CN108540031B - Rotating speed estimation method and torque control system of bearingless synchronous reluctance motor - Google Patents
Rotating speed estimation method and torque control system of bearingless synchronous reluctance motor Download PDFInfo
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- 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
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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
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Abstract
The invention discloses a rotating speed estimation method and a torque control system of a bearingless synchronous reluctance motor, wherein when the torque control system constructed based on the rotating speed estimation method is applied, the rotating speed estimation system of the motor is constructed based on three-phase voltage and three-phase current detection values of a torque winding of the bearingless synchronous reluctance motor; the rotating speed estimation system outputs a motor rotating speed estimation value, compares the motor rotating speed estimation value with a motor rotating speed given value, outputs a motor q-axis reference current through a PI regulator after comparison, and sends the motor d-axis reference current given value and the motor q-axis reference current to an expanded current type PWM inverter together; and finally, the expanded current type PWM inverter is used for supplying power to the three-phase torque winding, so that the torque and speed control of the motor can be realized. The invention can realize the accurate estimation of the rotating speed of the motor and has good control performance.
Description
Technical Field
The invention relates to the technical field of alternating current motor driving and control, in particular to a high-performance torque and rotating speed control technology of a bearingless synchronous reluctance motor under the condition of no speed sensor, and discloses a rotating speed control method and a torque control system of the bearingless synchronous reluctance motor.
Background
The bearingless synchronous reluctance motor changes the distribution of a synthesized air gap magnetic field by utilizing the combined action of two sets of windings (a torque winding and a suspension winding) embedded in a stator slot under the condition of current introduction, thereby controlling the magnitude and the direction of the rotating force and the suspension force borne by a rotor and realizing the rotating speed (torque) control and the suspension control of the motor. Compared with other types of bearingless alternating current motors, the bearingless synchronous reluctance motor has the advantages of simple control, firm structure, low cost and the like, and has higher application value in the fields of high-speed precision machine tool electric drive, flywheel energy storage power generation, industrial automation device electric transmission and the like.
The torque control system of the high-performance bearingless synchronous reluctance motor adopts closed-loop control, and when the system is realized, a closed-loop rotating speed feedback signal is acquired by a mechanical speed sensor. However, the motor-mounted mechanical speed sensor is prone to large errors in detection signals under severe environments, and reliability of a control system is reduced. The speed sensor also further increases the motor volume, increasing the hardware complexity of the system and the overall cost of the system.
Through the search of the existing documents and patents, the paper of 'bearing-free synchronous reluctance motor control system without speed sensor' (micro special motor, 6 th 2012) is published by the lake of clock name and the like, and the method is to inject a high-frequency signal into a motor torque winding to realize speed-free sensor control, but the high-frequency signal injected based on the motor torque winding not only aggravates the pulsation of electromagnetic torque, but also reduces the precision of motor suspension control.
In order to remove the speed sensor added to the bearingless synchronous reluctance motor, reduce the system cost and further improve the torque control performance of the bearingless synchronous reluctance motor, some new control methods are required.
Disclosure of Invention
The invention aims to provide a rotating speed estimation method and a torque control system of a bearingless synchronous reluctance motor.
