CN115833687A - Hall sensor based high-precision rotor position fitting method for permanent magnet synchronous motor - Google Patents
Hall sensor based high-precision rotor position fitting method for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a high-precision rotor position fitting method of a permanent magnet synchronous motor based on a Hall sensor, and relates to the technical field of motor control. The invention comprises the following steps: firstly, three paths of Hall signals are collected, and a primary rotor position theta is obtained by utilizing a traditional average speed method H (ii) a Then, reading the current and voltage values of a three-phase stator of the motor, obtaining a primary stator flux linkage by pure integration through a flux linkage voltage model, and correcting the flux linkage through a flux linkage current model at the jumping moment of a Hall signal; then, the magnetic flux linkage and the rotor position theta are calculated H To obtain an estimated current value i * Comparing with the actual current value to obtain delta i; and finally, obtaining the position theta of the rotor according to the relation between the flux linkage and the current and the position of the rotor H The final rotor position theta is obtained after compensation of the estimated error delta theta. The invention solves the problem of low rotor position precision caused by low resolution characteristic of the Hall sensor and integral drift existing in pure integral calculation flux linkage, and improves the performance and reliability of the permanent magnet synchronous motor control system.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a Hall sensor-based high-precision rotor position fitting method for a permanent magnet synchronous motor.
Background
In vector control of a permanent magnet synchronous motor control system, precise rotor position and speed information is required to ensure control performance. The control result of the motor can be ensured by introducing high-precision positions such as a photoelectric encoder, a rotary transformer and the like arranged at the end part of a rotor shaft of the motor, and a series of problems of reduced system reliability, increased control cost and the like also exist. The switch Hall sensor has the advantages of simple installation, low cost, high resistance to working environment and the like, and is suitable for being used in the detection of the position of the rotor of the permanent magnet synchronous motor. However, in one electrical cycle of the switching hall sensors, three hall sensors can only provide six discrete position signals, and cannot be directly used for a vector control system of the permanent magnet synchronous motor; the rotor is obtained by the position sensorless magnetic flux linkage information, so that the problems that the signal-to-noise ratio is low when the rotor position is obtained by using a back electromotive force at a low speed in the prior art, and then the magnetic flux linkage is calculated by using a pure integration method, the magnetic flux linkage integral drift and the initial value offset exist are solved.
Therefore, the method for obtaining high-precision rotor position information by using six discrete Hall signals and a permanent magnet synchronous motor flux linkage model is the key of a permanent magnet synchronous motor vector control technology based on a Hall sensor, and therefore the Hall sensor-based high-precision rotor position fitting method of the permanent magnet synchronous motor is provided.
Disclosure of Invention
The invention aims to provide a Hall sensor-based high-precision rotor position fitting method for a permanent magnet synchronous motor, which is used for solving the problems of low rotor position precision and estimation lag caused by initial value bias and integral drift caused by the fact that a Hall sensor is switched on and off due to the low resolution characteristic and flux linkage is calculated by using pure integration.
The high-precision rotor position fitting method of the permanent magnet synchronous motor based on the switch Hall position sensor comprises the following specific steps:
three collecting channels are installed in permanent magnet synchronizationSignals Hall _ A, hall _ B and Hall _ C output by Hall sensors on the stator of the motor are used for obtaining a series of discrete electrical angle values theta n And based on the obtained electrical angle value theta n Calculating to obtain a preliminary rotor position theta by using an average speed method H And velocity ω H ；
Collecting stator current and voltage of a permanent magnet synchronous motor, and establishing a voltage model and a current model of a flux linkage of the permanent magnet synchronous motor under a static two-phase coordinate system;
calculating according to a pure integral method in an established flux linkage voltage model to obtain a preliminary stator flux linkage, then judging whether a Hall interval of the PWM period changes, if so, calculating through a current model of the flux linkage to obtain the stator flux linkage, and correcting and updating the stator flux linkage obtained by the pure integral method in the voltage model;
obtaining the rotor position theta according to the corrected stator flux linkage and the average speed method H Calculating to obtain a current estimation value through a current model of the flux linkage, and comparing the actual current with the current estimation value to obtain a current estimation error delta i;
according to the binary function relation of the flux linkage of the permanent magnet synchronous motor, the stator current and the rotor position, the rotor estimation error delta theta of the rotor position obtained under the average speed method is obtained through calculation, and after the error is compensated, the rotor position fitted by the flux linkage observer and the Hall signal method is finally obtained
Further, a 360 ° electrical cycle is divided into six hall intervals H =4 hall _a +2 hall _b + hall _caccording to the relationship between the hall sensor signal and the rotor position.
