CN110112965B - Counter electromotive force observation method for permanent magnet synchronous motor - Google Patents
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Abstract
The invention provides a method for observing back electromotive force of a permanent magnet synchronous motor, which comprises the following steps: firstly, the voltage and the current of the stator of the motor are both static by sampling and calculation
A voltage component and a current component in a coordinate system; secondly, calculating according to the voltage component and the current component to obtain estimated stator current and a high-frequency sliding mode signal; secondly, performing low-pass filtering on the high-frequency sliding mode signal twice respectively to obtain an estimated actual rotor position angle and a back electromotive force amplitude of the motor; and finally, calculating to obtain the estimated motor back electromotive force according to the estimated actual rotor position angle and the back electromotive force amplitude of the motor. The invention adopts a double low pass filter method, compensates the problems of back electromotive force phase delay and amplitude attenuation caused by the first low pass filter according to the influence of the second low pass filter on the back electromotive force phase and amplitude, and can realize accurate observation of the back electromotive force.
Description
Technical Field
The invention relates to the field of power electronics, in particular to a method for observing back electromotive force of a permanent magnet synchronous motor.
Background
In recent years, with the increasing energy crisis, photovoltaic power generation technology, wind power generation technology and new energy electric vehicle technology have been developed vigorously. The permanent magnet synchronous motor has the advantages of high power density, high efficiency and the like, and is widely applied to a wind power generation system and a new energy electric vehicle driving system. However, under severe operating environment and environmental factors such as vibration, humidity and low temperature, the speed sensor often has faults such as disconnection and loss of pulse signals, and further the control system fails to operate. Therefore, in order to improve the operational reliability of the permanent magnet synchronous motor control system, a speed sensorless control technique has been widely studied in recent years. In the traditional permanent magnet synchronous motor non-speed sensor control based on a second-order sliding-mode observer, a calculation method is usually adopted to obtain the back electromotive force of a motor, and the rotating speed information of the motor is required to be used in the calculation process, but in the motor non-speed sensor control, the estimated rotating speed of the motor often has a certain rotating speed error, so that the calculated back electromotive force of the motor inevitably has errors.
At present, a method of a speed sensorless control technology of a permanent magnet synchronous motor exists, for example, application number 201610631269.9, the invention name is a speed sensorless control method based on a sliding-mode observer, a method for observing back electromotive force and compensating a motor phase shift angle by using a low-pass filter is provided, and speed sensorless control of the motor is realized. Therefore, the motor back electromotive force used in the control system has an error. Document [ position sensorless control of an interior permanent magnet synchronous motor for a compressor [ J ]. report of electrical and technical, 2013, 28 (5): 182-187 proposes a method of obtaining back electromotive force information in real time by using a series connection of low pass filters, compensating for the phase shift caused by the low pass filters to obtain an accurate motor angle, thereby implementing a speed sensorless control of the motor. However, the method only carries out phase shift compensation on the angle and does not consider the attenuation of the back electromotive force amplitude of the motor caused by the filter. Document [ wanggulin, yangfeng, in swimming, etc. ] built-in permanent magnet synchronous motor position sensorless control [ J ], chinese motor engineering report, 2010, 30 (30): 93-98 ] a speed sensorless control method of a permanent magnet synchronous motor based on a second-order sliding-mode observer is provided, the method only compensates the phase delay of the back electromotive force, and a compensation algorithm needs to use the estimated rotating speed. In the sensorless control of the motor, the estimated motor rotation speed often has a certain rotation speed error, thereby causing an inevitable large error in the calculated motor back electromotive force.
Disclosure of Invention
Aiming at the technical problem that the error of the counter electromotive force of the motor is larger due to the fact that the amplitude of the uncompensated counter electromotive force exists in the existing counter electromotive force calculation method of the permanent magnet synchronous motor, the invention provides the counter electromotive force observation method of the permanent magnet synchronous motor.
