CN115459641B - A three-stage motor rotor position estimation method and device - Google Patents
A three-stage motor rotor position estimation method and device Download PDFInfo
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- CN115459641B CN115459641B CN202211214854.0A CN202211214854A CN115459641B CN 115459641 B CN115459641 B CN 115459641B CN 202211214854 A CN202211214854 A CN 202211214854A CN 115459641 B CN115459641 B CN 115459641B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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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Abstract
The application belongs to the technical field of motor data processing, and particularly relates to a three-level motor rotor position estimation method and device. S1, estimating the position and the rotating speed of a rotor at a zero low speed section of a main motor by adopting a high-frequency injection method, and determining a first difference value between the position and the position of a real rotor; s2, performing CLARK conversion on the collected three-phase voltage; s3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine; s4, estimating the rotor position by using a phase-locked loop; s5, determining the position of a middle-high speed section estimated rotor of the main motor; s6, determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position; s7, determining deviation of the first difference value and the second difference value, and determining a rotating speed interval; step S8, obtaining the estimated rotor position through weighted average in the rotating speed interval. The method avoids the influence of the electric parameter change of the medium-high speed motor on the estimation result, has small calculation amount of algorithm and is easy to realize engineering application.
Description
Technical Field
The application belongs to the technical field of motor data processing, and particularly relates to a three-stage motor rotor position estimation method.
Background
The three-stage motor is formed by cascading three motors and mainly comprises a main motor, an exciter, a permanent magnet machine, a rotary rectifier and a rotary transformer, wherein the rotary rectifier is coaxially arranged with each motor rotor and each rotary transformer rotor. The motor is matched with a motor controller, and can realize the functions of starting an engine and generating power. In the process of starting the engine, the motor controller finishes the motor acceleration starting through controlling the exciting voltage of the exciter and the stator voltage of the main motor, the permanent magnet machine does not participate in the starting process, and the rotor position (namely the rotor position of the main motor) information required by a starting control algorithm is provided by the rotary transformer and a matched decoding circuit.
Because the working environment of the three-stage motor is complex, a mechanical position sensing system formed by a rotary transformer and a decoding circuit is easy to be subjected to electromagnetic interference, so that the situation of rotor position decoding errors occurs, and the electromagnetic torque output of the motor is not smooth in the starting process. For this reason, intensive studies have been conducted on rotor position estimation methods by the relevant scholars. The current rotor position estimation methods are mainly divided into two categories: high frequency injection for zero low speed section rotor position estimation and back emf for medium high speed section rotor position estimation. In the existing rotor position estimation methods, the research object is mostly based on a main motor, namely, a high-frequency signal is injected into the main motor and a high-frequency response signal is extracted, or the counter potential of the main motor is estimated by using the electrical parameters of the main motor, so that the rotor position estimation is completed. Because the load characteristic in the starting process is complex, the electric parameter variation range in the middle and high speed section is larger, and the rotor position estimation accuracy in the motor speed increasing process is lower. There are also related documents and methods such as parameter identification to improve the rotor position estimation accuracy, but the algorithm complexity is higher and the engineering application difficulty is higher.
Because the permanent magnet machine does not participate in the starting process, the rotor is a permanent magnet, the rotor magnetic field is stable, the starting process is not influenced by the load characteristic of the motor, and if the stator voltage can be obtained, the counter-potential method can be used for finishing the position estimation of the rotor at the high speed section in the permanent magnet machine.
Disclosure of Invention
In order to solve the problems, the application provides a three-stage motor rotor position estimation method and a three-stage motor rotor position estimation device, wherein a high-frequency injection method is utilized to complete zero low-speed section rotor position estimation, a voltage sampling function is added to an existing control circuit to complete acquisition of three-phase voltage of a permanent magnet machine, and a counter-potential method based on the three-phase voltage of the permanent magnet machine is utilized to complete medium high-speed section rotor position estimation, so that reliability of rotor position in a starting process is improved, and electromagnetic torque impact is reduced.
