 shows the waveforms related to the position sensorless start control at full speed.

具体实施方式detailed description

为使本申请实施的目的、技术方案和优点更加清楚，下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。所描述的实施方式是本申请一部分实施方式，而不是全部的实施方式。下面通过参考附图描述的实施方式是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。下面结合附图对本申请的实施方式进行详细说明。In order to make the objectives, technical solutions and advantages of the implementation of the application clearer, the technical solutions in the implementation modes of the application will be described in more detail below with reference to the drawings in the implementation modes of the application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the present application. The embodiments described below by referring to the figures are exemplary and are intended to explain the present application, and should not be construed as limiting the present application. Based on the implementation manners in this application, all other implementation manners obtained by persons of ordinary skill in the art without creative efforts fall within the scope of protection of this application. Embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

本申请第一方面提供了一种三级式电机转子位置估算方法，主要包括：The first aspect of the present application provides a three-stage motor rotor position estimation method, which mainly includes:

步骤S1、采用高频注入法估算主电机零低速段转子位置和转速，分别记为

Figure BDA0003875782840000051
和
Figure BDA0003875782840000052
读取旋转变压器解算的主电机转子真实位置，记为θMM，计算真实转子位置与估算转子位置的第一差值为
Figure BDA0003875782840000053
如图1所示，最上面的曲线为旋转变压器解算的真实转子位置随时间的变化曲线，中间的曲线为估算的转子位置随时间的变化曲线，下方的曲线为第一差值随时间的变化曲线。Step S1, using the high-frequency injection method to estimate the rotor position and speed of the main motor at zero and low speeds, respectively denoted as
Figure BDA0003875782840000051
with
Figure BDA0003875782840000052
Read the real rotor position of the main motor calculated by the resolver, denoted as θ MM , and calculate the first difference between the real rotor position and the estimated rotor position as
Figure BDA0003875782840000053
As shown in Figure 1, the uppermost curve is the change curve of the real rotor position with time calculated by the resolver, the middle curve is the change curve of the estimated rotor position with time, and the lower curve is the change of the first difference with time. Curve.

步骤S2、对采集的三相电压进行CLARK变换，获得等效的两相电压。Step S2 , performing CLARK transformation on the collected three-phase voltages to obtain equivalent two-phase voltages.

该步骤利用电压采集电路，采集永磁机三相电压，记为UPMA、UPMB、UPMC，对三相电压进行CLARK变换，得到等效两相电压，记为UPMα、UPMβ。In this step, the voltage acquisition circuit is used to collect the three-phase voltage of the permanent magnet machine, denoted as U PMA , U PMB , and U PMC , and the three-phase voltage is subjected to CLARK transformation to obtain the equivalent two-phase voltage, which is denoted as U PMα and U PMβ .

步骤S3、基于所述两相电压确定用于估算永磁机转子位置的中间变量。Step S3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages.

参考图2，利用如下公式获取用于估算永磁机转子位置的中间变量：Referring to Figure 2, use the following formula to obtain the intermediate variables used to estimate the rotor position of the permanent magnet machine:

Figure BDA0003875782840000054
Figure BDA0003875782840000054

其中，UPMα、UPMβ为等效的两相电压，

Figure BDA0003875782840000055
为初始给定的永磁机估算位置或由步骤S4中锁相环解算的永磁机估算位置。Among them, U PMα and U PMβ are equivalent two-phase voltages,
Figure BDA0003875782840000055
The estimated position of the initially given permanent magnet machine or the estimated position of the permanent magnet machine solved by the phase-locked loop in step S4.

步骤S4、利用锁相环估算转子位置及转速。该步骤中，利用锁相环对步骤3中的中间变量进行闭环调节处理，得到永磁机估算转子位置和估算转速。在一个具体实施例中，锁相环的调节器PI的比例系数为500，积分系数为5000，积分器I的系数为1。Step S4, estimating the position and rotational speed of the rotor by using the phase-locked loop. In this step, the phase-locked loop is used to perform closed-loop adjustment processing on the intermediate variable in step 3, and the estimated rotor position and the estimated rotational speed of the permanent magnet machine are obtained. In a specific embodiment, the proportional coefficient of the regulator PI of the phase-locked loop is 500, the integral coefficient is 5000, and the coefficient of the integrator I is 1.

步骤S5、利用主电机与永磁机极对数对应关系，确定主电机的中高速段估算转子位置和估算转速。Step S5 , using the corresponding relationship between the pole pairs of the main motor and the permanent magnet machine, to determine the estimated rotor position and the estimated rotational speed of the middle and high speed section of the main motor.

