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CN106788071A - A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy - Google Patents

A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy Download PDF

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Publication number
CN106788071A
CN106788071A CN201710012113.7A CN201710012113A CN106788071A CN 106788071 A CN106788071 A CN 106788071A CN 201710012113 A CN201710012113 A CN 201710012113A CN 106788071 A CN106788071 A CN 106788071A
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Prior art keywords
shaft
rotor
estimate
synchronous motor
estimation error
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CN201710012113.7A
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CN106788071B (en
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刘兵
周波
倪天恒
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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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
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals
    • 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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  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a kind of method for improving permagnetic synchronous motor position estimation accuracy, the method is on the basis of realizing that permanent-magnet synchronous motor rotor position is estimated using pulsating high frequency signal injection method, position estimation error function to being extracted is processed, eliminate wherein due to the asymmetric 2 introduced subharmonic compositions of the parameter of electric machine, position estimation error function after being processed, then set up phaselocked loop and be adjusted to 0, obtain estimating spinner velocity and estimate rotor-position.The method can effectively suppress, by the asymmetric subharmonic error of location estimation 2 for causing of the parameter of electric machine, to improve control system without position sensor performance.

Description

A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy
Technical field
The present invention relates to Motor Control Field, particularly a kind of side for improving permanent-magnet synchronous motor rotor position estimated accuracy Method.
Background technology
The features such as permagnetic synchronous motor relies on its small volume, lightweight, power factor (PF) high and superior control performance obtains Extensive commercial Application.Rotor-position is that permagnetic synchronous motor realizes information indispensable during vector controlled, photoelectric coding The mechanical position sensors such as device, rotary transformer increased volume, weight and the cost of control system, therefore permanent magnet synchronous electric Machine Sensorless Control Technique gets the attention.Wherein, pulsating high frequency signal injection method realizes simple, robustness It is good, and suitable for zero, low speed occasion, therefore the large quantities of scholars of attraction launch research to it.
Rotor position estimate precision is to consider an important indicator for position-sensorless control systematic function.When motor three-phase resistance Or inductance it is asymmetric when, there are 2 subharmonic errors in the estimation rotor-position obtained using pulsating high frequency signal injection method.The harmonic wave The presence of error reduces rotor position estimate precision, while the lifting of position Sensorless Control performance is also limit, therefore It is necessary to eliminate it.P.L.Xu and Z.Q.Zhu,“Carrier signal injection-based sensorless control for permanent-magnet synchronous machine drives considering machine parameter asymmetry,”IEEE Trans.Ind.Electron.,vol.63, No.5, pp.2813-2824, May.2016. propose a kind of subharmonic of rotor position estimate error 2 based on dual signal injection Suppressing method, injects two signals of different frequency, and ensure two amplitudes of Injection Signal with frequency than consistent in d-axis. One of signal is modulated, related departure asymmetric to the parameter of electric machine is obtained, another signal is compensated with it Position estimation error information in modulated process, the method effectively inhibits 2 order harmonic components in estimated location, but due to needing Two signals of different frequency are injected, this clearly increases the computational burden and complexity of system.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies in the prior art and provide a kind of raising permanent magnet synchronous electric The method of machine rotor position estimation accuracy, can effectively suppress to estimate 2 subharmonic errors in rotor-position, improve rotor-position and estimate Meter precision.
The present invention uses following technical scheme to solve above-mentioned technical problem：
According to a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy proposed by the present invention, including following step Suddenly：
Step A, using pulsating high frequency signal injection method obtain position estimation error information；
Step B, the position estimation error information to being extracted are modulated, and are first compensated information, and location estimation is missed Difference information is poor with compensated information, the position estimation error information after being processed；
Step C, set up phaselocked loop, the position estimation error information after treatment be adjusted to 0, obtain estimating spinner velocity and Estimate rotor-position；
Step D, given value of current value and current-responsive according to estimation d axles and q axles, obtain estimating d axles and q shaft voltages；
Step E, repeat step A to step D, until motor is out of service.
Further optimize as a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy of the present invention Scheme, the step A is specific as follows：
A.1, in the d axles for estimating rotor synchronous rotating frame step injects high-frequency cosine voltage Uh cos(ωhT), its In, UhIt is the amplitude that high frequency voltage is injected in d axles, ωhIt is the frequency that high frequency voltage is injected in d axles, t represents current time；
Step A.2, to estimate d shaft voltagesWith estimation q shaft voltagesParker inverse transformation is carried out, the static alpha-beta of two-phase is obtained Voltage u under coordinate systemαAnd uβ, then six path switching signals of three-phase inverter are obtained using space vector pulse width modulation, drive forever Magnetic-synchro motor；
Step any biphase current A.3, in detection motor three-phase windings A/B/C, first carries out Clarke transform and obtains two Electric current i under mutually static alpha-beta coordinate systemαAnd iβ, then obtain estimating that d shaft currents are responded by Park TransformationWith estimation q shaft currents Response
