CN106026801A - Method and apparatus for detecting rotor position of permanent magnet synchronous motor - Google Patents
Method and apparatus for detecting rotor position of permanent magnet synchronous motor Download PDFInfo
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- CN106026801A CN106026801A CN201610525056.8A CN201610525056A CN106026801A CN 106026801 A CN106026801 A CN 106026801A CN 201610525056 A CN201610525056 A CN 201610525056A CN 106026801 A CN106026801 A CN 106026801A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- 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
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Abstract
The invention discloses a method and apparatus for detecting a rotor position of a permanent magnet synchronous motor. The method comprises the following steps: establishing a slide membrane observation model of the permanent magnet synchronous motor; through a counter-electromotive force observation model, processing a current counter-electromotive force observation value output by the slide membrane observation model so as to obtain a current counter-electromotive force estimation value; and performing phase processing on the current counter-electromotive force estimation value so as to obtain current rotor information of the permanent magnet synchronous motor, wherein the current rotor information comprises a rotor rotation speed and a rotor position angle. According to the invention, the technical problem of inaccurate rotor position detection caused by a phase lag generated when a conventional permanent magnet synchronous motor filters noise by use of a low-pass filter in the prior art is solved.
Description
Technical Field
The invention relates to the field of motors, in particular to a method and a device for detecting the position of a rotor of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the characteristics of high power density, high efficiency, low loss, small volume, simple structure and the like, and the permanent magnet synchronous motor without the position sensor control scheme has the advantages of simplicity in assembly, wide application occasions, high reliability, low cost and the like, and is more and more widely applied.
The excellent control performance of the permanent magnet synchronous motor needs accurate rotor position information, and if a Hall position sensor is used as a rotor position information detection device, the motor installation difficulty is increased, the system cost is increased, and the system reliability is reduced. The sliding mode observer with the variable structure has the advantages of being fast in dynamic response characteristic, strong in robustness and the like, can feed back the current position of the rotor in real time, and is widely applied to a permanent magnet synchronous motor control system.
In the prior art, a sliding mode observer is designed according to a mathematical model of a permanent magnet synchronous motor under an alpha and beta two-phase static coordinate system. A sliding mode surface is selected, an estimated value of the position of the rotor is obtained through back electromotive force, but a back electromotive force signal extracted from a sliding mode observer needs to be processed through a low-pass filter, so that the position information of the rotor lags, the control performance is influenced, and the detected position information of the rotor is inaccurate.
Aiming at the problem that in the prior art, the position detection of a rotor is inaccurate due to the fact that a low-pass filter is used for filtering noise to generate phase lag, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting the position of a rotor of a permanent magnet synchronous motor, which are used for at least solving the technical problem of inaccurate position detection of the rotor in the prior art because the permanent magnet synchronous motor uses a low-pass filter to filter noise to generate phase lag.
According to an aspect of the embodiments of the present invention, there is provided a method for detecting a rotor position of a permanent magnet synchronous motor, including: establishing a synovial membrane observation model of the permanent magnet synchronous motor; processing the current counter electromotive force observation value output by the synovial membrane observation model through the counter electromotive force observation model to obtain a current counter electromotive force estimation value; and carrying out phase processing on the current back electromotive force estimated value to obtain the current rotor information of the permanent magnet synchronous motor, wherein the current rotor information comprises: rotor speed and rotor position angle.
According to another aspect of the embodiments of the present invention, there is also provided a device for detecting a rotor position of a permanent magnet synchronous motor, including: the establishing module is used for establishing a synovial membrane observation model of the permanent magnet synchronous motor; the first processing module is used for processing the current counter electromotive force observation value output by the synovial membrane observation model through the counter electromotive force observation model to obtain a current counter electromotive force estimation value; and the second processing module is used for carrying out phase processing on the current back electromotive force estimated value to obtain the current rotor information of the permanent magnet synchronous motor, wherein the rotor information comprises: rotor speed and rotor position angle.
