CN115940719A - Novel phase-locked loop permanent magnet synchronous motor position sensorless control method - Google Patents
Novel phase-locked loop permanent magnet synchronous motor position sensorless control method Download PDFInfo
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Abstract
The invention discloses a novel phase-locked loop permanent magnet synchronous motor position sensorless control method, which specifically comprises the following steps: s1, building a model; s2, designing a generalized supercoiled sliding-mode observer; s3, designing a rotation speed and rotor position estimation link; s4, speed regulation control; the invention relates to the technical field of motor control. The novel phase-locked loop permanent magnet synchronous motor position sensorless control method is characterized in that a generalized supercoiled sliding mode observer and a novel phase-locked loop are combined, the high-precision position sensorless control of a permanent magnet synchronous motor is achieved, the generalized supercoiled sliding mode observer is used for restraining the high-frequency buffeting of a system, the generalized supercoiled sliding mode observer is combined with the novel phase-locked loop, a rotating speed and position estimation link based on the novel phase-locked loop is constructed, buffeting transmission when information such as the rotating speed is extracted from an arctangent estimation method is reduced, the condition of a closed loop system is guaranteed to be accurate and fast converged to a balance point, and the novel phase-locked loop permanent magnet synchronous motor position sensorless control method has better dynamic performance and steady-state performance.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a novel position sensorless control method for a permanent magnet synchronous motor of a phase-locked loop.
Background
With the continuous progress of science and technology, various high and new technologies are continuously emerged, and the concepts of energy conservation, emission reduction and green life are more and more emphasized by people. The permanent magnet synchronous motor is widely used due to the advantages of simple structure, high power density, high efficiency, wide speed regulation range, small rotational inertia, simple maintenance and the like, the position of a rotor needs to be known in the high-precision control of the permanent magnet synchronous motor, the traditional method is to adopt a mechanical sensor to extract the rotating speed and the position information of the rotor of the motor, the size and the design cost of the motor are increased, the anti-interference capability of the motor is weakened, and the position-sensor-free control of the permanent magnet synchronous motor gradually becomes the current research hotspot in order to overcome the problems.
In recent years, scholars at home and abroad propose a plurality of control methods of the permanent magnet synchronous motor without a position sensor, and the methods comprise the following steps: the method comprises a pulse vibration high-frequency injection method, a model reference self-adaptive method, an extended Kalman filtering method and a sliding mode non-speed sensor method, wherein the sliding mode observer has a simple algorithm and high robustness and is widely applied to the characteristics of insensitivity to parameter change and disturbance of a system, but the observation result of the sliding mode observer is easily interfered by sliding mode buffeting, so that the observation result has errors and can cause system instability in serious cases.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a novel position-sensorless control method for a permanent magnet synchronous motor of a phase-locked loop, which solves the problem that the high-frequency buffeting is amplified and a larger angle estimation error is caused because the system buffeting is directly introduced into division operation by an arctangent function position estimation algorithm.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a novel phase-locked loop permanent magnet synchronous motor position-sensorless control method comprises a generalized super-spiral sliding mode observer, a novel phase-locked loop module, a Park conversion module, a Park inverse conversion module, an SVPWM module, a Clark conversion module and a three-phase inverter, and specifically comprises the following steps:
s1, model building: establishing a mathematical model of a surface-mounted permanent magnet synchronous motor in a medium-high speed area under a static alpha beta coordinate system;
s2, designing a generalized supercoiled sliding-mode observer: construction of slip form surface S with observation error of stator current h =0, constructing a sliding-mode observer by adopting a generalized supercoiling algorithm to obtain the generalized supercoiling sliding-mode observer;
s3, designing a rotation speed and rotor position estimation link: combining a novel phase-locked loop with a sliding-mode observer, and constructing a rotation speed and rotor position estimation link based on the novel phase-locked loop;
