CN106549619B - A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed - Google Patents
A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed Download PDFInfo
- Publication number
- CN106549619B CN106549619B CN201610943215.6A CN201610943215A CN106549619B CN 106549619 B CN106549619 B CN 106549619B CN 201610943215 A CN201610943215 A CN 201610943215A CN 106549619 B CN106549619 B CN 106549619B
- Authority
- CN
- China
- Prior art keywords
- output
- speed
- axis current
- converter
- axis
- 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.)
- Active
Links
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000004907 flux Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 230000007704 transition Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000005284 excitation Effects 0.000 abstract description 2
- 238000002347 injection Methods 0.000 abstract description 2
- 239000007924 injection Substances 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本发明公开了一种基于速度精确辨识的永磁同步电机控制系统，在启动至低速阶段，采用旋转高频电压注入法，通过外加高频激励源以显示电机凸极性，并且不受电机运行工况的影响，对电机参数变化不敏感，有较好的鲁棒性，有效地解决了电机在启动至低速状态下转子位置检测不准的问题。本发明在高速段的无传感器控制通过速度辨识观测器实现，与普通观测器相比，本发明具有更好的抗负载扰动能力。本发明从低速到高速过渡的模糊区域，两种方法的转换过程同时考虑转速和转子位置误差两个因素，保证了转换过程的平稳过渡。
The invention discloses a permanent magnet synchronous motor control system based on accurate speed identification. In the stage of starting to low speed, a rotating high-frequency voltage injection method is used to display the saliency of the motor by adding a high-frequency excitation source, and it is not affected by the operation of the motor. Influenced by working conditions, it is insensitive to changes in motor parameters and has good robustness, which effectively solves the problem of inaccurate rotor position detection when the motor starts to low speed. The sensorless control in the high-speed section of the present invention is realized by the speed identification observer, and compared with the ordinary observer, the present invention has better anti-load disturbance capability. In the fuzzy region of the transition from low speed to high speed in the present invention, the two factors of rotation speed and rotor position error are considered in the conversion process of the two methods at the same time, which ensures the smooth transition of the conversion process.
Description
技术领域technical field
本发明涉及永磁同步电机的控制系统，特别是涉及一种基于速度精确辨识的永磁同步电机控制系统。The invention relates to a control system of a permanent magnet synchronous motor, in particular to a permanent magnet synchronous motor control system based on accurate speed identification.
背景技术Background technique
永磁电机最显著的性能特点是高性能、高效节能和轻型化。它与电力电子技术和微电子控制技术相结合，可以制造出许多新型的、性能优异的机电一体化产品和装备，它代表二十一世纪电机发展的方向。随着永磁同步电机应用领域范围拓广，永磁同步电机的控制需要获得可靠的转子信息，目前，多采用光电码盘、霍尔传感器、电涡流传感器等速度传感器来进行转速检测，并将检测到的转速作为反馈转速信号。精度越高的电机系统对速度控制的要求越高，相应的对于传感器的要求也就越高。The most notable performance characteristics of permanent magnet motors are high performance, high efficiency, energy saving and light weight. Combining it with power electronics technology and microelectronic control technology, many new and excellent mechatronics products and equipment can be produced, which represents the development direction of motors in the 21st century. With the expansion of the application field of permanent magnet synchronous motors, the control of permanent magnet synchronous motors needs to obtain reliable rotor information. The detected rotational speed is used as the feedback rotational speed signal. Motor systems with higher precision have higher requirements for speed control, and correspondingly higher requirements for sensors.
但是，速度传感器在电机系统中的存在不仅阻碍了电机向高速化、小型化的方向发展，同时其安装也给系统带来了以下问题：However, the existence of the speed sensor in the motor system not only hinders the development of the motor in the direction of high speed and miniaturization, but its installation also brings the following problems to the system:
（1）系统的成本大大增加，精度越高的码盘价格也就越贵。(1) The cost of the system is greatly increased, and the higher the accuracy of the code disc, the more expensive it is.
