WO2020186656A1 - Procédé d'estimation de position d'un rotor variant dans le temps linéaire d'un moteur synchrone à aimant permanent à faible vitesse - Google Patents

Procédé d'estimation de position d'un rotor variant dans le temps linéaire d'un moteur synchrone à aimant permanent à faible vitesse Download PDF

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Publication number
WO2020186656A1
WO2020186656A1 PCT/CN2019/094791 CN2019094791W WO2020186656A1 WO 2020186656 A1 WO2020186656 A1 WO 2020186656A1 CN 2019094791 W CN2019094791 W CN 2019094791W WO 2020186656 A1 WO2020186656 A1 WO 2020186656A1
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Prior art keywords
low
rotor position
time
permanent magnet
signal
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PCT/CN2019/094791
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English (en)
Chinese (zh)
Inventor
张卫东
衣博文
奥特加罗密欧
乌克塞维克斯洛博丹∙N
斯坦科维奇亚历山大
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上海交通大学
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Publication of WO2020186656A1 publication Critical patent/WO2020186656A1/fr

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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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors

Definitions

  • the invention relates to the field of motor driving and control, and in particular to a linear time-varying rotor position estimation method of a low-speed permanent magnet synchronous motor based on high-frequency signal injection under the condition of no position sensor.
  • Permanent magnet synchronous motors are widely used in industrial production and precision manufacturing, and their advantages are small size, light weight, simple structure, reliable operation and high power density. According to the permanent magnet structure, permanent magnet synchronous motors can be divided into surface mount type and built-in type. The air gap between the rotor and the stator of the latter will change periodically, that is, the salient pole effect. Therefore, the generated torque has a reluctance torque component, and its efficiency is high.
  • This patent relates to the control of a built-in permanent magnet synchronous motor field.
  • the high-precision servo control of the motor relies on reliable rotor position information.
  • the installation of position sensors at the tail of the motor is limited. This is due to restrictions on the overall size of the equipment in these scenarios, which makes it impossible to install position sensors and increases the probability of system failure.
  • mechanical position sensors are fragile, difficult to package, and are easily affected by electromagnetic interference and signal distortion. Therefore, the use of column position sensors should be minimized.
  • the sensorless control and rotor position estimation methods of permanent magnet synchronous motors have therefore become a hot spot in motor control technology.
  • the salient pole characteristics of the motor need to be used to estimate the rotor position.
  • This method injects a high-frequency signal into the stator voltage terminal of the motor, whereby operating the stator current terminal will contain rotor position information. Therefore, the core problem in the high-frequency signal injection method is the subsequent high-frequency signal processing, that is, the rotor position filtering technology.
  • the traditional estimation method is based on the framework of high-pass filtering and low-pass filtering.
  • the measured current signal is processed by two linear time invariant (LTI) systems.
  • LTI linear time invariant
  • the purpose of the present invention is to provide a linear time-varying rotor position estimation method for a low-speed permanent magnet synchronous motor in order to overcome the above-mentioned defects in the prior art.
  • a linear time-varying rotor position estimation method for a low-speed permanent magnet synchronous motor is used to obtain an accurate rotor position without a position sensor, including the following steps:
  • the step 1) specifically includes the following steps:
  • v ⁇ is the stator voltage
  • i ⁇ is the stator current
  • R s is the stator resistance
  • I is the identity matrix
  • L( ⁇ ) and Q( ⁇ ) are maps
  • s is the differential operator
  • n p is the number of pole pairs
  • ⁇ is the angular velocity
  • ⁇ is the electrical angle of the rotor
  • ⁇ [ ⁇ ] is the magnetic flux
  • L 0 is the average inductance
  • L 1 is the difference inductance
  • L d and L q are the self-inductances of the d and q axes, respectively;
  • V h is the amplitude of the injected sinusoidal signal
  • ⁇ h is the angular frequency of the injected signal
  • the step 2) specifically includes the following steps:
  • the first-order time-delay high-pass filter consists of a pure time-delay link and a weighted zero-order holder, and its expression is:
  • Y f (s) is the output of the first-order time-delay high-pass filter
  • G d (s) is the transfer function
  • s is the Laplace transform constant.
  • the symbols here are no longer distinguished between the Laplace transform symbol and Differential operator, d is the transfer parameter.
  • the gradient descent-like time-varying low-pass filter is expressed as:
  • Y f (t) is the first-order time-delay high-pass filter output Y f (s) in the time domain
  • G grad is the filter operator
  • x( t) is the dynamic state of the operator
  • ⁇ is the performance adjustment parameter
  • S(t) is the original function of the injected periodic signal
  • ⁇ is the injected signal period
  • u(t) is the operator input.
  • the performance adjustment parameter ⁇ is used to represent the compromise state between the steady state and the transient state.
  • the parameter ⁇ is increased, and when the noise influence is large, the parameter ⁇ is decreased.
  • the angular frequency ⁇ h of the injected sinusoidal signal is in the range of 100-1000 Hz.
  • Said step 2) also includes the following steps:
  • l 1 , l 2 , l 3 , and l 4 are compensation parameters, Is the compensated virtual output,
  • the value of the compensation parameter l i satisfies the following conditions:
  • the present invention has the following advantages:
  • the steady-state error converges to a small neighborhood with a zero radius of ⁇ ( ⁇ ). Compared with the traditional method, the steady-state estimation accuracy is improved. Raise to O(e).
  • the transient and steady-state performance of the traditional linear time-invariant method is difficult to quantitatively analyze.
  • the method proposed by the present invention overcomes the above problems because of the mathematically complete second-order average analysis used in the design process, and provides Tuning methods of three design parameters.
  • the high-frequency signal in the present invention is injected from the stator voltage terminal, and the estimation algorithm does not use any rotating coordinate system variables, which is simple and convenient to implement.
  • Fig. 2 is a structural decomposition diagram of the neutron part of the low-pass filter designed in the present invention.
  • Figure 3 is a schematic diagram of signal processing from stator current to virtual output.
  • Figure 4 is a schematic diagram of the signal flow of step 3 in the design of the invention.