The first aspect of the present application provides a method for estimating the rotor position of a three-stage motor, which mainly comprises:
S1, estimating the position and the rotating speed of a rotor at a zero low speed section of a main motor by adopting a high-frequency injection method, and determining a first difference value between the position and the position of a real rotor;
S2, performing CLARK conversion on the collected three-phase voltage to obtain an equivalent two-phase voltage;
step S3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages;
s4, estimating the position and the rotating speed of the rotor by using a phase-locked loop;
s5, determining the estimated rotor position and the estimated rotating speed of the medium-high speed section of the main motor by utilizing the pole pair corresponding relation of the main motor and the permanent magnet motor;
S6, determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position;
step S7, for any rotation speed value, determining the deviation of the first difference value and the second difference value, and determining a rotation speed interval corresponding to the deviation smaller than a deviation threshold value;
And S8, in the rotating speed interval, carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section to obtain the estimated rotor position in the rotating speed interval.
Preferably, in step S1 and step S5, the true rotor position is calculated by means of a resolver.
Preferably, in step S3, the intermediate variable for estimating the rotor position of the permanent magnet machine is obtained using the following formula:
wherein U PMα、UPMβ is the equivalent two-phase voltage, The position is estimated for the initially given permanent magnet machine or the permanent magnet machine calculated by the phase locked loop in step S4.
Preferably, in step S5, the estimated rotor position and the estimated rotational speed of the medium-high speed section of the main motor are determined using the following formulas:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor.
Preferably, in step S7, the deviation threshold is 0.02rad.
In a second aspect, the present application provides a three-stage motor rotor position estimation device, mainly comprising:
the first difference value calculation module is used for estimating the rotor position and the rotating speed of the zero low-speed section of the main motor by adopting a high-frequency injection method and determining a first difference value between the rotor position and the real rotor position;
The CLARK conversion module is used for carrying out CLARK conversion on the collected three-phase voltage to obtain equivalent two-phase voltage;
the intermediate variable calculation module is used for determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages;
the phase-locked loop module is used for estimating the position and the rotating speed of the rotor by using the phase-locked loop;
the main motor rotor position estimation module is used for determining the position and the estimated rotating speed of the rotor of the medium-high speed section of the main motor by utilizing the corresponding relation between the pole pair numbers of the main motor and the permanent magnet motor;
The second difference value calculation module is used for determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position;
The rotating speed interval determining module is used for determining the deviation of the first difference value and the second difference value for any rotating speed value, and determining a rotating speed interval corresponding to the situation that the deviation is smaller than a deviation threshold value;
And the rotor position smoothing design module is used for carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section in the rotating speed section to obtain the estimated rotor position in the rotating speed section.
Preferably, the true rotor position is resolved by means of a resolver.
Preferably, in the intermediate variable calculation module, the intermediate variable for estimating the rotor position of the permanent magnet machine is obtained using the following formula:
wherein U PMα、UPMβ is the equivalent two-phase voltage, The position is estimated for an initially given permanent magnet machine or a permanent magnet machine calculated by a phase locked loop.
Preferably, in the main motor rotor position estimation module, the main motor middle and high speed section estimated rotor position and estimated rotation speed are determined by using the following formula:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor.
Preferably, the deviation threshold is 0.02rad.
The application has the following points:
1. the rotor position estimation of the zero low speed section is completed by using a high frequency injection method;
2. The existing control circuit is added with a voltage sampling function to complete the collection of the three-phase voltage of the permanent magnet machine, and the counter-potential method based on the three-phase voltage of the permanent magnet machine is utilized to complete the estimation of the rotor position of the middle and high speed sections, so that the reliability of the rotor position in the starting process is improved, and the electromagnetic torque impact is reduced;
3. the transition value of the low speed section rotor position estimation value to the medium and high speed section rotor position estimation value is processed through weighted average to realize smooth transition.