Further, the average speed method is used for calculating to obtain a preliminary rotor position theta H The method comprises the following specific steps:
(1) The average speed calculated by the time of the rotor passing through the last Hall interval is used as the average speed of the rotor in the current Hall interval;
the method for expanding the Hall interval and calculating the average speed of the rotor in the previous Hall interval comprises the following steps:
in the formula, T (n-1) For the time, ω, during which the rotor passes the last Hall interval (n-1) The average speed of the rotor in the last Hall interval is obtained;
(2) In the digital control system, when the angle captured by the Hall capture timer is transmitted to the control operation period, delta t exists H The delay error of the Hall sensor causes that the accurate six discrete Hall angles cannot be obtained, so that the subsequent calculation cannot be accurately carried out. The present invention records time t when a hall signal is captured by using a hall capture timer 1 Recording time t at the start of PWM cycle calculation 2 The average velocity method is used to perform digital delay compensation for six discrete hall angles as follows:
θ' n ＝θ n +(t2-t1)*ω(n-1)
the equation for the continuous rotor angle fitted using the mean velocity method is:
θ H ＝θ' n +ΔT*ω(n-1)
wherein, delta T is the running time of the rotor in the current Hall interval, and theta H The position is estimated for the rotor under the average speed method.
Further, a voltage model and a current model of a flux linkage of the permanent magnet synchronous motor under a static two-phase coordinate system are established, and the method specifically comprises the following steps:
(1) Establishing a mathematical model of the following surface-mounted permanent magnet synchronous motor in a static two-phase coordinate system: according to the collected three-phase current of the motor, the current under a two-phase static coordinate system is obtained through Clark conversion, and according to the current, the phase resistance and the phase inductance under the two-phase static coordinate system of the motor, a voltage mathematical model of the permanent magnet synchronous motor under the two-phase static coordinate system is established as follows:
in the formula u α 、u β Respectively representing alpha axis voltage and beta axis voltage under a static two-phase coordinate system; r s Is a stator phase resistance; i.e. i α 、i β Respectively are alpha axis current and beta axis current under a static two-phase coordinate system; psi α 、ψ β The stator flux linkages of the alpha shaft and the beta shaft are respectively under a static two-phase coordinate system.
(2) Further, a flux linkage voltage model of the permanent magnet synchronous motor under the two-phase static coordinate system is obtained as follows:
(3) The establishment of a flux linkage current model of the permanent magnet synchronous motor under a two-phase static coordinate system comprises the following steps:
wherein psi f Is the permanent magnet flux linkage of the motor rotor.
Further, the collected three-phase current of the motor is subjected to Clark conversion to obtain the current under a two-phase static coordinate system, and the specific method comprises the following steps:
in the formula i a 、i b 、i c For three-phase current values collected, i α 、i β The converted current value in the two-phase stationary coordinate system is obtained.
Further, the initial value of the stator flux linkage calculated by the pure integral method in the flux linkage voltage model is as follows:
according to a flux linkage voltage model, obtaining stator flux linkage by a pure integral method:
and at the jump moment of the Hall signal, correcting and updating the stator flux linkage according to the flux linkage current model.
