CN116317783A - Position-sensor-free control method and system for permanent magnet synchronous motor - Google Patents
Position-sensor-free control method and system for permanent magnet synchronous motor Download PDFInfo
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- CN116317783A CN116317783A CN202310091695.8A CN202310091695A CN116317783A CN 116317783 A CN116317783 A CN 116317783A CN 202310091695 A CN202310091695 A CN 202310091695A CN 116317783 A CN116317783 A CN 116317783A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/34—Modelling or simulation for control purposes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a position-sensor-free control method of a permanent magnet synchronous motor, which comprises the following steps: s1, simulating to obtain an id iq instruction list; s2, enabling the rotating speed omega of the motor to be smaller than the weak magnetic rotating speed point, and collecting three-phase current, voltage and T of the motor e The method comprises the steps of carrying out a first treatment on the surface of the S3, performing Clark conversion on the three-phase current voltage to obtain i α i β 、u α 、u β The feedback is fed back to the position estimation module to obtain the rotor angle and then fed back to the park conversion unit and the park inversionChanging units; s4, i α 、i β After park transformation, i is obtained d 、i q A comparator fed back to the current loop; s5, the id iq instruction table sends a group of instructions i to the comparator d* i q* Three-phase current is generated through a PI current regulator, a park inverse transformation, an SVPWM module and an inverter, current voltage and electromagnetic torque are collected, rotor angle is estimated, adjustment of a current loop is repeated until a motor is stable, and a next group of instructions i are sent by an id iq instruction list d* i q* The method comprises the steps of carrying out a first treatment on the surface of the S6, repeating the step S5 until the id iq instruction list sends out all instructions, and collecting data; and S7, obtaining an optimal torque rotation speed current relation table through a mathematical model.
Description
[ field of technology ]
The invention relates to the technical field of motor control, in particular to a position-sensor-free control method and a position-sensor-free control system for a permanent magnet synchronous motor.
[ background Art ]
The permanent magnet synchronous motor mainly comprises a permanent magnet and three-phase stator windings, a rotating magnetic field is generated in the stator windings of the motor under the action of three-phase current, and a rotor rotates in the rotating magnetic field generated by the stator, so that the rotating speed of the rotor is equal to the rotating speed of a rotating magnetic pole generated by the stator, and therefore electric energy is converted into kinetic energy to be used as a driving motor.
In the vector control process of the permanent magnet synchronous motor based on rotor flux orientation, the output torque and power of the motor can be controlled by controlling the values of the excitation component and the torque component of the motor after the current decoupling of the motor stator. The stator current value is given to have a very important influence on the motor torque exertion and the operation efficiency.
In the related art, the motor stator current value is manually calibrated through a motor control performance experiment. However, manually calibrated stator current values are only used to meet motor control performance in the case of the experiment and can be affected by the individual ability of the commissioning personnel and the accuracy of the gantry body. Therefore, providing the manually calibrated motor stator current value to the motor control module may not meet the need for accurate control of the motor, may deviate the motor from an optimal operating point, and reduce the motor operating efficiency.
In addition, in a high-precision motor control system, a position sensor is generally required to be mounted on a motor rotating shaft to detect the angle of a motor rotor, and the position sensor is often a precise photoelectric encoder, so that the position sensor is easily affected by surrounding use environments, such as humidity, dust, vibration and the like, and becomes a fragile link in the control system.
CN112039387a discloses a fault diagnosis method for a permanent magnet synchronous motor position sensor. However, the problem that the position sensor is liable to malfunction cannot be fundamentally solved.
Therefore, it is necessary to provide a sensorless control method and system for permanent magnet synchronous motors, which are low in cost, high in efficiency and applicable to different types of motors, so as to solve the above technical problems.
[ invention ]
The invention aims to provide a position-sensor-free control method and a position-sensor-free control system for a permanent magnet synchronous motor, which have low cost and high efficiency and are applicable to motors of different types, so as to solve the problems in the related art.