The method avoids the influence of the electric parameter change of the medium-high speed motor on the estimation result, has small calculation amount of algorithm and is easy to realize engineering application.
Drawings
Fig. 1 is a schematic diagram of a main motor zero low speed section rotor position estimation result based on a high frequency injection method.
Fig. 2 is a schematic block diagram of a counter-potential method based on three-phase voltages of a permanent magnet machine.
Fig. 3 is a schematic diagram of estimated position of permanent magnet machine rotor and estimated value of main motor rotor based on back electromotive force method.
Fig. 4 is a schematic diagram of a comparison result between a zero low speed section rotor position estimation error and a medium high speed section rotor position estimation error in a switching interval.
Fig. 5 is a full-speed segment no-position sensor start control related waveform.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application become more apparent, the technical solutions in the embodiments of the present application will be described in more detail with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the application. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present application and should not be construed as limiting the application. All other embodiments, based on the embodiments of the application, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The first aspect of the present application provides a method for estimating the rotor position of a three-stage motor, which mainly comprises:
S1, estimating the position and the rotating speed of a rotor at a zero low speed section of a main motor by adopting a high-frequency injection method, and respectively recording as AndReading the calculated real position of the rotor of the main motor of the rotary transformer, recording as theta MM, and calculating a first difference value between the real rotor position and the estimated rotor position asAs shown in fig. 1, the uppermost curve is the actual rotor position versus time calculated for the resolver, the middle curve is the estimated rotor position versus time, and the lower curve is the first difference versus time.
And S2, performing CLARK conversion on the collected three-phase voltage to obtain an equivalent two-phase voltage.
The step utilizes a voltage acquisition circuit to acquire three-phase voltage of the permanent magnet machine, which is marked as U PMA、UPMB、UPMC, and performs CLARK conversion on the three-phase voltage to obtain equivalent two-phase voltage, which is marked as U PMα、UPMβ.
And step S3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages.
Referring to fig. 2, the intermediate variables for estimating the rotor position of the permanent magnet machine are obtained using the following formula:
wherein U PMα、UPMβ is the equivalent two-phase voltage, The position is estimated for the initially given permanent magnet machine or the permanent magnet machine calculated by the phase locked loop in step S4.
And S4, estimating the rotor position and the rotating speed by using a phase-locked loop. In the step, the phase-locked loop is utilized to carry out closed-loop adjustment processing on the intermediate variable in the step 3, so that the estimated rotor position and the estimated rotating speed of the permanent magnet machine are obtained. In one embodiment, the proportional coefficient of the regulator PI of the phase locked loop is 500, the integral coefficient is 5000, and the coefficient of the integrator I is 1.
And S5, determining the estimated rotor position and the estimated rotating speed of the medium-high speed section of the main motor by utilizing the pole pair corresponding relation of the main motor and the permanent magnet motor.
In the step, the rotor position and the rotating speed of the permanent magnet machine obtained in the step S4 are transformed by utilizing the corresponding relation between the pole pair numbers of the main motor and the permanent magnet machine, and the estimated rotor position and the estimated rotating speed of a high-speed section in the main motor are obtained, wherein the detailed calculation formula is as follows:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor. For example, current common motor parameters are: p MM＝3,pPM = 6.
Step S6, determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position
The results of the estimated position of the permanent magnet machine rotor and the estimated value of the main motor rotor based on the counter-potential method in the steps S2-S6 are shown in fig. 3, and the stator voltage is obtained, the counter-potential method is used for completing the estimation of the position of the high-speed section rotor in the permanent magnet machine, and the pole pair corresponding relation between the permanent magnet machine and the main motor is further used for indirectly obtaining the estimation of the position of the high-speed section rotor in the main motor.
Through the steps, the rotor position estimation of the full-speed section of the three-stage motor is realized.
And S7, determining the deviation of the first difference value and the second difference value for any rotation speed value, and determining a rotation speed interval corresponding to the deviation smaller than a deviation threshold value.
