CN108847792A - A kind of method of hall position sensor estimation rotor-position - Google Patents
A kind of method of hall position sensor estimation rotor-position Download PDFInfo
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Classifications
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of method of hall position sensor estimation rotor-position, the evaluation method is：In motor operation, first according to hall signal, it was divided into six Hall sectors for rotor one week, acquires motor operation phase current by three sampling resistors；According to hall signal value to single Hall sector runing time timing, previous moment Hall mean speed and acceleration are calculated, rotor-position is estimated, first parameter is obtained；Sliding mode observer is established, sliding-mode surface is defined, the rotor position information in counter electromotive force is extracted by phaselocked loop, and linear feed-forward correction is weighted to position estimation result by discrete position signals for minimizing torque, obtains second batch parameter；Finally, adjusting observation weight according to above-mentioned parameters obtained, obtain a result.The present invention can accurately estimate motor rotor position in wide velocity interval, achieve the effect that the high performance control of permanent magnet synchronous motor vector control system.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control fields, are related to a kind of permanent magnet synchronous motor more particularly to a kind of Hall
The method of position sensor estimation rotor-position.
Background technique
In high-performance permanent magnet synchronous motor control system, in order to accurately obtain speed closed loop and space vector impulse modulation
Required spinner velocity and location information generally require and install high-precision position sensor in rotor shaft end, although
The introducing of high precision position sensor can guarantee the control result of motor, but there is also system reliability reduction, control at
A series of problems, such as this increase.To solve the above-mentioned problems, many scholars have conducted extensive research no sensing algorithm, still
No sensing algorithm depends on motor itself unduly.There are low speed operation it is unreliable, can not determine rotor-position tracking accuracy
The problems such as.
Consider control system performance and cost problem, the low precision position sensors completion revolving speed of selection and estimating for position
It calculates, but existing algorithm, there are model algorithm parameter designing complexity and model-free algorithm rotor position estimation noise content high, estimation
As a result the problems such as obvious is lagged, a kind of method of hall position sensor estimation rotor-position is proposed, can preferably meet
System.
Summary of the invention
The purpose of the present invention is to solve can not be obtained using discrete hall signal in permanent magnet synchronous motor vector controlled
The rotor-position problem of degree of precision, and a kind of method of hall position sensor estimation rotor-position provided.
In order to achieve the above objectives, solution of the invention is：
A kind of method of hall position sensor estimation rotor-position, includes the following steps：
Step 1：Rotor is rotated a circle and is equally divided into six Hall sectors, installs three in peritrochanteric central symmetry
Hall switch position sensor, obtains three road hall signals, and each Hall sector is π/3；
Step 2：Motor operation phase current is acquired, hall signal value, the runing time to rotor in single Hall sector are acquired
Timing；
Step 3：According to previous Hall sector rotor operation time and Hall sector arc length π/3, rotor is calculated previous
The mean speed and acceleration of Hall sector, and current rotor position θ is calculated1And rotational speed omega1, it is denoted as first parameter；
Step 4：It is coordinately transformed according to electric machine phase current, obtains electric current under alpha-beta coordinate system, and establish alpha-beta coordinate system
Under permanent magnet synchronous motor mathematical model；Sliding mode observer is established according to mathematical model, sliding-mode surface is defined, finds out alpha-beta coordinate system
Lower counter electromotive force；
Step 5：Rotor position information in counter electromotive force is extracted by phaselocked loop, and passes through discrete position signals for minimizing torque
Linear feed-forward correction is weighted to the rotor-position that extraction obtains, the rotor position after being corrected2And rotational speed omega2, it is denoted as
Second batch parameter；
Step 6：According to above-mentioned the first and second batch of gained parameter, defining first and second batch of parameter weight is observer
Weight λ, by first and second batch of parameter θ1、θ2Following formula is substituted into observer weight λ, obtains estimation rotor positionr：
θr=λ θ1+(1-λ)θ2
Wherein, observer weight λ adjusting method is：The rotor position that will be obtainedrAnd rotational speed omegarIt is input to parameter adjuster
Make it to variation weight, weightWherein ωrTo estimate rotor speed, ωr=λ ω1+(1-λ)ω2, Δ θ is single
A Hall sector position variation, n is rated speed.