In the embodiment of the invention, the sliding mode observer established by the permanent magnet synchronous motor model is used for processing the back electromotive force observed value output by the sliding mode observer and then carrying out phase correction on the rotor position. According to the scheme, the counter electromotive force observation value extracted from the sliding mode observation model is processed through the counter electromotive force observation model, so that a low-pass filter in the traditional sliding mode observation model is eliminated, the lag of the low-pass filter on a rotor position signal is avoided, and the technical problem that in the prior art, the position of a rotor is inaccurate to be detected due to the fact that the permanent magnet synchronous motor filters noise to generate phase lag by using the low-pass filter is solved. Meanwhile, the phase processing is carried out on the back electromotive force estimated value to replace an arc tangent and differential operation processing method used by a traditional synovial observation model, so that the amplification of high-frequency interference signals in the back electromotive force caused by a traditional scheme is avoided, and the robustness on the impact parameter change and the disturbance of the external environment is higher, thereby further improving the accuracy of detecting the position of the rotor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a method for detecting a rotor position of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative method of detecting rotor position of a PMSM, according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative phase process according to an embodiment of the present invention; and
fig. 4 is a flow chart of an alternative apparatus for detecting a rotor position of a permanent magnet synchronous motor according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided an embodiment of a method for detecting a rotor position of a permanent magnet synchronous motor, where the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer executable instructions, and where a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that illustrated herein.
Fig. 1 is a flowchart of a method for detecting a rotor position of a permanent magnet synchronous motor according to an embodiment of the present invention, as shown in fig. 1, the method includes the steps of:
and S102, establishing a synovial membrane observation model of the permanent magnet synchronous motor.
Specifically, in the above step, the synovial observation model may obtain a state variable estimation value according to an actual measurement result of an external input quantity of the permanent magnet synchronous motor, in an alternative embodiment, an input actual measurement value of the synovial observation model for the permanent magnet synchronous motor may be a current observation value of two-phase stator currents of the permanent magnet synchronous motor, the state variable estimation value may be a back electromotive force observation value, and the synovial observation model may be established under a preset shafting.
And step S104, processing the current counter electromotive force observation value output by the synovial membrane observation model through the counter electromotive force observation model to obtain a current counter electromotive force estimation value.
It should be noted here that the back electromotive force observation model extracts corresponding back electromotive force information from the sliding mode current observer, so that a low-pass filter in the conventional sliding mode observer can be eliminated, and the lag of the rotor position information caused by the low-pass filter is avoided, so that the current rotor position information and the motor rotation speed can be quickly and accurately acquired.
Step S106, carrying out phase processing on the current back electromotive force estimated value to obtain the current rotor information of the permanent magnet synchronous motor, wherein the rotor position comprises: rotor speed and rotor position angle.
In an alternative embodiment, the phase processing may be phase lock correction.
It should be noted here that, after the back electromotive force estimation value extracted by the back electromotive force observation model is subjected to phase processing, amplification of high-frequency interference signals in two-phase equivalent back electromotive force caused by arctangent and differential operation processing adopted by a conventional sliding mode observer can be avoided, and therefore accuracy of rotor position and rotation speed estimation is effectively improved.
According to the sliding mode observer established for the permanent magnet synchronous motor model, the back electromotive force observation model for processing the back electromotive force observation value extracted from the sliding mode observer is obtained, and then phase correction is carried out on the rotor position. According to the scheme, the counter electromotive force observation value extracted from the sliding mode observation model is processed through the counter electromotive force observation model, so that a low-pass filter in the traditional sliding mode observation model is eliminated, the lag of the low-pass filter on a rotor position signal is avoided, and the technical problem that in the prior art, the position of a rotor is inaccurate to be detected due to the fact that the permanent magnet synchronous motor filters noise to generate phase lag by using the low-pass filter is solved. Meanwhile, the phase processing is carried out on the back electromotive force estimated value to replace an arc tangent and differential operation processing method used by a traditional synovial observation model, so that the amplification of high-frequency interference signals in the back electromotive force caused by a traditional scheme is avoided, and the robustness on the impact parameter change and the disturbance of the external environment is higher, thereby further improving the accuracy of detecting the position of the rotor.
Optionally, according to the above embodiment of the present application, the establishing a synovial membrane observation model of the permanent magnet synchronous motor includes:
and step S1021, acquiring the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor.
