CN115940728A - Method for detecting initial position of permanent magnet synchronous motor - Google Patents
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Abstract
The invention discloses an extreme value search-based permanent magnet synchronous motor initial position detection optimization method, belongs to the field of motor control, and aims to solve the problem that parameters of a PID (proportion integration differentiation) regulator in the existing method for detecting the initial position of a rotor based on high-frequency signal injection have influence on dynamic detection performance. And the adjusted PID parameters are stored, and the PID parameters can be directly called for initial position identification in subsequent use.
Description
Technical Field
The invention relates to an extremum search-based permanent magnet motor initial position detection optimization method, and belongs to the field of motor control.
Background
In recent years, the permanent magnet synchronous motor has been widely used in the field of electric drive due to the characteristics of simple and reliable structure, high efficiency and high power density. The permanent magnet synchronous motor not only starts, but also controls the permanent magnet synchronous motor, and the detection of the initial position of the rotor is involved, so that the detection efficiency directly influences the control efficiency. The detection method mainly comprises rotation identification and static identification, wherein the rotation identification is to apply a fixed signal to a motor to generate a stator magnetic field with a fixed direction so as to generate electromagnetic torque to enable a rotor to move to a fixed position; the static identification is to analyze a response signal of the motor excitation signal and track a relationship between the response signal and an initial position of the rotor, thereby detecting the initial position of the rotor. Currently, many methods use PID controllers for sensorless detection to achieve accurate initial position detection. And the parameters of the PID controller directly influence the efficiency of the detection process, thereby influencing the efficiency of the whole control system, and therefore, the PID controller has important significance for the optimization of the PID parameters.
The PID controller has been used for a long time, and accordingly, many methods such as ZN tuning method, internal model control method, genetic algorithm, etc. exist for the parameter tuning and optimization. However, since many controlled objects often face problems with non-linearity, dead time, parameter uncertainty, disturbances, and high order, properly tuning the parameters of a PID controller is a rather difficult task. Extreme-searching (ESC for short) does not depend on an accurate mathematical model of a controlled object, has a simple Control framework, and is a self-optimizing algorithm for performing efficient online real-time searching on an optimized target value. The method comprises the steps of firstly obtaining a gradient signal of a system performance index relative to a controller parameter through perturbation of the controller parameter, and then continuously carrying out online search on an optimal value of the controller parameter according to the gradient signal so as to obtain an optimal control parameter.
Disclosure of Invention
The invention aims to solve the problems that the detection efficiency is not optimal due to the influence of PID parameters and the setting of the PID parameters is difficult when the initial position of the rotor magnetic pole of the built-in permanent magnet synchronous motor based on high-frequency signal injection is detected, the invention uses extremum search to set and optimize the PID parameters, improves the detection efficiency, and relates to the parameter optimization of PID in other detection processes, and the invention is also suitable.
The method of the invention comprises the following steps:
step one, injecting an amplitude value of U into a stator winding of the tested built-in permanent magnet synchronous motor by adopting open loop control i Angular frequency of ω i Three-phase symmetry ofHigh-frequency rotating voltage vector signal to obtain initial value theta of rotor magnetic pole position initial 。
Step two, stopping injecting the high-frequency rotation signal, and converting the i (delta theta) obtained in the step one e ) The variation information is brought into a cost function to be calculated to obtain parameters for searching the extremum
And adding a disturbance signal in the process after passing through a preset high-pass filter and an integrator to obtain gradient information of the cost function on the parameters of the regulator, and searching along the gradient by a fixed step length to obtain a new PID parameter.
Step three, adjusting the controller to be a new PID parameter, injecting the high-frequency rotation signal same as the step one, and obtaining the initial position of the rotor magnetic pole and i (delta theta) e ) Carrying out extremum searching again, repeating the above steps, and obtaining parameter information as the optimal PID control parameter when the cost function tends to be stable.
And step four, storing the obtained optimal parameters, and directly calling the parameters when the initial position of the rotor needs to be identified subsequently without searching the extreme value again.
The invention has the advantages that:
the invention adopts an extremum searching method without an accurate mathematical model of a controlled object, can realize the self-optimizing setting of PID parameters in the rotor initial position detection control through the preselected parameters and the cost function, greatly quickens the detection time of the rotor initial position, improves the control efficiency of the permanent magnet motor, is not only suitable for the initial position detection of high-frequency rotation signal injection, but also can be used for other detection methods using PID control, and has universality.
