CN117749020A - Motor position estimation method, motor control equipment and system - Google Patents
Motor position estimation method, motor control equipment and system Download PDFInfo
- Publication number
- CN117749020A CN117749020A CN202311756748.XA CN202311756748A CN117749020A CN 117749020 A CN117749020 A CN 117749020A CN 202311756748 A CN202311756748 A CN 202311756748A CN 117749020 A CN117749020 A CN 117749020A
- Authority
- CN
- China
- Prior art keywords
- current
- motor
- voltage
- phase sequence
- negative phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000000819 phase cycle Methods 0.000 claims abstract description 63
- 230000003068 static effect Effects 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 238000001914 filtration Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 abstract description 4
- 238000004458 analytical method Methods 0.000 abstract description 2
- 238000004590 computer program Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 230000009466 transformation Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005669 field effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the invention provides a motor position estimation method, motor control equipment and a motor position estimation system, wherein the method comprises the following steps: respectively superposing voltage signals on voltage ualpha and voltage ubeta under a two-phase static coordinate system to obtain superposed voltage ualpha 1 and voltage ubeta 1; outputting a control signal to the inverter based on the voltage uα1 and the voltage uβ1 to cause the inverter to control three-phase currents of the motor; acquiring three-phase current; based on the three-phase current, obtaining current ialpha and current ibeta under a two-phase static coordinate system; based on the current iα and the current iβ, obtaining a negative phase sequence high-frequency current component; and obtaining the position of the motor rotor based on the negative phase sequence high-frequency current component. In the method, a high-frequency voltage is superimposed on the fundamental wave signal and applied to the three-phase winding, the corresponding high-frequency current carries rotor position information, the position information of the rotor can be obtained through high-frequency current analysis, a position sensor is not required to be arranged, the hardware cost can be reduced, and the system reliability can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor position estimation method, motor control equipment and a motor position estimation system.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, small volume, low noise and the like, so that the permanent magnet synchronous motor is widely applied to the fields of household appliances, electric automobiles and the like.
At present, a sensor is generally used for estimating the position of a motor, such as an encoder, a hall sensor and the like, however, the motor with the sensor is difficult to manufacture compared with a motor without the sensor, so that the hardware cost is increased, in addition, even if the installation error does not exist in the manufacturing stage, the calculation error of the position sensor is gradually increased along with the increase of the running time, and the reliability of the system is reduced.
Disclosure of Invention
The embodiment of the invention provides a motor position estimation method, motor control equipment and a system, which can estimate the motor position without adopting a position sensor, can reduce hardware cost and improve system reliability.
In a first aspect, an embodiment of the present invention provides a motor position estimation method, including: respectively superposing voltage signals on voltage ualpha and voltage ubeta under a two-phase static coordinate system to obtain superposed voltage ualpha 1 and voltage ubeta 1; outputting a control signal to an inverter based on the voltage uα1 and the voltage uβ1 to cause the inverter to control three-phase currents of the motor; acquiring the three-phase current; based on the three-phase current, obtaining current ialpha and current ibeta under a two-phase static coordinate system; based on the current iα and the current iβ, obtaining a negative phase sequence high-frequency current component; and obtaining the position of the motor rotor based on the negative phase sequence high-frequency current component.
In some embodiments, the obtaining the position of the motor rotor based on the negative phase sequence high frequency current component includes: acquiring the amplitude of the negative phase sequence high-frequency current component; obtaining a negative phase sequence component based on the negative phase sequence high-frequency current component and the amplitude of the negative phase sequence high-frequency current component; and obtaining the position of the motor rotor based on the negative phase sequence component.
In some embodiments, the deriving the position of the motor rotor based on the negative phase sequence component includes: obtaining a position error based on the negative phase sequence component; acquiring the position of the motor rotor in the last calculation period; and obtaining the position of the motor rotor in the current calculation period based on the position of the motor rotor in the last calculation period and the position error.