s4, speed regulation control: after the design of the generalized supercoiled sliding-mode observer is finished, the rotating speed and the rotor position information are obtained by taking the current and voltage components of the motor as input quantities, the generalized supercoiled sliding-mode observer is combined with the vector control of the motor, the speed regulation control of a surface-mounted permanent magnet synchronous motor is realized, and particularly, the output of a novel phase-locked loop module is output
And &>
The method is combined with vector control, and comprises a generalized supercoiled algorithm corresponding to the generalized supercoiled sliding-mode observer, a novel phase-locked loop module, a Park transformation module, a Park inverse transformation module, an SVPWM module, a Clark transformation module and a three-phase inverter, wherein four inputs of the generalized supercoiled sliding-mode observer are respectively as follows: stator current alpha beta axis component i output by Clark conversion module α And i β Stator voltage alpha beta axis component u output by Park inverse transformation module α And u β ；
Output rotor position angle of novel phase-locked loop module
Respectively as the input of Park transformation module and Park inverse transformation module, and outputs the estimated rotating speed->
With a given rotational speed omega ref The difference of the q-axis current and the q-axis current is obtained after passing through a PI proportional integrator of a rotating speed ring; stator current alpha beta axis component i output by Clark conversion module α And i β Respectively obtaining converted current dq axis components i after passing through Park conversion modules d And i q Then respectively associated with a given dq-axis current component i d_ref And i q_ref Making difference, respectively inputting the difference into a Park inverse transformation module after PI proportional integration of a current loop, and outputting a stator voltage alpha beta axis component u by the Park inverse transformation module α And u β Input SVPWM module, output of SVPWM module and bus voltage u dc As an input of the three-phase inverter, an output of the three-phase inverter is used to control the permanent magnet synchronous motor PMSM.
The invention is further configured to: in the step S1, for the surface-mounted permanent magnet synchronous motor, a mathematical model of the surface-mounted permanent magnet synchronous motor in a two-phase static α β coordinate system is as follows:
wherein:
in the formula: l is s Respectively stator inductance, ω e Is the electrical angular velocity u α 、u β For stator constant pressure, i α 、i β Is stator current, e α 、e β Is a back electromotive force,. Psi f Is a permanent magnet flux linkage, R s Is stator resistance, θ e Is the rotor position angle.
The invention is further configured to: the current estimation equation of the generalized superspiral sliding-mode observer constructed in the step S2 is as follows:
in the formula:
i being respectively the alpha beta axis of a two-phase stationary coordinate system α 、i β 、e α 、e β The observed value is obtained by observing the measured value,
is->
e α 、e β Is greater than or equal to>
Evaluating an error for the respective axial component of the stator current α β ->
k 11 、k 12 、k 13 、k 21 、k 22 、k 23 Is a sliding mode gain coefficient;
the surface of the structural slip form is S h ＝0：
When the system state reaches the sliding mode surface and starts sliding mode motion, the requirements are met
Namely:
and substituting the formula into a current error equation of the generalized supercoiled sliding-mode observer to obtain an estimated value of the back electromotive force of the motor.
The invention is further configured to: the step S3 of estimating the rotating speed and the rotor position based on the novel phase-locked loop specifically comprises the following steps:
when the error between the actual position angle and the estimated position angle of the rotor is small, i.e. when the error is small
Tends to zero, then->
Is arranged and/or is>
The resulting back emf estimation error Δ e is:
(III) advantageous effects
The invention provides a novel control method for a position-sensorless permanent magnet synchronous motor of a phase-locked loop. The method has the following beneficial effects:
the invention realizes the high-precision position-sensor-free control of the permanent magnet synchronous motor by combining the generalized supercoiled sliding-mode observer and a novel phase-locked loop, can effectively inhibit the high-frequency buffeting of the system by utilizing the generalized supercoiled sliding-mode observer, is combined with the novel phase-locked loop, constructs a rotating speed and position estimation link based on the novel phase-locked loop, reduces the buffeting transmission when information such as the rotating speed and the like is extracted from an arctangent estimation method, and simultaneously ensures that the state of a closed-loop system can be accurately and quickly converged to a balance point by the control system of the permanent magnet synchronous motor, thereby having better dynamic performance and steady-state performance.
