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CN110311608B - High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle - Google Patents

High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle Download PDF

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CN110311608B
CN110311608B CN201910352160.5A CN201910352160A CN110311608B CN 110311608 B CN110311608 B CN 110311608B CN 201910352160 A CN201910352160 A CN 201910352160A CN 110311608 B CN110311608 B CN 110311608B
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rotor
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CN110311608A (en
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吴春
陈科
南余荣
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Hangzhou Lingxin Microelectronics Co ltd
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Zhejiang University of Technology ZJUT
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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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • 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

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Abstract

一种最优注入角的高频方波电压注入永磁同步电机无位置传感器控制方法，包括以下步骤：步骤1，建立永磁同步电机离散高频阻抗数学模型；步骤2，计算最优角度高频方波电压注入在估计转子轴系电压分量；步骤3，求解估计转子坐标系内高频电流响应；步骤4，计算最优注入角γ的大小；步骤5，在高频信号注入坐标系内解调出高频电流响应,并利用锁相环估计得到其中包含的估计位置信息。本发明与之前的高频电压信号注入方法不同，通过计算最优注入角度，并在该角度处注入高频方波电压信号，有效减小了高频方波信号注入引起的转矩脉动影响，提高了系统性能。

Figure 201910352160

A position sensorless control method for a permanent magnet synchronous motor with a high-frequency square wave voltage injection at an optimal injection angle, comprising the following steps: Step 1, establishing a discrete high-frequency impedance mathematical model of the permanent magnet synchronous motor; Step 2, calculating the optimal angle height The frequency square wave voltage is injected into the estimated rotor shafting voltage component; Step 3, solve the high-frequency current response in the estimated rotor coordinate system; Step 4, calculate the size of the optimal injection angle γ; Step 5, inject the high-frequency signal into the coordinate system The high-frequency current response is demodulated, and the estimated position information contained in it is obtained by estimating the phase-locked loop. The present invention is different from the previous high-frequency voltage signal injection method. By calculating the optimal injection angle and injecting the high-frequency square wave voltage signal at the angle, the influence of torque ripple caused by the injection of the high-frequency square wave signal is effectively reduced. Improved system performance.

Figure 201910352160

Description

High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and relates to a high-frequency square wave voltage injection permanent magnet synchronous motor position-sensor-free control method with an optimal injection angle.
Background
The permanent magnet synchronous motor has the advantages of simple structure, high efficiency, high power density and the like, and occupies an important position in the fields of electric automobiles, household appliances, industrial automation and the like in recent years. In the vector control technology of the permanent magnet synchronous motor, a mechanical sensor (such as a photoelectric encoder, a rotary transformer and the like) is generally used for detecting the position of a rotor, but the use of the sensor causes the problems of increased system cost, increased volume and weight, susceptibility to interference, reduced reliability and the like. Therefore, the permanent magnet synchronous motor position sensorless (position self-detection) control method is concerned, and has high engineering practical value and research significance.
The high-frequency signal injection method is widely used for the control of the position-free sensor under the low-speed and static working conditions due to the characteristics that the high-frequency signal injection method does not depend on motor parameters, does not need back electromotive force information and the like. However, since an additional high frequency voltage (current) signal is injected, various adverse effects such as an increase in loss, significant electromagnetic noise, and the like are caused to the system. Especially high frequency signal injection will generate large current ripple, resulting in large ripple of torque.
Disclosure of Invention
In order to solve the defects mentioned in the background technology, the invention provides a high-frequency square wave voltage signal injection permanent magnet synchronous motor position sensorless control technology adopting an optimal injection angle. Due to the conventional estimated d-axis high-frequency voltage injection method, the generated high-frequency current vector may cause large torque ripple in the built-in permanent magnet synchronous motor. Therefore, by changing the direction of the injected high-frequency voltage vector, under the vector control of Maximum Torque current ratio (MTPA) of the built-in permanent magnet synchronous motor, the corresponding high-frequency current vector is enabled to be along the tangential direction of the Torque contour line, and the Torque ripple can be effectively reduced.