  • Figure 5 shows the stator current under the injection of high-frequency signals and the voltage at the injection end in the test experiment in the embodiment, where Figure (5a) is the stator current under the injection of high-frequency signals, and Figure (5b) is the voltage at the injection end.
  • Figure 6 shows the estimated and measured values of the rotor in the test experiment of the embodiment.
  • Figure 7 is the test experiment control group 1 in the embodiment, where Figure (7a) is the estimated value and measured value of the rotor when the injection frequency is 200Hz, and Figure (7b) is the estimated value and the measured value of the rotor when the injection frequency is 100Hz.
  • Figure 8 is the test experimental control group 2 in the embodiment.
  • Figure (8a) is the estimated value and measured value of the rotor when the injection angular frequency is 60rad/s
  • Figure (8b) is the estimated value of the rotor when the injection angular frequency is 40rad/s.
  • Figure (8c) shows the estimated value and measured value of the rotor during acceleration.
  • Figure 9 is an inventive flow chart of the present invention.
  • the present invention provides a specific example of a permanent magnet synchronous motor to introduce related content, but the present invention is not limited to this example, and can be applied to a general built-in permanent magnet synchronous motor through simple adjustment.
  • the following design considerations have been Park transformation to obtain the model under the two-phase current (voltage) coordinate system from the three-phase current (voltage).
  • the present invention provides a rotor position estimation algorithm with higher accuracy than existing methods, and the estimation accuracy of the method is close to such high-frequency injection technology
  • ⁇ ( ⁇ ) is the injection signal period
  • the method includes the following steps:
  • Step 1 Consider the dynamic model of the built-in permanent magnet synchronous motor in the stator coordinate system, and inject a sinusoidal signal with a frequency of ⁇ h into the stator ⁇ axis voltage.
  • Step 1.1 Consider the following motor dynamics model, where the mechanical state variable part is ignored.
  • the model is suitable for each frequency band of the motor (not limited to high frequency).
  • Step 1.2 Consider the existing nominal control signal Based on this, the following high-frequency sinusoidal signals are superimposed and injected into the stator ⁇ -axis voltage.
  • V h is the amplitude of the injected sinusoidal signal in volts
  • ⁇ h is the angular frequency of the signal.
  • Step 2 Perform linear time-varying (LTV) high-pass + low-pass filtering on the stator current signal i ⁇ after inverse Park transformation to obtain a virtual output signal.
  • LTV linear time-varying
  • Step 2.1 The stator current signal i ⁇ first passes through the following first-order time-delay high-pass filter.
  • the transfer function of this link is as follows
  • the high-pass filter G d (s) is essentially composed of a pure time-delay link and a weighted zero-order holder, and its frequency characteristics can be seen in Figure 1.
  • the output of this link is denoted as Y f , namely:
  • Step 2.2 Perform low-pass filtering on the obtained Y f through the following linear time-varying system (LTV), which is constructed as follows:
  • the signal obtained in this link is called the virtual output, denoted as which is:
  • FIG. 3 A schematic diagram of the entire signal processing process in step 2 is shown in FIG. 3.
  • Step 3 From the acquired virtual output, calculate the rotor position through the following function.
  • the linear time-varying algorithm provided in the present invention has high calculation efficiency and high reliability because all the constructed dynamic systems are linear.
  • the calculation accuracy of the invention is ⁇ ( ⁇ ), that is, the steady-state error converges to a small neighborhood with a zero radius of ⁇ ( ⁇ ), denoted as
  • Step 4 Design algorithm performance adjustment, parameter adjustment and loss compensation for this invention.
  • Step 4.1 by observing the virtual output signal
  • Step 4.2 During the debugging process, if the measurement error is large, the injection frequency ⁇ h should be increased or the injection signal voltage amplitude V h should be reduced, but it will reduce the signal-to-noise ratio of the system.
  • the recommended range of this parameter is 100-1000 Hz.
  • Step 4.3 Due to the defects of the inverter (such as lock time), the excitation frequency eddy current in the magnetic circuit, etc., it will have a hysteresis effect on the stator current i ⁇ .
  • the model assumes that the coil has zero resistance, and the phase difference between the injected signal and the high frequency response of the current is 90 degrees. This condition cannot be met in the actual system, so the phase shift should be less than 90 degrees.
  • the iron loss acts as a short-circuit of the secondary winding in an electromagnetic device similar to a transformer, which also produces an additional phase shift. Therefore, corresponding compensation is usually required. Use the following compensation virtual output
  • the selected test platform is the built-in permanent magnet synchronous motor FAST PMSM.
  • the test platform has a line-to-line peak value of 72 volts at 1000 rpm.
  • the DC bus voltage used is 521 volts, and the driving PWM frequency is 5 kHz.
  • the platform is equipped with two PMSMs, one running in the control mode to drag and test FAST PMSM, and they are linked by a toothed belt, including inertial wheels.
  • the experimental device is equipped with two mechanically coupled, inverter-powered brushless DC motors:
  • the main power supply unit includes a line rectifier and two 3-phase PWM inverters with control circuits;
  • test motor is built as follows:
  • the industry standard FAST motor is adopted and changes are introduced into the rotor magnetic circuit to obtain the difference between the d-axis and q-axis inductance (2:3).
  • the motor operates in torque control mode, and the speed and position are installed on the shaft
  • the acquisition time is set to cover at least two electrical cycles
  • the three-phase current and voltage are measured from the drive measurement system-"Sincoder" axis sensor And rotor position.
  • pole pair number 3 magnetic normal number 0.39Wb
  • d-direction inductance L d 3.38mH
  • q-direction inductance L q 5.07mH
  • stator resistance R s 0.47 ohm.
  • FIG. 5 shows the first set of control experiments. Different injection frequencies were selected under the same test conditions, namely 100 Hz and 200 Hz. The three injection frequencies show that relatively good experimental results have been achieved at high frequencies. Of course, the upper limit of reliable injection frequency is restricted by factors such as PWM frequency and signal-to-noise ratio.
  • Figure 8 is the second set of control experiments. In the experiment, considering that the permanent magnet synchronous motor is operating in different working conditions, that is, different speeds and acceleration conditions, the rotor position estimation is relatively ideal.
  • the signal can obtain the rotor angular velocity at the same time through the phase-locked loop, and feed them back to the motor stator voltage terminal at the same time.
  • the motor can realize the non-inductive speed control and torque. Control, this control method does not use any detection device of the rotating coordinate system.

