CN116345976A - Algorithm and system for realizing low-frequency control of brushless motor non-inductive FOC - Google Patents

Algorithm and system for realizing low-frequency control of brushless motor non-inductive FOC Download PDF

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CN116345976A
CN116345976A CN202310465941.1A CN202310465941A CN116345976A CN 116345976 A CN116345976 A CN 116345976A CN 202310465941 A CN202310465941 A CN 202310465941A CN 116345976 A CN116345976 A CN 116345976A
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motor
foc
flux linkage
magnetic field
algorithm
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周立颖
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Yangzhou Wanjing Technology Co ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • H02P21/001—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using fuzzy control
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • 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
    • H02P21/141—Flux estimation
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Fuzzy Systems (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses an algorithm and a system for realizing low-frequency control of a brushless motor non-inductive FOC (field of view), which relate to the technical field of brushless motors, wherein a fan motor is started at a low speed, and when the motor is turned from a low frequency to a medium-high frequency to work, namely, when the motor rotation speed reaches a set switching threshold value f, a fuzzy DTC flux linkage observer stops working; meanwhile, the FOC motor magnetic field observation module starts to work, and is switched from fuzzy DTC flux linkage observation to noninductive FOC motor magnetic field observation. According to the invention, the fuzzy DTC flux linkage observer in the motor speed estimator is used for observing the flux linkage of the stator of the fan synchronous motor, so that the motor magnetic field orientation at low frequency is obtained, and the non-inductive FOC control unit is used for obtaining motor speed information through the motor speed estimator, so that starting control under the condition of low frequency is realized; after the motor is started at low frequency, when the motor rotation speed reaches a switching threshold value f, the fuzzy DTC flux linkage observation is switched to the non-induction FOC motor magnetic field observation, so that the motor can be controlled more accurately.