Preferably, in the step 2, the method for acquisition motor operation phase current is：In three lower bridges of full-bridge inverter
It connects respectively on arm a sampling resistor, acquire the voltage on the sampling resistor and obtains motor mutually electricity after AD conversion
Stream.
Preferably, in the step 3, first parametric solution method is：Operation by rotor in previous Hall sector
Mean speed of the time estimation rotor in previous Hall sectorIt is found out by the mean speed of the first two Hall sector
The acceleration of mean speed variationFirst parameter θ is constructed according to required mean speed and acceleration1：
Wherein, θkFor current Hall sector initial position, Δ T is the previous Hall sector rotor operation time, and Δ t is to work as
The runing time of preceding Hall sector, Δ ω are the difference of mean speed in two Hall sectors.
Preferably, in the step 4, the permanent magnet synchronous motor sliding formwork back-EMF observer device under alpha-beta coordinate system is established
Method is：
Electric machine phase current is coordinately transformed first, the electric current under two-phase stationary coordinate system is obtained, establishes permanent-magnet synchronous
The mathematical model of motor makes the difference in two-phase stationary coordinate system according to desired value and actual value according to the mathematical model, definition
Sliding formwork inspection surface S and sliding mode observer gain coefficient κ > max (| eα|,|eβ|), wherein eα、eβThe respectively anti-electricity of alpha-beta axis
Gesture component, and have To estimate rotor angular rate, ψfFor rotor permanent magnetism
Body magnetic linkage,Electrical angle position for rotor relative to α axis；Then haveWherein, STFor the transposition of S,For S's
First derivative；System sliding mode generates, i.e. S=0,It is fixed that alpha-beta axis can be estimated by sliding formwork observation counter electromotive force equation
Sub- back-emf, building sliding mode observer are：
Wherein, RsFor stator resistance, LsFor stator d-q axle inductance, vα、vβFor motor stator alpha-beta shaft voltage component, iα、iβ
Respectively motor stator alpha-beta shaft current component,For iα、iβEstimated value, F be sigmoid function, κ is sliding mode observer
Gain coefficient.
Preferably, the three-phase current coordinate transform is converted using Clarke, and Clarke transformation is by three-phase plane coordinates
It is that ABC is converted to two-phase plane vector coordinate system, shown in conversion process such as formula (3).
Preferably, shown in the sliding-mode surface of definition such as formula (4).
Preferably, in the step 5, it is by the method that phaselocked loop carries out rotor and turn count：Estimation is obtained
Counter electromotive force is inputted as phaselocked loop, and the extraction of rotor-position signal is carried out by phaselocked loop, passes through discrete hall position information
Linear feed-forward correction is weighted to the signal extracted, shown in phase-locked loop systems closed loop transfer function, such as formula (5)：
Wherein, KpAnd KIFor the ratio and integral parameter of PI controller, error ε is expressed as：
Wherein, E=ω2ψf；After PI is adjusted, error ε levels off to zero, i.e. estimation rotor position angle approximation actual rotor
Position angle.
Preferably, the method that linear feed-forward correction is weighted to position estimation result by discrete position signals for minimizing torque
It is：Assuming that it is identical in adjacent Hall sector runing time, the current interval time is replaced with a Hall sector time, introduces compensation
WeightWeighted linear compensation method is used to double sight observers, sliding formwork observation is linearly mended by formula (7)
It repays：
Wherein, θ2、Respectively compensation front and back sliding formwork observation position,Hall boundary rotor position estimation error.
After adopting the above scheme, the present invention can obtain the observation rotor-position of degree of precision within the scope of wide range speed.
Detailed description of the invention
Fig. 1 is hall position sensor installation diagram；
Fig. 2 is observer parameter adjuster；
Fig. 3 is Observer Structure block diagram；
Fig. 4 is flow diagram of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further to be described in detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, it is not used to
Limit the present invention.
As shown in Figure 1, three Hall switch position sensors answer central symmetry to install.