Drawings
Fig. 1 is a block diagram of a process of detecting an initial position of a permanent magnet synchronous motor, and fig. 2 is a functional block diagram of extremum searching. FIG. 3 is a view showing the detection of the injection initial position of the rotating high-frequency voltage signal
Detailed Description
The first embodiment is as follows: the present embodiment is described below with reference to fig. 1 and 2, and includes the following steps:
step one, obtaining an initial position theta of a rotor by adopting a rotary high-frequency voltage injection method initial And i (Δ θ) including initial position information e ) The specific implementation mode is as follows:
step a, initializing a given rotor position angle theta e1 ＝0；
B, converting the three-phase symmetrical high-frequency rotating voltage vector signal from a polar coordinate system to a rectangular coordinate system to obtain a voltage reference under a two-phase static coordinate system
And &>
Wherein->
Combining the reference amount of voltage with a reference amount of time>
And &>
As input quantity, a space vector pulse width modulation method is adopted to control a three-phase inverter bridge to output three-phase voltage to the built-in permanent magnet synchronous motor;
step c, collecting three-phase stator current i output by the built-in permanent magnet synchronous motor a1 、i b1 And i c1 Three-phase stator current i under the three-phase static coordinate system to be obtained a1 、i b1 And i c1 Converting the alpha-axis current into alpha-axis current i under a two-phase static coordinate system α1 And beta axis current i β1 ；
Step d, using omega i t is a rotation transformation angle, and the alpha axis electricity under a two-phase static coordinate system is convertedStream i α1 And beta axis current i β1 Performing rotation coordinate transformation to obtain d-axis current i under a two-phase synchronous rotation coordinate system d1 And q-axis current i q1 D-axis current i d1 Performing band-pass filtering to obtain current i dn1 Let the q-axis current i q1 Performing band-pass filtering to obtain current i qn1 Then, at ω i t is a rotation transformation angle, and for the current i in the two-phase rotation coordinate system dn1 And i qn1 Performing inverse transformation on the rotating coordinate to obtain the alpha-axis current i under the two-phase static coordinate system αn1 And beta axis current i βn1 Will convert the alpha axis current i αn1 And
multiplying the beta-axis current i βn1 And
performing a product operation, and adding the two product results to obtain an error signal i (Δ θ) e )。
Step e, judging whether | i (delta theta) is satisfied e ) I < epsilon, where epsilon is the error limit,
wherein, I αn1 Is alpha-axis current i under a two-phase static coordinate system αn1 Amplitude of (1) βn1 Is beta axis current i under a two-phase static coordinate system βn1 Is yes, is true>
And c, obtaining the initial judgment value of the magnetic pole position of the rotor, if the judgment result is negative, returning to execute the step b. />
Step two, selecting a cost function, and obtaining an error signal i (delta theta) obtained in the step one e ) Transmitting into extremum searcher to obtain new PI parameter K by one-time optimization p ，K i The specific implementation mode is as follows:
step a, selecting a cost function and adopting an error square integral criterion (ISE), wherein the specific formula is as follows, and calculating
Wherein, θ = { K p K i } T Are the parameters to be optimized.
B, filtering the direct current part of the PI parameter K by a high-pass filter, obtaining approximate gradient information xi in a system function relationship through the action of a demodulation signal, processing the gradient information by an integrator to obtain a change value of a parameter to be optimized, and obtaining a new PI parameter K p ，K i 。
And step three, identifying the initial position of the rotor by using the new parameters, continuously transmitting the obtained information into extremum search for optimization, and repeating the steps in such a way, so that the optimal PID parameters are obtained when the cost function gradually tends to be stable.
And step four, storing the obtained optimal parameters, and directly calling the parameters when the initial position of the rotor needs to be identified subsequently without searching the extreme value again.
The notes are as follows: all angles mentioned in the present invention are electrical angles.
The built-in permanent magnet synchronous motor system can simulate a control method of a direct current motor to control the built-in permanent magnet synchronous motor. Under the condition that the position of a rotor of the built-in permanent magnet synchronous motor is known, the rotor can be converted into an equivalent direct current motor for control through coordinate transformation. Initial position angle theta of motor rotor e The identification speed has important influence on the drive control of the motor, and the method provided by the invention is to optimize the initial position angle theta of the rotor of the built-in permanent magnet synchronous motor e And parameters of the PID controller in the identification process are identified, so that the aim of optimizing the identification speed is fulfilled.
Determining rotor initial position angle theta in the invention e The explanation of various data of the rotating high-frequency signal injection method is very detailed, and is not described in detail again, the main point is the process of obtaining the optimal control parameter by extremum search, and the following detailed description is made on the principle:
as shown in FIG. 1, the procedure of the high frequency signal injection method obtains an error signal i (Δ θ) containing information on the magnetic pole position of the rotor e ) The expression is:
wherein the content of the first and second substances,
L d is a direct axis inductor, L q Is a quadrature axis inductance.