In order to achieve the above object, the present invention provides a sensorless control method of a permanent magnet synchronous motor, which is characterized by comprising the steps of:
s1, establishing a mathematical model on simulation software, and presetting a measured motor parameter psi f ，L d ，L q ，R s Preliminary simulation is carried out to obtain an id iq instruction list; (psi) f Indicating motor rotor flux linkage, L d Represents the d-axis inductance of the motor, L q Represents the q-axis inductance of the motor, R s Representing the stator resistance)
S2, enabling the tested motor to work, setting the rotating speed omega to be smaller than the weak magnetic rotating speed point, and collecting the current three-phase current I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c Magnetic torque T e ；
S3, the current three-phase current value I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c After Clark transformation, an alpha-axis current component i is obtained α Beta-axis current component i β Alpha-axis voltage component u α Beta-axis voltage component u β ，i α 、i β 、u α 、u β Feedback to the position estimation module, which estimates the rotor angle
And feeding back to the park transformation unit and the park inverse transformation unit;
s4, current component i α Beta-axis current component i β After park transformation, a d-axis current component i is obtained d Q-axis current component i q A comparator fed back to the current loop;
s5, the id iq instruction table sends a group of instructions i to the comparator d* i q* The d-axis voltage u is output through the PI current regulator d* Q-axis voltage u q* Obtaining u through park inverse transformation α* 、u β* The pulse voltage generated by the SVPWM module is fed back to the inverter to generate three-phase current to control the tested motor to rotate, current and electromagnetic torque data of the tested motor are collected, the position estimation module estimates the rotor angle, the adjustment of a current loop is repeated until the tested motor is stable, and the id iq instruction list sends the next group of instructions i to the comparator d* i q* ；
S6, repeating the step S5 until the id iq instruction list transmits all instructions, and taking collected current, voltage, electromagnetic torque data and rotor angles estimated by a position estimation module as basic training data for constructing the mathematical model;
s7, obtaining an optimal torque rotation speed current relation table through a mathematical model on simulation software
More preferably, in the step S3, the position estimation module includes a sliding mode observer and a PLL phase locked loop.
More preferably, in the step S3, the i α 、i β 、u α 、u β Is fed back to the sliding mode observer, which passes through the i α 、i β 、u α 、u β To reconstruct the back emf component E of the permanent magnet synchronous motor α 、E β The algorithm formula of the sliding mode observer is as follows
More preferably, in said step S3, said back emf component E α 、E β Is introduced into the PLL phase locked loop.
More preferably, in the step S3, the PLL phase-locked loop outputs the estimated rotor angle and feeds back to the park transformation unit and the park inverse transformation unit, and the algorithm formula of the PLL phase-locked loop is
θ is the actual rotor angle of the permanent magnet synchronous motor,
is the estimated rotor angle +.>
More preferably, the closed loop transfer function of the PLL phase locked loop is:
(K p is proportional gain, K i For integral gain, ζ is the damping coefficient, ω n Is the natural angular frequency).
More preferably, the mathematical model comprises a space state equation established based on a d-q voltage equation, a stator flux linkage equation and an electromagnetic torque equation, wherein the space state equation is as follows:
establishing a correlation model Te (i) according to the d-q voltage equation, the stator flux linkage equation, the electromagnetic torque equation and the space state equation d i q )∝Te(ψ d ψ q )∝ψ d (id,iq)，ψ q (id,iq)；
Adding constraints to the association model
U smax ＝U dc * The value range of K and K coefficients is within
U dc Representing the dc bus voltage. More preferably, the step of obtaining the preset id iq instruction table includes:
s201, in the simulation software, according to the formula
For i d ，i q ，u d ，u q With electromagnetic torque T e Solving extremum through Lagrangian theorem, and introducing auxiliary functions H1 and H2;
preliminary simulations result in a set of information i d i q Matrix data of (a);
s202, will be described with respect to i d i q Matrix data based on i s The angle of (2) is subjected to range expansion to obtain a data group;
s203, the data groups are formed into the preset id iq instruction table.
More preferably, in step S202, the method is performed by comparing the information about i d i q Matrix data based on i s Is included in the data set, and a sector data set is obtained by the angle of + -15 DEG to 30 deg.