And S1023, establishing a synovial membrane observation model through a motor model of the permanent magnet synchronous motor under a preset shafting according to the current input voltage of the permanent magnet synchronous motor, the counter electromotive force observation value at the last moment and the counter electromotive force estimation value at the last moment.
In an alternative embodiment, in conjunction with the example shown in fig. 2, the input value for establishing the synovial observation model is the current input voltage μ of the permanent magnet synchronous motorα、μβLast-minute counter electromotive force observed value Sα、SβAnd the back electromotive force estimated value of the last momentAnd the parameters are brought in according to a motor model of the permanent magnet synchronous motor under a preset shafting, so that the synovial observation model is obtained.
According to the method, the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor are obtained, and a sliding mode observation model is established through a motor model of the permanent magnet synchronous motor under a preset shafting according to the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor. According to the scheme, the synovial membrane observation model for the permanent magnet synchronous motor is established, so that the synovial membrane observation model can obtain the state variable of the permanent magnet synchronous motor, namely the counter electromotive force observation value of the permanent magnet synchronous motor according to the external input parameters of the permanent magnet synchronous motor.
Optionally, according to the above embodiment of the present application, the dynamic equation for establishing the synovial observation model by using the motor model of the permanent magnet synchronous motor in the preset shafting is as follows:
wherein,in order to be the current observed value,is an estimate of the back EMF at the previous moment, Sα、SβIs the observed value of electromotive force of the last moment, muα、μβM is the back electromotive force feedback coefficient for the current input voltage.
In an alternative embodiment, the predetermined axis is a two-phase axis.
Therefore, the step provides the motor model for establishing the synovial membrane observation model of the permanent magnet synchronous motor under the preset shafting, so that the technical effect of establishing the synovial membrane observation model corresponding to permanent magnet synchronous clicking is achieved.
Optionally, according to the above embodiments of the present application, the back electromotive force observation value extracted from the synovial membrane observation model includes:
and S1041, acquiring a current observation value output by the synovial membrane observation model.
In an alternative embodiment, in combination with the example shown in figure 2,and the current observed value of the permanent magnet synchronous motor is obtained.
And step S1043, obtaining current components of the two-phase stator of the permanent magnet synchronous motor in a preset shafting.
In an alternative embodiment, the current component in the preset axis system can be obtained by Clarke transformation of two-phase stator currents of the permanent magnet synchronous motor, wherein the Clarke transformation is performed by transforming each physical quantity in a stator stationary coordinate system based on two phase axes in a three-phase two-dimensional axis system into a stator stationary coordinate system of the two-phase axis system.
In another optional embodiment, a current component under a preset shafting can be obtained by carrying out dq conversion on two-phase stator currents of the permanent magnet synchronous motor, and the dq conversion is used as a decoupling control method to convert three-phase windings of the motor into equivalence; two phase windings, and the rotating coordinate system is converted into orthogonal static coordinate, so that the relation of DC marking voltage, i.e. current, can be obtained.
And step S1045, obtaining a counter electromotive force observed value through a saturation function according to the current observed value and the current component.
It should be noted here that, when the saturation function extracts the counter electromotive force observation value from the synovial observation model, the current observation value and the current component need to be calculated, and since the synovial observation model is the synovial observation model established in the preset shafting, the current component should correspond to the preset shafting, and the two-phase stator current of the permanent magnet synchronous motor is the current component in the preset shafting.
It should be further noted that, in the prior art, the structure switching function used in the process of extracting the observed value of the back electromotive force from the synovial membrane observation model is generally a switching function, and since the switching function has only two state values of on and off, the switching function used as the structure switching function generally causes severe buffeting, while the state of the saturation function used in the above scheme of the present application is changed from the on state to the off state by a smooth function in the process of changing the on state to the off state, so that the buffeting of the motor can be reduced significantly.
Therefore, the current observation value output by the synovial membrane observation model is obtained in the steps, the current component of the two-phase stator of the permanent magnet synchronous motor in the preset shafting is obtained, and the counter electromotive force observation value is obtained through the saturation function according to the current observation value and the current component. According to the scheme, a saturation function is adopted to replace a common switch function in the prior art, linear control is performed in a boundary layer of the saturation function, high-frequency buffeting caused by discontinuity of system structure switching can be effectively inhibited, and therefore a large amount of high-frequency noise contained in counter electromotive force is weakened.