When the error in identifying the magnetic pole position is relatively small, i (Δ θ:) e ) Can approximate equivalent to delta theta e In direct proportion, i (Delta theta) e ) PI regulation is performed as an error amount, the error signal i (delta theta) is output as an identification value of the position of the magnetic pole of the rotor through proportional and integral regulation, and the PI regulation is performed to obtain an error signal i e ) When the value is adjusted to be smaller than the error limit value epsilon, the identification value converges to the actual position of the rotor magnetic pole, i (delta theta) e ) (t) is an image that gradually converges to ε with respect to time.
A schematic diagram of the extremum seeking algorithm is shown in FIG. 2, J * Being extreme values of the cost function, theta * For the parameter value to be optimized corresponding to the extreme value, the cost function is selected from four types of square error integral criterion (ISE), time-by-square error integral criterion (ITSE), absolute error integral criterion (IAE) and time-by-absolute error integral criterion (ITAE), and the calculation formula is as follows:
different cost functions are adopted, the obtained optimal parameters are different, and the optimization effect on the PID control parameters can be realized no matter what cost function is adopted.
As shown, assume that J (θ) is at θ * Performing second-order Taylor expansion to obtain cost function approximation
J(θ)＝J * +J′(θ-θ * )+J″(θ-θ * ) 2 /2 (8)
When J (θ) takes an extreme value, J' is equal to 0, so that any second order function can be locally approximated as follows:
J(θ)＝J * +J″(θ-θ * ) 2 /2 (9)
when J ″)>When 0, take gamma>0; when J ″)<When 0, take gamma<0, the purpose of this algorithm is to make (theta-theta) * ) As small as possible, so that J (theta) approaches the extreme value thereof, that is, the optimal parameter is obtained.
First, let
For unknown optimum input theta * Then the estimation error is:
and is
From formulas (10) and (11):
bringing it into formula (9) gives:
using trigonometric formula 2sin 2 (ω t) =1-cos (2 ω t) reduction, we can obtain:
the function output y is passed through a high-pass filter to filter out the direct current component therein, so as to obtain:
multiplying this signal by the demodulated signal sin (ω t) yields the gradient information of J (θ) as:
using trigonometric function formulas
The method is simplified and can be obtained:
since the high frequency signal is greatly attenuated when passing through the integrator, the influence of the high frequency term can be ignored, and the quadratic term can be ignored
So that a new estimate can be obtained of:
and, as can be seen from the formula (10), at θ * In the case of a constant number of cells,
and &>
The gradient of (d) has the following relationship:
thus, from equation (19) one can obtain:
by solving the differential equation, we can obtain:
as can be seen from the above formula, it is only necessary to design the design so that-0.5 a γ J' is less than 0
And theta * The error of (c) decays exponentially to 0, thereby making a->
And obtaining the optimal value when the cost function obtains the minimum, namely realizing parameter optimization.
By adopting the technical scheme of the invention, the identification efficiency of the initial position of the rotor of the built-in permanent magnet synchronous motor with the saliency can be optimized.
The second embodiment is different from the first embodiment in that the frequency ω of the extremum seeking demodulation signal is set to be the frequency ω of the extremum seeking demodulation signal i Greater than the cut-off frequency omega of the high-pass filter h But too large has an impact on the robustness of the system. Gain gamma of integrator and amplitude alpha of disturbance signal i The estimation error is greatly affected, and as can be seen from the formula, the larger the value of the estimation error is, the faster the convergence rate of the algorithm is, but the larger the value of the estimation error is, the estimation error diverges, so that the optimal control parameter cannot be obtained, and the other steps are the same as those in the first embodiment. The frequency of the injected high-frequency rotating voltage signal is far greater than the rated operating frequency of the built-in permanent magnet synchronous motor.
The third embodiment is different from the first embodiment in that the selection of the start time and the end time in the second step should select i (Δ θ [ ]) e ) The time between the beginning of the change and the complete stabilization is the time for the i (delta theta) in the interval e ) The control parameters can be optimized by adjusting the variable quantity to be stable.
The difference between the first experimental method and the second experimental method is that the deviation of the signal described by the cost function of the extremum search can also be represented by θ initial And the value obtained by the first search is used as a reference value thereof for the optimization process described later, the optimal control parameter can be obtained.
Claims (8)
1. A method for detecting the initial position of a permanent magnet synchronous motor is characterized by comprising the following steps:
step one, injecting a rotating high-frequency voltage signal to obtain an initial position of a rotor, selecting a set objective function, and searching a parameter K of a PI regulator by using an extreme value p 、K i Optimizing, changing PI parameter every time of optimizing, reinjecting high-frequency voltage signal to detect the position of the rotor,
and step two, when the extremum searching target function tends to be stable, the optimal control parameter can be obtained, the parameter is stored to replace the PI parameter in the step one, and the parameter can be used for adjustment in the future detection without extremum searching.