In order to achieve the purpose, the technical means adopted by the invention is as follows: a rotating speed estimation method of a bearingless synchronous reluctance motor comprises the following steps:
1) three-phase detection voltage u of torque winding of bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
The voltage u of the d-q axis of the motor stator torque winding under the two-phase synchronous rotation coordinate is output through coordinate transformation for inputting signals4d、u4q(ii) a Three-phase detection current i by using torque winding of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The d-q axis current i of the motor stator torque winding under the two-phase synchronous rotation coordinate is output through coordinate transformation for inputting signals4d、i4q；
2) Stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the estimated value of the d-q axis current of the motor stator torque winding through a stator current adjustable model as an input value
3) Establishing self-adaptive law according to d-q axis current estimated value of motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And as the input signal of coordinate transformation, the estimated value of the adjusted motor speed
As input signal of stator current adjustable model to estimate real-time motor speed estimation value according to three-phase detection voltage and three-phase detection current
Further, in the step 1), coordinate transformation is constructed, wherein the coordinate transformation comprises Clark transformation and Park transformation, and the three-phase detection voltage u of the motor torque windingA1、uB1、uC1Current rotor position angle estimate
For inputting signals, a voltage detection value u under a two-phase static coordinate is output through Clark conversionα1、uβ1And d-q axis voltage u of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、u4q(ii) a Three-phase detection current i by using torque winding of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The current detection value i under the two-phase static coordinate is output as an input signal through Clark conversionα1、iβ1And d-q axis current i of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、i4q。
Further, in step 2), a stator current adjustable model is constructed, specifically as follows: 2.1) constructing a torque winding stator current reference model of the bearingless synchronous reluctance motor under d-q coordinates;
firstly, establishing a motor torque winding voltage equation, setting a bearingless synchronous reluctance motor as a 4-pole torque winding and a 2-pole suspension winding, wherein the pole arc angle of a salient pole rotor of the motor is 30 degrees, and the air gap of a salient pole area of the rotor is0Under a two-phase synchronous rotation d-q coordinate system, the voltage equation of the torque winding of the motor is as follows:
in the formula u4d、u4qFor stator torque winding d-q axis voltage, i4d、i4qD-q axis currents, R, of stator torque windings, respectivelys1Is the stator torque winding resistance, ω is the rotor angular velocity, L4d、L4qAre respectively the self-inductance of the d-q shaft torque winding of the stator,
is a differential operator;
according to the formula (1), the mathematical model of the torque winding stator current of the bearingless synchronous reluctance motor under the d-q axis is as follows:
constructing a stator current reference model of a torque winding of a bearingless synchronous reluctance motor: according to equation (2), the motor torque winding stator current reference model can be expressed as:
in the formula
2.2) constructing a bearingless synchronous reluctance motor torque winding stator current adjustable model: according to the formula (3), a parallel adjustable model of the stator current of the motor torque winding is further designed as follows:
in the formula
D-q axis current estimated values output by the motor torque winding stator current parallel adjustable model respectively,
Further, in step 3), the step of establishing the adaptive law is as follows: defining state variable error
Wherein
According to the formulas (3) and (4):
in the formula (I), the compound is shown in the specification,
are respectively e, i,
Is derived, M in equation (5) is:
in the formula (I), the compound is shown in the specification,
derived from the formulas (5) and (6):
according to Popov hyperstability theory, taking proportional integral self-adaptive law Kp+KiAnd/s, the estimation formula of the motor rotating speed can be obtained as follows:
in the formula, Kp、KiRespectively being proportional and integral systemsThe number, s, is the laplace operator,
calculated by formula (4) of a torque winding stator current adjustable model of the bearingless synchronous reluctance motor4d、i4qThe current of the d-q axis of the motor stator torque winding under the two-phase synchronous rotating coordinate is converted by the coordinate.
A rotating speed estimation system of a bearingless synchronous reluctance motor comprises a first coordinate transformation module, a second coordinate transformation module, a stator current adjustable model, a self-adaptation law module and an integrator,
the first coordinate transformation module is used for detecting the voltage u by using the torque winding of the bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
Outputting d-q axis voltage u of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、u4q；
The second coordinate transformation module is used for detecting current i in three phases by using a torque winding of the bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
Outputting d-q axis current i of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、i4q；
Stator current adjustable model for stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the d-q axis current estimated value of the motor stator torque winding as an input value
An adaptive law module for estimating d-q axis current according to motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And the estimated value of the rotating speed of the motor after adjustment is used as an input signal of a first coordinate transformation module and a second coordinate transformation module
As input signal of stator current adjustable model to estimate real-time motor speed estimation value according to three-phase detection voltage and three-phase detection stator current
A torque control system of a bearingless synchronous reluctance motor of a rotating speed estimation system of the bearingless synchronous reluctance motor comprises a PI regulator and an expanded current type PWM inverter; PI regulator using motor speed set value omega*And the estimated value of the rotational speed and the displacement
The deviation is an input signal, and the output signal is a q-axis reference current required by motor torque control
An extended current PWM inverter, inverted by a ParkThe converter, a Clark inverse transformation and a current mode PWM inverter. D-axis reference current under two-phase rotating coordinate of motor torque winding
q-axis reference current
Rotor position angle estimate
After Park inverse transformation, two-phase current under the static coordinate of the torque winding is output
Then the torque winding current under the three-phase static coordinate is output through Clark inverse transformation
The three-phase current is used as a reference instruction current of the current type PWM inverter, and the current type PWM inverter outputs actually required three-phase current i according to the reference instruction currentA1、iB1、iC1And power is supplied to the torque winding, so that the torque and the rotating speed of the controlled motor are controlled without a speed sensor.