（2）码盘在电机轴上安装，存在同心度问题，安装不当将影响转速检测。(2) The code disc is installed on the motor shaft, and there is a concentricity problem. Improper installation will affect the speed detection.
（3）使电机轴向上体积增大，而且给电机的维护带来一定困难，降低了系统的机械鲁棒性；(3) Increase the axial volume of the motor, and bring certain difficulties to the maintenance of the motor, reducing the mechanical robustness of the system;
（4）在高温、高湿的恶劣环境下无法工作，并且码盘工作精度易受环境影响。(4) It cannot work in the harsh environment of high temperature and high humidity, and the working accuracy of the code disc is easily affected by the environment.
发明内容Contents of the invention
发明目的：本发明的目的是提供一种能够解决现有技术中存在的缺陷的一种基于速度精确辨识的永磁同步电机控制系统。Purpose of the invention: The purpose of the invention is to provide a permanent magnet synchronous motor control system based on accurate speed identification that can solve the defects in the prior art.
技术方案：为达到此目的，本发明采用以下技术方案：Technical scheme: in order to achieve this goal, the present invention adopts following technical scheme:
本发明所述的基于速度精确辨识的永磁同步电机控制系统，包括永磁同步电机，永磁同步电机的三相电流端连接Clark变换器的三相电流输入端，永磁同步电机的三相电流端还连接abc-dq变换器的三相电流输入端，Clark变换器的输出端分别连接速度辨识观测器的输入端和滤波器的输入端，滤波器的输出端连接角度观测器的输入端，角度观测器的输出端分别连接极性判别角度补偿器的输入端和加法器的一个输入端，极性判别角度补偿器的输出端连接加法器的另一个输入端，加法器的输出端分别连接第一微分器的输入端和第一判断器的输入端，速度辨识观测器的输出端分别连接第二微分器的输入端和第一判断器的输入端，第一微分器的输出端和第二微分器的输出端分别连接第二判断器的输入端，第二判断器的输出端连接第一减法器的一个输入端，电机转子速度给定值输入第一减法器的另一个输入端，第一减法器的输出端连接PI速度调节器的输入端，PI速度调节器的输出端连接第二减法器的一个输入端，第一判断器的输出端分别连接abc-dq变换器的输入端和Park逆变换器的输入端，abc-dq变换器的q轴电流输出端连接第二减法器的另一个输入端，abc-dq变换器的d轴电流输出端连接第三减法器的一个输入端，d轴电流给定值输入第三减法器的另一个输入端，第二减法器的输出端连接PI交轴电流调节器的输入端，第三减法器的输出端连接PI直轴电流调节器的输入端，PI交轴电流调节器的输出端和PI直轴电流调节器的输出端分别连接Park逆变换器的输入端，Park逆变换器的输出端分别连接Svpwm调制器的输入端和速度辨识观测器的输入端，高频电压发生器也连接Svpwm调制器的输入端，Svpwm调制器的输出端连接逆变器的输入端，逆变器的输出端连接永磁同步电机的三相定子绕组。The permanent magnet synchronous motor control system based on accurate speed identification of the present invention includes a permanent magnet synchronous motor, the three-phase current terminal of the permanent magnet synchronous motor is connected to the three-phase current input terminal of the Clark converter, and the three-phase current terminal of the permanent magnet synchronous motor The current terminal is also connected to the three-phase current input terminal of the abc-dq converter, the output terminal of the Clark converter is respectively connected to the input terminal of the speed identification observer and the input terminal of the filter, and the output terminal of the filter is connected to the input terminal of the angle observer , the output terminal of the angle observer is respectively connected to the input terminal of the polarity discrimination angle compensator and one input terminal of the adder, the output terminal of the polarity discrimination angle compensator is connected to the other input terminal of the adder, and the output terminals of the adder are respectively The input end of the first differentiator is connected with the input end of the first judger, the output end of the speed identification observer is respectively connected with the input end of the second differentiator and the input end of the first judger, and the output end of the first differentiator is connected with the input end of the first judger. The output end of the second differentiator is respectively connected to the input end of the second judger, the output end of the second judger is connected to one input end of the first subtractor, and the given value of the rotor speed of the motor is input to the other input end of the first subtractor , the output end of the first subtractor is connected to the input end of the PI speed regulator, the output end of the PI speed regulator is connected to an input end of the second subtractor, and the output end of the first judger is respectively connected