Further, a current estimation value is obtained through calculation of a current model of the flux linkage, and the method specifically comprises the following steps:
rotor position θ from a current model of flux linkage H And stator flux linkage information, and calculating to obtain a current estimation value, wherein the realization formula is as follows:
comparing the difference between the actual current value and the current estimation value to obtain a current estimation error value Δ i as follows:
Δi＝i-i * 。
further, a method for calculating the rotor estimation error Δ θ specifically includes:
let θ = θ Hall + Δ θ, then θ is at θ Hall The sin θ and cos θ Taylor expansions are:
substituting Δ i into the flux linkage current model to obtain:
LΔi α ＝ψ f (cosθ H -cosθ)
LΔi β ＝ψ f (sinθ H -sinθ)
substituting the Taylor expansion into the above formula, the two sides can be obtained by the following calculation:
Δ θ is finally obtained as follows:
Δθ＝(LΔi a sinθ H -LΔi β cosθ H )/ψ f
and compensating the error to the angle estimated by the average speed method to obtain a final rotor observation angle:
θ＝θ H +Δθ
where Δ θ is the rotor estimation error and θ is the final rotor observation angle.
Compared with the prior art, the invention has the advantages that:
(1) Compared with the traditional average speed method which utilizes the low-resolution discrete Hall signal to have large estimation error and hysteresis, the method firstly utilizes the average speed method to solve the problem of time delay of the Hall signal in a digital control system, and combines the low-resolution rotor position information provided by the Hall position sensor and the flux linkage observer of the permanent magnet synchronous motor, so that high-precision rotor position information can be obtained in each Pulse Width Modulation (PWM) period, and the control performance of the motor is improved;
(2) Compared with the traditional position-free sensor which estimates the position of the rotor of the permanent magnet motor by utilizing the back electromotive force information, the magnetic linkage information is used for acquiring the rotor, so that the influence of low signal-to-noise ratio of the back electromotive force at low speed can be avoided; meanwhile, accurate discrete position information is utilized to correct the flux linkage in time, and the problems of initial value bias and integral drift caused by calculating the flux linkage by pure integral are solved.
Drawings
FIG. 1 is a schematic flow chart of the technical solution of the present invention;
FIG. 2 is a diagram showing the relationship between Hall sensor signals and Hall intervals and discrete angles according to the present invention;
FIG. 3 is a diagram illustrating a conventional average velocity method;
FIG. 4 is a detailed schematic diagram of digital delay compensation of discrete Hall angles in accordance with the present invention;
FIG. 5 is a block diagram of a specific implementation structure of a flux linkage Hall method;
FIG. 6 is a frame diagram of the vector control based on the switched Hall position sensor of the present invention;
FIG. 7 is a comparison of rotor angle waveforms and angle errors in the conventional average velocity method and flux linkage Hall method;
FIG. 8 is a comparison of rotor flux linkage obtained by a pure integral flux linkage method and a flux linkage Hall method;
FIG. 9 is a comparison of the pure integral flux linkage method and the flux linkage Hall method for estimating the angle error.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
it should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, an embodiment of the present invention provides a method for estimating a position and a speed of a rotor of a permanent magnet synchronous motor based on a hall sensor, which includes the following steps:
s1, outputting different high and low level signals by three switch Hall sensors according to the change of magnetic induction intensity in the process of the movement of a rotor of a permanent magnet synchronous motor, collecting signals Hall _ A, hall _ B and Hall _ C output by the Hall sensors arranged on a stator of the permanent magnet synchronous motor, dividing a 360-degree electric period into six Hall intervals H =4 x Hall _A +2 x Hall _B + Hall _Caccording to the position relation of the Hall signals and the rotor, and simultaneously obtaining accurate discrete electric angle values at switching points of the Hall intervals, wherein the discrete electric angle values at the switching points are respectively 30 degrees, 90 degrees, 150 degrees, 210 degrees, 270 degrees and 330 degrees;
s1.1, as shown in fig. 3, the average speed calculated by using the time taken for the rotor to pass through the last hall interval is used as the average speed of the rotor in the current hall interval.
In the formula, T (n-1) For the time, ω, during which the rotor passes the last Hall interval (n-1) The average speed of the rotor in the last hall interval is obtained.
S1.2, as shown in figure 4, when the Hall signal jumps, the angle captured by the capture timer is transmitted to the control PWAt M operation cycles, there will be Δ t H The delay error of the Hall sensor causes that the accurate six discrete Hall angles cannot be obtained, so that the subsequent calculation cannot be accurately carried out. The present invention records time t when a hall signal is captured by using a hall capture timer 1 Recording time t at the start of PWM cycle calculation 2 The average velocity method is used as follows to perform digital delay compensation on six discrete Hall angles.
