CN117639593A - PMSM (permanent magnet synchronous motor) position estimation method based on virtual axis random pulse injection - Google Patents
PMSM (permanent magnet synchronous motor) position estimation method based on virtual axis random pulse injection Download PDFInfo
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Abstract
The invention discloses a PMSM position estimation method based on virtual axis random pulse vibration injection, which relates to the field of permanent magnet synchronous motor control. The method has the advantages that the problem that the band-pass filter is difficult to set in the demodulation process caused by frequency switching is solved, the rotor position information is extracted from quadrature axis current by combining a virtual axis injection pulse vibration signal method, the use of the band-pass filter is avoided, the problem of difficult filter frequency setting and the limitation of current loop bandwidth are solved, meanwhile, the NF wave trap is adopted to extract rotor information without high-frequency components, and the phase delay caused by the low-pass filter is reduced.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a PMSM position estimation method based on virtual axis random pulse injection.
Background
Permanent magnet synchronous motors (Permanent Magnet Synchronous Motor, PMSM) have higher motor efficiency and power density than electro-magnetic motors, and their drive systems are widely used in various industries. In order to ensure the performance of the permanent magnet synchronous motor driving system, more accurate rotating speed and rotor position information need to be acquired, and a mechanical sensor is usually installed in the motor to acquire the rotor information, but the cost and the volume of the motor are increased, meanwhile, the reliability of a control system is reduced under certain working conditions, and the application of the motor in some special occasions is limited. In recent years, sensorless control of permanent magnet synchronous motors has therefore gradually begun to be implemented in some applications.
From the principle point of view, the sensorless control algorithm can be divided into a high-frequency injection method in a zero low-speed state and a fundamental frequency model method in a medium-high speed state. A counter electromotive force-based estimation method is adopted in a medium-high speed state, but the signal-to-noise ratio of the counter electromotive force is low when the motor is started and runs at a low speed, so that the rotor signal extraction accuracy is poor, and a high-frequency signal injection method is generally adopted in a low-speed working condition. The high-frequency injection method relies on rotor saliency, and information is extracted through high-frequency signal response current, so that the use of a position sensor is avoided. However, after the single high-frequency signal is injected, the high-frequency current is excited to generate electromagnetic interference and vibration, the electromagnetic noise can influence the system performance, and if the vibration frequency is in the audible sensitivity range of the human ear, the hearing can be influenced, so that a bad working environment is caused.
In the prior study, a learner reduces noise by reducing the amplitude of the injected signal, but the noise ratio is reduced; noise is also reduced by low frequency injection, but low frequency signals have a large impact on system performance and a low signal to noise ratio is complex to implement.
Disclosure of Invention
In order to reduce noise generated when a high-frequency signal is injected in zero low-speed sensorless control of a permanent magnet synchronous motor and better extract information of a rotor, the inventor provides a PMSM position estimation method based on virtual axis random pulse injection, and the technical scheme of the invention is as follows:
a PMSM position estimation method based on virtual axis random pulse injection comprises the following steps:
establishing a virtual rotation coordinate system, and calculating a coordinate mapping matrix from the virtual rotation coordinate system to a synchronous rotation coordinate system;
acquiring two high-frequency pulse vibration signals with different frequencies and identical amplitude-frequency ratios, for each signal period, randomly selecting one high-frequency pulse vibration signal by using a set criterion, injecting the high-frequency pulse vibration signal into a direct axis of a virtual rotation coordinate system, and obtaining alternating-direct axis current under the virtual rotation coordinate system through virtual-real coordinate transformation by combining a coordinate mapping matrix;
demodulating and filtering the AC-DC axis current under the virtual rotation coordinate system to obtain AC-DC axis current components containing rotor position information;
and extracting an estimated angle error from the AC-DC axis current component containing the rotor position information, and substituting the estimated angle error into a designed rotor information observer model to obtain estimated rotating speed and rotor position information.
