CN114301348A - Control method and control system for pulse vibration high-frequency injection position-free sensor - Google Patents

Abstract

The present invention provides a control method and control system for pulse vibration high-frequency injection without a position sensor. The high-frequency inductance L dh can be obtained first through the d-axis current I _d and the q-axis current I _q in the current operating state, and then the high-frequency inductance L _dh can be obtained through the high The frequency inductance L _dh is calculated to obtain the high-frequency voltage U _dhref to be injected; or the actual high-frequency current I _dh is directly sampled, and the target high-frequency current is output through the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh voltage U _dhref ; or directly calculate and obtain the target high-frequency voltage U _dhref according to the d-axis current I _d and q-axis current I _q under the current operating state through a deep learning neural network, and the high-frequency voltage U obtained by these three methods _dhref will make the actual high-frequency current I _dh within the preset range, and will not be too high or too low, so it can avoid the problem of noise in the system and the difficulty of signal extraction.

Description

A kind of control method and control system for pulse vibration high frequency injection without position sensor

technical field

The invention relates to the technical field of permanent magnet synchronous motors, in particular to a control method and a control system for pulse vibration high-frequency injection without a position sensor.

Background technique

The high-performance speed control of permanent magnet synchronous motors generally requires position sensors, such as rotary encoders and photoelectric encoders. The installation position sensor not only has high cost, large volume, and low mechanical reliability, but also brings about the concentricity problem during installation. The use of a highly reliable position sensorless control algorithm is an effective solution.

The existing sensorless control methods for six-phase permanent magnet synchronous motors based on motor back EMF, when the motor runs at low speed or zero speed, because the motor back EMF is very small or zero, these control methods fail.

When the permanent magnet synchronous motor runs at zero and low speed, the high-frequency voltage signal injection algorithm based on the salient pole effect of the motor is often used, and different forms of voltage signals can be injected in different reference coordinate systems. Wave voltage signal injection method.

The pulse vibration high-frequency voltage injection method is to inject a high-frequency sinusoidal voltage signal into the direct axis of the estimated two-phase rotating coordinate system, thereby generating a high-frequency pulse vibration magnetic field. The surface-mounted permanent magnet synchronous motor exhibits "salient polarity". By detecting the high-frequency current response containing the rotor position information, the rotor position and speed can be obtained after demodulating the response signal, so as to realize the position sensorless control; based on The position sensorless control method of high-frequency signal injection relies on the salient pole characteristics of the motor, does not depend on the motor parameters and back EMF, and achieves high-precision control at low speed and zero speed through position estimation, so it has broad application prospects.

Referring to Figure 1, the commonly used pulse vibration high-frequency injection method, when injecting a high-frequency voltage U _dh on the d-axis, and injecting a high-frequency voltage U _dh with a constant amplitude, when the fundamental current Id* at the operating point becomes smaller, the magnetic field of the motor is reduced. When the degree of saturation decreases, L _dh increases, the high-frequency current I _dh will become smaller, and the problem of signal extraction will be difficult; and when the fundamental current Id* of the operating point increases, the degree of magnetic saturation of the motor increases, L _dh decreases, and the high If the frequency current I _dh becomes larger, it will cause noise problems in the control system.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned technical defects, the purpose of the present invention is to provide a control method and control system for pulse vibration high frequency injection without position sensor which can keep the high frequency current basically unchanged.

The invention discloses a control method for pulse vibration high-frequency injection without a position sensor, comprising the following steps: setting a preset range of high-frequency current I _dh fluctuation; shaft current I _d and q-axis current I _q , obtain the inductance L _dh under the current operating state through the d-axis current I _d and q-axis current I _q ; adjust the high-frequency voltage U according to the formula I _dh =U _dh /ωh·L _{dh dh} makes the high-frequency current I _dh not exceed the preset range, where ωh·L _dh is the d-axis high-frequency impedance of the motor, and ωh is the high-frequency injection frequency; or set the target high-frequency current I _dhref , sample the actual high-frequency current in real time I _dh , and obtain the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh , input the difference ΔI _dh into the closed-loop regulator, and the closed-loop regulator outputs the target high-frequency voltage U _dhref , inject a high-frequency voltage according to the value of the target high-frequency voltage U _dhref ; or obtain the d-axis current I _d and q-axis current I _q of the inverter of the permanent magnet synchronous motor in the current operating state, through deep learning The neural network calculates and obtains the target high-frequency voltage _Udh corresponding to the current _d -axis current Id and q-axis current _Iq , and injects the high-frequency voltage according to the value of the target high-frequency voltage _Udhref .

Preferably, obtaining the inductance L _dh in the current operating state through the d-axis current I _d and the q-axis current I _q includes: establishing an offline table of the d-axis current I _d , the q-axis current I _q and the inductance L _dh , according to the The inductance L _dh corresponding to the different d-axis current I _d and q-axis current I _q can be found from the offline table.

Preferably, the establishment of the offline table for the d-axis current I _d , the q-axis current I _q and the inductance L _dh includes: acquiring the correspondence data between the d-axis current I _d , the q-axis current I _q and the inductance Ldh through motor simulation The offline table is established through the corresponding relationship data set; or the corresponding relationship data set between the d-axis current I _d , the q-axis current I _q and the inductance Ldh is obtained through offline testing, and established through the corresponding relationship data set the offline form.

Preferably, according to the formula I _dh =U _dh /ωh·L _dh , adjusting the high-frequency voltage U _dh so that the change value between the high-frequency current I _dh at any moment does not exceed the preset change value includes: using a preset time The step is to adjust the high-frequency voltage U _dh at intervals, so that the high-frequency current I _dh at any time does not exceed the preset range, or the high-frequency current I _dh after each adjustment does not exceed the preset range.

Preferably, the adjustment of the high-frequency voltage U _dh at preset time intervals so that the high-frequency current I _dh at any moment does not exceed the preset range includes: monitoring the high-frequency current I _dh in real time, if the current high-frequency current I _dh If the preset range is exceeded, the current high-frequency current I _dh is adjusted by the regulator so that the current high-frequency current I _dh is within the preset range.

Preferably, the calculating and obtaining the high-frequency voltage U _dh corresponding to the different d-axis current I _d and q-axis current I _q through the deep learning neural network includes: the neural network learning: at all the high-frequency current I _dh Within the preset range, the high-frequency voltage U _dh corresponding to different d-axis currents I _d and q-axis current I _q ; obtain the corresponding high-frequency voltage U according to different d-axis currents I _d and q-axis current I _{q dh} .

The invention also discloses a pulse vibration high frequency injection control system without a position sensor, comprising a connected processing module and a neural network module; the processing module sets a preset range of the high-frequency current I _dh fluctuation, and obtains the The d-axis current I _d and the q-axis current I _q of the inverter of the permanent magnet synchronous motor in the current operating state, and the inductance L _dh in the current operating state is obtained through the d-axis current I _d and the q-axis current I _q ; according to formula I _dh = _Udh /ωh· _Ldh Adjust the high-frequency voltage _Udh so that the high-frequency current _Idh does not exceed the preset range, where ωh· _Ldh is the d-axis high-frequency impedance of the motor, and ωh is the high-frequency injection frequency; The processing module sets the target high-frequency current I _dhref , samples the actual high-frequency current I _dh in real time, and obtains the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh , and calculates the difference The value ΔI _dh is input to the closed-loop regulator, the closed-loop regulator outputs the target high-frequency voltage U _dhref , and the high-frequency voltage is injected according to the value of the target high-frequency voltage U _dhref ; or the processing module obtains the inverter of the permanent magnet synchronous motor The d-axis current I d and the q-axis current I q in the current operating state of the device are obtained, and the target high-frequency voltage U _dh corresponding to the current _d -axis current I _d and _q -axis current I _q is obtained through deep learning neural network calculation, A high frequency voltage is injected according to the value of the target high frequency voltage U _dhref .

After adopting the above-mentioned technical scheme, compared with the prior art, it has the following beneficial effects:

1. Whether it is to obtain the high-frequency inductance L _dh through the d-axis current I _d and the q-axis current I _q in the current operating state, and then calculate the high-frequency voltage U _dhref to be injected through the high-frequency inductance L _dh ; or directly sample The actual high-frequency current I _dh , the target high-frequency voltage U _dhref is output through the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh ; The d-axis current I _d and the q-axis current I _q are directly calculated to obtain the target high-frequency voltage U _dhref , and the high-frequency voltage U _dhref obtained in these three ways will make the actual high-frequency current I _dh It will be high or low, so it can avoid the noise problem of the system and the difficulty of signal extraction.

Description of drawings

Fig. 1 is the control method flow chart of the pulse vibration high frequency injection without position sensor provided by the present invention;

FIG. 2 is a control flow chart for adjusting the amplitude of U _dh in real time by inputting the difference between the target high-frequency current value I _dhref and the sampled high-frequency current value I _dh to the closed-loop regulator provided by the present invention.

Detailed ways

The advantages of the present invention are further described below with reference to the accompanying drawings and specific embodiments.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various pieces of information, such information should not be limited by these terms. These terms are only used to distinguish the same type of information from each other. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. Depending on the context, the word "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determining."

In the description of the present invention, it should be understood that the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than Indication or implication that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, is not to be construed as a limitation of the invention.

In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a mechanical connection or an electrical connection, or two The internal communication between the elements may be directly connected or indirectly connected through an intermediate medium, and those of ordinary skill in the art can understand the specific meanings of the above terms according to specific circumstances.

In the following description, suffixes such as 'module', 'component' or 'unit' used to represent elements are used only to facilitate the description of the present invention, and have no specific meaning per se. Therefore, "module" and "component" can be used interchangeably.

The invention discloses a control method for pulse vibration high-frequency injection without position sensor. By regulating the high-frequency voltage U _dh , the high-frequency current I _dh is basically unchanged, so as to avoid the high-frequency current I _dh being too high or low. The problem of system noise and the difficulty of signal extraction, the present invention provides three methods for regulating the high-frequency voltage U _dh .

The first is to obtain the high-frequency voltage U _dh through formula calculation, and adjust the high-frequency current I _dh by adjusting the high-frequency voltage U _dh so that it does not exceed the preset range. specific:

Set the preset range of the high-frequency current I _dh fluctuation, the preset range is the range in which the high-frequency current I _dh will not cause system noise problems and signal extraction difficulties;

Obtain the d-axis current I _d and the q-axis current I q of the inverter of the permanent magnet synchronous motor in the current operating state, and obtain the inductance L _dh in the current operating state through the d-axis current I _d and the _{q-axis current I q ;}

According to the formula I _dh =U _dh /ωh·L _dh (where ωh·L _dh is the d-axis high-frequency impedance of the motor, and ωh is the high-frequency injection frequency), it can be known that when a high-frequency voltage U _dh with a constant amplitude is injected, the high-frequency The magnitude of the current I _dh is inversely proportional to the inductance L _dh , when the inductance L _dh is known, the value of the high-frequency current I _dh can be output, so the high-frequency current I _dh can be adjusted by adjusting the high-frequency voltage U _dh , so that the high-frequency current I _dh does not exceed the preset range.

Preferably, the inductance L _dh in the current operating state is obtained through the d-axis current I _d and the q-axis current I _q , and an offline table of the d-axis current I _d , the q-axis current I _q and the inductance L _dh can be established, according to the offline table. The table finds the inductance L _dh corresponding to different d-axis current I _d and q-axis current I _q .

Specifically, a data set of the corresponding relationship among the d-axis current I _d , the q-axis current I _q and the inductance Ldh is obtained through motor simulation, and an offline table is established by using the corresponding relationship data set. Alternatively, a data set of the correspondence relationship between the d-axis current I _d , the q-axis current I _q and the inductance Ldh is obtained through offline testing, and an offline table is established through the corresponding relationship data set.

Preferably, the high-frequency voltage U _dh is adjusted at preset time intervals, so that the high-frequency current I _dh at any time does not exceed the preset range, or the high-frequency current I _dh after each adjustment does not exceed the preset range. scope.

It can be understood that there are two adjustment results, one is simply to ensure that the high-frequency current I _dh does not exceed the preset range after each adjustment, and the other is to ensure that the high-frequency current I _dh does not exceed the preset range after each adjustment. It is also necessary to ensure the time between each adjustment process, and the high-frequency current I _dh does not exceed the preset range, which requires a real-time monitoring mechanism.

Specifically, when the high-frequency current I _dh at any time does not exceed the preset range, the high-frequency current I _dh can be monitored in real time. If the current high-frequency current I _dh exceeds the preset range, the current high-frequency current I dh is adjusted by the regulator. The current I _dh makes the current high-frequency current I _dh within a preset range.

The second is to set the target high-frequency current I _dhref , see Figure 2, collect current data from the motor in real time, and obtain the d-axis current I _d through the coordinate transformation from the abc natural coordinate axis to the dq axis, and convert the d-axis current I _d After filtering by high-pass filter, the actual high-frequency current I _dh is obtained, and then the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh is obtained, and the difference ΔI _dh is input to the closed-loop regulator. The target high-frequency voltage U _dhref is output, the value of the target high-frequency voltage U _dhref is transformed from the dq axis to the abc natural coordinate axis, and finally the motor is input through the controller.

The second method obtains the amplitude of the high-frequency current I _dh through current sampling, and the difference between the target high-frequency current value I _dhref and the sampled high-frequency current value I _dh is input to the closed-loop regulator, and the amplitude of U _dh is adjusted in real time. Keep the high frequency current I _dh constant.

The third is to obtain the d-axis current I _d and q-axis current I _q of the inverter of the permanent magnet synchronous motor in the current operating state, and then directly calculate and output the current d-axis current I _d and q-axis through the deep learning neural network. The target high frequency voltage U _dh corresponding to the current I _q is finally injected into the high frequency voltage according to the value of the target high frequency voltage U _dhref .

First of all, the learning process of the neural network must be carried out. The early stage includes collecting a large amount of test data or actual work data to form training set data, and training through the training set data. The training set data includes the high-frequency voltage U _dh corresponding to different d-axis current I _d and q-axis current I _q within the preset range of high-frequency current I _dh , and according to different d-axis current I d , q-axis current I _d , q-axis current I _q obtains the corresponding high-frequency voltage U _dh .

The invention also discloses a control system for pulse vibration high frequency injection without position sensor, which includes a connected processing module and a neural network module, and the processing module can be understood as a motor controller.

The preset range of the high-frequency current I _dh fluctuation can be set by the processing module, and the d-axis current I _d and the q-axis current I _q of the inverter of the permanent magnet synchronous motor in the current operating state can be obtained. Through the d-axis current I _d and the q-axis current I _q to obtain the inductance L _dh in the current operating state; according to the formula I _dh =U _dh /ωh·L _dh adjust the high-frequency voltage U _dh so that the high-frequency current I _dh does not exceed the preset range, where ωh·L _dh is the d-axis high-frequency impedance of the motor, and ωh is the high-frequency injection frequency.

The processing module can also set the target high-frequency current I _dhref , sample the actual high-frequency current I _dh in real time, obtain the difference ΔI _dh between the target high-frequency current I _dhref and the actual high-frequency current I _dh , and input the difference ΔI _dh into the closed loop The regulator, the closed-loop regulator outputs the target high-frequency voltage U _dhref , and injects the high-frequency voltage according to the value of the target high-frequency voltage U _dhref .

The d-axis current I d and q-axis current I _q of the inverter of the permanent magnet synchronous motor in the current operating state can also be obtained through the processing module, and the current d-axis current I _d and q-axis current I _d and q-axis can be obtained through deep learning neural network calculation. The target high frequency voltage U _dh corresponding to the current I _q is injected into the high frequency voltage according to the value of the target high frequency voltage U _dhref .

The above three methods can all achieve the purpose of ensuring that the high-frequency current I _dh is basically unchanged, and avoid the problem of system noise and difficult signal extraction caused by the large fluctuation of the high-frequency current I _dh .

It should be noted that the embodiments of the present invention have better practicability, and do not limit the present invention in any form, and any person skilled in the art may use the technical contents disclosed above to change or modify into equivalent effective embodiments However, any modifications or equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims (7)

1. A control method for pulse vibration high-frequency injection position-free sensor is characterized by comprising the following steps:

setting a high-frequency current I_dhA preset range of fluctuation; obtaining d-axis current I of inverter of permanent magnet synchronous motor in current running state_dAnd q-axis current I_qThrough d-axis current I_dAnd q-axis current I_qObtaining the inductance L in the current operation state_dh(ii) a According to formula I_dh＝U_dh/ωh·L_dhRegulating high-frequency voltage U_dhSo that a high-frequency current I_dhNot exceeding a predetermined range, wherein ω h · L_dhD-axis high-frequency impedance of the motor, and omega h is high-frequency injection frequency;

or setting a target high-frequency current I_dhrefSampling the actual high frequency current I in real time_dhAnd obtaining the target high-frequency current I_dhrefWith said actual high-frequency current I_dhDifference value Δ I of_dhComparing said difference Δ I_dhAn input closed-loop regulator outputting a target high-frequency voltage U_dhrefAccording to the target high-frequency voltage U_dhrefInjecting a high frequency voltage;

or obtaining d-axis current I of the inverter of the permanent magnet synchronous motor in the current running state_dAnd q-axis current I_qObtaining the current d-axis current I through the calculation of a deep learning neural network_dQ-axis current I_qCorresponding target high-frequency voltage U_dhAccording to the target high-frequency voltage U_dhrefInject a high frequency voltage.

2. Control method according to claim 1, characterized in that the d-axis current I is passed_dAnd q-axis current I_qObtaining the inductance L in the current operation state_dhThe method comprises the following steps:

establishing d-axis Current I_dQ-axis current I_qAnd an inductance L_dhAccording to the off-line table, different d-axis currents I are searched_dQ-axis current I_qCorresponding inductance L_dh。

3. The control method of claim 2, wherein the establishing d-axis current I_dQ-axis current I_qAnd an inductance L_dhThe offline table of (a) includes:

obtaining d-axis current I through motor simulation_dQ-axis current I_qAnd the inductance Ldh, and establishing the off-line table through the corresponding relation data set;

or obtaining d-axis current I through off-line test_dQ-axis current I_qAnd the corresponding relation data set between the inductance Ldh, and the offline table is established through the corresponding relation data set.

4. Control method according to claim 1, characterized in that said method is according to formula I_dh＝U_dh/ωh·L_dhRegulating the high-frequency voltage U_dhSo that the high-frequency current I at any moment_dhThe variation value between not exceeding the preset variation value includes:

adjusting high-frequency voltage U by taking preset time period as interval_dhSo that the high-frequency current I at any time_dhNot exceeding the preset range, or making the high-frequency current I adjusted each time_dhNot exceeding the preset range.

5. The control method according to claim 4, wherein the high-frequency voltage U is adjusted at intervals of a preset time period_dhSo that the high-frequency current I at any time_dhNot exceeding the preset range includes:

real-time monitoring of high-frequency currents I_dhIf the present high-frequency current I_dhIf the current high-frequency current I exceeds the preset range, the current high-frequency current I is adjusted through the adjuster_dhSo that the high-frequency current I is present_dhIs located within the preset range.

6. The control method according to claim 1, wherein the obtaining of the different d-axis currents I through the deep learning neural network calculation_dQ-axis current I_qCorresponding high frequency voltage U_dhThe method comprises the following steps:

the neural network learning: at a high frequency current I_dhWithin the preset range, different d-axis currents I_dQ-axis current I_qCorresponding high frequency voltage U_dh；

According to different d-axis currents I_dQ-axis current I_qObtain the corresponding high-frequency voltage U_dh。

7. A control system for pulse vibration high-frequency injection position-sensorless is characterized by comprising a processing module and a neural network module which are connected;

the processing module sets a high-frequency current I_dhThe preset range of fluctuation is obtained, and the d-axis current I of the inverter of the permanent magnet synchronous motor in the current running state is obtained_dAnd q axisCurrent I_qThrough d-axis current I_dAnd q-axis current I_qObtaining the inductance L in the current operation state_dh(ii) a According to formula I_dh＝U_dh/ωh·L_dhRegulating high-frequency voltage U_dhSo that a high-frequency current I_dhNot exceeding a predetermined range, wherein ω h · L_dhD-axis high-frequency impedance of the motor, and omega h is high-frequency injection frequency;

or the processing module sets a target high-frequency current I_dhrefSampling the actual high frequency current I in real time_dhAnd obtaining the target high-frequency current I_dhrefWith said actual high-frequency current I_dhDifference value Δ I of_dhComparing said difference Δ I_dhAn input closed-loop regulator outputting a target high-frequency voltage U_dhrefAccording to the target high-frequency voltage U_dhrefInjecting a high frequency voltage;

or the processing module acquires the d-axis current I of the inverter of the permanent magnet synchronous motor in the current running state_dAnd q-axis current I_qAnd calculating and acquiring the current d-axis current I through a deep learning neural network_dQ-axis current I_qCorresponding target high-frequency voltage U_dhAccording to the target high-frequency voltage U_dhrefInject a high frequency voltage.

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