As shown in Fig. 2, the present invention provides a kind of method of hall position sensor estimation rotor-position, including walk as follows
Suddenly：
A kind of method of hall position sensor estimation rotor-position, includes the following steps：
Step 1：Rotor is rotated a circle and is equally divided into six Hall sectors, installs three in peritrochanteric central symmetry
Hall switch position sensor, obtains three road hall signals, and each Hall sector is π/3；
Step 2：Motor operation phase current is acquired, hall signal value, the runing time to rotor in single Hall sector are acquired
Timing；
Step 3：According to previous Hall sector rotor operation time and Hall sector arc length π/3, rotor is calculated previous
The mean speed and acceleration of Hall sector, and current rotor position θ is calculated1And rotational speed omega1, it is denoted as first parameter；
Step 4：It is coordinately transformed according to electric machine phase current, obtains electric current under alpha-beta coordinate system, and establish alpha-beta coordinate system
Under permanent magnet synchronous motor mathematical model；Sliding mode observer is established according to mathematical model, sliding-mode surface is defined, finds out alpha-beta coordinate system
Lower counter electromotive force；
Step 5：Rotor position information in counter electromotive force is extracted by phaselocked loop, and passes through discrete position signals for minimizing torque
Linear feed-forward correction is weighted to the rotor-position that extraction obtains, the rotor position after being corrected2And rotational speed omega2, it is denoted as
Second batch parameter；
Step 6：According to above-mentioned the first and second batch of gained parameter, defining first and second batch of parameter weight is observer
Weight λ, by first and second batch of parameter θ1、θ2Following formula is substituted into observer weight λ, obtains estimation rotor positionr：
θr=λ θ1+(1-λ)θ2
Wherein, ωrTo estimate rotor speed, as shown in figure 3, observer weight λ adjusting method is：The rotor position that will be obtained
Set θrAnd rotational speed omegarBeing input to parameter adjuster makes it to variation weight, weightWherein ωrIt is fanned by a upper Hall
The rotor speed in area substitutes into；ωr=λ ω1+(1-λ)ω2, Δ θ is the variation of single Hall sector position, and n is rated speed.It will add
Weight is updated to formula θr=λ θ1+(1-λ)θ2In, estimation rotor position can be obtainedr, complete the estimation of rotor-position.
Further, in step 2 described above, the method for acquisition motor operation phase current is：The three of full-bridge inverter
A lower bridge arm is connected three sampling resistors respectively, obtains electric machine phase current by AD conversion.
Further, in step 3 described above, in the step 3, first parametric solution method is：Existed by rotor
Mean speed of the run-time estimation rotor of previous Hall sector in previous Hall sectorSuddenly by the first two
The mean speed of your sector finds out the acceleration of mean speed variationAccording to required mean speed and acceleration structure
Build first parameter θ1：
Wherein, θkFor current Hall sector initial position, Δ T is the previous Hall sector rotor operation time, and Δ t is to work as
The runing time of preceding Hall sector, Δ ω are the difference of mean speed in two Hall sectors.
Further, in step 4 described above, the permanent magnet synchronous motor sliding formwork counter electromotive force established under alpha-beta coordinate system is seen
Survey device method be：
Electric machine phase current is coordinately transformed first, the electric current under two-phase stationary coordinate system is obtained, establishes permanent-magnet synchronous
The mathematical model of motor makes the difference in two-phase stationary coordinate system according to desired value and actual value according to the mathematical model, definition
Sliding formwork inspection surface S and sliding mode observer gain coefficient κ > max (| eα|,|eβ|), wherein eα、eβThe respectively anti-electricity of alpha-beta axis
Gesture component, and have To estimate rotor angular rate, ψfFor rotor permanent magnetism
Body magnetic linkage,Electrical angle position for rotor relative to α axis；Then haveWherein, STFor the transposition of S,It is the one of S
Order derivative；System sliding mode generates, i.e. S=0,Alpha-beta axis stator can be estimated by observing counter electromotive force equation by sliding formwork
Back-emf, building sliding mode observer are：
Wherein, RsFor stator resistance, LsFor stator d-q axle inductance, vα、vβFor motor stator alpha-beta shaft voltage component, iα、iβ
Respectively motor stator alpha-beta shaft current component,For iα、iβEstimated value, F be sigmoid function, κ is sliding mode observer
Gain coefficient.
Further, three-phase current coordinate transform described above using method be：Clarke transformation, it is described
Clarke is to convert three photo coordinate system ABC to two-phase plane vector coordinate system, i.e., 3/2 transformation.