The further technical scheme is that the method establishes a virtual rotation coordinate system, calculates a coordinate mapping matrix from the virtual rotation coordinate system to a synchronous rotation coordinate system, and comprises the following steps:
when the rotor is stationary, it is assumed that there is a rotor having a predetermined rotational speedVirtual rotation coordinate system of (2) in d perpendicular to each other * And q * Is an axis and in an initial state d * The axis coincides with the alpha axis of the two-phase stationary coordinate system;
d-axis of alpha-axis and synchronous rotation coordinate system and d of virtual rotation coordinate system * The included angles of the axes are respectively theta andd-axis and d * The angle between the axes is +.>The coordinate mapping matrix from the virtual rotation coordinate system to the synchronous rotation coordinate system is established by the following steps:
the further technical scheme is that for each signal period, a high-frequency pulse vibration signal is randomly selected by using a set criterion, and the method comprises the following steps of, for each signal period:
iterative generation of a signature belonging to (0, 1 using a Logistic mapping algorithm]Random-like number x of interval n The expression is: x is x n ＝μ LG ·x n -1·(1-x n-1 )；
Will be similar to the random number x n Substituting the first high-frequency pulse vibration signal into a set criterion, if the criterion is true, selecting a first high-frequency pulse vibration signal, otherwise, selecting a second high-frequency pulse vibration signal; wherein, the set criterion expression is:
wherein mu is LG As an iteration coefficient, x n-1 A random-like number generated for the previous signal period; omega h1 Is the angular frequency omega of the first high-frequency pulse vibration signal h2 Is the angular frequency of the second high-frequency pulse vibration signal.
The further technical proposal is that the value interval of the iteration coefficient is mu LG ∈(0,3.5]。
The further technical scheme is that the method for obtaining the AC-DC axis current under the virtual rotation coordinate system by combining the coordinate mapping matrix through virtual-real coordinate transformation comprises the following steps:
the high-frequency pulse vibration signal adopts a coordinate mapping matrix to carry out virtual-real coordinate transformation for the first time to obtain the AC-DC axis voltage under the synchronous rotation coordinate system, and the AC-DC axis voltage is substituted into a stator voltage model established under the synchronous rotation coordinate system to obtain the AC-DC axis current under the synchronous rotation coordinate system;
the AC-DC axis current under synchronous rotation coordinate system adopts coordinate mapping inverse matrixPerforming the second virtual-real coordinate transformation to obtain the quadrature current under the virtual rotation coordinate system/>And direct axis current->The expression is:
in U hj Is the amplitude omega of the first or second high-frequency pulse vibration signal hj The angular frequency of the first or second high-frequency pulse vibration signal is j=1 or 2;the θ is the included angle between the α axis of the two-phase stationary coordinate system and the d axis of the synchronous rotating coordinate system; r is R d And R is q Respectively the AC-DC axis resistances under the synchronous rotation coordinate system, L d And L q Respectively the AC-DC axis inductances under the synchronous rotation coordinate system, p is the pole pair number of the motor, omega r Is the angular frequency of the motor.
The further technical scheme is that demodulating and filtering the AC-DC axis current under the virtual rotation coordinate system to obtain the AC-DC axis current component containing the rotor position information, comprising:
multiplying the AC-DC axis current in the virtual rotation coordinate system by a modulation signal with the same frequency as the high-frequency pulse vibration signal selected in the current signal period, and performing low-pass filtering to obtain an AC-DC axis current component containing rotor position information; wherein, the expression of the modulation signal is:
wherein omega is hj Is the angular frequency of the first or second high-frequency pulse vibration signal,u is a predetermined rotational speed of the virtual rotational coordinate system inj J=1 or 2 for the first or second high frequency pulse signal.
The method further comprises the following steps:
during low-pass filtering, NF wave trap is selected, so that quadrature current component i containing rotor position information is included qL And a direct current component i dL The expression of (2) is:
in the method, in the process of the invention,
U hj the amplitude of the first or second high-frequency pulse vibration signal is that theta is the included angle between the alpha axis of the two-phase static coordinate system and the d axis of the synchronous rotation coordinate system; r is R d And R is q Respectively the AC-DC axis resistances under the synchronous rotation coordinate system, L d And L q And s is the complex variable of the transfer function used by the NF wave trap.