Drawings
FIG. 1 is a block diagram of a novel phase locked loop implementation of the present invention;
FIG. 2 is a schematic block diagram of the generalized supercoiled sliding-mode observer of the present invention implemented in combination with a novel phase-locked loop;
FIG. 3 is a control block diagram of the combination of the permanent magnet synchronous motor vector control, the generalized supercoiled sliding-mode observer and the novel phase-locked loop.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1-3, an embodiment of the present invention provides a technical solution: a novel control method for a position-sensorless permanent magnet synchronous motor of a phase-locked loop specifically comprises the following steps:
s1, establishing a mathematical model of a permanent magnet synchronous motor in a middle and high speed area under a static alpha beta coordinate system;
for a surface-mounted permanent magnet synchronous motor, a mathematical model under a two-phase static alpha beta coordinate system is as follows:
wherein:
in the formula: l is s Respectively stator inductance, omega e Is the electrical angular velocity u α 、u β For stator constant pressure, i α 、i β Is stator current, e α 、e β Is a back electromotive force,. Psi f Is a permanent magnet flux linkage，R s Is stator resistance, θ e Is the rotor position angle.
S2, designing a generalized supercoiled sliding-mode observer;
designing a generalized supercoiled sliding-mode observer according to a mathematical model of a permanent magnet synchronous motor, and elaborating a specific design process in detail;
the current equation is deduced and established by a mathematical model of the permanent magnet synchronous motor in a medium-high speed area under a static alpha beta coordinate system:
the traditional sliding-mode observer is designed as follows:
wherein:
by taking the difference between the formula (1) and the formula (2), the error equation of the stator current can be obtained as follows:
the surface of the structural slip form is S h ＝0：
When the system state reaches the sliding mode surface and starts sliding mode motion, the requirements are met
Namely: />
Substitution of formula (6) for formula (4) gives:
as can be seen from the equation (7), the observed back electromotive force contains high-frequency buffeting signals, and in order to reduce the system buffeting, a generalized supercoiling algorithm is adopted, which can be expressed as
Wherein k is 1 、k 2 、k 3 All coefficients, w is a defined auxiliary sliding mode surface, sign(s) is a sign function of s;
the current estimation equation of the generalized supercoiled sliding-mode observer constructed by generalized supercoils is as follows:
when the state variable of the observer reaches the sliding mode surface
Then, the electric electromotive force is observed>
And
s3, designing a novel phase-locked loop;
for a surface-mounted permanent magnet synchronous motor, the back electromotive force of the surface-mounted permanent magnet synchronous motor under a two-phase static alpha beta coordinate system is as follows:
when the error between the actual position angle and the estimated position angle of the rotor is small, i.e. when the error is small
Tends to zero, then->
Is arranged and/or is>
The available reverse potential difference Δ e is:
by means of a PI proportional-integral controller, the Δ E can be adjusted towards zero, i.e.
And the estimated rotor angle tends to the actual rotor position angle, and the rotor position angle information can be obtained. />
As shown in fig. 3, the output of the novel phase-locked loop module is connected
And &>
The method is combined with vector control, and comprises a generalized supercoiled algorithm corresponding to the generalized supercoiled sliding-mode observer, a novel phase-locked loop module, a Park transformation module, a Park inverse transformation module, an SVPWM module, a Clark transformation module and a three-phase inverter, wherein four inputs of the generalized supercoiled sliding-mode observer are respectively as follows: stator current alpha beta axis component i output by Clark conversion module α And i β Stator voltage alpha beta axis component u output by Park inverse transformation module α And u β ；
Output rotor position angle of novel phase-locked loop module
Respectively as the input of Park transformation module and Park inverse transformation module, and outputs the estimated rotating speed->
With a given rotational speed omega ref The difference of the q-axis current and the q-axis current is obtained through a PI proportional integrator of a rotating speed ring; stator current alpha beta axis component i output by Clark conversion module α And i β Respectively obtaining converted current dq axis components i after passing through Park conversion modules d And i q Then respectively associated with a given dq-axis current component i d_ref And i q_ref Making difference, respectively inputting the difference into a Park inverse transformation module after PI proportional integration of a current loop, and outputting a stator voltage alpha beta axis component u by the Park inverse transformation module α And u β Input SVPWM module, output of SVPWM module and bus voltage u dc As an input of the three-phase inverter, an output of the three-phase inverter is used to control the permanent magnet synchronous motor PMSM.
