Implementation method and system for inductive and non-inductive dual-mode FOC control of electronic duplex pump

Abstract

An implementation method for inductive and non-inductive dual-mode FOC control of an electronic double pump specifically comprises the following steps that (1) three-phase current sampling is obtained, a motor is controlled to operate, a sensor transmits the rotation angle and speed of a motor rotor in an inductive state to a control unit, and an observer transmits the position and speed of the motor rotor in a non-inductive state to the control unit; (2) the control unit compares the data estimated by the observer with the data sampled by the sensor, and calculates the angle difference between inductive control and non-inductive control; (3) if the angle difference is lt; the non-inductive angle is locked to be 0 degree, the reverse flag bit of the non-inductive angle is not set, and the rotating speed gt is fed back in an inductive mode; when the speed is 350rpm, synthesizing the inductive angle and the non-inductive angle according to the proportion, and carrying out inductive-non-inductive control switching until the control is completely switched into non-inductive control; if the angle difference is gt; and the non-inductive angle is locked to be 180 degrees, and at the moment, deviation compensation needs to be carried out on the non-inductive angle, so that the compensated non-inductive angle is locked at the correct position.

Description

Technical Field

[0001] The invention relates to a method and a system for realizing sensory and non-sensing dual-mode FOC control of an electronic double pump, and belongs to the field of electronic double pumps. Background Art

[0002] The electronic double pump is an intelligent and efficient hydraulic pump, mainly used in automatic transmissions. Compared with traditional hydraulic pumps, it eliminates the key component of the accumulator, and achieves the purpose of shifting by generating large flow and high pressure instantly through fast dynamic response. While effectively reducing costs, it also improves efficiency, greatly increases the response speed of the system, and makes the control process more reliable and accurate.

[0003] One of the key parameter requirements of electronic duplex pumps is fast dynamic response, which places high demands on speed sampling, current sampling accuracy and real-time performance. Limited by the production and manufacturing level of motor manufacturers, the magnetic steel on the motor rotor cannot be accurately positioned, resulting in the inductive control being unable to meet the target requirements under the instantaneous extreme conditions of high speed and large flow. The inductive control has higher stability and accuracy in the medium and high speed range, better control effect, and can better meet the dynamic response requirements.

[0004] The sensorless control responds very slowly and has poor performance during startup and low-speed stages, especially under low-temperature -30℃ and high-load conditions, where rapid startup cannot meet customer requirements. The sensory control has higher angle recognition accuracy and faster response speed during low-speed and startup stages.

[0005] The electronic double pump cannot smoothly switch between the inductive and inductive states, which may cause the following problems:

[0006] 1. Unable to respond quickly and dynamically: Since gear shifting requires instantaneous filling of the oil tank and the gear shifting is driven by pressure, if fast dynamic response cannot be achieved, gear shifting will be impossible.

[0007] 2. Unable to start quickly: In an oil environment at a low temperature of -30°C, the oil viscosity is relatively high, and the vehicle starts and shifts gears at low speeds. Therefore, failure to start quickly may result in failure to shift gears.

[0008] 3. Safety hazards: If the gearbox cannot shift gears smoothly, the acceleration of the entire vehicle will be limited, affecting the customer's driving experience. If the gears cannot be shifted under high-speed conditions, it may even cause a safety accident. In addition, unsmooth gear shifting or inability to shift gears will also cause clutch wear and aggravate damage, thereby greatly reducing the service life of the gearbox. Summary of the invention

[0009] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a method and system for realizing sensorless dual-mode FOC control of an electronic double pump.

[0010] The method for realizing the sensorless dual-mode FOC control of the electronic double pump specifically includes the following steps:

[0011] (1) Obtain three-phase current samples and control the motor operation. The sensor transmits the rotation angle and speed of the motor rotor in the sensed state to the control unit, and the observer transmits the position and speed of the motor rotor in the non-sensed state to the control unit;

[0012] (2) The control unit compares the data estimated by the observer with the data sampled by the sensor to calculate the angle difference between the sensed control and the senseless control;

[0013] (3) If the angle difference is less than 0.9Π, the senseless angle is locked to 0°, the senseless angle reverse flag is not set, and the sensed feedback speed is greater than 350rpm, the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control; if the angle difference is greater than 0.9Π, the senseless angle is locked to 180°. At this time, it is necessary to perform deviation compensation on the senseless angle so that the senseless angle is locked in the correct position after compensation, and then the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control;

[0014] (4) Every 100us, the above steps are executed periodically in the state machine.