to the input of the abc-dq converter terminal and the input terminal of the Park inverse converter, the q-axis current output terminal of the abc-dq converter is connected to the other input terminal of the second subtractor, and the d-axis current output terminal of the abc-dq converter is connected to one of the third subtractor The input terminal, the given value of the d-axis current is input to the other input terminal of the third subtractor, the output terminal of the second subtractor is connected to the input terminal of the PI quadrature axis current regulator, and the output terminal of the third subtractor is connected to the PI direct axis current The input terminal of the regulator, the output terminal of the PI quadrature axis current regulator and the output terminal of the PI direct axis current regulator are respectively connected to the input terminal of the Park inverse converter, and the output terminal of the Park inverse converter is respectively connected to the input terminal of the Svpwm modulator and the input end of the speed identification observer, the high-frequency voltage generator is also connected to the input end of the Svpwm modulator, the output end of the Svpwm modulator is connected to the input end of the inverter, and the output end of the inverter is connected to the three-phase motor of the permanent magnet synchronous motor phase stator winding.
进一步，所述Clark变换器输出的误差信号ε为：Further, the error signal ε output by the Clark converter is:
式（1）中，Iip为定子电流，ωi为角速度，Iin为转子电流，t为时间，θr为转子实际位置，为转子位置的估计值。In formula (1), I ip is the stator current, ω i is the angular velocity, I in is the rotor current, t is time, θ r is the actual position of the rotor, is an estimate of the rotor position.
进一步，所述极性判别角度补偿器用于对转子初始位置进行检测以及对极性进行跟踪，得到极性判别项ipol：Further, the polarity discrimination angle compensator is used to detect the initial position of the rotor and track the polarity to obtain the polarity discrimination term i pol :
式（2）中，id为直轴电流，Ψd为直轴磁链，Ψf为交轴磁链，usi为输出电压，ωi为角速度，θr为转子实际位置，为转子位置的估计值。In formula (2), i d is the direct axis current, Ψ d is the direct axis flux linkage, Ψ f is the quadrature axis flux linkage, u si is the output voltage, ω i is the angular velocity, θ r is the actual position of the rotor, is an estimate of the rotor position.
进一步，所述系统采用模糊区域控制方法，该方法为：Further, the system adopts a fuzzy area control method, the method is:
如果转子转速估计值ω0为切换转速，则转子位置和速度信号由角度观测器和极性判别角度补偿器提供，得到转子位置估计值转速估计值 为加法器的输出信号，为第一微分器的输出信号；If the rotor speed estimate ω 0 is the switching speed, then the rotor position and speed signals are provided by the angle observer and the polarity discrimination angle compensator, and the estimated value of the rotor position is obtained speed estimate is the output signal of the adder, is the output signal of the first differentiator;
如果转子转速估计值则判断是否低于5°，为速度辨识观测器的输出信号：如果低于5°，则切换到速度辨识观测器和第二微分器工作状态，也即转子位置估计值转速估计值 为第二微分器的输出信号；否则，则进入模糊区域，转子位置估计值转速估计值 If the rotor speed estimate then judge is less than 5°, is the output signal of the speed identification observer: if it is lower than 5°, switch to the working state of the speed identification observer and the second differentiator, that is, the estimated value of the rotor position speed estimate is the output signal of the second differentiator; otherwise, it enters the fuzzy region, and the estimated rotor position speed estimate
进一步，所述abc-dq变换器根据转子位置估计值将永磁同步电机的三相静止的abc相电流转换为两相静止的dq轴电流，也即d轴电流估计值和q轴电流估计值。Further, the abc-dq converter is based on the estimated value of the rotor position The three-phase static abc phase current of the permanent magnet synchronous motor is converted into the two-phase static dq-axis current, that is, the estimated value of the d-axis current and the estimated value of the q-axis current.