2. The method as claimed in claim 1, wherein the step one of obtaining the rotor magnetic pole position information θ initial The method comprises the following steps:
step a, initializing a rotor given position angle theta e1 ＝0；
B, converting the three-phase symmetrical high-frequency rotating voltage vector signal from a polar coordinate system to a rectangular coordinate system to obtain a voltage reference quantity under a two-phase static coordinate system
And &>
Wherein->
Based on the reference voltage->
And &>
As input quantity, a space vector pulse width modulation method is adopted to control a three-phase inverter bridge to output three-phase voltage to the built-in permanent magnet synchronous motor;
step c, collecting three-phase stator current i output by the built-in permanent magnet synchronous motor a1 、i b1 And i c1 Three-phase stator current i under the three-phase static coordinate system to be obtained a1 、i b1 And i c1 Converted into two-phase static coordinate systemAlpha axis current of (i) α1 And beta axis current i β1 ；
Step d, using omega i t is a rotation transformation angle, and the alpha-axis current i in the two-phase static coordinate system is converted α1 And beta axis current i β1 Performing rotation coordinate transformation to obtain d-axis current i under a two-phase synchronous rotation coordinate system d1 And q-axis current i q1 D-axis current i d1 Performing band-pass filtering to obtain current i dn1 The q-axis current i q1 Performing band-pass filtering to obtain current i qn1 Then, at ω i t is a rotation transformation angle, and for the current i in the two-phase rotation coordinate system dn1 And i qn1 Performing inverse transformation on the rotating coordinate to obtain the alpha-axis current i under the two-phase static coordinate system αn1 And beta axis current i βn1 Will convert the alpha axis current i αn1 And with
Multiplying the beta-axis current i βn1 And with
Performing a product operation, and adding the two product results to obtain an error signal i (Δ θ) e )；
Step e, judging whether | i (delta theta) is satisfied e ) I < epsilon, where epsilon is an error limit,
wherein, I αn1 Is alpha-axis current i under a two-phase static coordinate system αn1 Amplitude of (1) βn1 Is beta axis current i under a two-phase static coordinate system βn1 In a positive, the decision result is yes>
And c, obtaining the initial judgment value of the magnetic pole position of the rotor, if the judgment result is negative, returning to execute the step b.
3. The method for detecting and optimizing the initial position of the permanent magnet motor based on the extremum search as claimed in claim 1, wherein the step of optimizing the control parameter using the extremum search method comprises:
step a, presetting a sampling period of extremum search as T 0 (T 0 Greater than the time taken for rotor initial position identification), the gain gamma of the extremum seeking integrator and the amplitude alpha of the disturbance signal are set i Sum frequency omega i I =1,2, ·, n (n is the number of parameters to be optimized);
step b, i (delta theta) e ) As observed signals, and selecting appropriate cost function
Setting a start time t 0 And a termination time t 1 ；
C, filtering a direct current part of the signal by a high-pass filter, obtaining approximate gradient information xi in a system function relationship through the action of a demodulation signal, and processing the gradient information by an integrator to obtain a change value of a parameter to be optimized;
step d, adding the variable quantity of the original parameter to obtain a new parameter, taking the new parameter as the parameter of the PI controller, and repeating the process of identifying the initial position in the claim 2;
and e, carrying out extremum searching on the identified result again, and circularly and continuously optimizing.
4. The method as claimed in claim 1, wherein the condition for determining that the parameter obtained by the extremum search reaches the optimal control parameter in the step two is that when the cost function calculation value tends to be stable in a period of time, the obtained parameter is the optimal parameter of the PI controller.
5. The method as claimed in claim 1, wherein the gain γ of the integrator and the amplitude of the disturbance signal in the extremum search are used to optimize the initial position detection of the permanent magnet motor based on the extremum searchValue alpha i Sum frequency ω i Only the convergence speed of the objective function is influenced, the finally obtained optimal parameters are not influenced, and the gamma and the alpha are properly increased i The value of (2) can reduce the optimization times and shorten the optimization time.
6. The method as claimed in claim 1, wherein the optimum parameter obtained by extremum searching can be directly used in the subsequent initial position detection process, and the extremum searching is not required to be performed again under the condition of no change of the structural parameters of the motor.
7. The method for detecting and optimizing the initial position of the permanent magnet motor based on the extremum search is characterized in that the method is not only suitable for detecting the initial position by using a rotating high-frequency signal injection method, but also can be used for carrying out parameter optimization by using the extremum search in other detection methods using PID regulators.
8. The method for detecting and optimizing the initial position of the permanent magnet motor based on the extremum search is applicable to fields related to motor optimization control, such as new energy vehicles and the like.
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| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
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| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
| CN106374803A (en) * | 2016-09-12 | 2017-02-01 | 合肥工业大学 | Initial position identification method of rotor of permanent magnet synchronous motor |
| CN112363390A (en) * | 2020-11-17 | 2021-02-12 | 中国航发四川燃气涡轮研究院 | Nonlinear PID control method for high-altitude platform rear cabin pressure system |
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