The further technical scheme is that an estimated angle error is extracted from an alternating-direct axis current component containing rotor position information, and the expression is:
in the method, in the process of the invention,
for synchronizing the d-axis of a rotating coordinate system with the d-axis of a virtual rotating coordinate system * The angle between the axes as an estimated angle error, +.>Alpha and d are the two-phase stationary coordinate system * An included angle of the shaft;
removing the known sigma from delta to obtain a multiple value of the estimated angle error
The method further comprises the following steps:
the rotor information observer model designed by utilizing the mechanical motion equation of the motor is as follows:
wherein J is m For moment of inertia, T em Is electromagnetic torque, T L Is the load torque, p is the pole pair number of the motor, B is the damping coefficient, K p And K i Respectively is a proportion and an integral coefficient, K d To compensate for the coefficient omega m For the estimated rotational speed of the motor,for the estimated rotor position information +.>To estimate the angle error.
The further technical proposal is that two high-frequency pulse vibration signals with different frequencies and same amplitude-frequency ratio are recorded as a first high-frequency pulse vibration signal u respectively in1 And a second high-frequency pulse vibration signal u in2 The expression is:
in U hj Is the amplitude omega of the first or second high-frequency pulse vibration signal hj The angular frequency of the first or second high-frequency pulse vibration signal is j=1 or 2; and provides for: the frequency of the first high-frequency pulse vibration signal is smaller than that of the second high-frequency pulse vibration signal, U h1 ＞U h2 And (c) a step of:
the beneficial technical effects of the invention are as follows:
the method utilizes a set criterion, a high-frequency pulse vibration signal is randomly selected in each signal period to be injected into a virtual straight axis, and the frequency spectrum is widened through the frequency of each period change, so that the energy peak value generated by the signal injection is restrained, and the discrete spectrum and the continuous spectrum of a response signal are smoothly transited; the virtual rotation coordinate system is constructed, and the demodulation is matched through virtual-real coordinate transformation, so that the problems that the band-pass filter is difficult to set in the demodulation process when different frequency signals are injected are effectively solved, unnecessary harmonic waves are easy to bring, the NF wave trap is used for replacing the low-pass filter to extract the rotor position information, and the phase delay brought by the low-pass filter is avoided. Compared with a fixed-frequency high-frequency pulse vibration injection method, the method reduces noise without affecting the estimation performance of the system, and has the advantages of simple method and low structural complexity.
Drawings
Fig. 1 is a block diagram of a PMSM sensorless vector control system based on virtual axis random pulse injection provided herein.
Fig. 2 is a flowchart of a PMSM position estimation method based on virtual axis random pulse injection provided in the present application.
Fig. 3 is a diagram of a PMSM three coordinate system relationship model provided in the present application.
Fig. 4 is a flowchart of iterative generation of a class random number by the Logistic mapping algorithm provided in the present application.
Fig. 5 is a flowchart of a high-frequency pulse vibration signal and modulation signal generation method provided by the present application.
FIG. 6 is a graph of current power spectral density for random pulse injection and conventional fixed frequency injection provided herein.
FIG. 7 is a simulation of actual and estimated rotational speeds during idle operation using the sensorless control scheme provided herein.
Fig. 8 is an observation waveform diagram of actual and estimated rotor position information under no-load conditions using the sensorless control scheme provided by the present application.
Fig. 9 is a waveform diagram of estimated rotational speed and actual rotational speed under load conditions using the sensorless control scheme provided by the present application.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
FIG. 1 is a block diagram of a general control system of the present invention employing a PMSM sensorless vector control system based on virtual axis random pulse injection. Wherein the three-phase stator current i abc The dq axis current i under the synchronous rotation coordinate system is obtained through Clark and Park transformation by sampling and measuring a current sensor d And i q Obtaining response under virtual rotation coordinate system through virtual-real coordinate transformation calculationMultiplying the error information by a modulation signal, demodulating the error information by NF filtering, and estimating by a rotor position observerRotor speed and position information.
As shown in fig. 2, the present application further provides a PMSM position estimation method based on virtual axis random pulse injection corresponding to the system, which specifically includes the following steps:
step 1: and establishing a virtual rotation coordinate system, and calculating a coordinate mapping matrix from the virtual rotation coordinate system to the synchronous rotation coordinate system.