The technical scheme of the invention is realized as follows:
a counter electromotive force observation method of a permanent magnet synchronous motor comprises the following steps:
step one, utilizing a voltage sensor to align a motor statorThe voltage is sampled to obtain the stator voltage u of the motorABAnd uBCCalculating three-phase voltage u of the motorA、uBAnd uCAnd the three-phase voltage u is converted intoA、uBAnd uCObtaining the voltage u under a static α - β coordinate system through coordinate transformationαAnd voltage uβ；
Step two, sampling the three-phase current of the motor stator by using a current sensor to obtain the current i of the motor statorA、iBAnd iCAnd obtaining the current i under a stationary α - β coordinate system through coordinate transformationαAnd current iβ；
Step three, initializing the current of the motor
And current
Calculating the current
With the current i obtained in step twoαIs calculated from the difference of (1), the current is calculated
And the current i obtained in step twoβAnd calculating by a sign function to obtain a high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβ；
Step four, utilizing the voltage u obtained in the step oneαSubtracting the high-frequency sliding mode signal s obtained in the step threeαObtain a first set of intermediate variables E1αUsing the voltage u obtained in step oneβSubtracting the high-frequency sliding mode signal s obtained in the step threeβObtain a first set of intermediate variables E1β；
Step five, obtaining a first group of intermediate variables E according to the step four1α、E1βAnd the q-axis inductance of the motor is calculated to obtain a second group of intermediate variables E2α、E2β；
Step six, estimating according to step threeElectric current
Electric current
Calculating the resistance of the stator of the motor and the q-axis inductance to obtain a third group of intermediate variables E3α、E3β；
Step seven, utilizing the second group of intermediate variables E obtained in the step five2αSubtracting the third group intermediate variable E obtained in the step six3αObtaining a fourth group of intermediate variables E4αUsing the second set of intermediate variables E obtained in step five2βSubtracting the third group intermediate variable E obtained in the step six3βObtaining a fourth group of intermediate variables E4β；
Step eight, obtaining a fourth group intermediate variable E according to the step seven4α、E4βUpdating the current in step three
And current
Further updating high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβ；
Step nine, updating the high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβLow-pass filtering through the first low-pass filter to respectively obtain a fifth group of intermediate variables s1α、s1β；
Step ten, the fifth group of intermediate variables s obtained in the step nine1α、s1βLow-pass filtering through a second low-pass filter to respectively obtain a sixth group of intermediate variables s2α、s2β；
Step eleven, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βCalculating effective back electromotive force q-axis deviation
Step twelve, the effective counter electromotive force q-axis deviation obtained in the step eleven
Calculating to obtain estimated rotating speed by a proportional integrator
Thirteen step, rotating speed obtained in the step twelve
The rotor position angle theta after primary phase delay generated by a first low-pass filter is obtained through integral adjustment1；
Step fourteen, obtaining a sixth group of intermediate variables s according to the step ten2α、s2βCalculating the rotor position angle theta after two phase delays generated by the first low-pass filter and the second low-pass filter2；
Step fifteen, obtaining the rotor position angle theta according to the step thirteen1Subtracting the rotor position angle theta obtained in the step fourteen2Obtaining a delay angle delta theta, and then obtaining a rotor position angle theta1Calculating the delay angle delta theta to obtain an estimated actual rotor position angle theta;
sixthly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd a sixth set of intermediate variables s obtained in step ten2α、s2βCalculating to obtain the attenuation ratio k of the first low-pass filter and the second low-pass filter to the back electromotive force amplitude of the motor;
seventhly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd calculating the attenuation ratio k obtained in the step sixteen to obtain the back electromotive force amplitude e of the motorm；
Eighteen, obtaining the counter electromotive force amplitude e according to the seventeenth stepmAnd calculating the estimated back electromotive force of the motor according to the actual rotor position angle theta obtained in the step fifteen
And
preferably, the three-phase voltage u in the step oneA、uBAnd uCObtaining the voltage u under a static α - β coordinate system through coordinate transformationαAnd voltage uβThe method comprises the following steps:
wherein,
uABand uBCIs the motor stator voltage.
Preferably, the stator current i of the motor in the second stepA、iBAnd iCObtaining the current i under a stationary α - β coordinate system through coordinate transformationαAnd current iβThe method comprises the following steps:
preferably, the high-frequency sliding mode signal s in step threeαAnd high frequency sliding mode signal sβThe obtaining method comprises the following steps:
where M is the sliding mode gain and sgn () is the sign function.
Preferably, said first set of intermediate variables E1α、E1βThe obtaining method comprises the following steps:
the second set of intermediate variables E2α、E2βThe obtaining method comprises the following steps:
wherein L isqIs a motor q-axis inductor;
the third set of intermediate variables E3α、E3βThe obtaining method comprises the following steps:
wherein R issIs a motor stator resistor;
the fourth set of intermediate variables E4α、E4βThe obtaining method comprises the following steps:
preferably, the current in step eight
And current
The updating method comprises the following steps:
wherein, TsIs the sampling period.