The invention also provides a system, which adopts the position-sensor-free control method of the permanent magnet synchronous motor, and comprises a control module, an acquisition module and a data processing module, wherein the control module comprises a power supply, an inverter, a tested motor, a command generator, a comparator, a PI current regulator, an SVPWM module, an abc-alpha beta conversion unit, an alpha beta-dq conversion unit, a dq-alpha beta conversion unit and a position estimation module, the position estimation module comprises a sliding mode observer and a PLL phase-locked loop, the acquisition module comprises a current acquisition device, a voltage acquisition device and a torque sensor, which are connected with the tested motor, and the data processing module comprises simulation software.
The invention has the technical effects that: the rotor angle is estimated by adopting the position estimation module, hardware is reduced, a method for obtaining data is simpler and more accurate, and the parameters can be calculated in real time and updated in real time by direct calculation and iterative processing after acquisition, so that the reliability of the parameters is ensured, and the mathematical model can be updated and replaced in the form of an insert by building the mathematical model on simulation software, so that the calculated data is more in accordance with control requirements, and the method is also favorable for adapting to motors of different types, and has low cost and high efficiency.
[ description of the drawings ]
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a flow chart of a sensorless control method of a permanent magnet synchronous motor of the present invention;
FIG. 2 is a block diagram of a sensorless control method of a permanent magnet synchronous motor according to the present invention;
fig. 3 is a functional block diagram of a PLL phase locked loop of the present invention;
fig. 4 is an equivalent block diagram as described in fig. 3.
FIG. 5 is a schematic diagram of the present invention for fetching a preset idiq instruction table;
fig. 6 is a frame diagram of a system of the present invention.
[ detailed description ] of the invention
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Parameter description: i a 、I b 、I c Representing three-phase current, V a 、V b 、V c Representing three-phase voltage, U dc Representation ofDc bus voltage, i s Representing the motor stator current, i d Representing the d-axis current, i of the motor stator q Representing the q-axis current, i of the motor stator α Representing the a-axis current component, i β Representing the beta-axis current component, u α Representing the a-axis voltage component, u β Representing the beta-axis voltage component, E α Representing the a-axis back EMF component, E β Representing the beta-axis back EMF component, R s Represents the stator resistance, ω represents the rotor speed, θ represents the rotor angle,
is the estimated rotor angle, P n Represents the pole pair number, psi of the motor d Represents the d-axis flux linkage of the motor rotor, and psi q Represents the d-axis flux linkage of the motor rotor, and psi f Indicating motor rotor flux linkage, L d Represents the d-axis inductance of the motor, L q Represents the q-axis inductance, lambda of the motor i 、λ u Represents the Lagrangian operator, T e Represents the electromagnetic torque, K of the motor p Is a proportional gain, K i Is the integral gain, ζ is the damping coefficient, ω n Is the natural angular frequency.
Referring to fig. 1 and 2, the present invention provides a sensorless control method of a permanent magnet synchronous motor, which includes the steps of:
s1, establishing a mathematical model on simulation software, and presetting a measured motor parameter psi f ，L d ，L q ，R s Preliminary simulation is carried out to obtain an id iq instruction list; (psi) f Indicating motor rotor flux linkage, L d Represents the d-axis inductance of the motor, L q Represents the q-axis inductance of the motor, R s Representing the stator resistance)
S2, enabling the tested motor to work, setting the rotating speed omega to be smaller than the weak magnetic rotating speed point, and collecting the current three-phase current I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c Magnetic torque T e ；
S3, the current three-phase current value I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c After Clark transformation, an alpha-axis current component i is obtained α Beta-axis current component i β Alpha-axis voltage component u α Beta-axis voltage component u β ，i α 、i β 、u α 、u β Feedback to the position estimation module, which estimates the rotor angle
And feeding back to the park transformation unit and the park inverse transformation unit;
s4, beta-axis current component i α Beta-axis current component i β After park transformation, a d-axis current component i is obtained d Q-axis current component i q A comparator fed back to the current loop;
s5, the id iq instruction table sends a group of instructions i to the comparator d* i q* The d-axis voltage u is output through the PI current regulator d* Q-axis voltage u q* Obtaining u through park inverse transformation α* 、u β* The pulse voltage generated by the SVPWM module is fed back to the inverter to generate three-phase current to control the tested motor to rotate, current, voltage and electromagnetic torque data of the tested motor are collected, the position estimation module estimates the rotor angle, the adjustment of a current loop is repeated until the tested motor is stable, and the id iq instruction list sends the next group of instructions i to the comparator d* i q* ；
S6, repeating the step S5 until the id iq instruction list transmits all instructions, and taking collected current, voltage, electromagnetic torque data and rotor angles estimated by a position estimation module as basic training data for constructing the mathematical model;
and S7, solving an optimal torque, rotation and current relation table through the mathematical model on simulation software.