When the rotor is stationary, it is assumed that there is a rotor having a predetermined rotational speed(high value) virtual rotation coordinate system with d perpendicular to each other * And q * Is an axis and in an initial state d * The axis coincides with the alpha axis of the two-phase stationary coordinate system.
As shown in FIG. 3, the alpha-axis is recorded with the d-axis of the synchronous rotation coordinate system, d of the virtual rotation coordinate system * The included angles of the axes are respectively theta andd-axis and d * The angle between the axes is +.>The coordinate mapping matrix from the virtual rotation coordinate system to the synchronous rotation coordinate system is established by the following steps:
step 2: two high-frequency pulse vibration signals with different frequencies and identical amplitude-frequency ratio and corresponding modulation signals are obtained.
The two high-frequency pulse vibration signals with different frequencies and the same amplitude-frequency ratio are recorded as first high-frequency pulse vibration signals u respectively in1 And a second high-frequency pulse vibration signal u in2 The expression is:
in U hj Is the amplitude omega of the first or second high-frequency pulse vibration signal hj The angular frequency of the first or second high-frequency pulse vibration signal is denoted as f hj J=1 or 2; and provides for: f (f) h1 ＜f h2 ，U h1 ＞U h2 And in order to ensure that the signal-to-noise ratios of the first and second high frequency pulse signals are equal, the ratio of the amplitude and the angular frequency of the two should also be the same, namely:
the signal injected in each signal period is randomly selected from the two signals, the frequency of the modulation signal needed in the demodulation process corresponding to the period is equal to the frequency of the corresponding injected signal, and the expression of the modulation signal is as follows:
step 3: for each signal period, a high-frequency pulse vibration signal is randomly selected by using a set criterion and injected into a straight axis of a virtual rotation coordinate system.
As shown in fig. 4, for each signal period, the logical mapping algorithm is used to iteratively generate the values belonging to (0, 1]Random-like number x of interval n Thereby forming an aperiodic random sequence { xn }, the expression is:
x n ＝μ LG ·x n -1·(1-x n-1 ) (5)
wherein mu is LG Is an iteration coefficient and has a value range of (0, 4)]，x n-1 A random-like number is generated for the last signal period. And for the first signal period, an initial value x can be randomly generated 0 Substituting the random-like number x of the period into (5) 1 。
As shown in fig. 5, the quasi-random number x generated in each period is n Substituting the first high-frequency pulse vibration signal u into a set criterion A, and selecting the first high-frequency pulse vibration signal u if the criterion A is true in1 As the injection signal of the period, the corresponding modulation signal frequency is f h1 Otherwise, selecting the second high-frequency pulse vibration signal u in2 As the injection signal of the period, the corresponding modulation signal frequency is f h2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the expression of the set criterion A is:
according to the two frequency injection characteristics, the iteration coefficient mu of the selected Logistic mapping algorithm LG Preferably at (0,3.5)]Within the interval range, let x n The mapping distribution is dispersed to two sides, which is favorable for the transformation of the criterion result, otherwise, the random number is randomly distributed in the mapping interval.
Because the fixed high-frequency injection signal can generate harmonic wave at the injection frequency and the frequency multiplication position, the method determines to adopt a random high-frequency pulse vibration signal injection method to reduce the injection frequency and the energy peak value of the frequency multiplication, thereby achieving the effect of noise suppression. Fig. 6 is a graph of the power spectral density of the sampled current for both fixed frequency and random frequency injection, it can be seen that with fixed frequency injection, a slightly pronounced tip noise is likely to occur at integer multiples of the frequency, whereas random injection reduces much of the peak noise.
Step 4: after the high-frequency pulse vibration signal is injected, the alternating-direct axis current under the virtual rotation coordinate system is obtained through virtual-real coordinate transformation by combining the coordinate mapping matrix.