Compared with the prior art, the invention has the beneficial effects that: the provided rotating speed estimation method realizes accurate estimation of the rotating speed of the motor, omits a mechanical speed sensor and reduces the total cost of the system; the torque control system adopting the rotating speed estimation method avoids the defects of complex motor structure, high control difficulty and the like caused by installation of a mechanical speed sensor on the basis of realizing the control of the rotating speed and the torque of the motor.
Drawings
FIG. 1 is a schematic block diagram of a bearingless synchronous reluctance machine speed estimation system of the present invention;
FIG. 2 is a functional block diagram of a bearingless synchronous reluctance motor torque control system;
fig. 3 is a functional block diagram of an extended current mode PWM inverter.
Detailed Description
In order to make the content of the present invention more obvious and understandable, the following description is further described with reference to the accompanying drawings and the detailed embodiments, when the control system of the present invention performs torque control on the bearingless synchronous reluctance motor, first, three-phase voltages and three-phase currents are detected from a torque winding of the controlled motor, and are used for constructing a rotating speed estimation system of the bearingless synchronous reluctance motor, so as to obtain a rotating speed estimation value.
1) three-phase detection voltage u of torque winding of bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
The voltage u of the d-q axis of the motor stator torque winding under the two-phase synchronous rotation coordinate is output through coordinate transformation for inputting signals4d、u4q(ii) a Three-phase detection current i by using torque winding of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The d-q axis current i of the motor stator torque winding under the two-phase synchronous rotation coordinate is output through coordinate transformation for inputting signals4d、i4q(ii) a Three-phase detection current iA1、iB1、iC1Detected by a current sensor;
2) stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the estimated value of the d-q axis current of the motor stator torque winding through a stator current adjustable model as an input value
3) Establishing self-adaptive law according to d-q axis current estimated value of motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And as the input signal of coordinate transformation, the estimated value of the adjusted motor speed
As input signal of stator current adjustable model to estimate real-time motor speed estimation value according to three-phase detection voltage and three-phase detection current
Further, in the step 1), coordinate transformation is constructed, wherein the coordinate transformation comprises Clark transformation and Park transformation, and the three-phase detection voltage u of the motor torque windingA1、uB1、uC1Current rotor position angle estimate
For inputting signals, a voltage detection value u under a two-phase static coordinate is output through Clark conversionα1、uβ1And d-q axis voltage u of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、u4q(ii) a To be provided withThree-phase detection stator current i of torque winding of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The current detection value i under the two-phase static coordinate is output as an input signal through Clark conversionα1、iβ1And d-q axis current i of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、i4q。
Further, in step 2), a stator current adjustable model is constructed, specifically as follows: 2.1) constructing a torque winding stator current reference model of the bearingless synchronous reluctance motor under d-q coordinates;
firstly, establishing a motor torque winding voltage equation, setting a bearingless synchronous reluctance motor as a 4-pole torque winding and a 2-pole suspension winding, wherein the pole arc angle of a salient pole rotor of the motor is 30 degrees, and the air gap of a salient pole area of the rotor is0Under a two-phase synchronous rotation d-q coordinate system, the voltage equation of the torque winding of the motor is as follows:
in the formula u4d、u4qFor stator torque winding d-q axis voltage, i4d、i4qD-q axis currents, R, of stator torque windings, respectivelys1Is the stator torque winding resistance, ω is the rotor angular velocity, L4d、L4qAre respectively the self-inductance of the d-q shaft torque winding of the stator,
is a differential operator;
according to the formula (1), the mathematical model of the torque winding stator current of the bearingless synchronous reluctance motor under the d-q coordinate is as follows:
constructing a stator current reference model of a torque winding of a bearingless synchronous reluctance motor: according to equation (2), the motor torque winding stator current reference model can be expressed as:
in the formula
2.2) constructing a bearingless synchronous reluctance motor torque winding stator current adjustable model: according to the formula (3), a parallel adjustable model of the stator current of the motor torque winding is further designed as follows:
in the formula
D-q axis current estimated values output by the motor torque winding stator current parallel adjustable model respectively,
Further, in step 3), the step of establishing the adaptive law is as follows: defining state variable error
Wherein
According to the formulas (3) and (4):
in the formula (I), the compound is shown in the specification,
are respectively e, i,
Is derived, M in equation (5) is:
in the formula (I), the compound is shown in the specification,
derived from the formulas (5) and (6):
according to Popov hyperstability theory, taking proportional integral self-adaptive law Kp+KiAnd/s, the estimation formula of the motor rotating speed can be obtained as follows:
in the formula, Kp、KiProportional and integral coefficients, respectively, s is the laplacian operator,
calculated by formula (4) of a torque winding stator current adjustable model of the bearingless synchronous reluctance motor4d、i4qThe current of the d-q axis of the motor stator torque winding under the two-phase synchronous rotating coordinate is converted by the coordinate.