Preferably, said fifth set of intermediate variables s1α、s1βThe obtaining method comprises the following steps:
wherein, ω iscIs the cut-off frequency of the first low-pass filter and the second low-pass filter, s is the laplacian operator;
the sixth set of intermediate variables s2α、s2βThe obtaining method comprises the following steps:
preferably, the effective back electromotive force q-axis deviation
The obtaining method comprises the following steps:
wherein, theta1Is the rotor position angle;
the estimated rotation speed
The obtaining method comprises the following steps:
kpis a proportionality coefficient, kiIs an integral coefficient;
the rotor position angle theta1The updating method comprises the following steps:
the rotor position angle theta2The obtaining method comprises the following steps: theta2＝arctan(-s2α/s2β)；
The method for obtaining the delay angle delta theta comprises the following steps: Δ θ ═ θ1-θ2；
The method for obtaining the estimated actual rotor position angle theta comprises the following steps: theta is equal to theta1+Δθ。
Preferably, the attenuation ratio k of the low-pass filter to the back electromotive force amplitude of the motor is:
the back electromotive force amplitude e of the motormThe obtaining method comprises the following steps:
preferably, the estimated motor back electromotive force in the step eighteen
And
the obtaining method comprises the following steps:
the beneficial effect that this technical scheme can produce: the method adopts a second-order sliding mode observer to roll the back electromotive force of the permanent magnet synchronous motor, and designs a method which adopts a double low-pass filter method to compensate the amplitude and the phase of the back electromotive force, thereby overcoming the problem that the phase and the amplitude compensation of the back electromotive force are influenced by the rotating speed estimation error, and improving the observation precision of the back electromotive force.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows the current i of the present inventionαAnd (4) an observer block diagram.
FIG. 2 shows the current i of the present inventionβAnd (4) an observer block diagram.
Fig. 3 is an overall block diagram of the present invention.
FIG. 4 is a graph of the relationship between the back EMF and the actual back EMF obtained by the present invention; e.g. of the typeαAnd eβFor the actual back-emf of the motor,
and
the back electromotive force of the motor obtained by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 3, the invention provides a method for observing back electromotive force of a permanent magnet synchronous motor, which comprises the steps of firstly, obtaining a voltage component and a current component of a stator voltage and a stator current of the motor under a static alpha-beta coordinate system by sampling calculation; secondly, calculating according to the voltage component and the current component to obtain estimated stator current and a high-frequency sliding mode signal; secondly, performing low-pass filtering on the high-frequency sliding mode signal twice respectively to obtain an estimated actual rotor position angle and a back electromotive force amplitude of the motor; and finally, calculating to obtain the estimated motor back electromotive force according to the estimated actual rotor position angle and the back electromotive force amplitude of the motor. The method comprises the following specific steps:
step one, sampling the motor stator voltage by using a voltage sensor to obtain the motor stator voltage uABAnd uBCCalculating the three-phase voltage u of the motor according to the formula (1)A、uBAnd uC：
Then according to the formula (2), the three-phase voltage uA、uBAnd uCObtaining the voltage u under a static α - β coordinate system through coordinate transformationαAnd voltage uβ；
Step two, sampling the three-phase current of the motor stator by using a current sensor to obtain the current i of the motor statorA、iBAnd iCAnd obtaining the current i under a stationary α - β coordinate system through the coordinate transformation of the formula (3)αAnd current iβ：
Step three, initializing the current of the motor
And current
As shown in FIGS. 1 and 2, the current was calculated
With the current i obtained in step twoαAnd current of
With the current i obtained in step twoβThen obtaining a high-frequency sliding mode signal s by symbol function calculation according to a formula (4)αAnd high frequency sliding mode signal sβ：
Wherein M is sliding mode gain and current
And current
Are all 0 and sgn () is a sign function.
Step four, utilizing the voltage u obtained in the step oneαSubtracting the high-frequency sliding mode signal s obtained in the step threeαObtain a first set of intermediate variables E1αUsing the voltage u obtained in step oneβSubtracting the high-frequency sliding mode signal s obtained in the step threeαAnd high frequency sliding mode signal sβObtain a first set of intermediate variables E1βAs shown in equation (5):
step five, obtaining a first group of intermediate variables E according to the step four1α、E1βAnd the q-axis inductance of the motor is calculated to obtain a second group of intermediate variables E2α、E2βAs inFormula (6):
wherein L isqIs the q-axis inductance of the motor.
Step six, estimating the current according to the step three
Electric current
Calculating the resistance of the stator of the motor and the q-axis inductance to obtain a third group of intermediate variables E3α、E3βAs shown in equation (7):
wherein R issIs the motor stator resistance, LqIs the q-axis inductance of the motor.