A.4, by estimation q shaft currents step respondsFrequency is selected for ω by bandpass filterhAC compounent, i.e., it is high Frequency componentAgain with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, it is 2 ω to obtain DC component and frequencyhExchange Component, finally filters AC compounent by the DC component and AC compounent by low pass filter, extracts DC component, obtains in place Put evaluated error information f (Δ θ).
Further optimize as a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy of the present invention Scheme, the step B is specific as follows：
Step B.1, by position estimation error information f (Δ θ) withIt is multiplied, wherein,It is the rotor position estimated Put；
B.2, using a cut-off frequency step is less thanLow pass filter pairF (Δ θ) is filtered, its In,To estimate spinner velocity；
Step B.3, by filtered signal withIt is multiplied, is compensated information fP；
Step B.4, by position estimation error information f (Δ θ) and compensated information fPDiffer from, the location estimation after being processed Control information fc(Δθ)。
Further optimize as a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy of the present invention Scheme, obtains estimating spinner velocity in the step C and estimates rotor-position, specific as follows：
Step C.1, by the position estimation error information f after treatmentc(Δ θ) as pi regulator input, pi regulator It is output as estimating spinner velocity
Step C.2, to estimate spinner velocityIntegration obtains estimating rotor-position
Further optimize as a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy of the present invention Scheme, the step D is specific as follows：
Step D.1, by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, should Pi regulator is output as estimating q shaft current set-points
Step D.2, will estimate d shaft current set-points0 is set to, d shaft current set-points will be estimatedWith by LPF The estimation d shaft currents response of deviceMake the result of difference, estimate q shaft current set-pointsWith the estimation q axles electricity by low pass filter Stream responseMake the result of difference by electric current loop pi regulator, obtain estimating d shaft voltagesWith estimation q shaft voltages
The present invention uses above technical scheme compared with prior art, with following technique effect：
(1) by the asymmetric caused deviation information acquisition process of the parameter of electric machine without extra Injection Signal, it is only necessary to Injecting the current-responsive of high-frequency signal carries out certain modulation；
(2) compensation method only need increase a low pass filter, realize simple and convenient, computational burden is smaller；
(3) using after the compensation method, 2 subharmonic contents in position estimation error are substantially reduced, position estimation accuracy Significantly improve.
Brief description of the drawings
Fig. 1 is the principle of the New method for sensorless control technique of PMSM for suppressing function with 2 subharmonic errors Block diagram.
Fig. 2 is the theory diagram of the subharmonic error concealment module of estimated location 2.
When Fig. 3 is given rotating speed 120r/min, there is the actual rotor position θ in the case of compensating and being uncompensated, estimate rotor PositionPosition estimation error information f after position estimation error Δ θ and treatmentcThe experimental waveform of (Δ θ).
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
As shown in Figure 1, the present invention provide it is a kind of improve permagnetic synchronous motor position estimation accuracy method, specifically include with Lower step：
Step 1) estimating the d axles injection high-frequency cosine voltage U of rotor synchronous rotating frameh cos(ωhT), wherein, UhIt is the amplitude that high frequency voltage is injected in d axles, ωhIt is the frequency that high frequency voltage is injected in d axles, t represents current time；
Step 2) to estimating d axles and q shaft voltagesWithParker inverse transformation is carried out, is obtained under the static alpha-beta coordinate system of two-phase Voltage uαAnd uβ, then six path switching signals of three-phase inverter are obtained using space vector pulse width modulation SVPWM, drive permanent magnetism Synchronous motor PMSM, wherein,WithInitial value be 0；
Step 3) any biphase current in detection motor three-phase windings A/B/C, first carry out Clarke transform and obtain two-phase Electric current i under static alpha-beta coordinate systemαAnd iβ, then obtain estimating that d shaft currents are responded by Park TransformationRung with estimation q shaft currents Should
Step 4) response of q shaft currents will be estimatedFrequency is selected for ω by bandpass filter (BPF)hAC compounent, i.e., High fdrequency componentAgain with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, it is 2 ω to obtain DC component and frequencyhExchange point Amount, eventually passes low pass filter (LPF) and filters AC compounent, extracts DC component, obtains position estimation error information f (Δs θ)。
Step 5) as shown in Figure 2, by position estimation error information f (Δ θ) withIt is multiplied, wherein,Just Initial value is 0；
Step 6) it is far below using a cut-off frequencyLow pass filter LPF2 pairsF (Δ θ) is filtered Ripple, wherein,Initial value be 0；
Step 7) by filtered signal withIt is multiplied, is compensated information fP；
Step 8) by position estimation error information f (Δ θ) and compensated information fPDiffer from, the location estimation after being processed is missed Difference information fc(Δθ)。
Step 9) by the position estimation error information f after treatmentc(Δ θ) estimates rotor speed as the input of pi regulator DegreeIt is the output of pi regulator, to estimating spinner velocityThe rotor-position that integration is estimated
Step 10) by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, should Pi regulator is output as estimating q shaft current set-points
Step 11) d shaft current set-points will be estimated0 is set to, d axles and q shaft current set-points will be estimated respectivelyWithWith Responded by the estimation d axles and q shaft currents of low pass filter (LPF)WithDiffer from, by electric current loop pi regulator, estimated Meter d axles and q shaft voltagesWith
Step 12) repeat step 1) to step 11), until motor is out of service.
In order to verify the feasibility of institute's extracting method of the present invention, tested on a PMSM of rated power 1.5kW. Accompanying drawing 3 be given rotating speed be 120r/min when, using the present invention propose compensation method and do not use the compensation method when reality Rotor-position, the experimental waveform for estimating the position estimation error information after rotor-position, position estimation error and treatment.Contrast can Know, when uncompensated, obvious 2 order harmonic components, location estimation essence are included in position estimation error information and position estimation error Degree is poor；When having compensation, 2 order harmonic components in position estimation error information and position estimation error are substantially reduced, and position is estimated Meter precision is significantly improved.