θ' n ＝θ n +(t2-t1)*ω(n-1)
In the Hall interval, the continuous rotor angle formula fitted by using the average speed method is as follows:
θ H ＝θ' n +ΔT*ω(n-1)
wherein, delta T is the running time of the rotor in the current Hall interval, and theta H The continuous rotor position is obtained for the average speed method as input to the flux linkage observer.
In particular, to ensure that the estimated rotor angle still has 60 ° resolution when the motor speed suddenly changes, the theta must be adjusted H Clipping is performed, and the formula is as follows:
s2, establishing a static two-phase coordinate system of the permanent magnet synchronous motor, collecting the stator current and voltage of the permanent magnet synchronous motor, and establishing a voltage model and a current model of a flux linkage of the permanent magnet synchronous motor under the static two-phase coordinate system, wherein the specific method comprises the following steps:
s2.1, establishing a flux linkage mathematical model of the permanent magnet synchronous motor under a static two-phase coordinate system:
collecting three-phase stator current of the permanent magnet synchronous motor, and obtaining current on a two-phase static coordinate system through Clark transformation, wherein the method comprises the following steps:
in the formula i a 、i b 、i c For three times of collectionPhase stator current value, i α 、i β The stator current value in the transformed two-phase stationary coordinate system is obtained.
S2.2, obtaining a voltage mathematical model of the permanent magnet synchronous motor under the two-phase static coordinate system according to the current, the phase resistance and the phase inductance of the motor under the two-phase static coordinate system as follows:
in the formula u α 、u β Respectively representing alpha axis voltage and beta axis voltage under a static two-phase coordinate system; r s Is a stator phase resistance; i.e. i α 、i β Respectively are alpha axis current and beta axis current under a static two-phase coordinate system; psi α 、ψ β The stator flux linkages of the alpha shaft and the beta shaft are respectively under a static two-phase coordinate system.
S2.3, further, obtaining a flux linkage voltage model of the permanent magnet synchronous motor under a two-phase static coordinate system as follows:
s2.4, obtaining a flux linkage current model of the permanent magnet synchronous motor under a two-phase static coordinate system as follows:
s3, as shown in FIG. 5, calculating to obtain a preliminary stator flux linkage according to a pure integral method in the flux linkage voltage model established in S2.3, then judging whether the Hall interval number in the current PWM period is consistent with the Hall interval number in the previous PWM period, and if so, calculating the stator flux linkage according to the voltage model of the permanent magnet synchronous motor flux linkage by using the pure integral method; if the flux linkage is inconsistent with the flux linkage, calculating the stator flux linkage according to a current model of the flux linkage, namely correcting the stator flux linkage calculated by a pure integral method under a voltage model.
It should be noted that when the stator flux linkage is obtained by calculation using the pure integral method in the flux linkage voltage model, an initial value of the stator flux linkage needs to be calculated through the flux linkage current model, the angle is set as a middle angle of the current hall interval, and the initial value of the stator flux linkage is:
according to a flux linkage voltage model, obtaining stator flux linkage by a pure integral method:
and correcting and updating the stator flux linkage according to the flux linkage current model at the jump moment of the Hall signal.
S4, obtaining the rotor position theta according to the corrected stator flux linkage and the average speed method H Calculating through a current model of the flux linkage to obtain a current estimation value, and comparing the actual current with the current estimation value to obtain a current estimation error delta i, wherein the method specifically comprises the following steps:
s4.1, inputting the angle theta under the average speed method in S2 by a current model of flux linkage H And S3, obtaining stator flux linkage information and outputting a current estimation value, wherein the realization formula is as follows:
comparing the difference value between the actual current value and the current estimation value to obtain an estimation error value of the current under the two-phase static coordinate system:
and S5, the stator flux linkage of the permanent magnet synchronous motor is a binary function of the angle of the rotor and the current of the stator, so that the rotor estimation error under the average speed method can be calculated through the stator flux linkage obtained in the S3 and the current estimation error obtained in the S4, and the method is specifically as follows:
let θ = θ Hall + Δ θ, then θ is at θ Hall The sin θ and cos θ Taylor expansions are:
substituting Δ i into the flux linkage current model yields:
LΔi α ＝ψ f (cosθ H -cosθ)
LΔi β ＝ψ f (sinθ H -sinθ)
substituting the Taylor expansion into the above formula, the two sides can be obtained by the following calculation:
Δ θ is finally obtained as follows:
Δθ＝(LΔi a sinθ H -LΔi β cosθ H )/ψ f
compensating the error to the angle estimated by the average speed method to obtain the final estimated rotor position (observation angle):
θ＝θ H +Δθ
where Δ θ is the rotor estimation error and θ is the final rotor estimated position.