Step seven, utilizing the second group of intermediate variables E obtained in the step five2αSubtracting the third group intermediate variable E obtained in the step six3αObtaining a fourth group of intermediate variables E4αUsing the second set of intermediate variables E obtained in step five2βSubtracting the third group intermediate variable E obtained in the step six3βObtaining a fourth group of intermediate variables E4βAs shown in equation (8):
step eight, obtaining a fourth group intermediate variable E according to the step seven4α、E4βRefresh current
And current
As shown in formula (9):
wherein, TsFor a sampling period, current
And current
Is 0.
According to the current i, as shown in FIGS. 1 and 2αObserver and current iβClosed loop of observer using updated current
And current
Further updating high frequency sliding mode signal sαHigh frequency sliding mode signal sβ。
Step nine, updating the high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβLow-pass filtering through the first low-pass filter to respectively obtain a fifth group of intermediate variables s1α、s1βAs shown in equation (10):
wherein, ω iscS is the laplacian, the cut-off frequency of the first low-pass filter and the second low-pass filter.
Step ten, the fifth group of intermediate variables s obtained in the step nine1α、s1βCarrying out second low-pass filtering through a second low-pass filter to respectively obtain a sixth group of intermediate variables s2α、s2βAs shown in formula (11):
wherein, ω iscS is the laplacian, the cut-off frequency of the first low-pass filter and the second low-pass filter.
Step eleven, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βCalculating effective back electromotive force q-axis deviation
As shown in equation (12):
wherein, theta1As rotor position angle, rotor position angle θ1Is 0.
Step twelve, the effective counter electromotive force q-axis deviation obtained in the step eleven
Calculating to obtain estimated rotating speed by a proportional integrator
As shown in equation (13):
wherein k ispIs a proportionality coefficient, kiIs the integral coefficient and s is the laplacian operator.
Thirteen step, rotating speed obtained in the step twelve
The rotor position angle theta after primary phase delay generated by a first low-pass filter is obtained through integral adjustment1I.e. angle theta to rotor position1Updating is performed as shown in equation (14):
wherein, TsIs the sampling period.
Step fourteen, obtaining a sixth group of intermediate variables s according to the step ten2α、s2βCalculating the rotor position angle theta after two phase delays generated by the first low-pass filter and the second low-pass filter2As shown in equation (15):
θ2＝arctan(-s2α/s2β) (15)。
fifteenth, according to the formula (16), the rotor position angle theta obtained in the thirteenth step1Subtracting the rotor position angle theta obtained in the step fourteen2Obtaining a retardation angle Δ θ:
Δθ＝θ1-θ2(16)；
and then utilizing the rotor position angle theta obtained in the step thirteen according to the formula (17)1And the delay angle Δ θ to calculate an estimated actual rotor position angle θ:
θ＝θ1+Δθ (17)。
sixthly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd a sixth set of intermediate variables s obtained in step ten2α、s2βCalculating to obtain the attenuation ratio k of the first low-pass filter and the second low-pass filter to the back electromotive force amplitude of the motor, as shown in the formula (18):
seventhly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd calculating the attenuation ratio k obtained in the step sixteen to obtain the back electromotive force amplitude e of the motormAs shown in equation (19):
where k is the attenuation ratio.
Eighteen, according to seventeenThe resulting back EMF amplitude emAnd calculating the estimated back electromotive force of the motor according to the actual rotor position angle theta obtained in the step fifteen
And
as shown in equation (20):
in order to verify the effectiveness of the present invention, simulation verification was performed. DC side voltage U of inverter for simulationdc400V, the rated power of the permanent magnet synchronous motor is 6.6kW, the flux linkage is 0.35Wb, the number of pole pairs is 4, the stator inductance is 12mH, and the stator resistance Rs0.5 omega, rated frequency of 50Hz, rated voltage of 190V, and sampling frequency fsIs 10 kHz. FIG. 4 shows the back EMF calculated by the present invention
And the actual back emf value eα、eβThe comparison shows that the estimated back electromotive force can be accurately obtained when the back electromotive force changes, and the amplitude and the phase of the back electromotive force are accurate. Meanwhile, the method does not need the estimated rotating speed of the motor, so the method is simpler and has higher precision.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A counter electromotive force observation method of a permanent magnet synchronous motor is characterized by comprising the following steps:
step one, sampling the motor stator voltage by using a voltage sensor to obtain the motor stator voltage uABAnd uBCCalculating the electricityThree-phase voltage u of machineA、uBAnd uCAnd the three-phase voltage u is converted intoA、uBAnd uCObtaining the voltage u under a static α - β coordinate system through coordinate transformationαAnd voltage uβ；