In some embodiments, the obtaining a negative phase sequence high frequency current component based on the current iα, the current iβ includes: filtering the current iα and the current iβ respectively to obtain a filtered current iα1 and a filtered current iβ1; and obtaining the negative phase sequence high-frequency current component based on the current iα1 and the current iβ1.
In some embodiments, filtering the current iα and the current iβ to obtain a filtered current iα1 and a filtered current iβ1, respectively, includes: filtering the current ialpha by using a band-pass filter and a high-frequency filter of a synchronous shaft to obtain the current ialpha 1; and filtering the current ibeta by using the band-pass filter and the high-frequency filter of the synchronous shaft to obtain the current ibeta 1.
In some embodiments, the method further comprises: and obtaining the motor rotating speed of the current calculation period based on the position of the motor rotor.
In a second aspect, an embodiment of the present invention further provides a motor control apparatus including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first aspects.
In a third aspect, an embodiment of the present invention further provides a motor control system, including: an inverter, a motor, and a motor control apparatus as described in the second aspect; the inverter is connected to the motor and the motor control device, respectively.
In some embodiments, the motor control system further comprises a filter; the filter is arranged between the inverter and the motor.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method according to the first aspect.
In a fifth aspect, embodiments of the present invention also provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method according to the first aspect.
Compared with the prior art, the invention has the beneficial effects that: unlike the prior art, the embodiment of the invention provides a motor position estimation method, a motor control device and a motor control system, wherein the method comprises the following steps: respectively superposing voltage signals on voltage ualpha and voltage ubeta under a two-phase static coordinate system to obtain superposed voltage ualpha 1 and voltage ubeta 1; outputting a control signal to the inverter based on the voltage uα1 and the voltage uβ1 to cause the inverter to control three-phase currents of the motor; acquiring three-phase current; based on the three-phase current, obtaining current ialpha and current ibeta under a two-phase static coordinate system; based on the current iα and the current iβ, obtaining a negative phase sequence high-frequency current component; and obtaining the position of the motor rotor based on the negative phase sequence high-frequency current component. In the method, a high-frequency voltage is added to the fundamental wave signal and then applied to the three-phase winding, the corresponding high-frequency response current carries rotor position information, and the position information of the rotor can be obtained through analysis of the high-frequency current.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements/modules and steps, and in which the figures do not include the true to scale unless expressly indicated by the contrary reference numerals.
Fig. 1 is a block diagram of a motor control system according to an embodiment of the present invention;
fig. 2 is a partial circuit configuration diagram of a motor control system according to an embodiment of the present invention;
FIG. 3 is a block diagram of another motor control system according to an embodiment of the present invention;
fig. 4 is a block diagram of a motor control apparatus according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a motor position estimation method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a motor control model according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
In order to facilitate an understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific examples. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
It should be noted that, if not conflicting, the various features of the embodiments of the present invention may be combined with each other, which are all within the protection scope of the present application. In addition, although functional block division is performed in the device schematic, in some cases, block division may be different from that in the device. Moreover, the words "first," "second," and the like as used herein do not limit the data and order of execution, but merely distinguish between identical or similar items that have substantially the same function and effect.
In order to realize optimal voltage vector control or maximum torque control, the position information of the motor rotor needs to be accurately obtained, and the current method for obtaining the position of the motor rotor mainly utilizes a method for directly detecting the position sensor, a mechanical sensor is arranged in the permanent magnet synchronous motor, and the position of the rotor is directly detected through the sensor, but the method has lower reliability and control accuracy and higher cost.
In order to solve the technical problems, the embodiment of the invention provides a motor position estimation method, motor control equipment and a motor control system, which can estimate the position of a motor rotor without adopting a position sensor, reduce hardware cost and improve control reliability.