Claims (5)

1. it is a kind of improve permanent-magnet synchronous motor rotor position estimated accuracy method, it is characterised in that comprise the following steps：
Step A, using pulsating high frequency signal injection method obtain position estimation error information；
Step B, the position estimation error information to being extracted are modulated, and are first compensated information, and position estimation error is believed Cease, position estimation error information processed after poor with compensated information；
Step C, phaselocked loop is set up, the position estimation error information after treatment is adjusted to 0, obtain estimating spinner velocity and estimation Rotor-position；
Step D, given value of current value and current-responsive according to estimation d axles and q axles, obtain estimating d axles and q shaft voltages；
Step E, repeat step A to step D, until motor is out of service.
2. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, its feature exists In the step A is specific as follows：
A.1, in the d axles for estimating rotor synchronous rotating frame step injects high-frequency cosine voltage Uh cos(ωhT), wherein, Uh It is the amplitude that high frequency voltage is injected in d axles, ωhIt is the frequency that high frequency voltage is injected in d axles, t represents current time；
Step A.2, to estimate d shaft voltagesWith estimation q shaft voltagesParker inverse transformation is carried out, the static alpha-beta coordinate system of two-phase is obtained Under voltage uαAnd uβ, then six path switching signals of three-phase inverter are obtained using space vector pulse width modulation, drive permanent-magnet synchronous Motor；
Step any biphase current A.3, in detection motor three-phase windings A/B/C, first carrying out Clarke transform, to obtain two-phase quiet The only electric current i under alpha-beta coordinate systemαAnd iβ, then obtain estimating that d shaft currents are responded by Park TransformationResponded with estimation q shaft currents
A.4, by estimation q shaft currents step respondsFrequency is selected for ω by bandpass filterhAC compounent, i.e., frequency division high Amount Again with sinusoidal signal 2sin (ωhT) it is multiplied and is modulated, it is 2 ω to obtain DC component and frequencyhAC compounent, The DC component and AC compounent are finally filtered into AC compounent by low pass filter, DC component is extracted, is obtained to position and is estimated Meter control information f (Δ θ).
3. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, its feature exists In the step B is specific as follows：
Step B.1, by position estimation error information f (Δ θ) withIt is multiplied, wherein,It is the rotor-position estimated；
B.2, using a cut-off frequency step is less thanLow pass filter pairIt is filtered, wherein,To estimate spinner velocity；
Step B.3, by filtered signal withIt is multiplied, is compensated information fP；
Step B.4, by position estimation error information f (Δ θ) and compensated information fPDiffer from, the position estimation error after being processed Information fc(Δθ)。
4. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, its feature exists In, obtain estimating spinner velocity in the step C and estimate rotor-position, it is specific as follows：
Step C.1, by the position estimation error information f after treatmentc(Δ θ) as pi regulator input, the output of pi regulator To estimate spinner velocity
Step C.2, to estimate spinner velocityIntegration obtains estimating rotor-position
5. a kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy according to claim 1, its feature exists In the step D is specific as follows：
Step D.1, by given rotor speed omega*With estimation spinner velocityDifference be input to der Geschwindigkeitkreis pi regulator, the PI adjust Section device is output as estimating q shaft current set-points
Step D.2, will estimate d shaft current set-points0 is set to, d shaft current set-points will be estimatedWith by low pass filter Estimate the response of d shaft currentsMake the result of difference, estimate q shaft current set-pointsRung with the estimation q shaft currents by low pass filter ShouldMake the result of difference by electric current loop pi regulator, obtain estimating d shaft voltagesWith estimation q shaft voltages
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