CN117040342B - Motor position and speed estimation method and device based on complex normalization - Google Patents
Motor position and speed estimation method and device based on complex normalization Download PDFInfo
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Abstract
A motor position and speed estimation method and device based on complex normalization comprises the following steps; step one, obtaining three-phase stator current of a motor through a current sensing device; step two, clarke transformation is carried out on the three-phase stator current to obtain motor stator current under an alpha beta coordinate system; step three, constructing a sliding mode observer by using stator current under an alpha beta coordinate system; step four, according to the relation between the estimated current and the actually measured current, the counter electromotive force of the motor under an alpha beta coordinate system is obtained; step five, park conversion and complex calculation are carried out on the counter electromotive force, and a complex normalized motor position error which is not influenced by motor speed under a dq estimation coordinate system is obtained; step six, designing a position and speed observer according to the complex normalized position error relation to obtain the estimated position and estimated speed of the motor. The invention eliminates the influence of motor speed on the system bandwidth, simplifies the system parameter design process, and has excellent dynamic performance and good steady-state precision under the condition of wide variation of motor speed.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a motor position and speed estimation method and device based on complex normalization.
Background
In order to bring the motor to normal operation using sensorless control techniques, it is necessary to design motor position and speed estimators to achieve accurate estimation of motor position and speed. The prior art is typically implemented based on a phase locked loop with the observed back emf as its input, the position and speed of the output motor. The position error information calculated by the prior art is generally proportional to the motor speed, which causes the bandwidth of the system to vary with speed, which affects the dynamic performance of the observer and is inconvenient for system parameter selection. In addition, existing estimation methods of motor position and speed based on phase-locked loops can cause serious oscillation problems and even stop under the condition that the motor speed varies widely.
Therefore, the dynamic performance of the existing estimation method based on the phase-locked loop is affected by the speed, and the parameter design is difficult. Under the condition that the motor speed changes in a large range, the actual requirements of motor position and speed estimation cannot be met, and therefore no-position control of the motor cannot be well achieved.
In summary, the problems of the prior art are: the dynamic performance of the existing motor position and speed estimation method based on the phase-locked loop is influenced by the speed, parameter design is difficult, serious oscillation problems can occur under the condition that the motor speed is changed in a large range, even the condition of shutdown can be caused, and the performance of motor position control is seriously influenced.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a motor position and speed estimation method and device based on complex normalization, which enable the system bandwidth not to be influenced by the speed, have simpler parameter design, have excellent dynamic performance under the condition that the motor speed is changed in a large range, have good steady-state precision and can realize the position-free control of the motor.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a motor position and speed estimation method based on complex normalization comprises the following steps;
step one, obtaining three-phase stator current of a motor through a current sensing device;
Step two, clarke transformation is carried out on the three-phase stator current to obtain motor stator current under a two-phase stationary coordinate system (alpha beta coordinate system);
Step three, constructing a sliding mode observer by using the stator current under the alpha beta coordinate system;
step four, according to the relation between the estimated current and the actually measured current, the back electromotive force of the motor under an alpha beta coordinate system is obtained, and the back electromotive force comprises motor position and speed information;
step five, park conversion and complex calculation are carried out on the counter electromotive force, and a complex normalized motor position error which is not influenced by motor speed under a two-phase rotation estimated coordinate system (dq estimated coordinate system) is obtained;
Step six, designing a position and speed observer according to the complex normalized position error relation to obtain the estimated position and estimated speed of the motor.
And in the first step, the three-phase stator current of the motor obtained through the current sensing device is i a,ib,ic.
In the second step, clarke transformation is carried out on the three-phase stator current, and the calculation formula is as follows:
and obtaining the motor stator current i α,iβ under the alpha beta coordinate system.
In the third step, a sliding mode observer is constructed by using motor stator current i α,iβ under an alpha beta coordinate system, and the specific equation is as follows:
Wherein: And For estimating the current of the stator of the motorAndU α and u β are observer control inputs, R d and L d are motor stator d-axis resistance and inductance, h is slip-mode gain, sgn is a sign function.
The specific formulas for calculating the counter electromotive forces E α and E β of the motor under the alpha beta coordinate system in the fourth step are as follows:
Wherein k f is the permanent magnet flux linkage, ω is the electrical angular velocity of the motor, and θ is the actual position of the motor.
In the fifth step, park conversion is performed on the back electromotive force obtained in the fourth step, wherein the Park conversion is performedFor the estimated value of the motor position theta, the counter electromotive forces E d and E q under the dq estimated coordinate system are obtained, and the specific calculation formula is as follows:
In the fifth step, complex calculation is performed on the counter electromotive forces E d and E q under the dq estimation coordinate system, so as to obtain a complex normalized motor position error E out which is not affected by the motor speed, and a specific calculation formula is as follows:
where j is an imaginary unit, im is the imaginary part of the complex number, re is the real part of the complex number, and n is a positive integer.