进一步，所述PI速度调节器根据电机转子速度给定值与转速估计值之间的差值控制PI速度调节器输出的q轴电流给定值，使电机转子速度给定值与转速估计值之间的差值为零。Further, the PI speed regulator is based on the given value of the rotor speed of the motor and the estimated value of the rotational speed The difference between controls the q-axis current given value output by the PI speed regulator, so that the given value of the rotor speed of the motor and the estimated value of the rotational speed The difference between them is zero.
进一步，所述PI交轴电流调节器根据PI速度调节器输出的q轴电流给定值与abc-dq变换器输出的q轴电流估计值之间的差值控制PI交轴电流调节器输出的q轴电压，使PI速度调节器输出的q轴电流给定值与abc-dq变换器输出的q轴电流估计值之间的差值为零。Further, the PI quadrature-axis current regulator controls the output of the PI quadrature-axis current regulator according to the difference between the q-axis current given value output by the PI speed regulator and the q-axis current estimated value output by the abc-dq converter The q-axis voltage makes the difference between the q-axis current given value output by the PI speed regulator and the q-axis current estimated value output by the abc-dq converter zero.
进一步，所述PI直轴电流调节器根据d轴电流给定值与abc-dq变换器输出的d轴电流估计值之间的差值控制PI直轴电流调节器输出的d轴电压，使d轴电流给定值与abc-dq变换器输出的d轴电流估计值之间的差值为零。Further, the PI direct-axis current regulator is based on the given value of the d-axis current The difference between the d-axis current estimated value output by the abc-dq converter controls the d-axis voltage output by the PI direct-axis current regulator, so that the d-axis current given value The difference with the d-axis current estimate output by the abc-dq converter is zero.
进一步，所述Park逆变换器根据第一判断器输出的转子位置估计值将PI交轴电流调节器输出的q轴电压与PI直轴电流调节器输出的d轴电压转换为两相静止的αβ轴电压，也即α轴电压和β轴电压。Further, the Park inverse converter is based on the rotor position estimated value output by the first determiner The q-axis voltage output by the PI quadrature-axis current regulator and the d-axis voltage output by the PI direct-axis current regulator are converted into two-phase stationary αβ-axis voltages, that is, α-axis voltage and β-axis voltage.
进一步，所述Svpwm调制器根据Park逆变换器输出的αβ轴电压产生逆变器的控制信号。Further, the Svpwm modulator generates a control signal of the inverter according to the αβ axis voltage output by the Park inverter.
有益效果：与现有技术相比，本发明具有如下的有益效果：Beneficial effects: compared with the prior art, the present invention has the following beneficial effects:
1）本发明在启动至低速阶段，采用旋转高频电压注入法，通过外加高频激励源以显示电机凸极性，并且不受电机运行工况的影响，对电机参数变化不敏感，有较好的鲁棒性，有效地解决了电机在启动至低速状态下转子位置检测不准的问题；1) In the stage of starting to low speed, the present invention adopts the rotating high-frequency voltage injection method, and displays the salient polarity of the motor by adding a high-frequency excitation source, and is not affected by the operating conditions of the motor, and is not sensitive to changes in motor parameters. Good robustness, which effectively solves the problem of inaccurate rotor position detection when the motor starts to low speed;
2）本发明在高速段的无传感器控制通过速度辨识观测器实现，与普通观测器相比，本发明具有更好的抗负载扰动能力；2) The sensorless control of the present invention in the high-speed section is realized by the speed identification observer. Compared with the ordinary observer, the present invention has better anti-load disturbance ability;
3）本发明从低速到高速过渡的模糊区域，两种方法的转换过程同时考虑转速和转子位置误差两个因素，保证了转换过程的平稳过渡。3) In the fuzzy region of the transition from low speed to high speed in the present invention, the two factors of the speed and rotor position error are considered in the conversion process of the two methods at the same time, which ensures the smooth transition of the conversion process.