Comparing the step 1 with the step 6 to estimate the rotor position error, and recording the rotating speed interval when the two estimated errors are similarWherein, For a low rotational speed value in the switching interval,For a high rotational speed value in the switching interval,
In some alternative embodiments, the deviation threshold is 0.02rad, and referring to FIG. 4, a rotation speed interval of [250r/min,300r/min ] can be obtained when two estimation errors are similar.
And S8, in the rotating speed interval, carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section to obtain the estimated rotor position in the rotating speed interval.
And (3) in the rotating speed interval obtained in the step (7), the smooth switching of the rotor estimated positions from the zero low speed section to the medium high speed section is completed by using a weighted average method, and the motor full speed section estimated rotating speed and the estimated rotor position expression are obtained by combining the step (1) and the step (5) as follows:
Wherein, The rotational speed is estimated for the full speed segment of the motor,The motor full speed segment estimates the rotor position.
The result of the full-speed rotor position estimation and the result of the rotating speed estimation are shown in fig. 5, and it can be seen from the graph that the error of the full-speed rotor position estimation is not more than 0.1rad (about 5.7 electric angles), the estimation precision is higher, and the rotor position precision requirement in the starting process is satisfied.
The second aspect of the present application provides a three-stage motor rotor position estimation device corresponding to the above method, mainly comprising:
the first difference value calculation module is used for estimating the rotor position and the rotating speed of the zero low-speed section of the main motor by adopting a high-frequency injection method and determining a first difference value between the rotor position and the real rotor position;
The CLARK conversion module is used for carrying out CLARK conversion on the collected three-phase voltage to obtain equivalent two-phase voltage;
the intermediate variable calculation module is used for determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages;
the phase-locked loop module is used for estimating the position and the rotating speed of the rotor by using the phase-locked loop;
the main motor rotor position estimation module is used for determining the position and the estimated rotating speed of the rotor of the medium-high speed section of the main motor by utilizing the corresponding relation between the pole pair numbers of the main motor and the permanent magnet motor;
The second difference value calculation module is used for determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position;
The rotating speed interval determining module is used for determining the deviation of the first difference value and the second difference value for any rotating speed value, and determining a rotating speed interval corresponding to the situation that the deviation is smaller than a deviation threshold value;
And the rotor position smoothing design module is used for carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section in the rotating speed section to obtain the estimated rotor position in the rotating speed section.
In some alternative embodiments, the true rotor position is resolved by a resolver.
In some alternative embodiments, in the intermediate variable calculation module, the intermediate variable used to estimate the permanent magnet machine rotor position is obtained using the following formula:
wherein U PMα、UPMβ is the equivalent two-phase voltage, The position is estimated for an initially given permanent magnet machine or a permanent magnet machine calculated by a phase locked loop.
In some alternative embodiments, in the main motor rotor position estimation module, the main motor intermediate and high speed section estimated rotor position and estimated rotational speed are determined using the following formulas:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor.
In some alternative embodiments, the deviation threshold is 0.02rad.
The application provides a rotor position estimation method based on the multi-stage structural characteristics of a three-stage motor. And the rotor position estimation of the zero low-speed section main motor is completed by utilizing a high-frequency injection method, a voltage sampling function is added to an existing control circuit to complete the acquisition of the three-phase voltage of the permanent magnet machine, the rotor position estimation of the permanent magnet machine is completed by utilizing a counter-potential method based on the three-phase voltage of the permanent magnet machine, and the rotor position estimation of the high-speed section in the main motor is indirectly obtained by combining the pole pair corresponding relation of the permanent magnet machine and the main motor. The method avoids the influence of the electric parameter change of the medium-high speed motor on the estimation result, has small calculation amount of algorithm and is easy to realize engineering application.
While the application has been described in detail in the foregoing general description and with reference to specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the application as claimed.