In the sixth step, according to the position error relation E out in the fifth step, a position and speed observer is constructed, and the specific formula is as follows:
Wherein the method comprises the steps of Representing the motor electrical angular velocity estimate, k p and k i are design parameters,Is an integration link.
The motor position and speed estimation device based on complex normalization comprises a current sensor, wherein the current sensor is used for collecting three-phase current of a motor stator, and the collected signals are processed by a filter, an amplifier and an analog-to-digital converter and are input into a microcontroller unit (MCU or DSP) for calculation to finally obtain the motor position and speed;
the current sensor is arranged on three phase lines of a motor a, b and c based on the Hall effect;
the microcontroller unit (MCU or DSP) runs the motor position and speed estimation method based on complex normalization according to the steps, and calculates the motor position and speed.
The invention has the beneficial effects that:
The invention provides a motor position and speed estimation method based on complex normalization, and designs a corresponding device; the motor parameter estimator is composed of a microcontroller unit (DSP or MCU) running a motor position and speed estimation method based on complex normalization. (the motor parameters in the motor parameter estimator herein refer to motor position and speed).
The method ensures that the system bandwidth is not influenced by the speed, the parameter design is simpler, the method has excellent dynamic performance and steady-state precision under the condition that the motor speed is changed in a large range, and the position-free control of the motor can be realized.
The expression of the complex normalized motor position error E out in the fifth step indicates that the motor position error information does not include the motor electric angular velocity ω, so that the bandwidth and the parameter design of the system are independent of the speed, the influence of the motor speed on the system bandwidth is eliminated, and the parameter design process of the system is simplified. Under the condition that the motor speed changes in a large range, the system still has excellent dynamic performance and steady-state precision.
Drawings
Fig. 1 is a flowchart of a motor position and speed estimation method according to an embodiment of the present invention.
Fig. 2 is a flowchart of a motor position and speed estimation method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a motor parameter estimation device according to an embodiment of the present invention;
In the figure: 1. a three-phase current sensor; 2. a filter; 3. a signal amplifier; 4. an analog-to-digital converter; 5. a current sensing device; 6. and a motor parameter estimator.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The invention eliminates the influence of motor speed on bandwidth and system parameter design, effectively enhances the reliability of the estimation method, eliminates oscillation and improves the dynamic performance and steady-state precision of the motor position and speed estimation method under the condition of large-range change of motor speed.
A motor position and speed estimation method based on complex normalization is characterized in that the motor position and speed estimation method carries out Clarke transformation on motor three-phase stator current obtained by a current sensing device, a sliding mode observer is constructed, counter electromotive force of a motor is obtained through calculation, park transformation and complex operation are carried out on the counter electromotive force, a complex normalization motor position error is obtained, a motor position and speed estimation method is designed, and a parameter estimation device is built.
As shown in fig. 1, the motor position and speed estimation method provided by the embodiment of the invention includes the following steps:
S101: obtaining three-phase current of a motor stator by using a current sensor;
S102: clarke transformation is carried out on three-phase current of a motor stator to obtain motor current under an alpha beta coordinate system;
s103: designing a sliding mode observer of motor current;
S104: calculating to obtain the back electromotive force of the motor;
s105: performing Park conversion and complex operation on the counter electromotive force to obtain a complex normalized position error;
S106: and designing a speed and position estimation method, and obtaining the estimated position and the estimated speed of the motor.
The principle of application of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 2, the motor position and speed estimation method provided by the embodiment of the invention includes the following steps:
Firstly, obtaining three-phase stator current i a,ib,ic of a motor by using a current sensing device;
Secondly, clarke transformation is carried out on three-phase current of a motor stator, and motor currents i α and i β under an alpha beta coordinate system are obtained:
thirdly, designing a sliding mode observer of motor current:
Wherein: is the motor current estimate in the αβ coordinate system.
Fourth, according to the relation between the estimated current and the actual measured current, calculating the back electromotive force of the motor:
Fifthly, performing Park transformation on the back electromotive force, and performing complex operation on the dq estimation coordinate system to obtain complex normalization
Motor position error E out:
Wherein the method comprises the steps of An estimate representing the motor position;
sixth, constructing a motor position and speed estimator according to the complex normalized motor position error E out:
Wherein the method comprises the steps of Representing an estimate of the electrical angular velocity of the motor.
The system mentioned in the present invention refers to a motor position and speed estimation system, namely a motor position and speed estimator herein, and the parameter design refers to the design of k p and k i selected therein.
As shown in fig. 3, the motor parameter estimation device provided by the embodiment of the invention comprises a current sensing device 5 and a motor parameter estimator 6. Wherein the current sensing means 5 comprises a three-phase current sensor 1, a filter 2, an amplifier 3, an analog-to-digital converter 4.