该步骤中，利用主电机与永磁机极对数对应关系，对步骤S4得到的永磁机转子位置和转速进行变换，得到主电机中高速段估算转子位置和估算转速，详细计算公式如下：In this step, the rotor position and rotational speed of the permanent magnet machine obtained in step S4 are transformed by using the pole logarithm correspondence between the main motor and the permanent magnet machine to obtain the estimated rotor position and estimated rotational speed in the high-speed section of the main motor. The detailed calculation formula is as follows:

Figure BDA0003875782840000056
Figure BDA0003875782840000056

Figure BDA0003875782840000057
Figure BDA0003875782840000057

其中，pMM为主电机极对数，pPM为永磁机极对数，

Figure BDA0003875782840000058
为永磁机估算转速，
Figure BDA0003875782840000059
为永磁机估算位置，
Figure BDA00038757828400000510
为主电机估算转速，
Figure BDA00038757828400000511
为主电机估算位置。例如现有通用的电机参数为：pMM＝3，pPM＝6。Among them, p MM is the number of pole pairs of the main motor, p PM is the number of pole pairs of the permanent magnet machine,
Figure BDA0003875782840000058
Estimate the rotational speed for a permanent magnet machine,
Figure BDA0003875782840000059
Estimate the position for the permanent magnet machine,
Figure BDA00038757828400000510
Estimated speed of the main motor,
Figure BDA00038757828400000511
Estimated position for main motor. For example, the existing common motor parameters are: p MM =3, p PM =6.

步骤S6、确定所述中高速段估算转子位置与真实转子位置的第二差值

Figure BDA00038757828400000512
Step S6. Determine the second difference between the estimated rotor position and the real rotor position in the middle and high speed section
Figure BDA00038757828400000512

上述步骤S2-步骤S6基于反电势法的永磁机转子估算位置与主电机转子位置估算值结果如图3所示，本申请通过获取其定子电压，利用反电势法完成永磁机中高速段转子位置估算，进而利用永磁机与主电机极对数对应关系，间接获取主电机中高速段转子位置估算。The results of the estimated position of the rotor of the permanent magnet machine and the estimated value of the rotor of the main motor based on the back EMF method in the above steps S2 to S6 are shown in Figure 3. This application obtains the stator voltage and uses the back EMF method to complete the medium and high speed section of the permanent magnet machine Estimation of the rotor position, and then use the corresponding relationship between the permanent magnet machine and the pole logarithm of the main motor to indirectly obtain the estimation of the rotor position in the high-speed section of the main motor.

通过上述步骤，实现了三级式电机全速段转子位置估算。Through the above steps, the estimation of the rotor position in the full speed section of the three-stage motor is realized.

步骤S7、对任一转速值，确定所述第一差值与所述第二差值的偏差，确定所述偏差小于偏差阈值时所对应的转速区间。Step S7. For any rotation speed value, determine the deviation between the first difference and the second difference, and determine the corresponding rotation speed range when the deviation is smaller than a deviation threshold.

对比步骤1与步骤6估算转子位置误差，记录两估算误差相近时的转速区间

Figure BDA0003875782840000061
其中，
Figure BDA0003875782840000062
为切换区间低转速值，
Figure BDA0003875782840000063
为切换区间高转速值，
Figure BDA0003875782840000064
Compare step 1 and step 6 to estimate the rotor position error, and record the speed range when the two estimated errors are similar
Figure BDA0003875782840000061
in,
Figure BDA0003875782840000062
is the low speed value in the switching interval,
Figure BDA0003875782840000063
is the high speed value in the switching interval,
Figure BDA0003875782840000064

在一些可选实施方式中，所述偏差阈值为0.02rad，参考图4，能够得到两估算误差相近时的转速区间为[250r/min,300r/min]。In some optional implementation manners, the deviation threshold is 0.02rad. Referring to FIG. 4 , it can be obtained that the speed range when the two estimation errors are similar is [250r/min, 300r/min].

步骤S8、在所述转速区间内，将采用高频注入法估算的主电机转子位置与在中高速段估算的转子位置进行加权平均，获得转速区间内的估算的转子位置。Step S8 , within the speed range, weighted average the rotor position of the main motor estimated by the high-frequency injection method and the rotor position estimated in the medium-high speed section, to obtain the estimated rotor position within the speed range.