Claims (6)
1. A method for estimating a rotor position of a three-stage motor, comprising:
S1, estimating the position and the rotating speed of a rotor at a zero low speed section of a main motor by adopting a high-frequency injection method, and determining a first difference value between the position and the position of a real rotor;
S2, performing CLARK conversion on the collected three-phase voltage to obtain an equivalent two-phase voltage;
step S3, determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages;
s4, estimating the position and the rotating speed of the rotor by using a phase-locked loop;
s5, determining the estimated rotor position and the estimated rotating speed of the medium-high speed section of the main motor by utilizing the pole pair corresponding relation of the main motor and the permanent magnet motor;
S6, determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position;
step S7, for any rotation speed value, determining the deviation of the first difference value and the second difference value, and determining a rotation speed interval corresponding to the deviation smaller than a deviation threshold value;
S8, in the rotating speed interval, carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in a middle-high speed section to obtain the estimated rotor position in the rotating speed interval;
In step S3, the following formula is used to obtain an intermediate variable for estimating the rotor position of the permanent magnet machine:
wherein U PMα、UPMβ is the equivalent two-phase voltage, Estimating a position for an initially given permanent magnet machine or a permanent magnet machine calculated by a phase-locked loop in step S4;
In step S5, the estimated rotor position and the estimated rotational speed of the medium-high speed section of the main motor are determined using the following formulas:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor.
2. The method of estimating a rotor position of a three-stage motor according to claim 1, wherein in step S1 and step S5, the true rotor position is calculated by a resolver.
3. The method of estimating a rotor position of a three-stage motor according to claim 1, wherein in step S7, the deviation threshold is 0.02rad.
4. A three-stage motor rotor position estimation apparatus, comprising:
the first difference value calculation module is used for estimating the rotor position and the rotating speed of the zero low-speed section of the main motor by adopting a high-frequency injection method and determining a first difference value between the rotor position and the real rotor position;
The CLARK conversion module is used for carrying out CLARK conversion on the collected three-phase voltage to obtain equivalent two-phase voltage;
the intermediate variable calculation module is used for determining an intermediate variable for estimating the rotor position of the permanent magnet machine based on the two-phase voltages;
the phase-locked loop module is used for estimating the position and the rotating speed of the rotor by using the phase-locked loop;
the main motor rotor position estimation module is used for determining the position and the estimated rotating speed of the rotor of the medium-high speed section of the main motor by utilizing the corresponding relation between the pole pair numbers of the main motor and the permanent magnet motor;
The second difference value calculation module is used for determining a second difference value between the estimated rotor position of the medium-high speed section and the actual rotor position;
The rotating speed interval determining module is used for determining the deviation of the first difference value and the second difference value for any rotating speed value, and determining a rotating speed interval corresponding to the situation that the deviation is smaller than a deviation threshold value;
the rotor position smoothing design module in the rotating speed interval is used for carrying out weighted average on the rotor position of the main motor estimated by adopting a high-frequency injection method and the rotor position estimated in the middle-high speed section in the rotating speed interval to obtain the estimated rotor position in the rotating speed interval;
In the intermediate variable calculation module, the following formula is used for obtaining an intermediate variable for estimating the rotor position of the permanent magnet machine:
wherein U PMα、UPMβ is the equivalent two-phase voltage, Estimating a position for an initially given permanent magnet machine or a permanent magnet machine calculated by a phase locked loop;
in the main motor rotor position estimation module, the main motor middle and high speed section estimated rotor position and estimated rotating speed are determined by using the following formulas:
Wherein, p MM is the pole pair number of the main motor, p PM is the pole pair number of the permanent magnet motor, The rotational speed is estimated for the permanent magnet machine,The position is estimated for the permanent magnet machine,The rotational speed is estimated for the main motor,The position is estimated for the main motor.
5. The three-stage motor rotor position estimation apparatus according to claim 4 wherein the true rotor position is resolved by a resolver.
6. The three-stage motor rotor position estimation apparatus of claim 4 wherein said deviation threshold is 0.02rad.
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