The three-phase current sensor 1 obtains motor three-phase stator current, the obtained signal is input into the filter 2, the signal amplifier 3 and the analog-to-digital converter 4, and then is input into the motor parameter estimator 6 to estimate the motor position and the motor speed, wherein the motor parameter estimator 6 is formed by a motor position and the motor speed estimation method based on complex normalization operated by a microcontroller unit (DSP or MCU), the obtained estimated position and the obtained estimated speed are compared with the actual position and the actual speed of the motor acquired by the encoder, the result is basically consistent, and the estimation method provided by the invention is proved to be accurate.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A motor position and speed estimation method based on complex normalization is characterized by comprising the following steps of;
step one, obtaining three-phase stator current of a motor through a current sensing device;
step two, clarke transformation is carried out on the three-phase stator current to obtain a two-phase stationary coordinate system, namely motor stator current under an alpha beta coordinate system;
Step three, constructing a sliding mode observer by using the stator current under the alpha beta coordinate system;
step four, according to the relation between the estimated current and the actually measured current, the back electromotive force of the motor under an alpha beta coordinate system is obtained, and the back electromotive force comprises motor position and speed information;
Step five, park conversion and complex calculation are carried out on the counter electromotive force, and a complex normalized motor position error which is not influenced by motor speed under a two-phase rotation estimation coordinate system, namely a dq estimation coordinate system is obtained;
step six, designing a position and speed observer according to the complex normalized position error relation to obtain an estimated position and estimated speed of the motor;
In the fifth step, park conversion is performed on the back electromotive force obtained in the fourth step, wherein the Park conversion is performed For the estimated value of the motor position theta, the counter electromotive forces E d and E q under the dq estimated coordinate system are obtained, and the specific calculation formula is as follows:
In the fifth step, complex calculation is performed on the counter electromotive forces E d and E q under the dq estimation coordinate system, so as to obtain a complex normalized motor position error E out which is not affected by the motor speed, and a specific calculation formula is as follows:
where j is an imaginary unit, im is the imaginary part of the complex number, re is the real part of the complex number, and n is a positive integer;
In the third step, a sliding mode observer is constructed by using motor stator current i α,iβ under an alpha beta coordinate system, and the specific equation is as follows:
Wherein: And For estimating the current of the stator of the motorAndU α and u β are observer control inputs, R d and L d are motor stator d-axis resistance and inductance, h is slip-mode gain, sgn is a sign function;
in the sixth step, according to the position error relation E out in the fifth step, a position and speed observer is constructed, and the specific formula is as follows:
Wherein the method comprises the steps of Representing the motor electrical angular velocity estimate, k p and k i are design parameters,Is an integration link.
2. The method of claim 1, wherein the three-phase stator current of the motor obtained by the current sensor in the first step is i a,ib,ic.
3. The method for estimating the position and the speed of the motor based on complex normalization according to claim 1, wherein in the second step, the three-phase stator current obtained in the first step is subjected to Clarke transformation, and the calculation formula is as follows:
and obtaining the motor stator current i α,iβ under the alpha beta coordinate system.
4. The method for estimating the position and the speed of the motor based on complex normalization according to claim 1, wherein the specific formula for calculating the counter electromotive forces E α and E β of the motor in the αβ coordinate system in the fourth step is as follows:
wherein K f is the permanent magnet flux linkage, ω is the electrical angular velocity of the motor, and θ is the actual position of the motor.
5. A motor position and speed estimation device based on complex normalization obtained by the method according to any one of claims 1-4, comprising a current sensor for collecting three-phase current of a motor stator, wherein the collected signals are processed by a filter, an amplifier and an analog-to-digital converter and input into a microcontroller unit for calculation, and finally the motor position and speed are obtained.
6. The motor position and speed estimation device based on complex normalization according to claim 5, wherein the current sensor is based on hall effect and is mounted on three phase lines of motor a, b, c;
a microcontroller unit operates the method according to any of the preceding claims 1-4 in accordance with the steps to calculate the motor position and speed.
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| CN202311006594.2A CN117040342B (en) | 2023-08-10 | Motor position and speed estimation method and device based on complex normalization |
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| CN202311006594.2A CN117040342B (en) | 2023-08-10 | Motor position and speed estimation method and device based on complex normalization |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114598206A (en) * | 2022-03-08 | 2022-06-07 | 天津农学院 | Design method of permanent magnet synchronous motor wide-speed-domain rotor position observer |
| CN115514278A (en) * | 2022-11-03 | 2022-12-23 | 西安电子科技大学 | Semi-tangent integral type motor position and speed estimation method and device |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114598206A (en) * | 2022-03-08 | 2022-06-07 | 天津农学院 | Design method of permanent magnet synchronous motor wide-speed-domain rotor position observer |
| CN115514278A (en) * | 2022-11-03 | 2022-12-23 | 西安电子科技大学 | Semi-tangent integral type motor position and speed estimation method and device |
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