在步骤7得到的转速区间内，利用加权平均法完成零低速段到中高速段转子估算位置的平滑切换，结合步骤1和步骤5，得到电机全速段估算转速和估算转子位置表达式如下：In the speed range obtained in step 7, the weighted average method is used to complete the smooth switching of the estimated position of the rotor from the zero-low speed section to the medium-high speed section. Combining steps 1 and 5, the expressions of the estimated speed and estimated rotor position of the motor at full speed are as follows:

Figure BDA0003875782840000065
Figure BDA0003875782840000065

Figure BDA0003875782840000066
Figure BDA0003875782840000066

其中，

Figure BDA0003875782840000067
为电机全速段估算转速，
Figure BDA0003875782840000068
电机全速段估算转子位置。in,
Figure BDA0003875782840000067
Estimating the speed for the full speed range of the motor,
Figure BDA0003875782840000068
The rotor position is estimated for the full speed range of the motor.

全速段转子位置估算及转速估算结果如图5所示，从图中可以看出，全速段转子位置估算误差不超过0.1rad(约5.7电角度)，估算精度较高，满足起动过程转子位置精度要求。The results of rotor position estimation and speed estimation at full speed are shown in Figure 5. It can be seen from the figure that the error of rotor position estimation at full speed does not exceed 0.1 rad (about 5.7 electrical degrees), and the estimation accuracy is high, which meets the rotor position accuracy during the starting process. Require.

本申请第二方面提供了一种与上述方法对应的三级式电机转子位置估算装置，主要包括：The second aspect of the present application provides a three-stage motor rotor position estimation device corresponding to the above method, which mainly includes:

第一差值计算模块，用于采用高频注入法估算主电机零低速段转子位置和转速，确定其与真实转子位置的第一差值；The first difference calculation module is used to estimate the rotor position and speed of the main motor at zero and low speeds by using the high-frequency injection method, and determine the first difference between it and the real rotor position;

CLARK变换模块，用于对采集的三相电压进行CLARK变换，获得等效的两相电压；The CLARK transformation module is used to perform CLARK transformation on the collected three-phase voltage to obtain an equivalent two-phase voltage;

中间变量计算模块，用于基于所述两相电压确定用于估算永磁机转子位置的中间变量；an intermediate variable calculation module, configured to determine an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltage;

锁相环模块，用于利用锁相环估算转子位置及转速；The phase-locked loop module is used to estimate the rotor position and speed by using the phase-locked loop;

主电机转子位置估算模块，用于利用主电机与永磁机极对数对应关系，确定主电机的中高速段估算转子位置和估算转速；The main motor rotor position estimation module is used to determine the estimated rotor position and estimated speed of the main motor in the middle and high speed section by using the corresponding relationship between the main motor and the permanent magnet pole logarithm;

第二差值计算模块，用于确定所述中高速段估算转子位置与真实转子位置的第二差值；The second difference calculation module is used to determine the second difference between the estimated rotor position and the real rotor position in the middle and high speed section;

转速区间确定模块，用于对任一转速值，确定所述第一差值与所述第二差值的偏差，确定所述偏差小于偏差阈值时所对应的转速区间；A rotational speed range determination module, configured to determine the deviation between the first difference and the second difference for any rotational speed value, and determine the corresponding rotational speed range when the deviation is smaller than the deviation threshold;

转速区间内转子位置平滑设计模块，用于在所述转速区间内，将采用高频注入法估算的主电机转子位置与在中高速段估算的转子位置进行加权平均，获得转速区间内的估算的转子位置。The rotor position smoothing design module within the speed range is used to perform a weighted average of the rotor position of the main motor estimated by the high-frequency injection method and the rotor position estimated in the medium-high speed section within the speed range, to obtain the estimated value in the speed range rotor position.

在一些可选实施方式中，真实转子位置通过旋转变压器解算。In some alternative embodiments, the true rotor position is resolved by a resolver.

在一些可选实施方式中，在所述中间变量计算模块中，利用如下公式获取用于估算永磁机转子位置的中间变量：In some optional implementations, in the intermediate variable calculation module, the following formula is used to obtain the intermediate variable for estimating the rotor position of the permanent magnet machine:

Figure BDA0003875782840000071
Figure BDA0003875782840000071

其中，UPMα、UPMβ为等效的两相电压，

Figure BDA0003875782840000072
为初始给定的永磁机估算位置或由锁相环解算的永磁机估算位置。Among them, U PMα and U PMβ are equivalent two-phase voltages,
Figure BDA0003875782840000072
Estimated position for an initially given permanent magnet machine or an estimated position for a permanent magnet machine solved by a phase-locked loop.