Referring to fig. 1, in a first aspect, an embodiment of the present invention provides a sensorless motor control system 100, where the motor control system 100 includes a motor 10, a motor control device 20, and an inverter 30, where the motor control device 20 is connected to control ends of the motor 10 and the inverter 30, respectively, and the motor control device 20 is configured to execute a motor position estimation method provided in the embodiment of the present invention.
Specifically, an input end of the inverter 30 is used for being connected with the power supply 200, and an output end of the inverter 30 is three-phase connected with the motor 10.
The motor 10 may be a permanent magnet synchronous motor, which is a commonly used three-phase synchronous ac motor, in which a permanent magnet is used as a rotor to generate a synchronous rotating magnetic field, and three-phase stator windings react through an armature under the action of the rotating magnetic field to induce three-phase symmetrical currents. The permanent magnet synchronous motor can be divided into a surface-mounted permanent magnet synchronous motor and a built-in permanent magnet synchronous motor according to the structure. In an embodiment of the present invention, the motor 10 includes, but is not limited to, one of a surface mount permanent magnet synchronous motor or a built-in permanent magnet synchronous motor. In other embodiments, the motor 10 may be other motors capable of achieving sensorless control, which are within the scope of the present invention.
The inverter 30 can convert direct current (such as direct current from a solar panel or in a power system) to alternating current. As shown in fig. 2, the inverter 30 may include a plurality of switching devices, which may be transistors, power field effect transistors or thyristors, and the specific circuit structure thereof may refer to the prior art and will not be described herein.
In this embodiment, the motor control device 20 is configured to perform the motor position estimation method according to the embodiment of the present invention, by superimposing a three-phase balanced high-frequency voltage excitation on the fundamental excitation of the motor 10, and then detecting a current response generated correspondingly at the motor end, the rotor position of the motor 10 can be obtained by calculating the current response because the current response includes the rotor position information of the motor 10, so that a position sensor is not required to be provided, thereby reducing hardware cost and improving system reliability.
In some of these embodiments, referring to fig. 3, the motor control system further includes a filter 40; the filter 40 is provided between the inverter 30 and the motor 10.
Specifically, referring to fig. 2, the filter may include a differential mode inductance module 41, a differential mode module 42, an RC absorption module 43 and a common mode inductance module 44, wherein an output end of the inverter 30 is connected to an input end of the differential mode inductance module 41, an output end of the differential mode inductance module 41 is connected to an input end of the differential mode inductance module 42, an output end of the differential mode inductance module 42 is respectively connected to input ends of the RC absorption module 43 and the common mode inductance module 44, and an output end of the common mode inductance module 44 is connected to the motor 10. The specific structure of the differential-mode inductance module 41, the differential-mode module 42, the RC-absorption module 43 and the common-mode inductance module 44 can refer to the prior art, and will not be described herein.
In the present embodiment, the differential mode inductance module 41, the differential mode module 42, the RC absorption module 43 and the common mode inductance module 44 can filter out the differential mode harmonic of the ac output signal of the inverter 30, reduce the common mode inductance load, and solve the problem of line damage caused by excessive harmonic in the remote control process of the motor 10 when the common mode inductance module 44 is connected to the motor 10 through the long wire 50.
In a second aspect, please refer to fig. 4, which illustrates a hardware structure of a motor control apparatus capable of performing the method according to any one of the embodiments described above. The motor control apparatus 10 may be the motor control apparatus 10 shown in fig. 1 or 3.
The motor control apparatus 10 includes: at least one processor 11; and a memory 12 communicatively coupled to the at least one processor 11, one processor 11 being illustrated in fig. 4. The memory 12 stores instructions executable by the at least one processor 11 to enable the at least one processor 11 to perform the method according to any one of the embodiments of the present invention. The processor 11 and the memory 12 may be connected by a bus or otherwise, for example in fig. 4.
The memory 12 serves as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions/modules corresponding to the methods in the embodiments of the present application. The processor 11 performs various functional applications of the motor control device and data processing, i.e. implements the method described in any of the embodiments of the invention, by running non-volatile software programs, instructions and modules stored in the memory 12.