A rotating speed estimation system of a bearingless synchronous reluctance motor comprises a first coordinate transformation module, a second coordinate transformation module, a stator current adjustable model, a self-adaptation law module and an integrator,
the first coordinate transformation module is used for detecting the voltage u by using the torque winding of the bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
Outputting d-q axis voltage u of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、u4q；
The second coordinate transformation module is used for detecting current i in three phases by using a torque winding of the bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
Outputting d-q axis current i of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、i4q；
Stator current adjustable model for stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the d-q axis current estimated value of the motor stator torque winding as an input value
An adaptive law module for estimating d-q axis current according to motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And the estimated value of the rotating speed of the motor after adjustment is used as an input signal of a first coordinate transformation module and a second coordinate transformation module
As input signal of stator current adjustable model to estimate real-time motor speed estimation value according to three-phase detection voltage and three-phase detection current
A torque control system of a bearingless synchronous reluctance motor of a rotating speed estimation system of the bearingless synchronous reluctance motor comprises a PI regulator and an expanded current type PWM inverter; PI regulator using motor speed set value omega*And the estimated value of the rotational speed and the displacement
The deviation is an input signal, and the output signal is a q-axis reference current required by motor torque control
An extended current mode PWM inverter consists of a Park inverse transform, a Clark inverse transform and a current mode PWM inverter. D-axis reference current under two-phase rotating coordinate of motor torque winding
q-axis reference current
Rotor position angle estimate
After being inversely transformed by Park, the output is convertedTwo-phase current of rectangular winding under static coordinate
Then the torque winding current under the three-phase static coordinate is output through Clark inverse transformation
The three-phase current is used as a reference instruction current of the current type PWM inverter, and the current type PWM inverter outputs actually required three-phase current i according to the reference instruction currentA1、iB1、iC1And power is supplied to the torque winding, so that the torque and the rotating speed of the controlled motor are controlled without a speed sensor.
The rotating speed estimation method provided by the invention realizes accurate estimation of the rotating speed of the motor, omits a mechanical speed sensor and reduces the total cost of the system; the torque control system adopting the rotating speed estimation method avoids the defects of complex motor structure, high control difficulty and the like caused by installation of a mechanical speed sensor on the basis of realizing the control of the rotating speed and the torque of the motor.
The embodiments of the present invention are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. That is, all equivalent changes and modifications made according to the content of the claims of the present invention should be regarded as the technical scope of the present invention.