The sensorless control method of the permanent magnet synchronous motor has the beneficial effects that: the rotor angle is estimated by adopting the position estimation module, the position sensor is reduced, the method for collecting data is simple and accurate, and the parameters can be calculated in real time and updated in real time by direct calculation and iterative processing after collection, so that the reliability of the parameters is ensured, and the mathematical model can be updated and replaced in the form of an insert by building the mathematical model on simulation software, so that the calculated data is more in accordance with the control requirement, and the method is also favorable for adapting to motors of different types, and has low cost and high efficiency.
Specifically, in step S1, the rotation speed ω of the measured motor is kept unchanged by butt-supporting the measured motor and the load motor, and the rotation speed ω may be 80% of the weak magnetic rotation speed point, but is not limited thereto. The rotating speed is controlled by the opposite support, so that the method is convenient and simple, and the accurate stator current in the full rotating speed range can be obtained only by one rotating speed.
Specifically, in step S3, the location estimation module includes a sliding mode observer and a PLL phase locked loop.
Specifically, in step S5, the collected current, voltage, and electromagnetic torque data, the rotor angle estimated by the position estimation module may be transmitted to the mathematical model in real time through CAN communication or other manners. Or after all the id iq instructions in the step S6 are sent, the acquired data CAN be packed and then transmitted to the mathematical model through CAN communication or other modes.
Specifically, in step S3, three-phase current value I a 、I b 、I c Three-phase voltage V a 、V b 、V c After Clark transformation, an alpha-axis voltage component u is obtained according to the formula (1) α Beta-axis voltage component u β Obtaining an alpha-axis current component i according to the formula (2) α Beta-axis current component i β 。
Specifically, in step S3, the sliding mode observer is designed based on the voltage equation of the permanent magnet synchronous motor, and the sliding mode observer passes through the permanent magnet synchronous motorVoltage u in stator alpha-beta coordinate system α 、u β And current i α 、i β To reconstruct the back emf E of the motor α 、E β 。
Specifically, the voltage equation of the permanent magnet synchronous motor in the α - β coordinate system of the stator is formula (3):
specifically, the observation of the sliding mode observer is based on the back emf component E α 、E β As in formula (4), E α E β The information of the rotor angle theta and the rotor rotating speed omega of the permanent magnet synchronous motor is contained.
Obtaining an algorithm formula of the sliding mode observer according to formulas (3) and (4), namely u α u β And E is connected with α E β Relation formula (5):
assume that
θ is the actual rotor angle of the permanent magnet synchronous motor,
is the estimated rotor angle +.>
Is the estimated error of the rotor angle.
When (when)
In the case of->
The algorithm formula of the PLL phase-locked loop can be obtained:
as shown in FIG. 3, E α And E is β Is introduced into the PLL phase locked loop.
As shown in fig. 4, to obtain the transfer function of the PLL phase-locked loop, the open loop transfer function is as follows
Closed loop transfer function of H(s) =1 (9)
The transfer function parameters are set as follows by a second-order system:
wherein:
(ζ is damping coefficient, ω n Is the natural angular frequency
Two key parameters of the PLL can be further obtained according to the above method, and the proportional gain K p Integral gain K i The following are given in detail
In summary, the sliding mode observer algorithm based on the PLL can effectively reduce the high-frequency jitter matrix phenomenon existing in the estimated back electromotive force, and the high-frequency jitter matrix phenomenon cannot be directly introduced into subsequent calculation to cause error amplification.
Example 1
Specifically, in step S1, the establishment of the mathematical model includes the steps of:
s101, collecting data I a 、I b 、I c Clark and park transformation are carried out to obtain a current component i of the d axis d Current component i of q-axis q Voltage component u of d-axis d Voltage component u of q-axis q ；
The formula is as follows:
the d-q voltage equation at motor steady state,
stator flux linkage equation
ψ d ＝ψ f +L d i d (18)
ψ q ＝L q i q (19)
Electromagnetic torque equation for an electric machine
S102, obtaining a formula (21) through formulas (16), (17), (18), (19) and (20);
s103, forming the space equations (22) by the formulas (16), (17), (18), (19), (20), (21);
thereby obtaining psi d ψ q Matrix relation ψ about (id, iq) etc d (id,iq)，ψ q (id, iq), and then obtaining Te with respect to ψ through formulas (18) (19) (20) d ψ q To build an association model
Te(i d i q )∝Te(ψ d ψ q )∝ψ d (id,iq)，ψ q (id,iq)(23)
S104, adding constraint conditions (24), namely MTPA principles, to the established association model (23);
s105, pair i d ，i q ，u d ，u q With electromagnetic torque T e Solving extremum through Lagrangian theorem, and introducing auxiliary functions H1 and H2;
and obtain i under constraint conditions d ,i q ，u d ,u q Is used for the optimal solution of (a),
s106, parameter constraint is carried out on the association model (23) based on the constraint conditions.
Through the correlation model and the constraint conditions of the embodiment, the accurate stator current in the full rotation speed range can be obtained.
The second embodiment differs from the first embodiment in that:
in step S104, constraint conditions (33), i.e., MTPV principles, are added to the established association model (23);
the equations (16) (17) are brought into equation (33) in order to increase the maximum voltage limit U smax ，U smax ＝U dc * The value range of K and K coefficients is within
Equation (33) can be obtained, and equation (34) is one of the constraints
(R s i d -ωL q i q ) 2 +[R s i q +ω(ψ f +L d i d )] 2 ≤(|u s | max ) 2 (34)
In summary, the present embodiment satisfies the maximum torque under the minimum stator current and the maximum torque under the minimum voltage by using the constraint condition, and the method can obtain accurate stator current in the full rotation speed range.
Specifically, in step S1, the step of obtaining the preset id iq instruction table includes:
s201, in simulation software, according to formula (20), pair i d ，i q ，u d ，u q With electromagnetic torque T e Extreme values are found through Lagrange's theorem, constraint conditions of auxiliary functions (25) (26) and (27), (28), (29) are introduced, and a motor parameter psi is preset f ，L d ，L q ，R s Preliminary simulation results in a set of information i d i q Matrix data of (a); preset motor parameter ψ f ，L d ，L q ，R s May be provided for the motor manufacturer.
S202, will be described with respect to i d i q Matrix data based on i s The angle of (2) is subjected to range expansion to obtain a data group;
s203, the data groups are formed into a preset id iq instruction list.
Through the design, unstable control points are removed in advance through constraint conditions, and the test time can be effectively simplified.
As shown in fig. 5, in step S202, the information on i can be obtained by d i q Matrix data based on i s To obtain a simpler sector data group, i.e. + -15 DEG s ' to i s "data group in between".
In other embodiments, i can also be based on s But is not limited thereto.
By the scheme for acquiring the preset id iq instruction, the test time can be greatly simplified, unstable control points can be effectively eliminated, and the test result is not influenced.
As shown in fig. 2 and 6, the present invention provides a system, which adopts the sensorless control method of a permanent magnet synchronous motor, and includes a control module, an acquisition module and a data processing module.
The control module comprises a power supply, an inverter, a motor to be tested, a command generator, two comparators, two PI current regulators, an SVPWM module, an abc-alpha beta conversion unit, an alpha beta-dq conversion unit, a dq-alpha beta conversion unit and a position estimation module which jointly form a current loop.
The output of the power supply is connected with the input of the inverter, and the output of the inverter is connected with the tested motor. Specifically, the power supply is a battery pack that outputs direct current.
The inverter is used for converting direct current into alternating current and supplying power to the tested motor.
The acquisition module comprises a current acquisition device, a voltage acquisition device and a torque sensor which are connected with the tested motor.
The current acquisition device acquires three-phase current I output by the inverter a 、I b 、I c . The current collecting device is a current sensor.
The voltage acquisition device acquires three-phase voltage V output by the inverter a 、V b 、V c . The voltage acquisition device is a voltage sensor.
The torque sensor collects the torque electromagnetic torque T of the motor to be tested e 。
The output of the current acquisition device is connected with the input of the abc-alpha beta conversion unit, and the abc-alpha beta conversion unit performs Clark conversion.
The output of the voltage acquisition device is connected with the input of the abc-alpha beta conversion unit.
The output of the abc-alpha beta transformation unit is connected with a position estimation module, and the position estimation module estimates the rotor angle and feeds back the rotor angle to the alpha beta-dq transformation unit and the dq-alpha beta transformation unit.
The position estimation module includes a sliding mode observer and a PLL phase locked loop.
The output of the abc-alpha beta conversion unit is connected to the input of the alpha beta-dq conversion unit for Park conversion. The output of the alpha beta-dq conversion unit is fed back to the comparator.
The instruction generator is used for storing a preset id iq instruction table, and the output of the instruction generator is connected with the input of the comparator.
The output of the comparator is connected with the input of the PI current regulator. The PI current regulator is used for converting the current control signal output by the command generator into a voltage control signal.
The output of the PI current regulator is connected to the input of the dq-alpha beta conversion unit for Park inverse conversion.
The output of the dq-alpha beta conversion unit is connected with the input of the SVPWM module, and the SVPWM module is used for converting the voltage control signal into an inverter control signal.
The output of the SVPWM module is connected with the input of an inverter, and the inverter converts the control signal into three-phase current and transmits the three-phase current to the motor to be tested.
The data processing module includes simulation software, which may be MATLAB software, simpler software, etc., but is not limited thereto.
The mathematical model includes spatial state equations and constraints.
In summary, the beneficial effects of the system of the invention are that: the device for acquiring and processing the data is simple, a position sensor is not needed, the acquired data is accurate, and the parameters can be calculated and updated in real time by direct calculation and iterative processing after acquisition, so that the reliability of the parameters is ensured, and the mathematical model and constraint conditions can be updated and replaced in the form of plug-in units by building the mathematical model on simulation software, so that the calculated data is ensured to be more in line with the control requirements, the operation is simple and efficient, the adaptation to motors of different types is facilitated, the time is saved, the cost is reduced, and the efficiency is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The sensorless control method of the permanent magnet synchronous motor is characterized by comprising the following steps of:
s1, establishing a mathematical model on simulation software, and presetting a measured motor parameter psi f ，L d ，L q ，R s Preliminary simulation is carried out to obtain an id iq instruction list; (psi) f Indicating motor rotor flux linkage, L d Represents the d-axis inductance of the motor, L q Represents the q-axis inductance of the motor, R S Representing the stator resistance)
S2, enabling the tested motor to work, setting the rotating speed omega to be smaller than the weak magnetic rotating speed point, and collecting the current three-phase current I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c Magnetic torque T e ；
S3, the current three-phase current value I of the tested motor a 、I b 、I c Three-phase voltage V a 、V b 、V c After Clark transformation, an alpha-axis current component i is obtained α Beta-axis current component i β Alpha-axis voltage component u α Beta-axis voltage component u β ，i α 、i β 、u α 、u β Feedback to the position estimation module, which estimates the rotor angle
And feeding back to the park transformation unit and the park inverse transformation unit;
s4, current component i α Beta-axis current component i β After park transformation, a d-axis current component i is obtained d Q-axis current component i q A comparator fed back to the current loop;
s5, the id iq instruction table sends a group of instructions i to the comparator d* i q* The d-axis voltage u is output through the PI current regulator d* Q-axis voltage u q* Obtaining u through park inverse transformation α* 、u β* The pulse voltage generated by the SVPWM module is fed back to the inverter to generate three-phase current to control the tested motor to rotate, current and electromagnetic torque data of the tested motor are collected, the position estimation module estimates the rotor angle, the adjustment of a current loop is repeated until the tested motor is stable, and the id iq instruction list sends the next group of instructions i to the comparator d* i q* ；
S6, repeating the step S5 until the id iq instruction list transmits all instructions, and taking collected current, voltage, electromagnetic torque data and rotor angles estimated by a position estimation module as basic training data for constructing the mathematical model;
and S7, obtaining an optimal torque, rotation and current relation table through a mathematical model on simulation software.
2. The sensorless control method of a permanent magnet synchronous motor according to claim 1, wherein in step S3, the position estimation module includes a sliding mode observer and a PLL phase-locked loop.
3. The sensorless control method of a permanent magnet synchronous motor according to claim 2, wherein in the step S3, the i α 、i β 、u α 、u β Is fed back to the sliding mode observer, which passes through the i α 、i β 、u α 、u β To reconstruct the permanent magnet synchronizationBack emf component E of the motor α 、E β The algorithm formula of the sliding mode observer is as follows
4. A sensorless control method of a permanent magnet synchronous motor according to claim 3, wherein in said step S3, said counter electromotive force component E α 、E β Is introduced into the PLL phase locked loop.
5. The sensorless control method of permanent magnet synchronous motor according to claim 4, wherein in step S3, the PLL phase-locked loop outputs the estimated rotor angle and feeds back to the park transformation unit and the park inverse transformation unit, and the algorithm formula of the PLL phase-locked loop is:
θ is the actual rotor angle of the permanent magnet synchronous motor,
is the estimated rotor angle +.>
6. The sensorless control method of permanent magnet synchronous motor of claim 5 wherein the closed loop transfer function of the PLL phase-locked loop is:
(K p is proportional gain, K i For integral gain, ζ is the damping coefficient, ω n Is the natural angular frequency).
7. The sensorless control method of a permanent magnet synchronous motor of claim 1, wherein the mathematical model includes a spatial state equation established based on d-q voltage equation, stator flux linkage equation, electromagnetic torque equation, the spatial state equation being:
establishing a correlation model Te (i) according to the d-q voltage equation, the stator flux linkage equation, the electromagnetic torque equation and the space state equation d i q )∝Te(ψ d ψ q )∝ψ d (id，iq)，ψ q (id，iq)；
Adding constraints to the association model
U smax ＝U dc * The value range of K and K coefficients is within
U dc Representing the dc bus voltage.
8. The sensorless control method of permanent magnet synchronous motor of claim 7, wherein the step of obtaining the preset id iq command table comprises:
s201, in the simulation software, according to the formula
For i d ，i q ，u d ，u q With electromagnetic torque T e Solving extremum through Lagrangian theorem, and introducing auxiliary functions H1 and H2;
preliminary simulations result in a set of information i d i q Moment of (2)Array data;
s202, will be described with respect to i d i q Matrix data based on i s The angle of (2) is subjected to range expansion to obtain a data group;
s203, the data groups are formed into the preset id iq instruction table.
9. The sensorless control method of a permanent magnet synchronous motor of claim 8, characterized in that in step S202, the control is performed by comparing the reference value with i d i q Matrix data based on i s Is included in the data set, and a sector data set is obtained by the angle of + -15 DEG to 30 deg.
10. A system employing a sensorless control method of a permanent magnet synchronous motor according to any one of claims 1-9, characterized in that it comprises a control module comprising a power supply, an inverter, a motor under test, a command generator, a comparator, a PI current regulator, a SVPWM module, an abc- αβ transformation unit, an αβ -dq transformation unit, a dq- αβ transformation unit and a position estimation module comprising a slip-form observer and a PLL phase-locked loop, a collection module comprising a current collection device, a voltage collection device, a torque sensor connected to the motor under test, and a data processing module comprising simulation software.
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| CN117335695B (en) * | 2023-12-01 | 2024-01-30 | 深圳市好盈科技股份有限公司 | Processing method and device for phase-locked loop control parameters for non-inductive FOC control |
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