在一些可选实施方式中，在所述主电机转子位置估算模块中，利用如下公式确定主电机的中高速段估算转子位置和估算转速：In some optional implementation manners, in the rotor position estimation module of the main motor, the estimated rotor position and the estimated rotational speed of the medium-high speed section of the main motor are determined using the following formula:

Figure BDA0003875782840000073
Figure BDA0003875782840000073

Figure BDA0003875782840000074
Figure BDA0003875782840000074

其中，pMM为主电机极对数，pPM为永磁机极对数，

Figure BDA0003875782840000075
为永磁机估算转速，
Figure BDA0003875782840000076
为永磁机估算位置，
Figure BDA0003875782840000077
为主电机估算转速，
Figure BDA0003875782840000078
为主电机估算位置。Among them, p MM is the number of pole pairs of the main motor, p PM is the number of pole pairs of the permanent magnet machine,
Figure BDA0003875782840000075
Estimate the rotational speed for a permanent magnet machine,
Figure BDA0003875782840000076
Estimate the position for the permanent magnet machine,
Figure BDA0003875782840000077
Estimated speed of the main motor,
Figure BDA0003875782840000078
Estimated position for the main motor.

在一些可选实施方式中，所述偏差阈值为0.02rad。In some optional implementation manners, the deviation threshold is 0.02rad.

本申请提出的基于三级式电机多级结构特性的转子位置估算方法。利用高频注入法完成零低速段主电机转子位置估算，同时对现有控制电路增加电压采样功能以完成永磁机三相电压的采集，利用基于永磁机三相电压的反电势法完成永磁机转子位置估算，结合永磁机与主电机极对数对应关系，间接获取主电机中高速段转子位置估算。该方法避免了中高速段电机电气参数变化对估算结果的影响，算法计算量小，容易实现工程化应用。The rotor position estimation method based on the multi-stage structural characteristics of a three-stage motor proposed in this application. Use the high-frequency injection method to complete the estimation of the rotor position of the main motor in the zero-low speed section. At the same time, add the voltage sampling function to the existing control circuit to complete the acquisition of the three-phase voltage of the permanent magnet machine. Use the back EMF method based on the three-phase voltage of the permanent magnet machine to complete the permanent The rotor position estimation of the magnet machine, combined with the corresponding relationship between the permanent magnet machine and the pole logarithm of the main motor, indirectly obtains the rotor position estimation of the high-speed section of the main motor. This method avoids the influence of the electrical parameter change of the motor in the middle and high speed section on the estimation result, and the calculation amount of the algorithm is small, and it is easy to realize engineering application.

虽然，上文中已经用一般性说明及具体实施方案对本申请作了详尽的描述，但在本申请基础上，可以对之作一些修改或改进，这对本领域技术人员而言是显而易见的。因此，在不偏离本申请精神的基础上所做的这些修改或改进，均属于本申请要求保护的范围。Although the present application has been described in detail with general descriptions and specific implementations above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present application. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present application all belong to the protection scope of the present application.

Claims (10)