附图说明Description of drawings
图1为本发明具体实施方式的系统结构示意图；Fig. 1 is a schematic diagram of the system structure of a specific embodiment of the present invention;
图2为本发明具体实施方式的角度观测器的结构示意图；Fig. 2 is the structural representation of the angle observer of the specific embodiment of the present invention;
图3为本发明具体实施方式的第二判断器的算法流程图。Fig. 3 is an algorithm flow chart of the second judger in the specific embodiment of the present invention.
具体实施方式Detailed ways
下面结合具体实施方式对本发明的技术方案作进一步的介绍。The technical solution of the present invention will be further introduced below in combination with specific embodiments.
本具体实施方式公开了一种基于速度精确辨识的永磁同步电机控制系统，如图1所示，包括永磁同步电机118，永磁同步电机118的三相电流端连接Clark变换器101的三相电流输入端，永磁同步电机118的三相电流端还连接abc-dq变换器110的三相电流输入端，Clark变换器101的输出端分别连接速度辨识观测器102的输入端和滤波器103的输入端，滤波器103的输出端连接角度观测器104的输入端，角度观测器104的输出端分别连接极性判别角度补偿器105的输入端和加法器119的一个输入端，极性判别角度补偿器105的输出端连接加法器119的另一个输入端，加法器119的输出端分别连接第一微分器106的输入端和第一判断器109的输入端，速度辨识观测器102的输出端分别连接第二微分器107的输入端和第一判断器109的输入端，第一微分器106的输出端和第二微分器107的输出端分别连接第二判断器108的输入端，第二判断器108的输出端连接第一减法器120的一个输入端，电机转子速度给定值输入第一减法器120的另一个输入端，第一减法器120的输出端连接PI速度调节器111的输入端，PI速度调节器111的输出端连接第二减法器121的一个输入端，第一判断器109的输出端分别连接abc-dq变换器110的输入端和Park逆变换器114的输入端，abc-dq变换器110的q轴电流输出端连接第二减法器121的另一个输入端，abc-dq变换器110的d轴电流输出端连接第三减法器122的一个输入端，d轴电流给定值输入第三减法器122的另一个输入端，第二减法器121的输出端连接PI交轴电流调节器的输入端，第三减法器122的输出端连接PI直轴电流调节器的输入端，PI交轴电流调节器的输出端和PI直轴电流调节器的输出端分别连接Park逆变换器的输入端，Park逆变换器的输出端分别连接Svpwm调制器116的输入端和速度辨识观测器102的输入端，高频电压发生器115也连接Svpwm调制器116的输入端，Svpwm调制器116的输出端连接逆变器117的输入端，逆变器117的输出端连接永磁同步电机118的三相定子绕组。角度观测器104的内部结构如图2所示。This specific embodiment discloses a permanent magnet synchronous motor control system based on accurate speed identification. As shown in FIG. 1 , it includes a permanent magnet synchronous motor 118. The phase current input terminal, the three-phase current terminal of the permanent magnet synchronous motor 118 is also connected to the three-phase current input terminal of the abc-dq converter 110, and the output terminal of the Clark converter 101 is respectively connected to the input terminal of the speed identification observer 102 and the filter The input end of 103, the output end of filter 103 connects the input end of angle observer 104, and the output end of angle observer 104 connects the input end of polarity discrimination angle compensator 105 and an input end of adder 119 respectively, polarity The output end of the discrimination angle compensator 105 is connected to another input end of the adder 119, and the output end of the adder 119 is respectively connected to the input end of the first differentiator 106 and the input end of the first judger 109, and the speed identification observer 102 The output end is respectively connected to the input end of the second differentiator 107 and the input end of the first judger 109, and the output end of the first differentiator 106 and the output end of the second differentiator 107 are respectively connected to the input end of the second judger 108, The output end of the second determiner 108 is connected to an input end of the first subtractor 120, the motor rotor speed given value is input to the other input end of the first subtractor 120, and the output end of the first subtractor 120 is connected to the PI speed regulator 111, the output of the PI speed regulator 111 is connected to an input of the second subtractor 121, and the output of the first judger 109 is connected to the input of the abc-dq converter 110 and the Park inverse converter 114 respectively. The input terminal, the q-axis current output terminal of the abc-dq converter 110 is connected to the other input terminal of the second subtractor 121, and the d-axis current output terminal of the abc-dq converter 110 is connected to an input terminal of the third subtractor 122, The d-axis current given value is input to the other input terminal of the third subtractor 122, the output terminal of the second subtractor 121 is connected to the input terminal of the PI quadrature axis current regulator, and the output terminal of the third subtractor 122 is connected to the PI direct axis current The input end of the regulator, the output end of the PI quadrature axis current regulator and the output end of the PI direct axis current regulator are respectively connected to the input end of the Park inverse converter, and the output end of the Park inverse converter is respectively connected to the input of the Svpwm modulator 116 end and the input end of the speed identification observer 102, the high-frequency voltage generator 115 is also connected to the input end of the Svpwm modulator 116, the output end of the Svpwm modulator 116 is connected to the input end of the inverter 117, and the output end of the inverter 117 The three-phase stator winding of the permanent magnet synchronous motor 118 is connected. The internal structure of the angle observer 104 is shown in FIG. 2 .