In summary, as shown in fig. 6 to 9, compared with the prior art, the method for calculating the rotor position and angle of the permanent magnet synchronous motor by using the hall signal and the flux observer according to the present invention has the following technical effects: the method for obtaining the position angle of the motor rotor is clear in thought and simple and feasible in algorithm, high-precision rotor position information can be obtained in each PWM period, and the problems of lag and large error of rotor position estimation in the traditional average speed method and initial value offset and integral drift of flux linkage calculation in the pure integral method are solved, so that high-performance vector control of the permanent magnet synchronous motor is realized.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. When an element is referred to as being "mounted to," "secured to," or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Claims (8)
1. A permanent magnet synchronous motor high-precision rotor position fitting method based on a Hall sensor is characterized by comprising the following steps:
collecting three signals Hall _ A, hall _ B and Hall _ C output by Hall sensors arranged on a permanent magnet synchronous motor stator to obtain a series of discrete electrical angle values theta n And calculating to obtain a preliminary rotor position theta by using an average speed method according to the obtained electric angle value theta n H And velocity ω H ；
Collecting three-phase stator current and voltage of the permanent magnet synchronous motor, and establishing a voltage model and a current model of a flux linkage of the permanent magnet synchronous motor under a static two-phase coordinate system;
calculating according to a pure integral method in an established flux linkage voltage model to obtain a preliminary stator flux linkage, then judging whether a Hall interval of the PWM period changes, if so, calculating through a current model of the flux linkage to obtain the stator flux linkage, and correcting and updating the stator flux linkage obtained by the pure integral method in the voltage model;
obtaining the rotor position theta according to the corrected stator flux linkage and the average speed method H Calculating to obtain a current estimation value through a current model of the flux linkage, and comparing the current actual value with the current estimation value to obtain a current estimation error delta i;
according to the binary function relation of the flux linkage of the permanent magnet synchronous motor, the stator current and the rotor position, the rotor estimation error delta theta of the rotor position obtained under the average speed method is obtained through calculation, and after the error is compensated, the rotor position theta fitted by the flux linkage observer in combination with the Hall signal method can be obtained.
2. The Hall sensor-based permanent magnet synchronous motor high-precision rotor position fitting method according to claim 1, characterized in that one 360 ° electrical cycle is divided into six Hall intervals H =4 + Hall _A +2 + Hall _B + Hall _Caccording to the relation between Hall sensor signals and rotor positions.
3. The Hall sensor-based high-precision rotor position fitting method for the permanent magnet synchronous motor according to claim 2, wherein an average speed method is used for calculating to obtain a preliminary rotor position theta H The method comprises the following specific steps:
(1) The average speed calculated by the time of the rotor passing through the last Hall interval is used as the average speed of the rotor in the current Hall interval;
the method for expanding the Hall interval and calculating the average speed of the rotor in the previous Hall interval comprises the following steps:
wherein, T (n-1) For the time, ω, during which the rotor passes the last Hall interval (n-1) The average speed of the rotor in the last Hall interval is obtained;
(2) In the digital control system, when the angle captured by the Hall capture timer is transmitted to the control operation period, delta t exists H The delay error of the Hall sensor causes that the accurate six discrete Hall angles cannot be obtained, so that the subsequent calculation cannot be accurately carried out. The present invention records time t when a hall signal is captured by using a hall capture timer 1 Recording time t at the start of PWM cycle calculation 2 The average velocity method is used for carrying out digital delay compensation on six discrete Hall angles as follows:
θ' n ＝θ n +(t2-t1)*ω(n-1)
the equation for the continuous rotor angle fitted using the mean velocity method is:
θ H ＝θ' n +ΔT*ω(n-1)
in the formula, Δ T is the operation time of the rotor in the current Hall interval, and θ H The position is estimated for the rotor under the average speed method.