The stator voltage model of the PMSM under the synchronous rotation coordinate system is established as follows:
wherein u is d And u q Respectively, the voltages of the alternating and direct axes in the synchronous rotation coordinate system, R d And R is q Respectively the AC-DC axis resistances under the synchronous rotation coordinate system, i d And i q Respectively, the alternating-direct axis currents and L under the synchronous rotation coordinate system d And L q Respectively the AC-DC axis inductances under the synchronous rotation coordinate system, p is the pole pair number of the motor, omega r For motor angular frequency, ψ f Is a permanent magnet flux linkage. Due to the injected high frequency pulse signal frequency omega hj Far above the angular frequency omega of the motor r Omega can be considered r ψ f ≈0。
Injection into virtual d * The voltage equation for the shaft is as follows:
the high-frequency pulse vibration signal shown in the formula (8) adopts a coordinate mapping matrix T H-R Performing virtual-real coordinate transformation for the first time to obtain the AC-DC axis voltage under the synchronous rotation coordinate system, wherein the expression is as follows:
substituting the formula (9) into the formula (7) to obtain the AC-DC axis current under the synchronous rotation coordinate system, wherein the formula is as follows:
in the method, in the process of the invention,
the AC-DC axis current under synchronous rotation coordinate system adopts coordinate mapping inverse matrixPerforming the second virtual-real coordinate transformation to obtain the quadrature current +.>And direct axis current->The expression is:
step 5: demodulating and filtering the AC-DC axis current in the virtual rotation coordinate system to obtain AC-DC axis current components containing rotor position information.
The AC-DC axis current under the virtual rotation coordinate systemAnd->Multiplying the modulated signal with the same frequency as the high-frequency pulse vibration signal selected by the current signal period, and performing low-pass filtering to obtain an alternating-direct axis current component i containing rotor position information qL And i dL 。
In this embodiment, the NF trap is used to replace the low-pass filter, and compared with the low-pass filter, the NF trap has a lower signal delay, and the transfer function of filtering out the harmonic wave is expressed as:
where s is the complex variable of the transfer function used by the NF trap, k is the trap gain factor, U(s) is the input signal, and E(s) is the output signal.
The output E(s) signal can obtain a signal with suppressed harmonic component with frequency omega' which is set as injection frequency omega hj The quadrature-axis current component i containing rotor position information and free of high-frequency components is obtained qL And a direct current component i dL The expression is:
in the method, in the process of the invention,
step 6: an estimated angle error is extracted from the quadrature-axis current component containing rotor position information.
Extracting an estimated angle error by using a heterodyne method, wherein the expression is as follows:
in the method, in the process of the invention,
for synchronizing the d-axis of a rotating coordinate system with the d-axis of a virtual rotating coordinate system * The angle between the axes serves as an estimated angle error. When->When small enough, can be approximated as +.>
Step 7: substituting the extracted estimated angle error into a designed rotor information observer model to obtain estimated rotating speed and rotor position information.
Removing the known sigma from delta to obtain a multiple value of the estimated angle errorDesigning a rotor information observer model by using a motor mechanical motion equation, and estimating an angle error +.>Compensating mechanical motion equation by PI controller to estimate angle errorMultiplying by a proportion to compensate for the observation angle>The rotor information observer model designed according to the method is as follows:
wherein J is m For moment of inertia, T em Is electromagnetic torque, T L Is the load torque, B is the damping coefficient, and Bω m Is a relatively minimum value, which is generally ignored, K p And K i Proportional, integral coefficient, K of PI controller d To compensate for the coefficient omega m For the estimated rotational speed of the motor,is estimated rotor position information.
As can be seen from the above, when the estimated angle error is 0 (2K L This constant coefficient does not affect the operation), the speed and position information of the motor rotor can be estimated. Estimated rotational speed ω of final observer output m And rotor position informationAnd the feedback is fed back to the vector control system, so that sensorless control of the permanent magnet synchronous motor under the low-speed working condition can be realized.
FIG. 7 is a simulation diagram of actual and estimated speeds of rotation operated in an idle condition using the method described above, where the initial given speed of rotation increases to 400rpm at 200rpm for 0.1s, where substantial overlap between the actual and estimated speeds of rotation is observed, demonstrating that the method can still better complete the estimation of rotor speed, and where the observed speed buffeting error is in a better range. Fig. 8 is a waveform diagram of rotor position information observation based on the working condition of fig. 7, and the actual rotor position and the estimated rotor position can be observed to basically coincide, which proves that the method has a better effect on the rotor position information estimation. Fig. 9 shows waveforms of the estimated rotation speed and the actual rotation speed under the condition that the given rotation speed is 300rpm and the load is applied for 0.1 second by adopting the method, and the actual rotation speed and the estimated rotation speed can be observed to be basically coincident, so that the method can be operated in load within rated torque.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present invention are deemed to be included within the scope of the present invention.