其中，Clark变换器输出的误差信号ε为：Among them, the error signal ε output by the Clark converter is:
式（1）中，Iip为定子电流，ωi为角速度，Iin为转子电流，t为时间，θr为转子实际位置，为转子位置的估计值。In formula (1), I ip is the stator current, ω i is the angular velocity, I in is the rotor current, t is time, θ r is the actual position of the rotor, is an estimate of the rotor position.
极性判别角度补偿器105用于对转子初始位置进行检测以及对极性进行跟踪，得到极性判别项ipol：The polarity discrimination angle compensator 105 is used to detect the initial position of the rotor and track the polarity to obtain the polarity discrimination term i pol :
式（2）中，id为直轴电流，Ψd为直轴磁链，Ψf为交轴磁链，usi为输出电压，ωi为角速度，θr为转子实际位置，为转子位置的估计值。In formula (2), i d is the direct axis current, Ψ d is the direct axis flux linkage, Ψ f is the quadrature axis flux linkage, u si is the output voltage, ω i is the angular velocity, θ r is the actual position of the rotor, is an estimate of the rotor position.
本系统采用模糊区域控制方法，该方法为：The system adopts fuzzy area control method, which is:
如果转子转速估计值ω0为切换转速，则转子位置和速度信号由角度观测器104和极性判别角度补偿器105提供，得到转子位置估计值转速估计值 为加法器119的输出信号，为第一微分器106的输出信号；If the rotor speed estimate ω 0 is the switching speed, then the rotor position and speed signals are provided by the angle observer 104 and the polarity discrimination angle compensator 105, and the estimated value of the rotor position is obtained speed estimate is the output signal of the adder 119, is the output signal of the first differentiator 106;
如果转子转速估计值则判断是否低于5°，为速度辨识观测器102的输出信号：如果低于5°，则切换到速度辨识观测器102和第二微分器107工作状态，也即转子位置估计值转速估计值 为第二微分器107的输出信号；否则，则进入模糊区域，转子位置估计值转速估计值 If the rotor speed estimate then judge is less than 5°, is the output signal of the speed identification observer 102: if it is lower than 5°, switch to the working state of the speed identification observer 102 and the second differentiator 107, that is, the estimated value of the rotor position speed estimate is the output signal of the second differentiator 107; otherwise, it enters the fuzzy region, and the estimated value of rotor position speed estimate
abc-dq变换器110根据转子位置估计值将永磁同步电机118的三相静止的abc相电流转换为两相静止的dq轴电流，也即d轴电流估计值和q轴电流估计值。abc-dq converter 110 based on rotor position estimate The three-phase stationary abc phase current of the permanent magnet synchronous motor 118 is converted into two-phase stationary dq-axis currents, that is, the d-axis current estimated value and the q-axis current estimated value.
PI速度调节器111根据电机转子速度给定值与转速估计值之间的差值控制PI速度调节器111输出的q轴电流给定值，使电机转子速度给定值与转速估计值之间的差值为零。The PI speed regulator 111 is based on the given value of the motor rotor speed and the estimated value of the rotational speed The difference between controls the given value of the q-axis current output by the PI speed regulator 111, so that the given value of the rotor speed of the motor and the estimated value of the rotational speed The difference between them is zero.