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

Abstract

L'invention concerne un procédé d'estimation de la position d'un rotor variant dans le temps linéaire d'un moteur synchrone à aimant permanent à faible vitesse, consistant : tout d'abord à injecter un signal sinusoïdal haute fréquence à partir d'une extrémité de tension d'un stator, amenant ainsi une sortie de courant de stator à contenir des informations de position de rotor ; puis, à faire passer le signal de courant de stator détecté dans un filtre passe-haut à retard temporel de premier ordre obtenu à partir de la différence entre un retard temporel pur et un support d'ordre zéro moyen, et ensuite à faire passer le signal obtenu dans un filtre passe-bas variant dans le temps à descente de gradient de classe, ce qui permet d'obtenir un signal de sortie virtuel ; enfin, à réaliser une opération analytique sur le signal virtuel pour obtenir une valeur estimée de la position du rotor. Le procédé décrit présente les avantages d'être de haute précision, d'être simple et efficace, chaque liaison de filtrage étant linéaire, ayant une efficacité de calcul élevée et ayant une compatibilité descendante.
PCT/CN2019/094791 2019-03-21 2019-07-05 Procédé d'estimation de position d'un rotor variant dans le temps linéaire d'un moteur synchrone à aimant permanent à faible vitesse WO2020186656A1 (fr)

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CN201910218568.3 2019-03-21

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CN109889118A (zh) * 2019-03-21 2019-06-14 上海交通大学 一种低速永磁同步电机的线性时变转子位置估计方法
CN110336504B (zh) * 2019-06-18 2020-11-27 浙江大学 基于虚拟信号注入和梯度下降法的永磁同步电机控制方法
CN110912481B (zh) * 2019-11-11 2021-07-27 华中科技大学 一种基于梯度下降法的旋变周期性误差幅值相位补偿方法
CN113078866B (zh) * 2021-03-17 2022-08-26 天津工业大学 基于控制电源供电高频注入ipmsm带速重投控制方法

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