Claims (3)
1. A rotating speed estimation method of a bearingless synchronous reluctance motor is characterized by comprising the following steps:
1) three-phase detection voltage u of torque winding of bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
The motor stator rotor under two-phase synchronous rotation coordinates is output through coordinate transformation for inputting signalsD-q axis voltage u of the rectangular winding4d、u4q(ii) a Stator current i is detected by using three phases of torque windings of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The d-q axis current i of the motor stator torque winding under the two-phase synchronous rotation coordinate is output through coordinate transformation for inputting signals4d、i4q；
2) Stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the estimated value of the d-q axis current of the motor stator torque winding through a stator current adjustable model as an input value
3) Establishing self-adaptive law according to d-q axis current estimated value of motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And as the input signal of coordinate transformation, the estimated value of the adjusted motor speed
As input signal of stator current adjustable model to estimate real-time motor speed estimation value according to three-phase detection voltage and three-phase detection stator current
In the step 1), coordinate transformation is constructed, wherein the coordinate transformation comprises Clark transformation and Park transformation, and three-phase detection voltage u of a three-motor torque windingA1、uB1、uC1Current rotor position angle estimate
For inputting signals, a voltage detection value u under a two-phase static coordinate is output through Clark conversionα1、uβ1And d-q axis voltage u of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、u4q(ii) a Stator current i is detected by using three phases of torque windings of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The current detection value i under the two-phase static coordinate is output as an input signal through Clark conversionα1、iβ1And d-q axis current i of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、i4q；
In the step 2), a stator current adjustable model is constructed, specifically as follows: 2.1) constructing a torque winding stator current reference model of the bearingless synchronous reluctance motor under d-q coordinates;
firstly, establishing a motor torque winding voltage equation, setting a bearingless synchronous reluctance motor as a 4-pole torque winding and a 2-pole suspension winding, wherein the pole arc angle of a salient pole rotor of the motor is 30 degrees, and the air gap of a salient pole area of the rotor is0Under a two-phase synchronous rotation d-q coordinate system, the voltage equation of the torque winding of the motor is as follows:
in the formula u4d、u4qFor stator torque winding d-q axis voltage, i4d、i4qD-q axis currents, R, of stator torque windings, respectivelys1Is the stator torque winding resistance, ω is the rotor angular velocity, L4d、L4qAre respectively the self-inductance of the d-q shaft torque winding of the stator,
is a differential operator;
according to the formula (1), the mathematical model of the torque winding stator current of the bearingless synchronous reluctance motor under the d-q axis is as follows:
constructing a stator current reference model of a torque winding of a bearingless synchronous reluctance motor: according to equation (2), the motor torque winding stator current reference model can be expressed as:
in the formula
2.2) constructing a bearingless synchronous reluctance motor torque winding stator current adjustable model: according to the formula (3), a parallel adjustable model of the stator current of the motor torque winding is further designed as follows:
in the formula
D-q axis current estimated values output by the motor torque winding stator current parallel adjustable model respectively,
in (1)
Is an estimated value of the motor rotation speed;
in step 3), the step of establishing the adaptive law is as follows: defining state variable error
Wherein
According to the formulas (3) and (4):
in the formula (I), the compound is shown in the specification,
are respectively e, i,
Is derived, M in equation (5) is:
in the formula (I), the compound is shown in the specification,
derived from the formulas (5) and (6):
according to Popov hyperstability theory, taking proportional integral self-adaptive law Kp+KiAnd/s, the estimation formula of the motor rotating speed can be obtained as follows:
in the formula, Kp、KiProportional and integral coefficients, respectively, s is the laplacian operator,
calculated by formula (4) of a torque winding stator current adjustable model of the bearingless synchronous reluctance motor4d、i4qIs motor stator torque winding d-q axis current i under two-phase synchronous rotation coordinate after coordinate transformation4d、i4q。
2. A rotating speed estimation system of a bearingless synchronous reluctance motor is characterized by comprising a first coordinate transformation module, a second coordinate transformation module, a stator current adjustable model, a self-adaptation law module and an integrator,
the first coordinate transformation module is used for detecting the voltage u by using the torque winding of the bearingless synchronous reluctance motorA1、uB1、uC1Current rotor position angle estimate
Outputting d-q axis voltage u of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、u4q；
The second coordinate transformation module is used for detecting stator current i in three phases by using a torque winding of the bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
Outputting d-q axis current i of motor stator torque winding under two-phase synchronous rotation coordinate for inputting signal4d、i4q；
Stator current adjustable model for stator torque winding d-q axis voltage u of bearingless synchronous reluctance motor4d、u4qCurrent motor speed estimate
Outputting the d-q axis current estimated value of the motor stator torque winding as an input value
An adaptive law module for estimating d-q axis current according to motor stator torque winding