PI交轴电流调节器112根据PI速度调节器111输出的q轴电流给定值与abc-dq变换器110输出的q轴电流估计值之间的差值控制PI交轴电流调节器112输出的q轴电压，使PI速度调节器111输出的q轴电流给定值与abc-dq变换器110输出的q轴电流估计值之间的差值为零。The PI quadrature-axis current regulator 112 controls the output of the PI quadrature-axis current regulator 112 according to the difference between the q-axis current given value output by the PI speed regulator 111 and the q-axis current estimated value output by the abc-dq converter 110 The q-axis voltage makes the difference between the q-axis current given value output by the PI speed regulator 111 and the q-axis current estimated value output by the abc-dq converter 110 zero.
PI直轴电流调节器113根据d轴电流给定值与abc-dq变换器110输出的d轴电流估计值之间的差值控制PI直轴电流调节器113输出的d轴电压，使d轴电流给定值与abc-dq变换器110输出的d轴电流估计值之间的差值为零。PI direct-axis current regulator 113 according to the d-axis current given value The difference between the d-axis current estimated value output by the abc-dq converter 110 controls the d-axis voltage output by the PI direct-axis current regulator 113, so that the d-axis current given value The difference with the d-axis current estimate output by the abc-dq converter 110 is zero.
Park逆变换器114根据第一判断器109输出的转子位置估计值将PI交轴电流调节器112输出的q轴电压与PI直轴电流调节器113输出的d轴电压转换为两相静止的αβ轴电压，也即α轴电压和β轴电压。Park inverse converter 114 according to the estimated value of the rotor position output by the first determiner 109 The q-axis voltage output by the PI quadrature-axis current regulator 112 and the d-axis voltage output by the PI direct-axis current regulator 113 are converted into two-phase stationary αβ-axis voltages, ie α-axis voltage and β-axis voltage.
Svpwm调制器116根据Park逆变换器114输出的αβ轴电压产生逆变器117的控制信号。The Svpwm modulator 116 generates a control signal of the inverter 117 according to the αβ axis voltage output by the Park inverse converter 114 .
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943215.6A CN106549619B (en) | 2016-10-26 | 2016-10-26 | A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610943215.6A CN106549619B (en) | 2016-10-26 | 2016-10-26 | A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106549619A CN106549619A (en) | 2017-03-29 |
| CN106549619B true CN106549619B (en) | 2018-11-09 |
Family
ID=58392443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610943215.6A Active CN106549619B (en) | 2016-10-26 | 2016-10-26 | A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106549619B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108649849B (en) * | 2018-06-13 | 2020-09-01 | 新风光电子科技股份有限公司 | Simple sensorless permanent magnet synchronous motor speed estimation method |
| CN117155211B (en) * | 2023-08-07 | 2024-07-02 | 湖南科技大学 | Position sensorless control method of switched reluctance motor based on variable speed segment compensation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1215247A (en) * | 1996-04-25 | 1999-04-28 | 三菱电机株式会社 | Vector control method for motor and vector control reverse transformation device |
| JP2006087152A (en) * | 2004-09-14 | 2006-03-30 | Hitachi Ltd | Permanent magnet synchronous motor control device and module |
| JP2011067054A (en) * | 2009-09-18 | 2011-03-31 | Toshiba Corp | Motor control apparatus |
| CN102420561A (en) * | 2011-12-01 | 2012-04-18 | 国电南京自动化股份有限公司 | Speed sensorless vector control method on basis of cascaded high voltage inverter |
| CN102969968A (en) * | 2012-11-15 | 2013-03-13 | 西安理工大学 | Permanent magnet synchronous motor control method |
| CN103532464A (en) * | 2013-10-28 | 2014-01-22 | 东南大学 | Sensorless vector control system and method for permanent magnet synchronous motor |
| CN103997270A (en) * | 2014-06-09 | 2014-08-20 | 浙江理工大学 | Sensorless vector control device and method for non-salient pole type permanent magnet synchronous motor |
| CN104901600A (en) * | 2015-05-19 | 2015-09-09 | 南京航空航天大学 | Sensorless control method of permanent magnet synchronous motor in wide rotating speed scope |
-
2016
- 2016-10-26 CN CN201610943215.6A patent/CN106549619B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1215247A (en) * | 1996-04-25 | 1999-04-28 | 三菱电机株式会社 | Vector control method for motor and vector control reverse transformation device |