The technical scheme proposed for solving the problems is as follows:
a high-frequency square wave voltage injection permanent magnet synchronous motor position sensorless control method with an optimal injection angle comprises the following steps:
step 1, establishing a mathematical model of the permanent magnet synchronous motor under a high-frequency square wave voltage signal, wherein the process is as follows:
1.1, in dq two-phase synchronous rotating coordinate system, the voltage state equation of the IPMSM of the interior permanent magnet synchronous motor is expressed in a matrix form
Figure GDA0002131015410000021
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000022
stator voltage and current vectors, R, respectively, in a rotor reference systemsIs stator resistance, Ld、LqD, q-axis inductance, ωeIs the electrical angular velocity, #fIs the permanent magnet rotor flux linkage amplitude; the superscript r denotes the rotor shafting;
1.2, high frequency voltage signal with frequency much larger than fundamental frequency is injected into the IPMSM, and under the condition of lower rotation speed, the voltage of the stator resistance and the back electromotive voltage can be ignored, therefore, the high frequency impedance model of IPMSM can be simply expressed as the following pure inductance model:
Figure GDA0002131015410000023
in the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000024
high-frequency voltage and current components on d and q axes respectively; the subscript h represents a high frequency quantity;
1.3, di/dt can be approximated as Δ i/Δ t within one switching cycle, equation (2) is rewritten as
Figure GDA0002131015410000025
In the formula, delta T represents a switching period, and the formula (3) is a motor discrete mathematical model under a high-frequency square wave signal;
step 2, calculating the voltage component of the variable-angle high-frequency square wave injected into the estimated rotor shafting, wherein the process is as follows:
2.1, defining an arbitrary synchronous rotation coordinate system kl, injecting a high-frequency square wave voltage signal into the k axis
Figure GDA0002131015410000026
Figure GDA0002131015410000027
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000028
for separate injection in any synchronous rotationHigh-frequency voltage, V, of k-axis and l-axis in a rotating coordinate systemhN represents a sampling sequence number for the injection voltage amplitude;
2.2, transforming the high-frequency voltage signal injected into the kl shafting to an estimated synchronous rotating coordinate system
Figure GDA0002131015410000029
Obtaining high-frequency voltage signal in the estimated coordinate system
Figure GDA00021310154100000210
In the formula (I), the compound is shown in the specification,
Figure GDA00021310154100000211
respectively in the estimated synchronous rotating coordinate system
Figure GDA00021310154100000212
Shaft and
Figure GDA00021310154100000213
gamma is the synchronous rotation kl axis system and estimation of the injected high frequency signal
Figure GDA00021310154100000214
Angle between axes, i.e. angle between axes
Figure GDA00021310154100000215
θkRepresenting the angle between the injection and stationary coordinate systems, and T (theta) representing the counterclockwise rotation transformation
Figure GDA00021310154100000216
Wherein theta represents an included angle between the two synchronous rotating coordinate systems;
step 3, solving and estimating the high-frequency current response in the rotor coordinate system, wherein the process is as follows:
3.1, estimating a high-frequency voltage signal in a rotor coordinate system according to formula (5) injection, and combining a motor model formula (3) under a high-frequency square wave signal to obtain the motor model
Figure GDA0002131015410000031
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000032
for estimating shafting
Figure GDA0002131015410000033
Angle between the shaft and the actual rotor shaft system dq, thetaeIn order to be the actual rotor position,
Figure GDA0002131015410000034
to estimate a rotor position; l isΣ＝(Ld+Lq) A/2 is the mean inductance, LΔ＝(Ld-Lq) The/2 is the differential inductance; then the high frequency current response in the estimated coordinate system is obtained
Figure GDA0002131015410000035
3.2, the high-frequency voltage in the estimated coordinate system shown in the formula (5) is brought into a formula (8) to obtain the current response in the estimated rotor coordinate system
Figure GDA0002131015410000036
In the formula, the q-axis high-frequency current signal is estimated to contain a variable injection angle gamma, the traditional signal demodulation algorithm based on q-axis current response is not applicable any more, and then the high-frequency current response in an injection coordinate system is designed to be used for demodulating position information;
step 4, calculating the size of the optimal injection angle gamma, and providing a basis, wherein the process is as follows:
4.1, under the traditional method based on estimating the injection of d-axis high-frequency voltage signals, the torque pulsation caused by the generated high-frequency current response vector is large, in the MTPA control of the maximum torque-current ratio of the built-in permanent magnet synchronous motor, a torque contour line and a current vector under the MTPA control exist at an intersection point, the current vector along the tangential direction of the torque contour line at the working intersection point has the minimum influence on the system, in order to obtain the optimal current signal, a high-frequency square wave voltage signal with an angle gamma is injected, the angle gamma depends on the current working point on the MTPA curve, and the gamma is measured and calculated independently, and the calculated value of gamma is given here:
the controller adjusts the angle of the position estimation
Figure GDA0002131015410000041
Tracking the actual position thetaeThen estimating the coordinate system
Figure GDA0002131015410000042
Coincides with the actual coordinate system dq, then has
Figure GDA0002131015410000043
Figure GDA0002131015410000044
Wherein the angle β is θMTPA-π/2，θMTPAThe included angle of the stator current vector under the control of MTPA is obtainedMTPAThe variable injection angle gamma, namely the working torque load condition changes, and the injection angle also changes;
and 5, demodulating estimated position information in the high-frequency current response, wherein the process is as follows:
5.1 estimating shafting in equation (9)
Figure GDA0002131015410000045
The high-frequency current response in the system is transformed into the injection shafting kl,
Figure GDA0002131015410000046
thus, a high-frequency current response signal with respect to the rotor position error is obtained as shown in equation (12), and a position observer injects a high-frequency voltage signal into the coordinate system kl to make Δ θeTo 0 to obtain an estimated position of the rotor
Figure GDA0002131015410000047
In the above formula, the injection angle γ exists, so the position estimation error in the steady state is γ, the actual position of the rotor cannot be obtained,
therefore, to accurately estimate the rotor position, the following process is performed:
order to
Figure GDA0002131015410000048
Then there is
Figure GDA0002131015410000049
Figure GDA00021310154100000410
5.2, using the above equation (15) as observer input, when the observer converges, there is
sin(2Δθe)＝0 (16)
Obtaining an estimated position of
Figure GDA0002131015410000051
And (4) obtaining the estimated position of the rotor according to the formula (17) and converging the estimated position of the rotor to the actual position, so as to realize the position-sensorless control of the permanent magnet synchronous motor.
Further, in the step 5, due to the symmetry of the salient poles of the rotor, the polarity of the rotor needs to be identified in advance, that is, the positive direction of the d axis is determined, so as to accurately obtain the initial position of the rotor and ensure the normal starting and running of the motor.
The invention adopts a variable-angle high-frequency square wave voltage signal injection method to realize the position-sensor-free control of the built-in permanent magnet synchronous motor with the minimum torque pulsation under the optimal injection angle.
The technical conception of the invention is as follows: aiming at the situation that torque pulsation is possibly large due to a generated high-frequency current vector in a conventional method for injecting a high-frequency voltage signal based on an estimated d axis, the corresponding high-frequency current vector is enabled to be along the tangential direction of a torque contour line under the control of a maximum torque current ratio vector of an internal permanent magnet synchronous motor by changing the angle of injecting the high-frequency voltage vector, so that the torque pulsation is effectively reduced. Because the torque angles are different under different load working states, the angle of the injected high-frequency voltage vector signal is changed, a new injection coordinate system is defined, a high-frequency square wave voltage signal is injected, the optimal current vector is obtained by utilizing the voltage current relation, the adverse effect on the system is reduced, and the purpose of minimizing torque pulsation caused by additionally injected signals is achieved.
The invention has the beneficial effects that: under the low speed, aiming at different load working states, according to different torque angles controlled by MTPA vectors, a corresponding voltage injection angle is calculated, an optimal high-frequency current vector with small influence on a system is obtained, the influence of torque pulsation caused by extra signal injection is effectively reduced, the position and speed estimation precision of the control without a position sensor can be ensured, and the system performance is improved.
Drawings
Fig. 1 is a block diagram of the entire control system of the present invention.
Fig. 2 is a schematic diagram of a positional relationship between a two-phase stationary coordinate system, an actual two-phase synchronous rotating coordinate system, an estimated two-phase synchronous rotating coordinate system, and a two-phase injection synchronous rotating coordinate system.
Fig. 3 is a schematic diagram of the principle of optimal angle high frequency voltage signal injection.
Fig. 4 is a diagram of a PLL-type rotor position tracking observer.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 4, a high-frequency square wave signal injection permanent magnet synchronous motor position sensorless control method based on an optimal injection angle includes the following steps:
step 1, establishing a mathematical model of the permanent magnet synchronous motor under a high-frequency square wave voltage signal, wherein the process is as follows:
1.1, in dq two-phase synchronous rotating coordinate system, the voltage state equation of the IPMSM of the interior permanent magnet synchronous motor is expressed in a matrix form
Figure GDA0002131015410000061
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000062
stator voltage and current vectors, R, respectively, in a rotor reference systemsIs stator resistance, Ld、LqD, q-axis inductance, ωeIs the electrical angular velocity, #fIs the permanent magnet rotor flux linkage amplitude; the superscript r denotes the rotor shafting;
1.2, high frequency voltage signal with frequency much larger than fundamental frequency is injected into the IPMSM, and under the condition of lower rotation speed, the voltage of the stator resistance and the back electromotive voltage can be ignored, therefore, the high frequency impedance model of IPMSM can be simply expressed as the following pure inductance model:
Figure GDA0002131015410000063
in the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000064
high-frequency voltage and current components on d and q axes respectively; the subscript h represents a high frequency quantity;
1.3, di/dt can be approximated as Δ i/Δ t within one switching cycle, equation (2) is rewritten as
Figure GDA0002131015410000065
In the formula, delta T represents a switching period, and the formula (3) is a motor discrete mathematical model under a high-frequency square wave signal;
step 2, calculating the voltage component of the variable-angle high-frequency square wave injected into the estimated rotor shafting, wherein the process is as follows:
2.1, defining an arbitrary synchronous rotation coordinate system kl, injecting a high-frequency square wave voltage signal into the k axis
Figure GDA0002131015410000066
Figure GDA0002131015410000067
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000068
for injecting high-frequency voltages, V, respectively, of the k-axis and the l-axis in an arbitrary synchronous rotating coordinate systemhN represents a sampling sequence number for the injection voltage amplitude;
2.2, transforming the high-frequency voltage signal injected into the kl shafting to an estimated synchronous rotating coordinate system
Figure GDA0002131015410000069
Obtaining high-frequency voltage signal in the estimated coordinate system
Figure GDA00021310154100000610
In the formula (I), the compound is shown in the specification,
Figure GDA00021310154100000611
respectively in the estimated synchronous rotating coordinate system
Figure GDA00021310154100000612
Shaft and
Figure GDA00021310154100000613
gamma is the synchronous rotation kl axis system and estimation of the injected high frequency signal
Figure GDA00021310154100000614
Angle between axes, i.e. angle between axes
Figure GDA00021310154100000615
θkRepresenting the angle between the injection and stationary coordinate systems, and T (theta) representing the counterclockwise rotation transformation
Figure GDA0002131015410000071
Wherein theta represents an included angle between the two synchronous rotating coordinate systems; the relationship between the coordinate systems is shown in FIG. 2;
step 3, solving and estimating the high-frequency current response in the rotor coordinate system, wherein the process is as follows:
3.1, estimating a high-frequency voltage signal in a rotor coordinate system according to formula (5) injection, and combining a motor model formula (3) under a high-frequency square wave signal to obtain the motor model
Figure GDA0002131015410000072
In the formula (I), the compound is shown in the specification,
Figure GDA0002131015410000073
for estimating shafting