In conclusion, the novel position sensorless control method for the phase-locked loop permanent magnet synchronous motor based on the improved sliding-mode observer is combined with the novel phase-locked loop through the combination of the generalized supercoiled sliding-mode observer and the novel phase-locked loop, so that the position sensorless control of the permanent magnet synchronous motor is realized, and compared with the traditional sliding-mode observer, the generalized supercoiled sliding-mode observer is remarkably improved in the aspect of reducing buffeting, has better robustness and has good dynamic performance and stable performance.
Claims (4)
1. A novel phase-locked loop permanent magnet synchronous motor position sensorless control method is characterized by comprising the following steps: the method comprises a generalized supercoiled sliding-mode observer, a novel phase-locked loop module, a Park transformation module, a Park inverse transformation module, an SVPWM module, a Clark transformation module and a three-phase inverter, and specifically comprises the following steps:
s1, model building: establishing a mathematical model of a middle and high speed area surface-mounted permanent magnet synchronous motor under a static alpha beta coordinate system;
s2, designing a generalized supercoiled sliding-mode observer: by error in observation of stator currentDifferential slip form surface S h =0, constructing a sliding-mode observer by adopting a generalized supercoiling algorithm to obtain the generalized supercoiling sliding-mode observer;
s3, designing a rotating speed and rotor position estimation link: combining a novel phase-locked loop with a sliding-mode observer, and constructing a rotation speed and rotor position estimation link based on the novel phase-locked loop;
s4, speed regulation control: after the design of the generalized supercoiled sliding-mode observer is completed, the current and voltage components of the motor are used as input quantities to acquire rotating speed and rotor position information, and the generalized supercoiled sliding-mode observer is combined with motor vector control to realize the speed regulation control of the surface-mounted permanent magnet synchronous motor.
2. The method for controlling the position-sensorless permanent magnet synchronous motor of the novel phase-locked loop according to claim 1 is characterized in that: in the step S1, for the surface-mounted permanent magnet synchronous motor, a mathematical model of the surface-mounted permanent magnet synchronous motor in a two-phase static α β coordinate system is as follows:
wherein:
in the formula: l is a radical of an alcohol s Respectively stator inductance, omega e Is the electrical angular velocity u α 、u β For stator constant pressure, i α 、i β Is stator current, e α 、e β Is a back electromotive force,. Psi f Is a permanent magnet flux linkage, R s Is stator resistance, θ e Is the rotor position angle.
3. The method for controlling the position-less sensor of the permanent magnet synchronous motor of the novel phase-locked loop according to claim 1, is characterized in that: the current estimation equation of the generalized superspiral sliding-mode observer constructed in the step S2 is as follows:
in the formula:
i being respectively the alpha beta axis of a two-phase stationary coordinate system α 、i β 、e α 、e β The observed value is obtained by observing the measured value,
is->
e α 、e β Is greater than or equal to>
Error is respectively estimated for the axial component of the stator current alpha beta, and>
k 11 、k 12 、k 13 、k 21 、k 22 、k 23 is a sliding mode gain coefficient; />
The surface of the structural slip form is S h ＝0：
When the system state reaches the sliding mode surface and starts sliding mode motion, the requirements are met
Namely:
4. the method for controlling the position-sensorless permanent magnet synchronous motor of the novel phase-locked loop according to claim 1 is characterized in that: the step S3 of estimating the rotation speed and the rotor position based on the novel phase-locked loop is specifically as follows:
when the temperature is higher than the set temperature
Tends to zero, then->
Is arranged and/or is>
The available back emf estimation error Δ e is:
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