Claims (10)
1. A PMSM position estimation method based on virtual axis random pulse injection, the method comprising:
establishing a virtual rotation coordinate system, and calculating a coordinate mapping matrix from the virtual rotation coordinate system to a synchronous rotation coordinate system;
acquiring two high-frequency pulse vibration signals with different frequencies and identical amplitude-frequency ratios, for each signal period, randomly selecting one high-frequency pulse vibration signal by using a set criterion, injecting the high-frequency pulse vibration signal into a direct axis of a virtual rotation coordinate system, and obtaining alternating-direct axis current under the virtual rotation coordinate system through virtual-real coordinate transformation by combining the coordinate mapping matrix;
demodulating and filtering the AC-DC axis current under the virtual rotation coordinate system to obtain an AC-DC axis current component containing rotor position information;
and extracting an estimated angle error from the AC-DC axis current component containing the rotor position information, and substituting the estimated angle error into a designed rotor information observer model to obtain estimated rotating speed and rotor position information.
2. The PMSM position estimation method based on virtual axis random pulse injection of claim 1, wherein the establishing a virtual rotation coordinate system and calculating a coordinate mapping matrix of the virtual rotation coordinate system to a synchronous rotation coordinate system comprises:
when the rotor is stationary, it is assumed that there is a rotor having a predetermined rotational speedThe virtual rotation coordinate system is in d mutually perpendicular * And q * Is an axis and in an initial state d * The axis coincides with the alpha axis of the two-phase stationary coordinate system;
recording d axes of the alpha axis and the synchronous rotation coordinate system and d of the virtual rotation coordinate system * The included angles of the axes are respectively theta andthe d-axis and the d * The angle between the axes is +.>The coordinate mapping matrix from the virtual rotation coordinate system to the synchronous rotation coordinate system is established by the following steps:
3. the PMSM location estimation method based on virtual axis random pulse injection of claim 1, wherein for each signal period, randomly selecting a high frequency pulse signal using a set criterion comprises, for each signal period:
iterative generation of a signature belonging to (0, 1 using a Logistic mapping algorithm]Random-like number x of interval n The expression is: x is x n ＝μ LG ·x n-1 ·(1-x n-1 )；
The quasi-random number x n Substituting the first high-frequency pulse vibration signal into a set criterion, if the criterion is true, selecting a first high-frequency pulse vibration signal, otherwise, selecting a second high-frequency pulse vibration signal; wherein, the set criterion expression is:
wherein mu is LG As an iteration coefficient, x n-1 A random-like number generated for the previous signal period; omega h1 For the angular frequency, ω, of the first high-frequency pulse vibration signal h2 Is the angular frequency of the second high-frequency pulse vibration signal.
4. The PMSM position estimation method based on pseudo-axis random pulse injection according to claim 3, wherein the iteration coefficient takes a value interval of μ LG ∈(0,3.5]。
5. The PMSM position estimation method based on virtual axis random pulse injection according to claim 1, wherein obtaining the ac-dc axis current in the virtual rotation coordinate system through virtual-real coordinate transformation in combination with the coordinate mapping matrix comprises:
the Gao Pinmai vibration signal adopts the coordinate mapping matrix to perform the first virtual-real coordinate transformation to obtain the AC-DC axis voltage under the synchronous rotation coordinate system, and the AC-DC axis voltage is substituted into the stator voltage model established under the synchronous rotation coordinate system to obtain the AC-DC axis current under the synchronous rotation coordinate system;
the AC-DC axis current under the synchronous rotation coordinate system adopts a coordinate mapping inverse matrixPerforming the second virtual-real coordinate transformation to obtain the quadrature current +.>And direct axis current->The expression is:
in U hj Is the amplitude omega of the first or second high-frequency pulse vibration signal hj The angular frequency of the first or second high-frequency pulse vibration signal is j=1 or 2;the θ is the included angle between the α axis of the two-phase stationary coordinate system and the d axis of the synchronous rotating coordinate system; r is R d And R is q Respectively the AC-DC axis resistances under the synchronous rotation coordinate system, L d And L q Respectively the AC-DC axis inductances under the synchronous rotation coordinate system, p is the pole pair number of the motor, omega r Is the angular frequency of the motor.