[0015] By switching between sensed and non-sense control, the best control mode can be flexibly selected according to the operating state of the motor, ensuring the operating efficiency of the motor under different working conditions and improving the overall performance of the system. The combined use of sensor sampling data and observer estimation data makes the speed and position control of the motor more accurate. In particular, the monitoring of the angle difference under different states ensures the stability and reliability of the motor during the control process. For the case of angle difference > 0.9Π, the non-sense angle can be accurately locked and error compensation can be performed to ensure that the operation in the non-sense mode will not be affected by the position deviation, thereby enhancing the robustness and adaptability of the control system. By setting a threshold to determine when to switch from sensed to non-sense, the control strategy is simplified, while ensuring that the system has better responsiveness and sensitivity during operation. Due to the full use of sensed and non-sense control, the failure rate in motor operation can be effectively reduced, the durability and maintenance cycle of the system can be enhanced, and downtime and maintenance costs can be reduced.

[0016] Preferably, in step (1), the motor rotor angle position is obtained by a sensor, and then the sensed feedback speed and sensed angle are obtained, and Clark transformation is performed; the three-phase current and voltage signals of the motor are sampled by an observer, and the back electromotive force of the motor is calculated, and then the rotor position and speed information are obtained from the back electromotive force using a phase-locked loop.

[0017] The Clark transformation is used to convert the three-phase current into a two-phase orthogonal coordinate system, which enables a more intuitive analysis of the current vector, helps improve the design accuracy of the motor control strategy, and enables the control algorithm to be more effectively adjusted and optimized in real time. The back EMF calculated by the observer through the three-phase current and voltage signals provides more accurate motor state information. Accurate estimation of the back EMF is crucial for efficient vector control and helps improve the stability and response speed of the overall system. Phase-locked loop (PLL) technology can track the back EMF in real time, thereby accurately obtaining the rotor position and speed, greatly enhancing the performance of the motor under dynamic load changes, maintaining stable operation, and avoiding control fluctuations caused by speed changes. By processing the three-phase current and voltage signals through the observer, external noise and interference can be effectively filtered out, the system's anti-interference ability can be improved, and accurate control and measurement can still be maintained in complex environments.

[0018] Preferably, in step (3), controlling the switching includes the following steps:

[0019] (a) If the angle difference is less than 0.9Π, and the sensed feedback speed is less than 300 rpm, and the senseless angle reverse flag is in position, the senseless angle reverse flag is cleared; if the angle difference is greater than 0.9Π, the senseless angle reverse flag is in position;

[0020] (b) If the inductive angle reverse flag is set, the inductive angle deviation compensation is specifically: inductive final angle = inductive estimated angle - Π; if the inductive angle reverse flag is not set, inductive final angle = inductive estimated angle;

[0021] (c) If the speed with sensed feedback is > 600 rpm, the control mode switches to the non-sensing mode; if 400 rpm < the speed with sensed feedback < 600 rpm, the control mode switches to the sensed mode.

[0022] By setting the conditions of the angle difference and the speed of the sensed feedback, the switching between sensed and non-sense is precisely controlled to ensure the selection of the appropriate control mode under different working conditions and improve the stability and reliability of the system. When the angle difference is less than 0.9Π and the speed is low, the reverse flag of the senseless angle is cleared to quickly adapt to the speed change, ensuring the flexible response of the motor at low speed and avoiding the risks caused by switching delays. At the same time, actively switching to the senseless mode when the speed reaches 600rpm can improve the response of the system during high-efficiency operation. The deviation compensation step of the senseless angle ensures the angle accuracy in the senseless mode, thereby optimizing the control strategy and improving the adaptability of the system to various boundary conditions. Such a compensation mechanism can effectively eliminate the errors caused by position estimation and improve control accuracy.