| JP2006087152A (en) * | 2004-09-14 | 2006-03-30 | Hitachi Ltd | Permanent magnet synchronous motor control device and module |
| JP2011067054A (en) * | 2009-09-18 | 2011-03-31 | Toshiba Corp | Motor control apparatus |
| CN102420561A (en) * | 2011-12-01 | 2012-04-18 | 国电南京自动化股份有限公司 | Speed sensorless vector control method on basis of cascaded high voltage inverter |
| CN102969968A (en) * | 2012-11-15 | 2013-03-13 | 西安理工大学 | Permanent magnet synchronous motor control method |
| CN103532464A (en) * | 2013-10-28 | 2014-01-22 | 东南大学 | Sensorless vector control system and method for permanent magnet synchronous motor |
| CN103997270A (en) * | 2014-06-09 | 2014-08-20 | 浙江理工大学 | Sensorless vector control device and method for non-salient pole type permanent magnet synchronous motor |
| CN104901600A (en) * | 2015-05-19 | 2015-09-09 | 南京航空航天大学 | Sensorless control method of permanent magnet synchronous motor in wide rotating speed scope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106549619A (en) | 2017-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103607155B (en) | Based on the permagnetic synchronous motor method for controlling position-less sensor of rotatory current vector | |
| CN104360171B (en) | Method for measuring inductance parameter of permanent magnet synchronous motor | |
| Ha et al. | Position-controlled synchronous reluctance motor without rotational transducer | |
| JP4059039B2 (en) | Control device for synchronous motor | |
| CN105529967B (en) | Fan starting state detection and starting control method | |
| JP5445892B2 (en) | Control device for permanent magnet type synchronous motor | |
| CN101714844A (en) | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor | |
| CN109981001B (en) | A low noise permanent magnet synchronous motor rotor initial position detection method | |
| CN107171608A (en) | A kind of permagnetic synchronous motor without sensor initial position detection method | |
| CN102401626B (en) | Method for estimating mounting deviation of permanent magnet synchronous motor rotor position sensor | |
| CN109639202B (en) | Method for judging polarity of magnetic pole of permanent magnet synchronous motor rotor | |
| Han et al. | Initial rotor position detection method of SPMSM based on new high frequency voltage injection method | |
| CN105227025A (en) | A kind of permagnetic synchronous motor low carrier is than control system without position sensor and control method thereof | |
| CN106059435B (en) | A method of improving permanent-magnet synchronous motor rotor position estimated accuracy | |
| CN102647134A (en) | An efficiency optimization control method for permanent magnet synchronous motor without angle sensor | |
| Saitoh et al. | Adaptive signal injection method combined with EEMF-based position sensorless control of IPMSM drives | |
| JP5120621B2 (en) | Control device for permanent magnet type synchronous motor | |
| CN110212819A (en) | A kind of commutation error compensating method for high-speed brushless DC electromotor | |
| Dong et al. | A sensorless control strategy of injecting HF voltage into d-axis for IPMSM in full speed range | |
| CN114710073A (en) | Method for detecting initial position and rotating speed of rotor of permanent magnet synchronous motor at high rotating speed | |
| CN106549619B (en) | A kind of control system for permanent-magnet synchronous motor accurately recognized based on speed | |
| Kakodia et al. | A comparative study of DFOC and IFOC for IM drive | |
| CN111277193B (en) | Reliability optimization method and system for pole identification of permanent magnet synchronous 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 | |
| CN117411366A (en) | A position sensorless control method for permanent magnet synchronous motor in full speed domain |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |