CN112910330A - PMSM (permanent magnet synchronous motor) position-sensorless control method based on weighted sliding mean filter - Google Patents
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- 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
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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
- 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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- 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
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
本发明公开了一种基于加权滑动均值滤波器的PMSM无位置传感器控制方法，属于永磁同步电机技术领域，该方法根据采样得到的永磁同步电机(PMSM)各相电流和电压信息，经滑模观测器估计出扩展反电动势，再使用加权滑动均值滤波器进行谐波滤除，并结合归一化后的正交锁相环对永磁同步电机转子位置和转速进行估算，最终实现对永磁同步电机的无位置传感器控制，本发明通过直接设定加权滑动均值滤波器的阶数，可实现对扩展反电动势中谐波的有效滤除，同时可替代传统控制算法中的低通滤波器，避免因低通滤波器的相位延时而造成估计转子位置误差大的问题，从而提高转子位置估测精度。
The invention discloses a PMSM position sensorless control method based on a weighted sliding mean filter, belonging to the technical field of permanent magnet synchronous motors. The extended back EMF is estimated by the modulus observer, and then the weighted sliding average filter is used to filter out the harmonics. Combined with the normalized quadrature phase-locked loop, the rotor position and speed of the permanent magnet synchronous motor are estimated, and finally the permanent magnet synchronous motor is estimated. For the position sensorless control of the magnetic synchronous motor, the present invention can realize the effective filtering of harmonics in the extended back electromotive force by directly setting the order of the weighted sliding average filter, and at the same time can replace the low-pass filter in the traditional control algorithm , to avoid the problem of large rotor position error caused by the phase delay of the low-pass filter, thereby improving the rotor position estimation accuracy.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a PMSM (permanent magnet synchronous motor) position sensorless control method based on a weighted sliding mean filter.
Background
The PMSM (permanent magnet synchronous motor) has the advantages of simple structure, high reliability, high power density, high torque density, excellent speed regulation performance and the like, and is widely applied to the fields of aerospace, numerical control machines, electric automobiles and the like. The high-performance permanent magnet synchronous motor driving system requires real-time and accurate acquisition of rotor position information, and the currently adopted mechanical position sensors (such as rotary transformers, hall elements, encoders and the like) have poor environmental adaptability, so that the volume and the cost of the motor driving system can be increased, and the reliability of the system is reduced. Therefore, the position sensorless control technology of the permanent magnet synchronous motor with low cost, high precision and high reliability becomes a hot spot of domestic and foreign research.
A sliding mode observer method is usually adopted in the permanent magnet synchronous motor position sensorless control method at the present stage, the sliding mode observer method realizes position error signal convergence through variable structure control, and has strong robustness on parameter change, and the algorithm is easy to realize. However, the conventional sliding mode observer method usually employs a low-pass filter to filter and estimate harmonic waves and noise in the back electromotive force, so that the phase delay is inevitably caused, and the estimation accuracy of the rotor position angle is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a PMSM (permanent magnet synchronous motor) position sensorless control method based on a weighted sliding mean filter.
The purpose of the invention can be realized by the following technical scheme: a PMSM (permanent magnet synchronous motor) sensorless control method based on a weighted sliding mean filter comprises the following steps:
(1) measuring three-phase stator current and voltage of the permanent magnet synchronous motor, and performing stationary coordinate transformation (Clark transformation) on the measured three-phase stator current and voltage to obtain current i under a two-phase stationary alternating current coordinateαAnd iβAnd a voltage uαAnd uβ；
(2) Using i as defined in step (1)α、iβ、uαAnd uβThe estimated extended back electromotive force is obtained by a sliding-mode observer
And
(3) expanding the back electromotive force of the step (2)
And
filtering with N-order weighted sliding mean filter (WMAF), filtering out high-frequency harmonic component, and obtaining filtered extended back electromotive force
And
(4) firstly, the expanded back electromotive force processed in the step (3) is processed
And
performing normalization treatment to
And
are respectively divided by
Extracting the position and rotating speed information of the rotor through an orthogonal phase-locked loop after processing;
(5) and (4) feeding back the rotor position and rotation speed information obtained in the step (4) to a vector control system of the permanent magnet synchronous motor to form a closed loop of rotation speed and angle, thereby realizing position-sensor-free control.
Further, in the step (2), the sliding-mode observer adopts a discrete model of Euler forward difference, so that the control algorithm can be conveniently realized on a Digital Signal Processor (DSP);
the sliding-mode observer selects a saturated saturation function as a sliding-mode variable structure to inhibit the buffeting of the system.
Further, in the step (3), the value range of the order N of the weighted sliding mean filter is { N ∈ [1+ ∞ ] | and N is an integer }in theory
Further, in the step (5), the rotor position angle estimated by the phase-locked loop is used for coordinate transformation in vector control, and the rotating speed estimated by the phase-locked loop is used as the feedback input of the rotating speed loop in vector control.
Has the advantages that:
compared with the prior art, the invention has the following advantages:
1. the problems of large phase delay and large error of an estimated angle caused by the use of a low-pass filter in the traditional technology are solved, and the control precision of the position-free sensor is improved;
2. the design of filter parameters is simplified, the invention only needs to adjust the order N of the weighted sliding mean filter, and the complex parameters such as cut-off frequency of a low-pass filter and the like in the traditional technology are avoided;
3. compared with a low-pass filter, the weighted sliding mean filter can better filter harmonic waves in the back electromotive force;
4. the weighted sliding mean filter-normalized orthogonal phase-locked loop (WMAF-NQPLL) can realize good rotor position and rotation speed estimation effects under the conditions of steady and transient motor rotation speeds;
5. the position sensor-free control algorithm disclosed by the invention can replace a position sensor, so that the cost of a control system is reduced, the reliability and robustness of the system are improved, the calculation amount of the method is small, and the method is convenient to realize, popularize and apply.
Drawings
FIG. 1 is a block diagram of a position sensorless control system of a PMSM based on a weighted sliding mean filter according to the present invention;
FIG. 2 is a structural block diagram of a discretized sliding-mode observer;
FIG. 3 is a block diagram of a weighted sliding mean filter-normalized quadrature phase-locked loop structure according to the present invention;
Detailed Description
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
A PMSM (permanent magnet synchronous motor) sensorless control method based on a weighted sliding mean filter comprises the following steps:
(1) measuring three-phase stator current and voltage of the permanent magnet synchronous motor, and performing stationary coordinate transformation (Clark transformation) on the measured three-phase stator current and voltage to obtain current i under a two-phase stationary alternating current coordinateαAnd iβAnd a voltage uαAnd uβ；
(2) Using i as defined in step (1)α、iβ、uαAnd uβThe estimated extended back electromotive force is obtained by a sliding-mode observer
And
(3) expanding the back electromotive force of the step (2)
And
filtering by N-order weighted sliding mean filter to remove high-frequency harmonic componentExtended back emf after wave
And
(4) firstly, the expanded back electromotive force processed in the step (3) is processed
And
performing normalization treatment to
And
are respectively divided by
Extracting the position and rotating speed information of the rotor through an orthogonal phase-locked loop after processing;
(5) and (4) feeding back the rotor position and rotation speed information obtained in the step (4) to a vector control system of the permanent magnet synchronous motor to form a closed loop of rotation speed and angle, thereby realizing position-sensor-free control.
Further, in the step (2), the sliding-mode observer adopts a discrete model of Euler forward difference, so that the control algorithm can be conveniently realized on a Digital Signal Processor (DSP);
the sliding-mode observer selects a saturated saturation function as a sliding-mode variable structure to inhibit the buffeting of the system.
Further, in the step (3), the value range of the order N of the weighted moving average filter is { N ∈ [1+ ∞ ] |, and N is an integer }.
Further, in the step (5), the rotor position angle estimated by the phase-locked loop is used for coordinate transformation in vector control, and the rotating speed estimated by the phase-locked loop is used as the feedback input of the rotating speed loop in vector control.
As shown in fig. 1, the position sensorless control system of the permanent magnet synchronous motor is composed of the permanent magnet synchronous motor, a power conversion circuit, a rotating speed loop PI regulator, a current loop PI regulator, an SVPWM module, and a sliding mode observer module. Wherein the three-phase stator current ia，ib，icThree-phase voltage u measured by current sensora，ub，ucIt is measured by a voltage sensor. The measured current and voltage are transformed into two-phase stationary alpha beta coordinate current (i)α、iβ) And voltage (u)α、uβ) And then the rotor position angle and the rotating speed are obtained through a normalized orthogonal phase-locked loop after the rotor position angle and the rotating speed are filtered by a weighted sliding mean filter, and the rotor position angle and the rotating speed are fed back to vector control, so that the position-sensor-free control of the permanent magnet synchronous motor is finally realized.
The invention adopts double closed-loop vector control of current and rotating speed as the traditional position-free observer control based on the sliding mode observer, and needs to obtain estimated extended back electromotive force through the sliding mode observer, and is different from the traditional position-free observer control based on the sliding mode observer in that the combination of a weighted sliding mean filter and a normalized orthogonal phase-locked loop is adopted to filter the extended back electromotive force and extract the position information of the rotor, so that the traditional combination of a low-pass filter and an arc tangent function is improved, the phase delay problem caused by the use of the low-pass filter is avoided, the estimation precision of the rotor is improved, and the good estimation effect of the position and the rotating speed of the rotor can be realized under the conditions of steady state and transient state of the rotating speed of the.
The mathematical model of the traditional second-order sliding-mode observer is as follows:
in the formula:
uα、uβis an alpha beta axis stator voltage component; r is stator resistance, Ld、LqIs the dq-axis inductance of the motor; i.e. iα、iβIs an alpha beta axis stator current component;
and
estimating current for α β axis current; zα、ZβIs a component of the alpha beta axis sliding mode control function.
Considering that a position-sensorless control algorithm based on a sliding-mode observer needs to be realized in a DSP (digital signal processor), a mathematical model of the sliding-mode observer in the formula (1) is rewritten into the following formula by using a Euler forward difference method:
finishing:
in the formula: a. the1＝1-RTs/Ld，B1＝Ts/Ld，TsIs the sampling time. The variables in the equation containing the (k) or (k +1) terms represent the instantaneous values of the physical quantity sampled at the time points k and k + 1.
As shown in fig. 2, in order to suppress the buffeting of the system, the sliding-mode observer selects a saturated saturation function instead of the conventional switching function as the sliding-mode variable structure function. Wherein k is the gain of the sliding mode control function, and delta is the number of boundary layers of the saturation function. m and m1For the scaling factor, m is taken as m for the convenience of design1。
Extended back EMF obtained via sliding-mode observer, as shown in FIG. 3
And
the filtering process may be performed by a weighted moving average filter of order N. In practical application, the reasonable value range of N is 3-15; the weighted moving average filter adopted by the invention can be called as a weighted moving average filter, is also a filter with finite impulse response, and has the characteristics of ideal low-pass filtering and linear phase shift.
The weighted moving average filter selects linear weights, i.e. from the current data ytTo the first N acquired data yt-N+1Assigned weight FiIs monotonically decreasing. For arbitrary acquired data yt-iWeight F ofiCan be expressed as Fi＝2(N-i)/(N(N+1))。
Weighted sliding mean at time t (denoted as WMA) after the weights are determinedt) Can be expressed as:
in the Z-domain, the transfer function of the linear weighted moving average filter is:
moreover, as can be easily found from fig. 3, the parameter to be adjusted by the weighted sliding mean filter is only one of the order N, and the structure is simple, so that the implementation and application in the digital controller are convenient.
The expanded back electromotive force is obtained after filtering treatment
And
then normalization processing is carried out, namely
And
are respectively divided by
And then, the position and rotating speed information of the rotor is extracted through an orthogonal phase-locked loop (QPLL) and fed back to a vector control system, so that the control of the permanent magnet synchronous motor without a position sensor is realized.
It will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the spirit and scope of the invention, and any equivalents thereto, such as those skilled in the art, are intended to be embraced therein.
Claims (4)
1. A PMSM (permanent magnet synchronous motor) position sensorless control method based on a weighted sliding mean filter is characterized in that: the method comprises the following steps:
(1) measuring three-phase stator current and voltage of the permanent magnet synchronous motor, and performing static coordinate transformation (Clark transformation) on the measured three-phase stator current and voltage to obtain current i alpha and i beta and voltage u alpha and u beta under a two-phase static alternating current coordinate;
(2) obtaining estimated extended back electromotive force by a sliding mode observer by using i alpha, i beta, u alpha and u beta in the step (1)
And
(3) expanding the back electromotive force of the step (2)
And
filtering with N-order weighted sliding mean filter (WMAF), filtering out high-frequency harmonic component, and obtaining filtered extended back electromotive force
And
(4) firstly, the expanded back electromotive force processed in the step (3) is processed
And
performing normalization treatment to
And
are respectively divided by
Extracting the position and rotation speed information of the rotor by the calculated value through a quadrature phase-locked loop (QPLL);
(5) and (4) feeding back the rotor position and rotation speed information obtained in the step (4) to a vector control system of the permanent magnet synchronous motor to form a closed loop of rotation speed and angle, thereby realizing position-sensor-free control.
2. The method of claim 1, wherein the PMSM position sensorless control method based on the weighted moving average filter is characterized in that: in the step (2), the sliding-mode observer adopts a discrete model of Euler forward difference, so that the control algorithm can be conveniently realized on a Digital Signal Processor (DSP);
the sliding-mode observer selects a saturated saturation function as a sliding-mode variable structure to inhibit the buffeting of the system.
3. The method of claim 1, wherein the PMSM position sensorless control method based on the weighted moving average filter is characterized in that: in the step (3), the value range of the order N of the weighted sliding mean filter is { N ∈ [1+ ∞ ] |, and N is an integer }.
4. The method of claim 1, wherein the PMSM position sensorless control method based on the weighted moving average filter is characterized in that: in the step (5), the rotor position angle estimated by the phase-locked loop is used for coordinate transformation in vector control, and the rotating speed estimated by the phase-locked loop is used as feedback input of the rotating speed loop in vector control.
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Application publication date: 20210604 |