Step two, sampling the three-phase current of the motor stator by using a current sensor to obtain the current i of the motor statorA、iBAnd iCAnd obtaining the current i under a stationary α - β coordinate system through coordinate transformationαAnd current iβ；
Step three, initializing the current of the motor
And current
Calculating the current
With the current i obtained in step twoαIs calculated from the difference of (1), the current is calculated
And the current i obtained in step twoβAnd calculating by a sign function to obtain a high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβ：
Wherein M is sliding mode gain, sgn () is a sign function;
step four, utilizing the voltage u obtained in the step oneαSubtracting the high-frequency sliding mode signal s obtained in the step threeαObtain a first set of intermediate variables E1αUsing the voltage u obtained in step oneβSubtracting the high-frequency sliding mode signal s obtained in the step threeβObtain a first set of intermediate variables E1β：
Step five, obtaining a first group of intermediate variables E according to the step four1α、E1βAnd the q-axis inductance of the motor is calculated to obtain a second group of intermediate variables E2α、E2β：
Wherein L isqIs a motor q-axis inductor;
step six, according to the current in the step three
Electric current
Calculating the resistance of the stator of the motor and the q-axis inductance to obtain a third group of intermediate variables E3α、E3β：
Wherein R issIs a motor stator resistor;
step seven, utilizing the second group of intermediate variables E obtained in the step five2αSubtracting the third group intermediate variable E obtained in the step six3αObtaining a fourth group of intermediate variables E4αUsing the second set of intermediate variables E obtained in step five2βSubtracting the third group intermediate variable E obtained in the step six3βObtaining a fourth group of intermediate variables E4β：
Step eight, obtaining a fourth group intermediate variable E according to the step seven4α、E4βUpdating the current in step three
And current
Further updating high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβWherein, TsIs a sampling period;
step nine, updating the high-frequency sliding mode signal sαAnd high frequency sliding mode signal sβLow-pass filtering through the first low-pass filter to respectively obtain a fifth group of intermediate variables s1α、s1β：
Wherein, ω iscIs the cut-off frequency of the first low-pass filter and the second low-pass filter, s is the laplacian operator;
step ten, the fifth group of intermediate variables s obtained in the step nine1α、s1βLow-pass filtering through a second low-pass filter to respectively obtain a sixth group of intermediate variables s2α、s2β：
Step eleven, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βCalculating effective back electromotive force q-axis deviation
Wherein, theta1Is the rotor position angle;
step twelve, the effective counter electromotive force q-axis deviation obtained in the step eleven
Calculating to obtain estimated rotating speed by a proportional integrator
kpIs a proportionality coefficient, kiIs an integral coefficient;
thirteen step, rotating speed obtained in the step twelve
The rotor position angle theta after primary phase delay generated by the first low-pass filter is obtained through integral adjustment1：
Step fourteen, obtaining a sixth group of intermediate variables s according to the step ten2α、s2βCalculating the rotor position angle theta after two phase delays generated by the first low-pass filter and the second low-pass filter2：θ2＝arctan(-s2α/s2β)；
Step fifteen, obtaining the rotor position angle theta according to the step thirteen1Subtracting the rotor position angle theta obtained in the step fourteen2The retardation angle △ theta, △ theta and theta are obtained1-θ2According to the rotor position angle theta1And delay angle △ theta to obtain an estimated actual rotor position angle
Sixthly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd a sixth set of intermediate variables s obtained in step ten2α、s2βCalculating to obtain an attenuation ratio k of the first low-pass filter and the second low-pass filter to the back electromotive force amplitude of the motor:
seventhly, obtaining a fifth group of intermediate variables s according to the step nine1α、s1βAnd calculating the attenuation ratio k obtained in the step sixteen to obtain the back electromotive force amplitude e of the motorm：
Eighteen, obtaining the counter electromotive force amplitude e according to the seventeenth stepmAnd the actual rotor position angle obtained in step fifteen
Calculating to obtain estimated motor back electromotive force
And
2. method for observing back electromotive force of permanent magnet synchronous motor according to claim 1, wherein the three-phase voltage u in the first stepA、uBAnd uCObtaining the voltage u under a static α - β coordinate system through coordinate transformationαAnd voltage uβThe method comprises the following steps:
wherein,
uABand uBCIs the motor stator voltage.
3. Permanent magnet synchronous machine back-emf according to claim 1The method for observing the dynamic force is characterized in that the motor stator current i in the step twoA、iBAnd iCObtaining the current i under a stationary α - β coordinate system through coordinate transformationαAnd current iβThe method comprises the following steps:
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