Figure GDA0002131015410000074
Angle between the shaft and the actual rotor shaft system dq, thetaeIn order to be the actual rotor position,
Figure GDA0002131015410000075
to estimate a rotor position; l isΣ＝(Ld+Lq) A/2 is the mean inductance, LΔ＝(Ld-Lq) The/2 is the differential inductance; then the high frequency current response in the estimated coordinate system is obtained
Figure GDA0002131015410000076
3.2, the high-frequency voltage in the estimated coordinate system shown in the formula (5) is brought into a formula (8) to obtain the current response in the estimated rotor coordinate system
Figure GDA0002131015410000077
In the formula, the q-axis high-frequency current signal is estimated to contain a variable injection angle gamma, the traditional signal demodulation algorithm based on q-axis current response is not applicable any more, and then the high-frequency current response in an injection coordinate system is designed to be used for demodulating position information;
step 4, calculating the size of the optimal injection angle gamma, and providing a basis, wherein the process is as follows:
4.1, as shown in FIG. 3, the conventional method is based on estimating a d-axis high-frequency voltage signal uh1Under the injection method, the generated high-frequency current response vector ih1The generated torque pulsation is large, a torque contour line and a current vector intersection point under the control of MTPA exist in the MTPA control of the maximum torque-current ratio of the built-in permanent magnet synchronous motor, and a current vector i along the tangential direction of the torque contour line at the working intersection pointh2Has minimal influence on the system, and a high-frequency square wave voltage signal u with an angle gamma is used for obtaining the optimal current signalh2Injected and this angle γ depends on the current operating point on the MTPA curve and should be measured and calculated separately, where the calculated value of γ is given:
the controller adjusts the angle of the position estimation
Figure GDA0002131015410000081
Tracking the actual position thetaeThen estimating the coordinate system
Figure GDA0002131015410000082
Coincides with the actual coordinate system dq, then has
Figure GDA0002131015410000083
Figure GDA0002131015410000084
Wherein the angle β is θMTPA-π/2，θMTPAThe included angle of the stator current vector under the control of MTPA is obtainedMTPAThe variable injection angle gamma, namely the working torque load condition changes, and the injection angle also changes;
and 5, demodulating estimated position information in the high-frequency current response, wherein the process is as follows:
5.1 estimating shafting in equation (9)
Figure GDA0002131015410000085
The high-frequency current response in the system is transformed into the injection shafting kl,
Figure GDA0002131015410000086
thus, a high-frequency current response signal with respect to the rotor position error is obtained as shown in equation (12), and a position observer injects a high-frequency voltage signal into the coordinate system kl to make Δ θeTo 0 to obtain an estimated position of the rotor
Figure GDA0002131015410000087
In the above formula, the injection angle γ exists, so the position estimation error in the steady state is γ, the actual position of the rotor cannot be obtained,
therefore, to accurately estimate the rotor position, the following process is performed:
order to
Figure GDA0002131015410000088
Then there is
Figure GDA0002131015410000089
Figure GDA00021310154100000810
5.2 rotor position observer as shown in FIG. 4, using equation (15) as observer input, when observer converges, there is
sin(2Δθe)＝0 (33)
Obtaining an estimated position of
Figure GDA0002131015410000091
And (4) obtaining the estimated position of the rotor according to the formula (17) and converging the estimated position of the rotor to the actual position, so as to realize the position-sensorless control of the permanent magnet synchronous motor.