Further, the sliding-mode surface of definition described above is：
Further, in step 5 described above, it is by the method that phaselocked loop carries out rotor and turn count：It will estimation
Obtained counter electromotive force is inputted as phaselocked loop, and the extraction of rotor-position signal is carried out by phaselocked loop, passes through discrete Hall position
Confidence breath is weighted linear feed-forward correction to the signal extracted, shown in phase-locked loop systems closed loop transfer function, such as formula (5)：
Wherein, KpAnd KIFor the ratio and integral parameter of PI controller, error ε is expressed as：
Wherein, E=ω2ψf；After PI is adjusted, error ε levels off to zero, i.e. estimation rotor position angle approximation actual rotor
Position angle.
Further, referring to Fig. 2, it is described above by discrete position signals for minimizing torque to position estimation result be weighted it is linear before
Presenting the method corrected is：Assuming that it is identical in adjacent Hall sector runing time, current interval is replaced with a Hall sector time
Time introduces compensation weightWeighted linear compensation method is used to double sight observers, sliding formwork is observed by formula (7)
Value carries out linear compensation：
Wherein, θ2、Respectively compensation front and back sliding formwork observation position,Hall boundary rotor position estimation error.
To sum up, the present invention is on the basis of considering cost and control performance, can degree of precision in a wider range
Observation rotor-position and revolving speed, with hall position sensor pair observations evaluation method not only to no sensor sliding Mode Algorithm
Reliability is promoted, while can be improved rotor position estimation precision, reduces turn count error.By average acceleration method meter
Calculation obtain rotary speed information be input in sliding mode observer not only as feedforward amount can solve existing start of sliding mode observer can not
By with low-speed stability problem, the lower sliding mode observer of high speed is modified average acceleration algorithm, reduces hall position sensing
Device installation error bring influences, and can achieve the control requirement of higher standard.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (8)
1. a kind of method of hall position sensor estimation rotor-position, it is characterised in that include the following steps：
Step 1：Rotor is rotated a circle and is equally divided into six Hall sectors, three switches are installed in peritrochanteric central symmetry
Type hall position sensor, obtains three road hall signals, and each Hall sector is π/3；
Step 2：Motor operation phase current is acquired, hall signal value, the runing time meter to rotor in single Hall sector are acquired
When；
Step 3：According to previous Hall sector rotor operation time and Hall sector arc length π/3, rotor is calculated in previous Hall
The mean speed and acceleration of sector, and current rotor position θ is calculated1And rotational speed omega1, it is denoted as first parameter；
Step 4：It is coordinately transformed according to electric machine phase current, obtains electric current under alpha-beta coordinate system, and established under alpha-beta coordinate system
Permanent magnet synchronous motor mathematical model；Sliding mode observer is established according to mathematical model, defines sliding-mode surface, is found out anti-under alpha-beta coordinate system
Electromotive force；
Step 5：Rotor position information in counter electromotive force is extracted by phaselocked loop, and by discrete position signals for minimizing torque to mentioning
The rotor-position obtained is weighted linear feed-forward correction, the rotor position after being corrected2And rotational speed omega2, it is denoted as second
Criticize parameter；
Step 6：According to above-mentioned the first and second batch of gained parameter, defining first and second batch of parameter weight is observer weight
λ, by first and second batch of parameter θ1、θ2Following formula is substituted into observer weight λ, obtains estimation rotor positionr：
θr=λ θ1+(1-λ)θ2
Wherein, observer weight λ adjusting method is：The rotor position that will be obtainedrAnd rotational speed omegarBeing input to parameter adjuster makes it
To variation weight, weightWherein ωrTo estimate rotor speed, ωr=λ ω1+(1-λ)ω2, Δ θ be it is single suddenly
You change sector position, and n is rated speed.
2. the method for hall position sensor estimation rotor-position as described in claim 1, which is characterized in that the step 2
In, the method for acquisition motor operation phase current is：It connects respectively in three lower bridge arms of full-bridge inverter a sampling resistor,
It acquires the voltage on the sampling resistor and obtains electric machine phase current after AD conversion.