Description

Algorithm and system for realizing low-frequency control of brushless motor non-inductive FOC
Technical Field
The invention relates to the technical field of brushless motors, in particular to an algorithm and a system for realizing low-frequency control of a brushless motor non-inductive FOC.
Background
Under the promotion of energy conservation and emission reduction, the fan adjusting range of more and more automobiles is required to be wider, and particularly, the low-speed performance is more and more important.
Under the aim of pursuing low cost, high stability, high efficiency and wide adjustment range, the brushless motor is basically controlled by using a non-inductive FOC magnetic field space vector orientation algorithm. However, since the non-inductive FOC control algorithm depends on motor rotation speed observation, the motor works at low frequency, the rotation speed is close to zero, the motor current is in a gradient slope shape and is close to direct current, the motor rotation speed can not be obtained through a conventional algorithm, and the directional magnetic field can not be obtained. In the current practical use, the motor is started by using a high-frequency voltage injection method, but the method has high-frequency noise to influence the customer experience; some VFs are used for open-loop strong drag starting, but the compatibility among different loads of the method is poor, the requirement on the consistency of motor manufacturing is high, and the phase change increases the cost.
Therefore, it is necessary to design an algorithm and a system for realizing low frequency control of the brushless motor non-inductive FOC to solve the above-mentioned problems.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks, and providing an algorithm and a system for implementing low-frequency control of a brushless motor non-inductive FOC, so as to solve the above-mentioned problems in the prior art.
The technical scheme adopted by the invention is as follows:
an algorithm for realizing low-frequency control of a brushless motor non-inductive FOC comprises the following steps:
s1, when a fan motor is started at a low speed, a motor rotating speed estimator observes a motor stator flux linkage through a fuzzy DTC flux linkage observer to obtain an estimated value of the motor flux linkage, and then calculates electromagnetic torque to obtain a rotating speed value of the motor;
s2, the motor rotation speed estimator transmits rotation speed value information obtained through observation to the FOC magnetic field orientation algorithm control module, the FOC magnetic field orientation algorithm control module obtains the magnetic field orientation of the permanent magnet synchronous motor at low frequency through calculation, and the FOC control module achieves full-load starting control of the permanent magnet synchronous motor under the condition of low frequency through the magnetic field orientation of the motor;
s3, when the motor is turned from low frequency to medium and high frequency, namely the motor rotation speed reaches a set switching threshold value f, the fuzzy DTC flux linkage observer stops working; meanwhile, the FOC motor magnetic field observation module starts to work, and is switched from fuzzy DTC flux linkage observation to noninductive FOC motor magnetic field observation.
Further, the mathematical model of the PMSM based on the α - β coordinate system in steps S1 to S3 is as follows:
Figure BDA0004202279180000021
the mathematical model of inductance in the α - β coordinate system is as follows:
L＝(L d +L q )/2,
ΔL＝(L d -L q )/2，
L α ＝L+ΔLCos2θ，
L β ＝L-ΔLCos2θ，
L αβ ＝ΔLSin2θ。
further, for PMSM, the mathematical model is further reduced to:
Figure BDA0004202279180000022
then define state variables:
Figure BDA0004202279180000023
y＝-RsIαβ+U α β
the state variable y is essentially the back-emf, which is integrated to give the flux linkage, and then the state variable x of the flux linkage is differentiated to give the back-emf. The relation is as follows:
Figure BDA0004202279180000024
further, to construct a nonlinear observer, a vector function is defined:
η(x)＝x-LI αβ ，
the modulus of the vector function is essentially the flux linkage magnitude:
||η(x)|| 2 ＝ψ r 2 。
further, in integrating the back electromotive force to obtain the flux linkage, a difference between the estimated flux linkage amplitude and the actual flux linkage amplitude is taken as a compensation term for the estimated flux linkage component. The relation is as follows:
Figure BDA0004202279180000031
after completion of the observer of the state variables, the flux linkage component is obtained, the mathematical model of which is expressed as follows:
Figure BDA0004202279180000032
the angle of observation is thus obtained from the observed flux linkage component:
Figure BDA0004202279180000033
the speed and angle of the motor are obtained by means of a phase-locked loop.
A system for implementing an algorithm for low frequency control of a brushless motor sensorless FOC, comprising: a non-inductive FOC control unit and a motor rotation speed estimator;
the non-inductive FOC control unit includes:
the FOC motor magnetic field observation module is used for observing the rotating speed of the permanent magnet synchronous motor during high-frequency operation;
the FOC magnetic field orientation algorithm control module calculates the magnetic field orientation of the fan brushless motor based on the rotating speed value of the fan brushless motor;
the FOC control module is used for controlling the fan brushless motor;
the motor rotation speed estimator includes:
a fuzzy DTC flux linkage observer for observing the flux linkage of the stator of the fan brushless motor;
the fuzzy PI stator resistance estimator is used for estimating the stator resistance in real time based on a stator alpha-beta coordinate system of the fan brushless motor and performing actual measurement compensation on stator resistance change caused by environmental factors.
The beneficial effects of the invention are as follows:
the invention discloses an algorithm and a system for realizing low-frequency control of a brushless motor non-inductive FOC,
1. the fuzzy DTC flux linkage observer in the motor speed estimator is used for observing the flux linkage of the stator of the fan synchronous motor, the motor magnetic field orientation is obtained at low frequency, and the non-inductive FOC control unit is used for obtaining motor speed information through the motor speed estimator, so that starting control under the condition of low frequency is realized.
2. After the motor is started at low frequency, when the motor rotation speed reaches a switching threshold value f, the fuzzy DTC flux linkage observation is switched to the non-induction FOC motor magnetic field observation, so that the motor can be controlled more accurately.