And d-q axis current i of motor stator torque winding4d、i4qRecalculating error value and adjusting motor rotation speed estimated value
The adjusted motor rotating speed estimated value
The rotor position angle estimated value is obtained again through an integrator
And the estimated value of the rotating speed of the motor after adjustment is used as an input signal of a first coordinate transformation module and a second coordinate transformation module
Input signal as adjustable model of stator currentEstimating a real-time motor speed estimate from the three-phase sensed voltage and the three-phase sensed stator current in real time
The first coordinate transformation module specifically comprises: three-phase detection voltage u of three-motor torque windingA1、uB1、uC1Current rotor position angle estimate
For inputting signals, a voltage detection value u under a two-phase static coordinate is output through Clark conversionα1、uβ1And d-q axis voltage u of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、u4q；
The second coordinate transformation module specifically comprises: stator current i is detected by using three phases of torque windings of bearingless synchronous reluctance motorA1、iB1、iC1Current rotor position angle estimate
The current detection value i under the two-phase static coordinate is output as an input signal through Clark conversionα1、iβ1And d-q axis current i of the motor stator torque winding under the two-phase synchronous rotating coordinate is output through Park conversion4d、i4q；
The structure of the stator current adjustable model specifically comprises the following steps: constructing a torque winding stator current reference model of the bearingless synchronous reluctance motor under d-q coordinates;
firstly, establishing a motor torque winding voltage equation, setting a bearingless synchronous reluctance motor as a 4-pole torque winding and a 2-pole suspension winding, wherein the pole arc angle of a salient pole rotor of the motor is 30 degrees, and the air gap of a salient pole area of the rotor is0Under a two-phase synchronous rotation d-q coordinate system, the voltage equation of the torque winding of the motor is as follows:
in the formula u4d、u4qFor stator torque winding d-q axis voltage, i4d、i4qD-q axis currents, R, of stator torque windings, respectivelys1Is the stator torque winding resistance, ω is the rotor angular velocity, L4d、L4qAre respectively the self-inductance of the d-q shaft torque winding of the stator,
is a differential operator;
according to the formula (9), the mathematical model of the torque winding stator current of the bearingless synchronous reluctance motor under the d-q axis is as follows:
constructing a stator current reference model of a torque winding of a bearingless synchronous reluctance motor: according to equation (10), the motor torque winding stator current reference model can be expressed as:
in the formula
Constructing a bearingless synchronous reluctance motor torque winding stator current adjustable model: according to the formula (11), a parallel adjustable model of the stator current of the motor torque winding is further designed as follows:
in the formula
D-q axis current estimated values output by the motor torque winding stator current parallel adjustable model respectively,
in (1)
Is an estimated value of the motor rotation speed;
the establishment of the self-adaptive law module specifically comprises the following steps: the self-adaptive law establishing steps are as follows: defining state variable error
Wherein
According to the formulas (11) and (12):
in the formula (I), the compound is shown in the specification,
are respectively e, i,
Is derived, M in equation (13) is:
in the formula (I), the compound is shown in the specification,
derived from the equations (13) and (14):
according to Popov hyperstability theory, taking proportional integral self-adaptive law Kp+KiAnd/s, the estimation formula of the motor rotating speed can be obtained as follows:
in the formula, Kp、KiProportional and integral coefficients, respectively, s is the laplacian operator,
calculated by formula (12) of a torque winding stator current adjustable model of the bearingless synchronous reluctance motor4d、i4qIs motor stator torque winding d-q axis current i under two-phase synchronous rotation coordinate after coordinate transformation4d、i4q。
3. The system for controlling the torque of the bearingless synchronous reluctance motor based on the rotating speed estimation system of the bearingless synchronous reluctance motor as claimed in claim 2, which comprises a PI regulator and an extended current type PWM inverter; PI regulator using motor speed set value omega*And the estimated value of the rotational speed and the displacement
The deviation is an input signal, and the output signal is a q-axis reference current required by motor torque control
The extended current type PWM inverter consists of a Park inverse transformation, a Clark inverse transformation and a current type PWM inverter; d-axis reference current under two-phase rotating coordinate of motor torque winding
q-axis reference current
Rotor position angle estimate
After Park inverse transformation, two-phase current under the static coordinate of the torque winding is output
Then the torque winding current under the three-phase static coordinate is output through Clark inverse transformation
The three-phase current is used as a reference instruction current of the current type PWM inverter, and the current type PWM inverter outputs actually required three-phase current i according to the reference instruction currentA1、iB1、iC1And power is supplied to the torque winding, so that the torque and the rotating speed of the controlled motor are controlled without a speed sensor.
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Effective date of registration: 20240511 Address after: 230000 B-1015, wo Yuan Garden, 81 Ganquan Road, Shushan District, Hefei, Anhui. Patentee after: HEFEI MINGLONG ELECTRONIC TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Xianlin University City Road in Qixia District of Nanjing City, Jiangsu Province, No. 99 210046 Patentee before: Nanjing Vocational College of Information Technology Country or region before: China |