Optionally, according to the above embodiment of the present application, the counter electromotive force observed value is obtained through a saturation function according to the current observed value and the current component by the following formula:
or
Wherein k is a sliding mode gain coefficient and is a boundary layer constant of a saturation function,as observed value of current iα、iβIs the current of the two-phase stator of the permanent magnet synchronous motor.
From the above, the above steps of the present application provide a model of the saturation function. According to the scheme, a saturation function is adopted to replace a common switch function in the prior art, linear control is performed in a boundary layer of the saturation function, high-frequency buffeting caused by discontinuity of system structure switching can be effectively inhibited, and therefore a large amount of high-frequency noise contained in counter electromotive force is weakened.
Optionally, according to the above embodiment of the present application, obtaining a current component of a two-phase stator of the permanent magnet synchronous motor in a preset shafting includes:
step S1047, measuring currents of the two-phase stator of the permanent magnet synchronous motor.
Step S1049, performing clark transformation on the current of the two-phase stator in the preset shafting to obtain the current component of the two-phase stator in the preset shafting.
In an alternative embodiment, the current component in the preset axis system can be obtained by Clarke transformation of two-phase stator currents of the permanent magnet synchronous motor, wherein the Clarke transformation is performed by transforming each physical quantity in a stator stationary coordinate system based on two phase axes in a three-phase two-dimensional axis system into a stator stationary coordinate system of the two-phase axis system.
From the above, in the present application, the currents of the two-phase stators of the permanent magnet synchronous motor are measured in the above steps, and clark transformation is performed on the currents of the two-phase stators under the preset shafting to obtain the current components of the two-phase stators in the preset shafting. According to the scheme, Clarke (Clarke) transformation is performed on two-phase stator currents of the permanent magnet synchronous motor to obtain current components under a preset axis, and the Clarke transformation process is to transform each physical quantity in a stator static coordinate system of two phase axes based on a three-phase two-dimensional axis into a stator static coordinate game of the two phase axes.
Optionally, according to the above embodiment of the present application, performing phase processing on the back electromotive force estimation value to obtain the rotor position of the permanent magnet synchronous motor includes:
and step S1061, obtaining rotor position error information according to the counter electromotive force observation value, the rotor speed and the rotor position angle at the last moment.
And step S1063, performing PI integration on the rotor position error information to obtain the current rotor rotating speed.
And step S1065, integrating the current rotating speed of the rotor to obtain a rotor position angle.
In an alternative embodiment, the back emf estimation value estimated by the back emf observation model described above, in conjunction with the example shown in fig. 3Andcan be expressed as:
wherein,for last-quarter rotor position angle, #fThe flux linkage intrinsic parameters of the permanent magnet synchronous motor are, among others,to estimate the back emf base frequency signal position angle.
For the above back electromotive force estimation valueAndperforming trigonometric function integration and difference processing to obtain a position error, wherein the position error can be expressed as:
wherein,in order to be the above-mentioned position error information,the position angle of the rotor at the last moment is extracted from the two-phase back electromotive force after the phase processing.
It should be noted here thatWhen the temperature of the water is higher than the set temperature,thus the above formula canThe method is simplified as follows:obtained byThe current motor rotating speed information can be estimated after PI integrationAfter integration, the corresponding rotor position information can be obtained
Optionally, according to the above embodiment of the present application, the rotor position error information is obtained according to the counter electromotive force observed value, the rotor speed at the last moment, and the rotor position angle by the following formula:
wherein,which is an estimate of the back emf at the last moment,for rotor position information extracted from the two-phase back EMF after phase processing, psifIs the intrinsic parameter of the flux linkage of the permanent magnet synchronous motor.
In an alternative embodiment, whenWhen the temperature of the water is higher than the set temperature,the rotor position error information can therefore be simplified to:obtained byThe current motor rotor speed can be estimated after PI integrationAfter integration, the corresponding rotor position angle can be obtained
Therefore, the steps provide information for calculating the position error of the rotor to replace an arc tangent and a differential operation processing method used by the traditional sliding-mode observer, amplification of high-frequency interference signals in back electromotive force caused by the traditional scheme is avoided, and the robustness to motor parameter change and disturbance of the external environment is high.
Optionally, according to the above embodiment of the present application, the back electromotive force observed value output by the synovial membrane observation model is processed by the following formula, so as to obtain a back electromotive force estimated value:
wherein S isα、SβIs the observed value of the back electromotive force at the last moment,which is an estimate of the back emf at the last moment,for the rotor position angle at the last moment, l is the back emf observation model gain factor, l ∈ (0, + ∞).
Therefore, the counter electromotive force estimated value is obtained by processing the counter electromotive force observed value in the steps, so that a low-pass filter in the traditional sliding mode current observer is eliminated, and the lag of the rotor position signal caused by the low-pass filter is avoided.
Example 2
Fig. 4 is a schematic structural diagram of a device for detecting the rotor position of a permanent magnet synchronous motor according to an embodiment of the invention. For descriptive purposes, the architecture portrayed is only one example of a suitable environment and is not intended to suggest any limitation as to the scope of use or functionality of the application. Neither should a means for detecting the rotor position of a permanent magnet synchronous machine be viewed as having any dependency or requirement on any one or combination of components shown in figure 4.
As shown in fig. 4, the apparatus for detecting the rotor position of the permanent magnet synchronous motor may include:
and the establishing module 40 is used for establishing a synovial membrane observation model of the permanent magnet synchronous motor.
And the first processing module 42 is configured to process the current counter electromotive force observed value output by the synovial membrane observation model through the counter electromotive force observation model, so as to obtain a current counter electromotive force estimated value.
A second processing module 44, configured to perform phase processing on the current back electromotive force estimation value to obtain current rotor information of the permanent magnet synchronous motor, where the rotor information includes: rotor speed and rotor position angle.
In the embodiment of the application, the sliding mode observer established by the establishing module for the permanent magnet synchronous motor model is used for processing the counter electromotive force observed value output by the sliding mode observer through the first processing module, and then phase correction is performed on the rotor position through the second processing module. According to the scheme, the counter electromotive force observation value extracted from the sliding mode observation model is processed through the counter electromotive force observation model, so that a low-pass filter in the traditional sliding mode observation model is eliminated, the lag of the low-pass filter on a rotor position signal is avoided, and the technical problem that in the prior art, the position of a rotor is inaccurate to be detected due to the fact that the permanent magnet synchronous motor filters noise to generate phase lag by using the low-pass filter is solved. Meanwhile, the phase processing is carried out on the back electromotive force estimated value to replace an arc tangent and differential operation processing method used by a traditional synovial observation model, so that the amplification of high-frequency interference signals in the back electromotive force caused by a traditional scheme is avoided, and the robustness on the impact parameter change and the disturbance of the external environment is higher, thereby further improving the accuracy of detecting the position of the rotor.
Optionally, according to the foregoing embodiment of the present application, the establishing module includes:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor;
and the first establishing submodule is used for establishing a synovial membrane observation model through a motor model of the permanent magnet synchronous motor under a preset shafting according to the current input voltage of the permanent magnet synchronous motor, the counter electromotive force observation value at the last moment and the counter electromotive force estimation value at the last moment.
According to the device, the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor are obtained through the first obtaining module, and the synovial membrane observation model is established through the first establishing submodule according to the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor and a motor model of the permanent magnet synchronous motor under the preset shafting. According to the scheme, the synovial membrane observation model for the permanent magnet synchronous motor is established, so that the synovial membrane observation model can obtain the state variable of the permanent magnet synchronous motor, namely the counter electromotive force observation value of the permanent magnet synchronous motor according to the external input parameters of the permanent magnet synchronous motor.
Optionally, according to the above embodiment of the present application, the second establishing sub-module is configured to establish a dynamic equation of the synovial observation model through a motor model of the permanent magnet synchronous motor in the preset shafting as follows:
wherein,in order to be the current observed value,is an estimate of the back EMF at the previous moment, Sα、SβIs the observed value of electromotive force of the last moment, muα、μβM is the back electromotive force feedback coefficient for the current input voltage.