1. A method for estimating a rotor position of a three-stage motor, comprising:
s1, estimating the position and the rotating speed of a rotor at a zero low-speed section of a main motor by adopting a high-frequency injection method, and determining a first difference value between the position and the real rotor position;
s2, CLARK conversion is carried out on the collected three-phase voltage to obtain equivalent two-phase voltage;
s3, determining an intermediate variable for estimating the position of the rotor of the permanent magnet machine based on the two-phase voltage;
s4, estimating the position and the rotating speed of the rotor by using a phase-locked loop;
s5, determining the estimated rotor position and the estimated rotating speed of the middle-high speed section of the main motor by utilizing the corresponding relation of the pole pairs of the main motor and the permanent magnet motor;
s6, determining a second difference value between the estimated rotor position and the real rotor position of the middle-high speed section;
s7, for any rotating speed value, determining the deviation of the first difference value and the second difference value, and determining a rotating speed interval corresponding to the deviation smaller than a deviation threshold value;
and S8, in the rotating speed interval, carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section to obtain the estimated rotor position in the rotating speed interval.
2. A three-stage motor rotor position estimation method according to claim 1, wherein in steps S1 and S5, the true rotor position is calculated by a resolver.
3. A three-stage motor rotor position estimation method according to claim 1, wherein in step S3, the intermediate variable for estimating the rotor position of the permanent magnet motor is obtained using the following formula:
Figure FDA0003875782830000011
wherein, U PMα 、U PMβ In order to be an equivalent two-phase voltage,
Figure FDA0003875782830000012
estimating the position for the initially given permanent magnet machine or the permanent magnet machine calculated by the phase-locked loop in step S4.
4. A rotor position estimating method of a three-stage motor according to claim 1, wherein in step S5, the estimated rotor position and the estimated rotational speed of the main motor at the middle and high speed stages are determined using the following equations:
Figure FDA0003875782830000013
Figure FDA0003875782830000014
wherein p is MM Is the number of main motor pole pairs, p PM Is the number of pole pairs of the permanent magnet machine,
Figure FDA0003875782830000015
the rotational speed is estimated for the permanent magnet machine,
Figure FDA0003875782830000016
the position is estimated for the permanent magnet machine,
Figure FDA0003875782830000017
the rotational speed is estimated for the main motor,
Figure FDA0003875782830000018
a position is estimated for the main motor.
5. A method for estimating a rotor position of a three-stage motor according to claim 1, wherein said deviation threshold is 0.02rad in step S7.
6. A three-stage motor rotor position estimation device, comprising:
the first difference calculation module is used for estimating the position and the rotating speed of a rotor at the zero-low speed section of the main motor by adopting a high-frequency injection method and determining a first difference between the position and the real rotor position;
the CLARK conversion module is used for carrying out CLARK conversion on the collected three-phase voltage to obtain equivalent two-phase voltage;
the intermediate variable calculation module is used for determining an intermediate variable for estimating the position of the rotor of the permanent magnet motor based on the two-phase voltages;
the phase-locked loop module is used for estimating the position and the rotating speed of the rotor by using a phase-locked loop;
the main motor rotor position estimation module is used for determining the estimated rotor position and the estimated rotating speed of the middle-high speed section of the main motor by utilizing the corresponding relation of the pole pair number of the main motor and the permanent magnet motor;
the second difference calculation module is used for determining a second difference between the estimated rotor position and the real rotor position of the middle-high speed section;
the rotating speed interval determining module is used for determining the deviation of the first difference value and the second difference value for any rotating speed value, and determining a corresponding rotating speed interval when the deviation is smaller than a deviation threshold value;
and the rotor position smoothing design module in the rotating speed interval is used for carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section in the rotating speed interval to obtain the estimated rotor position in the rotating speed interval.
7. A three-stage motor rotor position estimation apparatus according to claim 6, wherein the true rotor position is calculated by a resolver.
8. A three-stage motor rotor position estimation apparatus according to claim 6, wherein in the intermediate variable calculation module, the intermediate variable for estimating the rotor position of the permanent magnet motor is obtained using the following formula:
Figure FDA0003875782830000021
wherein, U PMα 、U PMβ Is an equivalent two-phase voltage and is,
Figure FDA0003875782830000022
estimating the position for an initially given permanent magnet machine or a permanent magnet machine calculated by a phase-locked loop.
9. A three-stage motor rotor position estimation apparatus according to claim 6, wherein in said main motor rotor position estimation module, the estimated rotor position and the estimated rotational speed of the main motor in the middle and high speed sections are determined using the following equations:
Figure FDA0003875782830000023
Figure FDA0003875782830000024
wherein p is MM Is the number of main motor pole pairs, p PM Is the number of pole pairs of the permanent magnet machine,
Figure FDA0003875782830000025
the rotational speed is estimated for the permanent magnet machine,
Figure FDA0003875782830000026
the position is estimated for the permanent magnet machine,
Figure FDA0003875782830000027
the rotational speed is estimated for the main motor,
Figure FDA0003875782830000028
a position is estimated for the main motor.
10. A rotor position estimation device of a three-stage motor according to claim 6, characterized in that said deviation threshold is 0.02rad.
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CN110417308A (en) * 2019-07-05 2019-11-05 南京理工大学 A compound strategy control method for full speed range of permanent magnet synchronous motor
CN113765442A (en) * 2021-08-23 2021-12-07 广东工业大学 Method for improving upwind starting capability of permanent magnet synchronous motor fan
CN113938077A (en) * 2021-10-19 2022-01-14 河海大学 Position-sensor-free full-speed range control method for permanent magnet synchronous motor

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US20090190903A1 (en) * 2008-01-30 2009-07-30 Jtekt Corporation Motor controller and vehicular steering system using said motor controller
KR20110112995A (en) * 2010-04-08 2011-10-14 포항공과대학교 산학협력단 Synchronous Motor Rotor Angle Estimation System and Method Based on Phase-locked Detector Combining Two Sensorless Control Methods
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