6. The PMSM position estimation method based on virtual axis random pulse injection according to claim 1, wherein demodulating and filtering the alternating-direct axis current in the virtual rotation coordinate system to obtain an alternating-direct axis current component containing rotor position information comprises:
multiplying the AC-DC axis current in the virtual rotation coordinate system by a modulation signal with the same frequency as the high-frequency pulse vibration signal selected in the current signal period, and performing low-pass filtering to obtain an AC-DC axis current component containing rotor position information; wherein, the expression of the modulation signal is:
wherein omega is hj Is the angular frequency of the first or second high-frequency pulse vibration signal,u is a predetermined rotational speed of the virtual rotational coordinate system inj J=1 or 2 for the first or second high frequency pulse signal.
7. The PMSM location estimation method based on virtual axis random pulse injection of claim 6, wherein the method further comprises:
during low-pass filtering, NF wave trap is selected, so that quadrature current component i containing rotor position information is included qL And a direct current component i dL The expression of (2) is:
in the method, in the process of the invention,
U hj the amplitude of the first or second high-frequency pulse vibration signal is that theta is the included angle between the alpha axis of the two-phase static coordinate system and the d axis of the synchronous rotation coordinate system; r is R d And R is q Respectively the AC-DC axis resistances under the synchronous rotation coordinate system, L d And L q And s is the complex variable of the transfer function used by the NF wave trap.
8. The PMSM position estimation method based on virtual axis random pulse injection of claim 7, wherein an estimated angle error is extracted from the alternating-direct axis current component containing rotor position information, expressed as:
in the method, in the process of the invention,
for synchronizing the d-axis of a rotating coordinate system with the d-axis of a virtual rotating coordinate system * The angle between the axes as an estimated angle error, +.>Alpha-axis being a two-phase stationary coordinate system and said d * An included angle of the shaft;
removing the known sigma from delta to obtain a multiple value of the estimated angle error
9. The PMSM location estimation method based on virtual axis random pulse injection of claim 1, wherein the method further comprises:
the rotor information observer model designed by utilizing the mechanical motion equation of the motor is as follows:
wherein J is m For moment of inertia, T em Is electromagnetic torque, T L Is the load torque, p is the pole pair number of the motor, B is the damping coefficient, K p And K i Respectively is a proportion and an integral coefficient, K d To compensate for the coefficient omega m For the estimated rotational speed of the motor,for the estimated rotor position information +.>To estimate the angle error.
10. The method for estimating a position of a PMSM based on pseudo-axis random pulse injection according to claim 1, wherein two high-frequency pulse signals with different frequencies and same amplitude-frequency ratio are recorded as the first high-frequency pulse signal u, respectively in1 And a second high-frequency pulse vibration signal u in2 The expression is:
in U hj Is the amplitude omega of the first or second high-frequency pulse vibration signal hj The angular frequency of the first or second high-frequency pulse vibration signal is j=1 or 2; and provides for: the frequency of the first high-frequency pulse vibration signal is smaller than that of the second high-frequency pulse vibration signal, U h1 ＞U h2 And (c) a step of:
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| CN202311608879.3A Pending CN117639593A (en) | 2023-11-28 | 2023-11-28 | PMSM (permanent magnet synchronous motor) position estimation method based on virtual axis random pulse injection |
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| CN107171608A (en) * | 2017-07-20 | 2017-09-15 | 北京航空航天大学 | A kind of permagnetic synchronous motor without sensor initial position detection method |
| CN116191972A (en) * | 2023-02-24 | 2023-05-30 | 中国科学院电工研究所 | Position-free closed-loop starting method, system and equipment for permanent magnet synchronous motor |
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| CN107171608A (en) * | 2017-07-20 | 2017-09-15 | 北京航空航天大学 | A kind of permagnetic synchronous motor without sensor initial position detection method |
| CN116191972A (en) * | 2023-02-24 | 2023-05-30 | 中国科学院电工研究所 | Position-free closed-loop starting method, system and equipment for permanent magnet synchronous motor |
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