Optionally, according to the foregoing embodiment of the present application, the first processing module includes:
the second acquisition module is used for acquiring a current observation value output by the synovial membrane observation model;
the third acquisition module is used for acquiring current components of two-phase stators of the permanent magnet synchronous motor in a preset shafting;
and the first determining module is used for obtaining a counter electromotive force observed value through a saturation function according to the current observed value and the current component.
Therefore, the device obtains the current observed value output by the synovial membrane observation model through the second obtaining module, obtains the current component of the two-phase stator of the permanent magnet synchronous motor in the preset shafting through the third obtaining module, and obtains the counter electromotive force observed value through the first determining module according to the current observed value and the current component through the saturation function. According to the scheme, a saturation function is adopted to replace a common switch function in the prior art, linear control is performed in a boundary layer of the saturation function, high-frequency buffeting caused by discontinuity of system structure switching can be effectively inhibited, and therefore a large amount of high-frequency noise contained in counter electromotive force is weakened.
Optionally, according to the above embodiment of the present application, the counter electromotive force observed value is obtained through a saturation function according to the current observed value and the current component by the following formula:
or
Wherein k is a sliding mode gain coefficient and is a boundary layer constant of a saturation function,as observed value of current iα、iβIs the current of the two-phase stator of the permanent magnet synchronous motor.
Optionally, according to the foregoing embodiment of the present application, the third obtaining module includes:
the measuring module is used for measuring the current of the two-phase stator of the permanent magnet synchronous motor;
and the transformation module is used for carrying out Clark transformation on the current of the two-phase stator under the preset shafting to obtain the current component of the two-phase stator in the preset shafting.
Therefore, the device measures the currents of the two-phase stators of the permanent magnet synchronous motor through the measuring module, and performs clark transformation on the currents of the two-phase stators under the preset shafting through the transformation module to obtain the current components of the two-phase stators in the preset shafting. According to the scheme, Clarke (Clarke) transformation is performed on two-phase stator currents of the permanent magnet synchronous motor to obtain current components under a preset axis, and the Clarke transformation process is to transform each physical quantity in a stator static coordinate system of two phase axes based on a three-phase two-dimensional axis into a stator static coordinate game of the two phase axes.
Optionally, according to the foregoing embodiment of the present application, the second processing module includes:
the second determining module is used for obtaining rotor position error information according to the current counter electromotive force observation value, the last rotor rotating speed and the rotor position angle;
the integration module is used for carrying out PI integration on the rotor position error information to obtain the current rotor rotating speed;
and the integration module is used for integrating the rotating speed of the current rotor to obtain the position angle of the current rotor.
Optionally, according to the above embodiment of the present application, the rotor position error information is obtained according to the counter electromotive force observed value, the rotor speed at the last moment, and the rotor position angle by the following formula:
wherein,which is an estimate of the back emf at the last moment,for rotor position information extracted from the two-phase back EMF after phase processing, psifIs the intrinsic parameter of the flux linkage of the permanent magnet synchronous motor.
Optionally, according to the above embodiment of the present application, the back electromotive force observed value output by the synovial membrane observation model is processed by the following formula, so as to obtain a back electromotive force estimated value:
wherein S isα、SβIs the back emf observed value at the last moment,is an estimate of the back emf at that moment,for the rotor position angle at the last moment, l is the back emf observation model gain factor, l ∈ (0, + ∞).
Therefore, the device obtains the back electromotive force estimated value by processing the back electromotive force observed value, so that a low-pass filter in the traditional sliding mode current observer is eliminated, and the lag of the rotor position signal caused by the low-pass filter is avoided.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (18)
1. A method for detecting the position of a rotor of a permanent magnet synchronous motor is characterized by comprising the following steps:
establishing a synovial membrane observation model of the permanent magnet synchronous motor;
processing the current counter electromotive force observation value output by the synovial membrane observation model through the counter electromotive force observation model to obtain a current counter electromotive force estimation value;
performing phase processing on the current back electromotive force estimated value to obtain current rotor information of the permanent magnet synchronous motor, wherein the current rotor information comprises: rotor speed and rotor position angle.
2. The method of claim 1, wherein establishing a synovial observation model of the permanent magnet synchronous machine comprises:
acquiring the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor;
and establishing the synovial membrane observation model through a motor model of the permanent magnet synchronous motor under a preset shafting according to the current input voltage of the permanent magnet synchronous motor, the counter electromotive force observation value at the last moment and the counter electromotive force estimation value at the last moment.
3. The method of claim 2, wherein the dynamic equation for establishing the synovial observation model through the motor model of the permanent magnet synchronous motor in the preset shafting is as follows:
wherein,in order to be the current observed value,is an estimate of the back EMF at the previous moment, Sα、SβIs the observed value of electromotive force of the last moment, muα、μβFor the present input voltage, M is a back emf feedback coefficient.
4. The method of claim 1, wherein the synovial observation model outputs the back electromotive force observations, comprising:
acquiring a current observation value output by the synovial membrane observation model;
acquiring current components of two-phase stators of the permanent magnet synchronous motor in a preset shafting;
and obtaining the counter electromotive force observed value through a saturation function according to the current observed value and the current component.
5. The method of claim 4, wherein the back electromotive force observation is derived from the current observation and the current component by a saturation function by the formula:
wherein k is a sliding mode gain coefficient and is a boundary layer constant of a saturation function,as said current observation value, iα、iβIs the current of the two-phase stator of the permanent magnet synchronous motor.
6. The method of claim 4, wherein obtaining the current component of the two-phase stator of the PMSM in the preset shafting comprises:
measuring the current of a two-phase stator of the permanent magnet synchronous motor;
and carrying out Clark conversion on the current of the two-phase stator under the preset shafting to obtain the current component of the two-phase stator in the preset shafting.
7. The method of claim 1, wherein performing phase processing on the back electromotive force estimation value to obtain current rotor information of the permanent magnet synchronous motor comprises:
obtaining rotor position error information according to the current counter electromotive force observation value, the last rotor rotating speed and the rotor position angle;
performing PI integration on the rotor position error information to obtain the current rotor rotating speed;
and integrating the rotating speed of the current rotor to obtain the position angle of the current rotor.
8. The method of claim 7, wherein rotor position error information is derived from the back-emf observations and the last rotor speed and rotor position angle by the following equation:
wherein,which is an estimate of the back emf at the last moment,for rotor position information extracted from the two-phase back EMF after phase processing, psifThe flux linkage intrinsic parameters of the permanent magnet synchronous motor.
9. The method of claim 1, wherein the back emf estimate is obtained by processing the back emf observations output by the synovial observation model according to the following formula:
wherein S isα、SβIs the observed value of the back electromotive force at the last moment,is an estimate of the back emf at that moment,for the rotor position angle at the last moment, l is the counter electromotive force observation modelGain factor, l ∈ (0, + ∞).
10. A detection device for the rotor position of a permanent magnet synchronous motor is characterized by comprising:
the establishing module is used for establishing a synovial membrane observation model of the permanent magnet synchronous motor;
the first processing module is used for processing the current counter electromotive force observation value output by the synovial membrane observation model through the counter electromotive force observation model to obtain a current counter electromotive force estimation value;
a second processing module, configured to perform phase processing on the current back electromotive force estimation value to obtain current rotor information of the permanent magnet synchronous motor, where the rotor information includes: rotor speed and rotor position angle.
11. The apparatus of claim 10, wherein the establishing module comprises:
the first acquisition module is used for acquiring the current input voltage, the counter electromotive force observed value at the last moment and the counter electromotive force estimated value at the last moment of the permanent magnet synchronous motor;
and the first establishing submodule is used for establishing the synovial membrane observation model through a motor model of the permanent magnet synchronous motor under a preset shafting according to the current input voltage of the permanent magnet synchronous motor, the counter electromotive force observation value at the last moment and the counter electromotive force estimation value at the last moment.
12. The apparatus of claim 11, wherein the second establishing submodule is configured to establish the dynamic equation of the synovial observation model through the motor model of the permanent magnet synchronous motor in the preset shafting as follows:
wherein,in order to be the current observed value,is an estimate of the back EMF at the previous moment, Sα、SβIs the observed value of electromotive force of the last moment, muα、μβFor the present input voltage, M is a back emf feedback coefficient.
13. The apparatus of claim 10, wherein the first processing module comprises:
the second acquisition module is used for acquiring a current observation value output by the synovial membrane observation model;
the third acquisition module is used for acquiring current components of two-phase stators of the permanent magnet synchronous motor in a preset shafting;
and the first determining module is used for obtaining the counter electromotive force observed value through a saturation function according to the current observed value and the current component.
14. The apparatus of claim 13, wherein the back electromotive force observation is derived from the current observation and the current component by a saturation function by the formula:
wherein k is a sliding mode gain coefficient and is a boundary layer constant of a saturation function,as said current observation value, iα、iβIs the current of the two-phase stator of the permanent magnet synchronous motor.
15. The apparatus of claim 13, wherein the third obtaining module comprises:
the measuring module is used for measuring the current of the two-phase stator of the permanent magnet synchronous motor;
and the transformation module is used for carrying out Clark transformation on the current of the two-phase stator under the preset shafting to obtain the current component of the two-phase stator in the preset shafting.
16. The apparatus of claim 10, wherein the second processing module comprises:
the second determining module is used for obtaining rotor position error information according to the current counter electromotive force observation value, the last rotor rotating speed and the last rotor position angle;
the integration module is used for carrying out PI integration on the rotor position error information to obtain the current rotor rotating speed;
and the integration module is used for integrating the rotating speed of the current rotor to obtain the position angle of the current rotor.
17. The apparatus of claim 16, wherein rotor position error information is derived from the back emf observations and the last rotor speed and rotor position angle by the following equation:
wherein,is an estimate of the back emf at that moment,for rotor position information extracted from the two-phase back EMF after phase processing, psifThe flux linkage intrinsic parameters of the permanent magnet synchronous motor.
18. The apparatus of claim 10, wherein the back emf estimate is derived by processing the back emf observations output by the synovial observation model according to the following equation:
wherein S isα、SβIs the observed value of the back electromotive force at the last moment,which is an estimate of the back emf at the last moment,for the rotor position angle at the last moment, l is the back emf observation model gain factor, l ∈ (0, + ∞).
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| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN110581679A (en) * | 2019-09-18 | 2019-12-17 | 上海中科深江电动车辆有限公司 | method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
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| CN106374793A (en) * | 2016-10-27 | 2017-02-01 | 珠海格力电器股份有限公司 | Control method and device for permanent magnet synchronous motor without position sensor |
| CN106487304A (en) * | 2016-10-27 | 2017-03-08 | 江苏大学 | A kind of permagnetic synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
| CN106487304B (en) * | 2016-10-27 | 2018-10-09 | 江苏大学 | A kind of permanent magnet synchronous motor method for estimating state based on sliding formwork back-EMF observer device |
| CN106374793B (en) * | 2016-10-27 | 2018-11-30 | 珠海格力电器股份有限公司 | Control method and device for permanent magnet synchronous motor without position sensor |
| CN106712602A (en) * | 2017-01-21 | 2017-05-24 | 中国东方电气集团有限公司 | Control device based on permanent magnet synchronous motor without position sensor and control method |
| CN106712602B (en) * | 2017-01-21 | 2019-03-29 | 中国东方电气集团有限公司 | Control device and control method based on position-sensor-free permanent magnet synchronous motor |
| CN108258949A (en) * | 2018-02-02 | 2018-07-06 | 上海交通大学 | A kind of rotor-position adaptive estimation method of noninductive permanent magnet synchronous motor |
| CN110581679A (en) * | 2019-09-18 | 2019-12-17 | 上海中科深江电动车辆有限公司 | method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
| CN110581679B (en) * | 2019-09-18 | 2021-09-24 | 上海中科深江电动车辆有限公司 | Method for controlling triangle connection permanent magnet synchronous motor without position sensor and verification system thereof |
| CN111969922A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
| CN114584016A (en) * | 2022-03-10 | 2022-06-03 | 清华大学 | Demodulation Method of Exciter Back EMF Envelope in Exciter System |
| CN114584016B (en) * | 2022-03-10 | 2025-02-14 | 清华大学 | Demodulation Method of Back EMF Envelope of Exciter in Excitation System |
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