4. The method for fitting the high-precision rotor position of the permanent magnet synchronous motor based on the Hall sensor according to claim 1, wherein a voltage model and a current model of a flux linkage of the permanent magnet synchronous motor under a static two-phase coordinate system are established, and the method comprises the following specific steps:
(1) Establishing a mathematical model of the following surface-mounted permanent magnet synchronous motor in a static two-phase coordinate system: according to the collected three-phase current of the motor, the current under a two-phase static coordinate system is obtained through Clark conversion, and according to the current, the phase resistance and the phase inductance under the two-phase static coordinate system of the motor, a voltage mathematical model of the permanent magnet synchronous motor under the two-phase static coordinate system is established as follows:
in the formula u α 、u β Respectively the alpha axis voltage and the beta axis voltage under a static two-phase coordinate system; r s Is a stator phase resistance; i.e. i α 、i β Respectively are alpha axis current and beta axis current under a static two-phase coordinate system; psi α 、ψ β The stator flux linkages are respectively an alpha-axis stator flux linkage and a beta-axis stator flux linkage under a static two-phase coordinate system.
(2) Further, a flux linkage voltage model of the permanent magnet synchronous motor under the two-phase static coordinate system is obtained as follows:
(3) The establishment of a flux linkage current model of the permanent magnet synchronous motor under a two-phase static coordinate system comprises the following steps:
wherein psi f Is the permanent magnet flux linkage of the motor rotor.
5. The Hall sensor-based high-precision rotor position fitting method for the permanent magnet synchronous motor according to claim 4, wherein collected three-phase currents of the motor are subjected to Clark transformation to obtain currents under a two-phase static coordinate system, and the specific method comprises the following steps:
in the formula i a 、i b 、i c For collected three-phase stator current values, i α 、i β The stator current value in the transformed two-phase stationary coordinate system is obtained.
6. The Hall sensor-based high-precision rotor position fitting method for the permanent magnet synchronous motor according to claim 4, wherein the initial value of the stator flux linkage calculated by a pure integration method in the flux linkage voltage model is as follows:
according to a flux linkage voltage model, obtaining stator flux linkage by a pure integral method:
and at the jump moment of the Hall signal, correcting and updating the stator flux linkage according to the flux linkage current model.
7. The Hall sensor-based high-precision rotor position fitting method for the permanent magnet synchronous motor according to claim 5, wherein the current estimation value is obtained through current model calculation of flux linkage, and the specific steps are as follows:
rotor position θ from a current model of flux linkage H And stator flux linkage information, and calculating to obtain a current estimation value, wherein the realization formula is as follows:
comparing the difference between the actual current value and the current estimation value to obtain a current estimation error value Δ i as follows:
Δi＝i-i * 。
8. the Hall sensor-based high-precision rotor position fitting method for the permanent magnet synchronous motor according to claim 1, wherein a calculation method of a rotor estimation error delta theta is as follows:
let θ = θ Hall + Δ θ, then θ is at θ Hall The sin θ and cos θ Taylor expansions are:
substituting Δ i into the flux linkage current model yields:
LΔi α ＝ψ f (cosθ H -cosθ)
LΔi β ＝ψ f (sinθ H -sinθ)
substituting the Taylor expansion into the above formula, the two sides can be obtained by the following calculation:
Δ θ is finally obtained as follows:
Δθ＝(LΔi a sinθ H -LΔi β cosθ H )/ψ f
compensating the error to an angle estimated by an average speed method to obtain a final rotor observation angle:
θ＝θ H +Δθ
in the formula, delta theta is a rotor estimation error, and theta is a final rotor observation angle.
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| CN116260370A (en) * | 2023-05-16 | 2023-06-13 | 广汽埃安新能源汽车股份有限公司 | Interrupt control method and device for motor, electronic equipment and storage medium |
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