3. the method for hall position sensor estimation rotor-position as described in claim 1, which is characterized in that the step 3
In, first parametric solution method is：By rotor previous Hall sector run-time estimation rotor in previous Hall
The mean speed of sectorThe acceleration of mean speed variation is found out by the mean speed of the first two Hall sectorFirst parameter θ is constructed according to required mean speed and acceleration1：
Wherein, θkFor current Hall sector initial position, Δ T is the previous Hall sector rotor operation time, and Δ t is currently suddenly
The runing time of your sector, Δ ω are the difference of mean speed in two Hall sectors.
4. the method for hall position sensor estimation rotor-position as claimed in claim 3, which is characterized in that the step 4
In, the method for the permanent magnet synchronous motor sliding formwork back-EMF observer device established under alpha-beta coordinate system is：
Electric machine phase current is coordinately transformed first, the electric current under two-phase stationary coordinate system is obtained, establishes permanent magnet synchronous motor
Mathematical model, made the difference in two-phase stationary coordinate system according to desired value and actual value according to the mathematical model, define sliding formwork
Inspection surface S and sliding mode observer gain coefficient κ > max (| eα|,|eβ|), wherein eα、eβThe respectively back-emf of alpha-beta axis point
Amount, and have To estimate rotor angular rate, ψ | it is rotor permanent magnet magnetic
Chain,Electrical angle position for rotor relative to α axis；Then haveWherein, STFor the transposition of S,It is led for the single order of S
Number；System sliding mode generates, i.e. S=0,It is anti-electric that alpha-beta axis stator can be estimated by sliding formwork observation counter electromotive force equation
Gesture, building sliding mode observer are：
Wherein, RsFor stator resistance, LsFor stator d-q axle inductance, vα、vβFor motor stator alpha-beta shaft voltage component, iα、iβRespectively
For motor stator alpha-beta shaft current component,For iα、iβEstimated value, F be sigmoid function, κ be sliding mode observer gain
Coefficient.
5. the method for hall position sensor estimation rotor-position as claimed in claim 4, which is characterized in that the three-phase electricity
It flows coordinate transform to convert using Clarke, it is by three photo coordinate system ABC to two-phase plane vector coordinate system that Clarke, which is converted,
Conversion, shown in conversion process such as formula (3).
6. the method for hall position sensor estimation rotor-position as claimed in claim 5, which is characterized in that the sliding formwork of definition
Shown in face such as formula (4).
7. the method for hall position sensor estimation rotor-position as claimed in claim 6, which is characterized in that the step 5
In, it is by the method that phaselocked loop carries out rotor and turn count：The counter electromotive force that estimation is obtained is inputted as phaselocked loop, is led to
The extraction that phaselocked loop carries out rotor-position signal is crossed, the signal extracted is weighted linearly by discrete hall position information
Forward feedback correction, shown in phase-locked loop systems closed loop transfer function, such as formula (5)：
Wherein, KpAnd KIFor the ratio and integral parameter of PI controller, error ε is expressed as：
Wherein, E=ω2ψf；After PI is adjusted, error ε levels off to zero, i.e. estimation rotor position angle approximation actual rotor position
Angle.
8. the method for hall position sensor as claimed in claim 7 estimation rotor-position, which is characterized in that it is described by from
Dissipating the method that position signal is weighted linear feed-forward correction to position estimation result is：Assuming that when adjacent Hall sector is run
Between it is identical, with a Hall sector time replace the current interval time, introduce compensation weightDouble sight observers are used
Weighted linear compensation method carries out linear compensation to sliding formwork observation by formula (7)：
Wherein, θ2、Respectively compensation front and back sliding formwork observation position,Hall boundary rotor position estimation error.
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| CN113358010A (en) * | 2021-05-31 | 2021-09-07 | 新乡航空工业(集团)有限公司上海分公司 | Hall sector boundary detection method and system for three-phase permanent magnet synchronous motor |
| CN114389501A (en) * | 2021-03-25 | 2022-04-22 | 南京航空航天大学 | Position detection scheme of single Hall rotor of bearingless sheet motor based on coordinate transformation |
| CN114826071A (en) * | 2022-03-08 | 2022-07-29 | 中南大学 | Permanent magnet synchronous motor rotor position and speed estimation method based on Hall sensor |
| CN115051602A (en) * | 2022-05-31 | 2022-09-13 | 江苏科技大学 | Permanent magnet synchronous motor rotor position detection device and method |
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