The memory 12 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the device, etc. In addition, memory 12 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 12 may optionally include memory located remotely from processor 11, which may be connected to processor 11 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 12 and when executed by the one or more processors 11 perform the methods of any of the embodiments of the invention.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details not described in detail in this embodiment may be found in the methods provided in the embodiments of the present invention.
In a third aspect, an embodiment of the present invention provides a motor position estimation method, an execution subject of which may be the motor control apparatus 10 shown in fig. 1 or fig. 3, referring to fig. 5 and fig. 6, including:
step S10: and respectively superposing voltage signals on the voltage ualpha and the voltage ubeta under the two-phase static coordinate system to obtain a superposed voltage ualpha 1 and a superposed voltage ubeta 1.
The voltage signal may be of frequency omega in Amplitude V in The high frequency signal, i.e. the injected voltage signal, is:
wherein t is time.
Specifically, the voltage signal may be respectively injected into the two-phase stationary coordinate system, that is, the high-frequency voltage signal is injected in the α -axis and the high-frequency voltage signal is injected in the β -axis, so that the voltages uα and uβ in the two-phase stationary coordinate system may be superimposed with the voltage signal.
Step S20: based on the voltage uα1 and the voltage uβ1, a control signal is output to the inverter 30 to cause the inverter 30 to control the three-phase current of the motor 10.
Specifically, the voltages uα1 and uβ1 obtained by superimposing the voltage signals are input to a vector modulator, such as a SVPWM modulator, and then the SVPWM modulator processes the α -phase reference voltage uα1 and the β -phase reference voltage uβ1 to obtain SVPWM pulse widths, thereby generating pulse signals and outputting the pulse signals to the inverter 30, so that the inverter 30 controls the three-phase current of the motor 10 according to the pulse signals to control the rotation speed of the motor 10.
Step S30: and acquiring three-phase current.
Specifically, in some embodiments, a current collection unit is provided between the inverter 30 and the motor 10, which may be used to automatically sample the three-phase stator currents ia, ib, ic of the motor 10 when in operation, e.g., a current sensor may be used to collect the three-phase stator currents and send the three-phase stator currents to the motor control device. Alternatively, in other embodiments, the inverter 30 may be configured to derive actual drive currents ia, ib, ic for controlling the three-phase symmetric windings of the stator of the motor 10 based on the voltage signals of the U-phase, V-phase, and W-phase. In practical application, the phase current ic can also be obtained by calculation according to kirchhoff principle.
Step S40: based on the three-phase current, obtaining current ialpha and current ibeta under a two-phase static coordinate system;
the three-phase currents are subjected to coordinate transformation, such as Clark transformation, so that currents iα and iβ can be obtained. Specifically, the three-phase currents ia, ib, ic may be Clark transformed according to the following formula to obtain an α -phase current iα and a β -phase current iβ:
where k represents a coordinate transformation coefficient constant.
Step S50: and obtaining negative phase sequence high-frequency current components based on the current iα and the current iβ.
Will high frequency voltage signal U αβin Through Park inverse transformation toAfter the coordinate system is rotated, the voltage corresponding to the high-frequency voltage signal in the coordinate system is:
then the current corresponding to the high-frequency voltage signal in the static coordinate system is as follows:
and:
wherein I is p Is the amplitude of the positive phase sequence high-frequency current component, I n Is the amplitude of the negative phase sequence high-frequency current component, L d Is d-axis inductance, L q For q-axis inductance, θ e Is the position of the rotor of the motor 10.