3. The method is characterized in that the method comprises the steps of switching from low frequency to high frequency according to a certain percentage, wherein the weight of fuzzy DTC flux linkage observation is larger at the initial stage of switching, the weight of noninductive FOC magnetic field observation is larger at the final stage of switching, smooth, stable and transition is realized from the beginning of switching to the end of switching, and the method is used for controlling a motor smoothly when an observer is switched, and torque jitter phenomenon does not occur.
4. The low frequency control of the fan motor can be realized only from the software point of view without increasing the hardware manufacturing cost.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a system configuration diagram of a brushless motor non-inductive FOC for realizing low-frequency control.
Fig. 2 is an algorithm operation diagram for realizing low-frequency control of the brushless motor non-inductive FOC.
In the figure, a 1-FOC magnetic field orientation algorithm control module 2-PI stator resistance estimator 3-FOC control module 4-fuzzy DTC flux linkage observer fuzzy 5-FOC motor magnetic field observation module.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and examples for the purpose of enhancing the understanding of the present invention. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1 and fig. 2, the algorithm and the system for realizing low-frequency control of the brushless motor non-inductive FOC of the invention comprise the following specific implementation steps:
an algorithm for realizing low-frequency control of a brushless motor non-inductive FOC comprises the following steps:
s1, when a fan motor is started at a low speed, a motor rotating speed estimator observes a motor stator flux linkage through a fuzzy DTC flux linkage observer to obtain an estimated value of the motor flux linkage, and then calculates electromagnetic torque to obtain a rotating speed value of the motor;
s2, the motor rotation speed estimator transmits rotation speed value information obtained through observation to the FOC magnetic field orientation algorithm control module, the FOC magnetic field orientation algorithm control module obtains the magnetic field orientation of the permanent magnet synchronous motor at low frequency through calculation, and the FOC control module achieves full-load starting control of the permanent magnet synchronous motor under the condition of low frequency through the magnetic field orientation of the motor;
s3, when the motor is turned from low frequency to medium and high frequency, namely the motor rotation speed reaches a set switching threshold value f, the fuzzy DTC flux linkage observer stops working; meanwhile, the FOC motor magnetic field observation module starts to work, and is switched from fuzzy DTC flux linkage observation to noninductive FOC motor magnetic field observation.
The mathematical model of the PMSM based on the α - β coordinate system in steps S1-S3 is as follows:
Figure BDA0004202279180000051
the mathematical model of inductance in the α - β coordinate system is as follows:
L＝(L d +L q )/2,
ΔL＝(L d -L q )/2，
L α ＝L+ΔLCos2θ，
L β ＝L-ΔLCos2θ，
L αβ ＝ΔLSin2θ。
for PMSM, the mathematical model is further reduced to:
Figure BDA0004202279180000052
then define state variables:
Figure BDA0004202279180000053
y＝-RsIαβ+U αβ
the state variable y is essentially the back-emf, which is integrated to give the flux linkage, and then the state variable x of the flux linkage is differentiated to give the back-emf. The relation is as follows:
Figure BDA0004202279180000054
to construct a nonlinear observer, a vector function is defined:
η(x)＝x-LI αβ ，
the modulus of the vector function is essentially the flux linkage magnitude:
||η(x)|| 2 ＝ψ r 2 。
in integrating the back electromotive force to obtain the flux linkage, the difference between the estimated flux linkage amplitude and the actual flux linkage amplitude is used as a compensation term for the estimated flux linkage component. The relation is as follows:
Figure BDA0004202279180000061
after completion of the observer of the state variables, the flux linkage component is obtained, the mathematical model of which is expressed as follows:
Figure BDA0004202279180000062
the angle of observation is thus obtained from the observed flux linkage component:
Figure BDA0004202279180000063
the speed and angle of the motor are obtained by means of a phase-locked loop.
As shown in fig. 1, a system for implementing an algorithm for low frequency control of a brushless motor non-inductive FOC includes: a non-inductive FOC control unit and a motor rotation speed estimator;
the noninductive FOC control unit includes:
the FOC motor magnetic field observation module is used for observing the rotating speed of the permanent magnet synchronous motor during high-frequency operation;
the FOC magnetic field orientation algorithm control module calculates the magnetic field orientation of the fan brushless motor based on the rotating speed value of the fan brushless motor;
the FOC control module is used for controlling the fan brushless motor;
the motor rotation speed estimator includes:
a fuzzy DTC flux linkage observer for observing the flux linkage of the stator of the fan brushless motor;
the fuzzy PI stator resistance estimator is used for estimating the stator resistance in real time based on a stator alpha-beta coordinate system of the fan brushless motor and performing actual measurement compensation on stator resistance change caused by environmental factors.
The invention discloses an algorithm and a system for realizing low-frequency control of a brushless motor non-inductive FOC, wherein the system realizes a motor rotating speed estimator for observing rotating speed of the brushless motor during low-frequency operation and a non-inductive FOC control unit, the brushless motor rotating speed estimator comprises a fuzzy DTC flux linkage observer of a brushless motor stator flux linkage, the orientation of a brushless motor magnetic field during low frequency is obtained, and the non-inductive FOC control unit obtains motor rotating speed information through the motor rotating speed estimator to realize full-load starting control under the condition of low frequency.
It should be noted that the above-mentioned embodiments illustrate rather than limit the technical solution of the present invention, and that those skilled in the art may substitute equivalents or other modifications made according to the prior art, without departing from the spirit and scope of the technical solution of the present invention, and are included in the scope of the claims.

Claims (6)

1. An algorithm for realizing low-frequency control of a brushless motor non-inductive FOC (field emission control) is characterized by comprising the following steps:
s1, when a fan motor is started at a low speed, a motor rotating speed estimator observes a motor stator flux linkage through a fuzzy DTC flux linkage observer to obtain an estimated value of the motor flux linkage, and then calculates electromagnetic torque to obtain a rotating speed value of the motor;
s2, the motor rotation speed estimator transmits rotation speed value information obtained through observation to the FOC magnetic field orientation algorithm control module, the FOC magnetic field orientation algorithm control module obtains the magnetic field orientation of the permanent magnet synchronous motor at low frequency through calculation, and the FOC control module achieves full-load starting control of the permanent magnet synchronous motor under the condition of low frequency through the magnetic field orientation of the motor;
s3, when the motor is turned from low frequency to medium and high frequency, namely the motor rotation speed reaches a set switching threshold value f, the fuzzy DTC flux linkage observer stops working; meanwhile, the FOC motor magnetic field observation module starts to work, and is switched from fuzzy DTC flux linkage observation to noninductive FOC motor magnetic field observation.
2. The algorithm for implementing low frequency control of a brushless motor sensorless FOC of claim 1, wherein:
the PMSM mathematical model based on the alpha-beta coordinate system in the steps S1-S3 is as follows:
Figure FDA0004202279170000011
the mathematical model of inductance in the α - β coordinate system is as follows:
L＝(L d +L q )/2，
ΔL＝(L d -L q )/2，
L α ＝L+ΔLCos2θ，
L β ＝L-ΔLCos2θ，
L αβ ＝ΔLSin2θ。
3. an algorithm for implementing low frequency control of a brushless motor sensorless FOC according to claim 2, wherein:
for PMSM, the mathematical model is further reduced to:
Figure FDA0004202279170000012
then define state variables:
Figure FDA0004202279170000013
y＝-RsIαβ+U αβ
the state variable y is essentially the back-emf, which is integrated to give the flux linkage, and then the state variable x of the flux linkage is differentiated to give the back-emf. The relation is as follows:
Figure FDA0004202279170000021
4. an algorithm for implementing low frequency control of a brushless motor sensorless FOC according to claim 3, wherein:
to construct a nonlinear observer, a vector function is defined:
η(x)＝x-L I αβ，
the modulus of the vector function is essentially the flux linkage magnitude:
||η(x)|| 2 ＝ψ r 2 。
5. the algorithm for implementing low frequency control of a brushless motor sensorless FOC of claim 4, wherein:
in integrating the back electromotive force to obtain the flux linkage, the difference between the estimated flux linkage amplitude and the actual flux linkage amplitude is used as a compensation term for the estimated flux linkage component. The relation is as follows:
Figure FDA0004202279170000022
after completion of the observer of the state variables, the flux linkage component is obtained, the mathematical model of which is expressed as follows:
Figure FDA0004202279170000023
the angle of observation is thus obtained from the observed flux linkage component:
Figure FDA0004202279170000024
the speed and angle of the motor are obtained by means of a phase-locked loop.
6. A system for implementing an algorithm for implementing a brushless motor sensorless FOC implementation low frequency control as claimed in any one of claims 1-5, comprising: a non-inductive FOC control unit and a motor rotation speed estimator;
the non-inductive FOC control unit includes:
the FOC motor magnetic field observation module is used for observing the rotating speed of the permanent magnet synchronous motor during high-frequency operation;
the FOC magnetic field orientation algorithm control module calculates the magnetic field orientation of the fan brushless motor based on the rotating speed value of the fan brushless motor;
the FOC control module is used for controlling the fan brushless motor;
the motor rotation speed estimator includes:
a fuzzy DTC flux linkage observer for observing the flux linkage of the stator of the fan brushless motor;
the fuzzy PI stator resistance estimator is used for estimating the stator resistance in real time based on a stator alpha-beta coordinate system of the fan brushless motor and performing actual measurement compensation on stator resistance change caused by environmental factors.
CN202310465941.1A 2023-04-27 2023-04-27 Algorithm and system for realizing low-frequency control of brushless motor non-inductive FOC Pending CN116345976A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117040345A (en) * 2023-10-09 2023-11-10 希望森兰科技股份有限公司 Method for switching non-speed vector control by direct current control for elevator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117040345A (en) * 2023-10-09 2023-11-10 希望森兰科技股份有限公司 Method for switching non-speed vector control by direct current control for elevator
CN117040345B (en) * 2023-10-09 2023-12-15 希望森兰科技股份有限公司 Method for switching non-speed vector control by direct current control for elevator

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