In addition, due to the symmetry of the salient poles of the rotor, the polarity of the rotor needs to be identified in advance, namely the positive direction of the d axis is determined, so that the initial position of the rotor is accurately acquired, and the normal starting operation of the motor is ensured.

Claims (2)

1.一种最优注入角的高频方波电压注入永磁同步电机无位置传感器控制方法，其特征在于：所述控制方法包括以下步骤：1. a high-frequency square wave voltage of an optimal injection angle is injected into a permanent magnet synchronous motor sensorless control method, it is characterized in that: described control method comprises the following steps: 步骤1，建立高频方波电压下内置式永磁同步电机数学模型，过程如下：Step 1, establish the mathematical model of the built-in permanent magnet synchronous motor under the high frequency square wave voltage, the process is as follows: 1.1，在两相同步旋转坐标系dq中，内置式永磁同步电机的电压状态方程用矩阵的形式表示如下1.1, in the two-phase synchronous rotating coordinate system dq, the voltage state equation of the built-in permanent magnet synchronous motor is expressed in the form of a matrix as follows
Figure FDA0002939507180000011
Figure FDA0002939507180000011
 式中，
Figure FDA0002939507180000012
分别为两相同步旋转坐标系dq下定子电压和电流矢量，Rs为定子电阻，Ld、Lq为d、q轴电感，ωe为电气角速度，ψf为永磁体转子磁链幅值；上标r表示转子轴系；In the formula,
Figure FDA0002939507180000012
are the stator voltage and current vectors in the two-phase synchronous rotating coordinate system dq respectively, R s is the stator resistance, L d and L q are the d and q-axis inductances, ω e is the electrical angular velocity, and ψ f is the permanent magnet rotor flux linkage amplitude ;The superscript r indicates the rotor shafting; 1.2，内置式永磁同步电机的高频阻抗模型表示为如下纯电感模型：1.2. The high-frequency impedance model of the built-in permanent magnet synchronous motor is expressed as the following pure inductance model:
Figure FDA0002939507180000013
Figure FDA0002939507180000013
 式中，
Figure FDA0002939507180000014
分别为d、q轴上的高频电压、电流分量；下标h表示高频量；In the formula,
Figure FDA0002939507180000014
are the high-frequency voltage and current components on the d and q axes, respectively; the subscript h represents the high-frequency quantity; 1.3，在一个开关周期内di/dt可以近似为Δi/Δt，式(2)重写为1.3, in one switching cycle, di/dt can be approximated as Δi/Δt, and equation (2) can be rewritten as
Figure FDA0002939507180000015
Figure FDA0002939507180000015
 式中，ΔT表示一个开关周期，(3)式即为高频方波电压下内置式永磁同步电机离散数学模型；In the formula, ΔT represents a switching period, and formula (3) is the discrete mathematical model of the built-in permanent magnet synchronous motor under the high-frequency square wave voltage; 步骤2，计算变角度高频方波电压注入在估计同步旋转坐标系
Figure FDA0002939507180000016
的电压分量，过程如下：Step 2, calculate the variable-angle high-frequency square wave voltage injection in the estimated synchronous rotating coordinate system
Figure FDA0002939507180000016
The voltage component of , the process is as follows: 2.1，定义一任意同步旋转坐标系kl，在其kl 轴注入高频方波电压
Figure FDA0002939507180000017
2.1, define an arbitrary synchronous rotating coordinate system kl, and inject a high-frequency square wave voltage into its kl axis
Figure FDA0002939507180000017
Figure FDA0002939507180000018
Figure FDA0002939507180000018
 式中，
Figure FDA0002939507180000019
为分别注入在任意同步旋转坐标系kl中k轴和l轴的高频方波电压，Vh为注入电压幅值，n表示采样序号；In the formula,
Figure FDA0002939507180000019
is the high-frequency square wave voltage injected into the k-axis and the l-axis of the arbitrary synchronous rotating coordinate system kl respectively, V h is the amplitude of the injected voltage, and n represents the sampling sequence number; 2.2，将注入任意同步旋转坐标系kl的高频方波电压变换到估计同步旋转坐标系
Figure FDA00029395071800000110
内，得到估计同步旋转坐标系
Figure FDA00029395071800000111
内高频电压信号2.2, Transform the high-frequency square wave voltage injected into any synchronous rotating coordinate system kl to the estimated synchronous rotating coordinate system
Figure FDA00029395071800000110
, obtain the estimated synchronous rotating coordinate system
Figure FDA00029395071800000111
Internal high frequency voltage signal
Figure FDA0002939507180000021
Figure FDA0002939507180000021
 式中，
Figure FDA0002939507180000022
分别为估计同步旋转坐标系
Figure FDA0002939507180000023
内
Figure FDA0002939507180000024
轴和
Figure FDA0002939507180000025
轴的高频电压信号，γ为注入高频方波电压的任意同步旋转坐标系kl和估计同步旋转坐标系
Figure FDA0002939507180000026
之间的夹角，即
Figure FDA0002939507180000027
θk表示任意同步旋转坐标系kl和静止坐标系之间的夹角，T(θ)表示逆时针旋转变换In the formula,
Figure FDA0002939507180000022
are estimated synchronous rotating coordinate systems, respectively
Figure FDA0002939507180000023
Inside
Figure FDA0002939507180000024
axis and
Figure FDA0002939507180000025
The high-frequency voltage signal of the shaft, γ is the arbitrary synchronous rotating coordinate system kl injected with the high-frequency square wave voltage and the estimated synchronous rotating coordinate system
Figure FDA0002939507180000026
the angle between
Figure FDA0002939507180000027
θ k represents the angle between any synchronous rotating coordinate system kl and the stationary coordinate system, and T(θ) represents the counterclockwise rotation transformation
Figure FDA0002939507180000028
Figure FDA0002939507180000028
 其中，θ表示两同步旋转坐标系之间的夹角；Among them, θ represents the angle between the two synchronously rotating coordinate systems; 步骤3,求解估计同步旋转坐标系
Figure FDA0002939507180000029
内高频电流响应，过程如下：Step 3, solve the estimated synchronous rotating coordinate system
Figure FDA0002939507180000029
Internal high frequency current response, the process is as follows: 3.1，根据(5)式所示估计同步旋转坐标系
Figure FDA00029395071800000210
内高频电压信号，结合高频方波电压下内置式永磁同步电机离散数学模型(3)式，得3.1, according to the equation (5) to estimate the synchronous rotation coordinate system
Figure FDA00029395071800000210
The internal high-frequency voltage signal, combined with the discrete mathematical model (3) of the built-in permanent magnet synchronous motor under the high-frequency square wave voltage, can be obtained
Figure FDA00029395071800000211
Figure FDA00029395071800000211
 式中，
Figure FDA00029395071800000212
为估计同步旋转坐标系
Figure FDA00029395071800000213
和两相同步旋转坐标系dq之间的夹角，θe为转子实际位置，
Figure FDA00029395071800000214
为转子估计位置；LΣ＝(Ld+Lq)/2为均值电感，LΔ＝(Ld-Lq)/2为差值电感；则得到估计同步旋转坐标系
Figure FDA00029395071800000215
内高频电流响应In the formula,
Figure FDA00029395071800000212
Rotate the coordinate system for estimating synchronization
Figure FDA00029395071800000213
and the angle between the two-phase synchronous rotating coordinate system dq, θ e is the actual position of the rotor,
Figure FDA00029395071800000214
is the estimated position of the rotor; L Σ =(L d +L q )/2 is the average inductance, and L Δ =(L d -L q )/2 is the difference inductance; then the estimated synchronous rotation coordinate system is obtained
Figure FDA00029395071800000215
Internal high frequency current response
Figure FDA00029395071800000216
Figure FDA00029395071800000216
 3.2，将式(5)所示估计同步旋转坐标系
Figure FDA00029395071800000217
内高频电压信号带入式(8)得估计同步旋转坐标系
Figure FDA00029395071800000218
内高频电流响应3.2, estimate the synchronous rotation coordinate system shown in equation (5)
Figure FDA00029395071800000217
The internal high-frequency voltage signal is brought into equation (8) to estimate the synchronous rotating coordinate system
Figure FDA00029395071800000218
Internal high frequency current response
Figure FDA00029395071800000219
Figure FDA00029395071800000219
 式中估计q轴高频电流响应中包含变化的注入角γ，传统基于q轴电流响应的信号解调算法不再适用，接下来设计利用任意同步旋转坐标系kl内高频电流响应来解调出转子位置信息；In the formula, the estimated q-axis high-frequency current response includes the variable injection angle γ, and the traditional signal demodulation algorithm based on the q-axis current response is no longer applicable. Output rotor position information; 步骤4，计算最优注入角γ的大小，并给出依据，过程如下：Step 4, calculate the size of the optimal injection angle γ, and give the basis, the process is as follows: 4.1，传统基于估计d轴高频电压信号注入方法下，所产生高频电流响应矢量引起的转矩脉动较大，内置式永磁同步电机最大转矩电流比MTPA控制中，存在转矩等值线与MTPA控制下的电流矢量相交点，沿此工作交点处的转矩等值线切线方向的电流矢量对系统影响最小，为获得此最佳电流信号，一个角度为γ的高频方波电压被注入，且此角度γ依赖于MTPA曲线上电流工作点，应被单独测量计算，此处给出γ的计算值：4.1. Under the traditional injection method based on estimated d-axis high-frequency voltage signal, the generated high-frequency current response vector causes large torque ripple. In the MTPA control of the maximum torque-current ratio of the built-in permanent magnet synchronous motor, there is a torque equivalent The intersection of the line and the current vector under MTPA control, the current vector along the tangential direction of the torque isoline at this working intersection has the least impact on the system. In order to obtain this optimal current signal, a high-frequency square wave voltage with an angle of γ is injected, and this angle γ depends on the current operating point on the MTPA curve, which should be measured and calculated separately, and the calculated value of γ is given here: 受控制器调节可使转子估计位置
Figure FDA0002939507180000031
跟踪上转子实际位置θe，则估计同步旋转坐标系
Figure FDA0002939507180000032
与两相同步旋转坐标系dq重合，于是有Adjusted by the controller to estimate the rotor position
Figure FDA0002939507180000031
Track the actual position θ e of the upper rotor, then estimate the synchronous rotating coordinate system
Figure FDA0002939507180000032
Coinciding with the two-phase synchronous rotating coordinate system dq, so there is
Figure FDA0002939507180000033
Figure FDA0002939507180000033
Figure FDA0002939507180000034
Figure FDA0002939507180000034
 式中，角β＝θMTPA-π/2，θMTPA为MTPA控制下的定子电流矢量夹角，由此得到一个随θMTPA变化的注入角γ；In the formula, the angle β=θ MTPA -π/2, and θ MTPA is the included angle of the stator current vector under the control of MTPA, thereby obtaining an injection angle γ that varies with θ MTPA ; 步骤5，解调出高频电流响应中的转子估计位置信息，过程如下：Step 5, demodulate the rotor estimated position information in the high frequency current response, the process is as follows: 5.1，将(9)式中估计同步旋转坐标系
Figure FDA0002939507180000035
内的高频电流响应变换到任意同步旋转坐标系kl中，5.1, estimate the synchronous rotation coordinate system in (9)
Figure FDA0002939507180000035
The high-frequency current response within is transformed into an arbitrary synchronous rotating coordinate system kl,
Figure FDA0002939507180000036
Figure FDA0002939507180000036
 由此得到关于转子位置估计误差的高频电流响应如式(12)所示，在任意同步旋转坐标系kl中，位置观测器使Δθe为0来获得转子估计位置
Figure FDA0002939507180000037
而上式中由于存在注入角γ，故稳态时的转子位置估计误差为γ，无法得到转子实际位置θe，因此为准确估计转子位置，作如下处理：Therefore, the high-frequency current response about the rotor position estimation error is obtained as shown in equation (12), in any synchronous rotating coordinate system kl, the position observer sets Δθ e to 0 to obtain the estimated rotor position
Figure FDA0002939507180000037
In the above formula, due to the existence of the injection angle γ, the rotor position estimation error in the steady state is γ, and the actual rotor position θ e cannot be obtained. Therefore, in order to accurately estimate the rotor position, the following processing is performed: 令
Figure FDA0002939507180000038
make
Figure FDA0002939507180000038
 则有then there are
Figure FDA0002939507180000041
Figure FDA0002939507180000041
Figure FDA0002939507180000042
Figure FDA0002939507180000042
 5.2，将上式(15)的计算结果作为观测器输入，当转子估计位置
Figure FDA0002939507180000043
跟踪上转子实际位置θe，则有5.2, the calculation result of the above formula (15) is used as the observer input, when the estimated position of the rotor is
Figure FDA0002939507180000043
Tracking the actual rotor position θ e , there is sin(2Δθe)＝0 (16)sin(2Δθ e )=0 (16) 得到转子估计位置
Figure FDA0002939507180000044
为get rotor estimated position
Figure FDA0002939507180000044
for
Figure FDA0002939507180000045
Figure FDA0002939507180000045
 根据式(17)得到转子估计位置
Figure FDA0002939507180000046
收敛于转子实际位置θe，实现内置式永磁同步电机无位置传感器控制。According to equation (17), the estimated rotor position is obtained
Figure FDA0002939507180000046
Converging on the actual rotor position θ e , the sensorless control of the built-in permanent magnet synchronous motor is realized. 2.如权利要求1所述的最优注入角的高频方波电压注入永磁同步电机无位置传感器控制方法，其特征在于：所述步骤5中，由于转子凸极的对称性，需预先进行转子极性的辨识，即确定d轴正方向，以准确获取转子的初始位置，保证内置式永磁同步电机正常起动运行。2. The high-frequency square wave voltage injection of the optimal injection angle as claimed in claim 1 is characterized in that the sensorless control method of the permanent magnet synchronous motor is characterized in that: in the step 5, due to the symmetry of the rotor salient pole, it is necessary to pre- Identify the polarity of the rotor, that is, determine the positive direction of the d-axis, so as to accurately obtain the initial position of the rotor and ensure the normal starting and running of the built-in permanent magnet synchronous motor.
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