From the above, the current iα and the current iβ not only contain the fundamental frequency current signal, but also contain the high frequency current signal generated by two injected high frequency voltages, and the high frequency current signal in the stationary coordinate system corresponding to the high frequency voltage signal can be divided into two parts: one part is positive phase sequence high-frequency current with the rotation direction being the same as the direction of the injection voltage vector, and the amplitude of the positive phase sequence high-frequency current is related to the average inductance; the other part is a negative phase sequence high-frequency current component with the rotation direction opposite to the injection voltage vector direction, and the amplitude of the negative phase sequence high-frequency current component is related to the half-difference inductance. Binding i αβin It can be found in the expression (c) that only the negative phase sequence current component contains rotor position information of the permanent magnet synchronous motor 10.
Therefore, in the present embodiment, the negative phase sequence high frequency current component can be extracted by the current iα and the current iβ, and the rotor position information of the permanent magnet synchronous motor 10 can be obtained by analyzing the negative phase sequence current component.
Step S60: based on the negative phase sequence high frequency current component, the position of the rotor of the motor 10 is obtained.
Since the negative phase sequence current component contains the rotor position information of the motor 10, the negative phase sequence current component can be analyzed, and the rotor position information of the permanent magnet synchronous motor 10 can be obtained. Specifically, the position of the rotor of the motor 10 may be obtained by extracting the negative phase sequence high frequency current component through an observer and an extraction module. Wherein the observer may be a high frequency injection site observer.
In this embodiment, by superimposing a three-phase balanced high-frequency voltage excitation on the fundamental excitation of the motor 10, then detecting the corresponding current response generated by the motor 10, and then obtaining the rotor position of the permanent magnet synchronous motor through specific calculation, the method does not need to provide a position sensor, thereby reducing the hardware cost and improving the system reliability.
In some of these embodiments, step S60 includes:
step S61: and acquiring the amplitude of the negative phase sequence high-frequency current component.
Specifically, the magnitude I of the negative phase sequence high frequency current component can be calculated by the following formula n ：
Step S62: and obtaining the negative phase sequence component based on the negative phase sequence high-frequency current component and the amplitude of the negative phase sequence high-frequency current component.
To obtain negative phase sequence high frequency current component i αβin Thereafter, the negative phase sequence high-frequency current component i can be calculated αβin Amplitude I of high-frequency current component with negative phase sequence n The quotient of (1) can obtain the negative phase sequence component, namely the negative phase sequence component i ε The method comprises the following steps:
step S63: based on the negative phase sequence component, the position of the rotor of the motor 10 is obtained.
Specifically, in some embodiments, the extraction module may be an arctangent module that performs an arctangent operation on the negative phase sequence component to obtain the position of the rotor of the motor 10, i.e., θ=arctan (i) ε )。
In other embodiments, step S63 includes: step S631: based on the negative phase sequence component, a position error is obtained. Step S632: the position of the rotor of the motor 10 at the last calculation cycle is obtained. Step S633: based on the position of the rotor of the motor 10 and the position error of the previous calculation cycle, the position of the rotor of the motor 10 in the current calculation cycle is obtained.
Wherein, after calculating the rotor position of the motor 10, it can be stored first to obtain the position θ of the previous calculation period when calculating the next calculation period e1 Or obtaining the position theta of the rotor in the previous calculation period through the output feedback of the extraction module e1 。
In the current calculation period, the position error ε can be calculated by the following formula:
then, the position θ of the rotor of the motor 10 in the last calculation cycle is calculated e1 Summing with the position error epsilon to obtain the position theta of the electronic rotor in the current calculation period e I.e. θ e ＝θ e1 +ε。
In this embodiment, the position error is calculated based on the negative phase sequence component, and then the position of the rotor in the current calculation period is calculated based on the position error, so that the accuracy of calculation can be improved compared with the case that the position of the rotor in the current calculation period is calculated directly based on the negative phase sequence component.
In summary, the position of the rotor of the motor 10 may be obtained by calculating the negative phase sequence high frequency current component.
In some of these embodiments, step S50 includes:
step S51: and respectively filtering the current ialpha and the current ibeta to obtain a filtered current ialpha 1 and a filtered current ibeta 1.
It will be appreciated that the currents iα and iβ include not only negative phase sequence high frequency current components but also fundamental wave currents and positive phase sequence high frequency current components, and therefore, they need to be filtered to obtain negative phase sequence high frequency current components.
Step S52: based on the current iα1 and the current iβ1, a negative phase sequence high-frequency current component is obtained.
After the current iα1 and the current iβ1 are obtained, a negative phase sequence high-frequency current component can be obtained by synthesis operation, and the specific operation process thereof is not limited herein, with reference to the prior art.
In the embodiment of the invention, the accuracy of calculation can be provided by respectively filtering the current ialpha and the current ibeta and then calculating.
In some of these embodiments, step S51 includes:
step S511: filtering the current ialpha by using a band-pass filter and a high-frequency filter of a synchronous shaft to obtain a current ialpha 1;
step S512: and filtering the current ibeta by using a band-pass filter and a high-frequency filter of a synchronous shaft to obtain a current ibeta 1.
The band-pass filter can filter fundamental current, the high-frequency filter of the synchronous shaft can filter positive sequence current components, and specific structures of the band-pass filter and the high-frequency filter of the synchronous shaft can refer to the prior art and are not limited herein.
In this embodiment, the current iα1 and the current iβ1 can be obtained by filtering the current iα and the current iβ in the above manner.
In some of these embodiments, the method further comprises:
step S70: the motor 10 rotational speed of the current calculation cycle is obtained based on the position of the motor 10 rotor.
Specifically, the speed ω of the rotor of the motor 10 can be calculated according to the following formula:
after the speed of the rotor of the motor 10 is obtained, the calculated rotor position and speed can be output to the double closed loop module for coordinate transformation, and the estimated rotation speed is fed back, so that the motor can be regulated and controlled better.
In a fourth aspect, embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer-executable instructions for execution by one or more processors, e.g., performing the method steps of any of the embodiments described above.
In a fifth aspect, embodiments of the present application also provide a computer program product comprising a computer program stored on a non-volatile computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of any of the method embodiments described above, e.g. to perform the method steps of any of the embodiments described above.
It should be noted that the above-described apparatus embodiments are merely illustrative, and the units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the related art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for executing the method described in each embodiment or some parts of the embodiments with at least one computer device (which may be a personal computer, a server, or a network device, etc.).
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood 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 depart from the spirit of the invention.
Claims (10)
1. A motor position estimation method, comprising:
respectively superposing voltage signals on voltage ualpha and voltage ubeta under a two-phase static coordinate system to obtain superposed voltage ualpha 1 and voltage ubeta 1;
outputting a control signal to an inverter based on the voltage uα1 and the voltage uβ1 to cause the inverter to control three-phase currents of the motor;
acquiring the three-phase current;
based on the three-phase current, obtaining current ialpha and current ibeta under a two-phase static coordinate system;
based on the current iα and the current iβ, obtaining a negative phase sequence high-frequency current component;
and obtaining the position of the motor rotor based on the negative phase sequence high-frequency current component.
2. The method according to claim 1, wherein said deriving the position of the motor rotor based on said negative phase sequence high frequency current component comprises:
acquiring the amplitude of the negative phase sequence high-frequency current component;
obtaining a negative phase sequence component based on the negative phase sequence high-frequency current component and the amplitude of the negative phase sequence high-frequency current component;
and obtaining the position of the motor rotor based on the negative phase sequence component.
3. The method of claim 2, wherein the deriving the position of the motor rotor based on the negative phase sequence component comprises:
obtaining a position error based on the negative phase sequence component;
acquiring the position of the motor rotor in the last calculation period;
and obtaining the position of the motor rotor in the current calculation period based on the position of the motor rotor in the last calculation period and the position error.
4. A method according to any one of claims 1-3, characterized in that said deriving a negative phase sequence high frequency current component based on said current iα, said current iβ comprises:
filtering the current iα and the current iβ respectively to obtain a filtered current iα1 and a filtered current iβ1;
and obtaining the negative phase sequence high-frequency current component based on the current iα1 and the current iβ1.
5. The method of claim 4, wherein filtering the current iα and the current iβ to obtain a filtered current iα1 and a filtered current iβ1, respectively, comprises:
filtering the current ialpha by using a band-pass filter and a high-frequency filter of a synchronous shaft to obtain the current ialpha 1;
and filtering the current ibeta by using the band-pass filter and the high-frequency filter of the synchronous shaft to obtain the current ibeta 1.
6. A method according to any one of claims 1-3, characterized in that the method further comprises:
and obtaining the motor rotating speed of the current calculation period based on the position of the motor rotor.
7. A motor control apparatus, characterized by comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
8. A motor control system, comprising: an inverter, a motor, and the motor control apparatus according to claim 7;
the inverter is connected to the motor and the motor control device, respectively.
9. The motor control system of claim 8 wherein the motor control system further comprises a filter;
the filter is arranged between the inverter and the motor.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311756748.XA CN117749020A (en) | 2023-12-19 | 2023-12-19 | Motor position estimation method, motor control equipment and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311756748.XA CN117749020A (en) | 2023-12-19 | 2023-12-19 | Motor position estimation method, motor control equipment and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117749020A true CN117749020A (en) | 2024-03-22 |
Family
ID=90277000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311756748.XA Pending CN117749020A (en) | 2023-12-19 | 2023-12-19 | Motor position estimation method, motor control equipment and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117749020A (en) |
-
2023
- 2023-12-19 CN CN202311756748.XA patent/CN117749020A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Feng et al. | Practical testing solutions to optimal stator harmonic current design for PMSM torque ripple minimization using speed harmonics | |
| JP4674516B2 (en) | Method for estimating magnetic pole position of synchronous motor | |
| JP6015486B2 (en) | Variable speed controller for synchronous motor | |
| CN104079217A (en) | Motor control apparatus and magnetic-pole position estimating method | |
| CN107769633B (en) | Method for determining the orientation of the rotor of a ironless PMSM motor and motor system | |
| JP6657418B2 (en) | Optimal torque ripple reduction by current shaping | |
| KR101485989B1 (en) | Motor control device | |
| CN111293946B (en) | Method for suppressing harmonic current of motor | |
| CN110880897A (en) | Motor control method and device and driving device | |
| Czerwinski et al. | Examination of electromagnetic noises and practical operations of a PMSM motor driven by a DSP and controlled by means of field oriented control | |
| Wang et al. | Sensorless control of a novel IPMSM based on high-frequency injection | |
| JP2008236990A (en) | Motor control apparatus | |
| CN105610370B (en) | Angular position estimation of PM motor | |
| Noguchi et al. | Mechanical-sensorless permanent-magnet motor drive using relative phase information of harmonic currents caused by frequency-modulated three-phase PWM carriers | |
| CN117749020A (en) | Motor position estimation method, motor control equipment and system | |
| EP4109737A1 (en) | Estimating motor speed and position | |
| Zhang et al. | Sensorless Control of Synchronous Reluctance Motor over Full Speed Range | |
| JP4924115B2 (en) | Permanent magnet synchronous motor drive control device | |
| Urbanski | Sensorless control of PMSM fed through the sinusoidal filter | |
| Rupar et al. | Iterative-learning-based torque-ripple compensation in a transverse flux motor | |
| CN114567222A (en) | Static initial position estimation method and stator inductance identification method for permanent magnet synchronous motor | |
| Sain et al. | Sensor angle‐based control strategy and dynamic analysis of a sinusoidal pulse width modulation‐operated permanent magnet synchronous machine drive for electric propulsion unit | |
| JP2017201858A (en) | Control device for rotary electric machine | |
| Yilmaz et al. | Sensorless control of brushless DC motor based on wavelet theory | |
| CN110299880B (en) | Control method and control device of permanent magnet synchronous motor and compressor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |