CN114826054B - Motor control method - Google Patents
Motor control method Download PDFInfo
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- CN114826054B CN114826054B CN202210192449.7A CN202210192449A CN114826054B CN 114826054 B CN114826054 B CN 114826054B CN 202210192449 A CN202210192449 A CN 202210192449A CN 114826054 B CN114826054 B CN 114826054B
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- observer
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The application discloses a motor control method, which comprises the following steps: acquiring or initializing attribute parameters of the motor; calculating the flux linkage of the motor according to the attribute parameters of the motor and the observability quantity of the motor; calculating or/and acquiring a rotor angle of the motor according to the flux linkage of the motor; and outputting a driving signal for driving the motor according to the rotor angle of the motor. The motor control method based on magnetic linkage can realize effective driving.
Description
Technical Field
The application relates to a motor control method, in particular to a motor control method based on noninductive detection.
Background
Along with the continuous development of economy, the requirements of people on travel are higher and higher; electric power-assisted vehicles are popular due to the characteristics of small size, portability, environmental protection, economy and the like;
as one of the core components of the electric power-assisted vehicle, the performance of the driving motor determines whether the power, driving comfort, endurance and the like of the whole vehicle meet the use requirements; most of driving motors applied to the current market are SPMSM (surface mounted permanent magnet synchronous motor); the current main stream mode of SPMSM is FOC (magnetic field orientation control), and the core of the FOC control is that three-phase current of a stator winding and the current angle of a rotor are required to be obtained firstly;
the conventional angular mode of acquiring the motor rotor generally has two modes, namely a sensing mode and a non-sensing mode: the sensing mode is to collect the characteristic quantity of the rotor signal through a sensor to calculate the rotor angle, and the driving motor of the electric power-assisted vehicle is usually collected by adopting a Hall position sensor; the non-inductive mode is a mode of designing an observer, based on a fundamental voltage equation of the motor, sampling three-phase current and the MCU to obtain a wave-generating voltage in real time, and obtaining an angle signal of a motor rotor through various operation processes; various known sensorless observer algorithms applied to electric vehicles are all calculated based on counter electromotive force, but counter electromotive force is low in signal amplitude and not easy to extract when a motor runs at a low speed, so that position signal estimation convergence at the low speed is poor, and low-speed carrying capacity is limited. The novel observer scheme is calculated based on the flux linkage signals, because the flux linkage direction is completely consistent with the rotor angle, the flux linkage size is not influenced by the speed change of the motor rotor, the motor can be ensured to be converged to be stable at a low speed, and the low-speed load capacity is greatly increased compared with an observer designed based on back electromotive force.
Disclosure of Invention
The summary of the application is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The summary of the application is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the application provide methods, apparatus, electronic devices, and computer-readable media to solve the technical problems mentioned in the background section above.
As a first aspect of the present application, some embodiments of the present application provide a motor control method including:
Acquiring or initializing attribute parameters of the motor;
calculating the flux linkage of the motor according to the attribute parameters of the motor and the observability quantity of the motor;
Calculating or/and acquiring a rotor angle of the motor according to the flux linkage of the motor;
and outputting a driving signal for driving the motor according to the rotor angle of the motor.
Further, the motor is a surface-mounted permanent magnet synchronous motor.
Further, the attribute parameters of the motor include: phase resistance R, phase inductance L, and pole pair number p.
Further, wherein said calculating the flux linkage of the motor from the property parameters of the motor and the observability of the motor comprises:
Detecting the rotating speed w_m of the motor;
detecting a back electromotive force amplitude e_peak of the motor;
Calculating a rotor flux linkage value of the motor
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
Constructing a first relation of a stator flux linkage value, a rotor flux linkage value and a rotor angle of the motor:
Wherein lambda α and lambda β are components of the stator flux linkage on the alpha and beta axes respectively, theta is the rotor electrical angle of the motor, L d is the d-axis inductance of the stator winding, and L d＝Ld＝Lphase is shown in the formula.
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
Obtaining a second equation according to the first relation derivative:
Where u α and u β are the components of the inverter output voltage on the α and β axes, respectively, and i α and i β are the components of the inverter output voltage on the α and β axes, respectively.
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
Order the
Thereby equivalently deriving
And
A third relation of the flux linkage observer is constructed based on the above:
Where γ is the adjustment gain of the observer.
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
constructing a fourth relation of the rotor electrical angle of the motor acquired by the flux linkage observer:
thereby obtaining Is a fifth relation of (2):
wherein, The flux linkage observer obtains the rotor electrical angle of the motor.
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
Constructing a sixth relation of a speed observer according to the rotor electric angle of the motor acquired by the flux linkage observer:
Wherein z 1 is Z 2 is w, and K p and K i are the adjustment coefficients of the observer, respectively.
Further, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
constructing a seventh relation controlled by the sensorless controller:
The method comprises the steps that u d and u q are obtained through designing a PI controller, given i d_ref and i q_ref instruction signals, clark transformation and park transformation are carried out on an observer estimated angle and obtained three-phase current, and actual i d and i q signals are obtained;
constructing an eighth relation controlled by the PI controller:
Wherein i d_error and i q_error are tracking errors of the dq axis current loop respectively;
constructing an eighth relation controlled by the PI controller:
where u d and u q are the components of the controlled output quantity on the dq axis, K pc and K ic are the adjustment coefficients of the current loop, respectively, and Ts is the switching period of the controller.
The application has the beneficial effects that: a motor control method based on flux linkage to realize effective driving is provided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application.
In addition, the same or similar reference numerals denote the same or similar elements throughout the drawings. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.
In the drawings:
FIG. 1 is a trace contrast curve of an estimated angle and an actual angle under simulation conditions;
FIG. 2 is a trace of the observer versus real flux linkage under simulated conditions;
FIG. 3 is a graph of d-axis current tracking under simulated conditions;
FIG. 4 is a graph of q-axis current tracking under simulated conditions;
fig. 5 is a basic control block diagram for the application of the flux linkage control algorithm on the whole vehicle.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
A motor control method comprising:
Acquiring or initializing attribute parameters of the motor;
calculating the flux linkage of the motor according to the attribute parameters of the motor and the observability quantity of the motor;
Calculating or/and acquiring a rotor angle of the motor according to the flux linkage of the motor;
and outputting a driving signal for driving the motor according to the rotor angle of the motor.
Specifically, the motor is a surface-mounted permanent magnet synchronous motor.
Specifically, the attribute parameters of the motor include: phase resistance R, phase inductance L, and pole pair number p.
Specifically, the calculating the flux linkage of the motor according to the attribute parameter of the motor and the observability quantity of the motor comprises:
Detecting the rotating speed w_m of the motor;
detecting a back electromotive force amplitude e_peak of the motor;
Calculating a rotor flux linkage value of the motor
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
Constructing a first relation of a stator flux linkage value, a rotor flux linkage value and a rotor angle of the motor:
Wherein lambda α and lambda β are components of the stator flux linkage on the alpha and beta axes respectively, theta is the rotor electrical angle of the motor, L d is the d-axis inductance of the stator winding, and L d＝Ld＝Lphase is shown in the formula.
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
Obtaining a second equation according to the first relation derivative:
Where u α and u β are the components of the inverter output voltage on the α and β axes, respectively, and i α and i β are the components of the inverter output voltage on the α and β axes, respectively.
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
Order the
Thereby equivalently deriving
And
A third relation of the flux linkage observer is constructed based on the above:
Where γ is the adjustment gain of the observer.
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further includes:
constructing a fourth relation of the rotor electrical angle of the motor acquired by the flux linkage observer:
thereby obtaining Is a fifth relation of (2):
wherein, The flux linkage observer obtains the rotor electrical angle of the motor.
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
Constructing a sixth relation of a speed observer according to the rotor electric angle of the motor acquired by the flux linkage observer:
Wherein z 1 is Z 2 is w, and K p and K i are the adjustment coefficients of the observer, respectively.
Specifically, the calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor includes:
constructing a seventh relation controlled by the sensorless controller:
The method comprises the steps that u d and u q are obtained through designing a PI controller, given i d_ref and i q_ref instruction signals, clark transformation and park transformation are carried out on an observer estimated angle and obtained three-phase current, and actual i d and i q signals are obtained;
constructing an eighth relation controlled by the PI controller:
Wherein i d_error and i q_error are tracking errors of the dq axis current loop respectively;
constructing an eighth relation controlled by the PI controller:
where u d and u q are the components of the controlled output quantity on the dq axis, K pc and K ic are the adjustment coefficients of the current loop, respectively, and Ts is the switching period of the controller.
FIG. 5 is a basic control block diagram of the flux linkage control algorithm applied to the whole vehicle; the overall control mode is FOC control, the input signal of the flux linkage observer comprises the voltage and current of alfa and beta axes, the input signal is an estimated position signal, and the overall control target is closed-loop control of dq axis current.
After the effective observation of the position signal is realized through the flux linkage observer, the position signal is substituted into FOC (magnetic field orientation vector control) to perform coordinate system transformation, so that three-phase alternating current is converted into direct current on dq coordinate system to control, the control mode is simplified, and the motor control performance is improved.
In order to verify the effectiveness of the novel flux linkage observer algorithm and the noninductive control method, the invention carries out simulation experiments on the flux linkage observer algorithm. Initial conditions and control parameters in the experiment are set as follows: r= 0.4578 ohms, L d＝Lq = 0.00334H, p =4,Kpc＝0.1、Kic＝0.02、γ＝0.34、Kp＝100、Ki＝30；
The tracking curve of the observation angle versus the actual angle of the bit observer in fig. 1, it can be seen from fig. 1 that the tracking error of the observation angle versus the actual angle has reached a very small range; meanwhile, the tracking convergence of the angle can be completed in less than one electrical angle period after the start; FIG. 2 is a graph showing the observed quantity change curve of the observer to the actual flux linkage, and as can be seen from FIG. 2, the actual flux linkage value is tracked by observing the flux linkage signal for only 10 switching cycles, so that the tracking effect is good; the tracking curves of d-axis current and q-axis current of fig. 3 and 4, respectively, show that the non-sensing sensor achieves good control.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (3)
1. A motor control method, characterized in that:
The motor control method comprises the following steps:
Acquiring or initializing attribute parameters of the motor;
Calculating the flux linkage of the motor according to the attribute parameters of the motor and the observability quantity of the motor; wherein said calculating the flux linkage of the motor from the property parameters of the motor and the observability of the motor comprises:
Detecting the rotating speed w_m of the motor;
detecting a back electromotive force amplitude e_peak of the motor;
Calculating a rotor flux linkage value of the motor
Calculating or/and acquiring a rotor angle of the motor according to the flux linkage of the motor;
Wherein, the calculating or/and obtaining the rotor angle of the motor according to the flux linkage of the motor comprises:
Constructing a first relation of a stator flux linkage value, a rotor flux linkage value and a rotor angle of the motor:
wherein lambda α and lambda β are components of the stator flux linkage on the alpha axis and the beta axis respectively, theta is the rotor electric angle of the motor, L d is the d-axis inductance of the stator winding, and L d＝Ld＝Lphase is shown in the formula;
The calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further comprises:
obtaining a second equation according to the first relation derivative:
Wherein u α and u β are components of the inverter output voltage on the α and β axes, respectively, and i α and i β are components of the inverter output voltage on the α and β axes, respectively;
The calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further comprises:
Order the
Thereby equivalently deriving
And
A third relation of the flux linkage observer is constructed based on the above:
Wherein, gamma is the adjusting gain of the observer;
The calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor further comprises:
constructing a fourth relation of the rotor electrical angle of the motor acquired by the flux linkage observer:
thereby obtaining Is a fifth relation of (2):
wherein, The rotor electric angle of the motor acquired by the flux linkage observer;
The calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor comprises:
Constructing a sixth relation of a speed observer according to the rotor electric angle of the motor acquired by the flux linkage observer:
Wherein z 1 is Z 2 is w, and K p and K i are respectively the adjustment coefficients of the observer;
The calculating or/and acquiring the rotor angle of the motor according to the flux linkage of the motor comprises:
constructing a seventh relation controlled by the sensorless controller:
The method comprises the steps that u d and u q are obtained through designing a PI controller, given i d_ref and i q_ref instruction signals, clark transformation and park transformation are carried out on an observer estimated angle and obtained three-phase current, and actual i d and i q signals are obtained;
constructing an eighth relation controlled by the PI controller:
Wherein i d_error and i q_error are tracking errors of the dq axis current loop respectively;
constructing an eighth relation controlled by the PI controller:
wherein u d and u q are components of the controlled output quantity on the dq axis respectively, K pc and K ic are adjustment coefficients of a current loop respectively, and Ts is the switching period of the controller;
after the effective observation of the position signals is realized through the flux linkage observer, substituting the position signals into the FOC controller to perform coordinate system transformation, so that three-phase alternating current is converted into direct current on a dq coordinate system for driving control;
and outputting a driving signal for driving the motor according to the rotor angle of the motor.
2. The motor control method according to claim 1, characterized in that:
The motor is a surface-mounted permanent magnet synchronous motor.
3. The motor control method according to claim 2, characterized in that:
the attribute parameters of the motor include: phase resistance R, phase inductance L, and pole pair number p.
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| CN117118285A (en) * | 2022-11-04 | 2023-11-24 | 致沿科技(南京)有限公司 | Permanent magnet synchronous motor control method based on flux linkage observer |
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| CN102437813B (en) * | 2011-12-26 | 2014-04-09 | 中国东方电气集团有限公司 | Speed sensor-less method for estimating rotor angle and revolving speed of permanent-magnet synchronous motor |
| CN109217764B (en) * | 2018-09-29 | 2020-12-08 | 株洲中车时代电气股份有限公司 | Air gap magnetic field orientation control method and system of electrically excited synchronous motor |
| US11233473B2 (en) * | 2019-03-01 | 2022-01-25 | Deere & Company | Method and system for controlling a permanent magnet machine without a mechanical position sensor |
| IT201900015617A1 (en) * | 2019-09-05 | 2021-03-05 | Torino Politecnico | METHOD FOR SENSORLESS ESTIMATING THE POSITION OF THE ROTOR AND THE ANGULAR SPEED OF THE ROTOR OF A RELUCTANCE SYNCHRONOUS MACHINE |
| CN112671287B (en) * | 2021-01-13 | 2023-05-16 | 深圳市法拉第电驱动有限公司 | Sensorless control device and method for permanent magnet synchronous motor of electronic water pump |
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