[0023] Further, in step (c), the calculation after the control switching includes the following steps:

[0024] (i) If the current mode is the sensed mode, the sensed angle is used for SIN / COS calculation; if the current mode is the non-sensing mode, the non-sensing angle is used for SIN / COS calculation;

[0025] (ii) Perform Park transformation, calculate the D / Q axis request current RAMP, filter the D / Q axis feedback current, send the request current RAMP and feedback current into the current loop, calculate the output UD / UQ through the current loop, perform inverse Park transformation, obtain the three-phase output duty cycle request value and sector position through SVPWM, and send the three-phase output duty cycle request value and sector position into the three-phase PWM duty cycle output calculation function;

[0026] (iii) Calculate the three-phase output duty cycle and perform three-phase current sampling at the same time. Control the motor operation by outputting the three-phase duty cycle. When the motor is running, collect the motor angle position and speed in real time through the sensor and go to step (4).

[0027] The accuracy of current calculation is ensured by selecting the corresponding SIN / COS calculation for the current control mode (sensing or non-sensing). This flexible mechanism ensures that accurate current instructions can always be obtained in different operating modes, thereby improving the accuracy and stability of motor control. By calculating the D / Q axis request current through Park transformation and performing feedback filtering, noise and interference can be effectively eliminated, the stability of the feedback current can be improved, the performance of the current loop can be ensured to be more reliable, and the system instability caused by delays and fluctuations in actual operation can be reduced. The calculation of the three-phase output duty cycle using SVPWM (space vector pulse width modulation) technology can improve the efficiency and dynamic performance of the motor drive. SVPWM optimizes the output waveform, thereby improving the operating efficiency of the motor and reducing harmonic generation, extending the service life of the system. By collecting the angular position and speed of the motor in real time, the control strategy can be dynamically adjusted to ensure that the motor can achieve rapid response under changing working conditions. This real-time feedback mechanism improves the flexibility and reliability of the system and helps to cope with sudden load changes. Through continuous calculation and dynamic feedback, the drive system can quickly make control adjustments and reduce response time, thereby achieving better instant control effects and adapting to transient changes. The automated calculation and control of the entire process simplifies the implementation of the control system, thereby reducing the complexity of programming and debugging, facilitating maintenance and operation, and reducing the system failure rate.

[0028] The present invention also provides an electronic double pump system for implementing any of the above methods, comprising:

[0029] A motor, the motor comprising a rotor, and a magnet is disposed at the end of the rotating shaft;

[0030] A sensor, the sensor is used to detect the rotation angle and speed of the magnet, and the sensor is arranged on the PCB board;

[0031] An observer, the observer being used to observe the rotor position and speed;

[0032] A control unit is electrically connected to the sensor and the observer for receiving and processing information.

[0033] Preferably, the observer is a Romberg back-electromotive force observer, and the magnet is a radially magnetized permanent magnet.

[0034] The beneficial effects of the present invention are as follows: 1. By real-time sampling and comparison of the angle and speed of the motor rotor in the sensed and non-sensed states, the operating state of the motor can be more accurately grasped, thereby effectively improving the control accuracy. This precise information processing helps to achieve a more stable and efficient control effect under different working conditions;

[0035] 2. This method can switch to the sensorless control mode when the motor is running at low speed, so that the motor can still maintain good control performance at low speed (such as starting or low load), especially when the speed is less than 350rpm, ensuring that the motor can run smoothly and avoid stagnation or jitter;

[0036] 3. The above steps are executed every 100μs cycle, making the control system's dynamic response capability very strong. This high-frequency sampling and processing can ensure that any small changes in the motor operation process can be responded to in a timely manner, significantly improving the stability and real-time performance of the system;

[0037] 4. By switching between sensed and non-sensing control modes, the system can select the optimal control strategy in the gearbox level test verification and vehicle durability test to reduce energy consumption. At the same time, accurate speed and position feedback can further optimize the speed regulation performance and energy utilization efficiency, thereby improving the overall energy efficiency of the system.

[0038] 5. The dual feedback mechanism of sensor and observer is used to enhance the anti-interference ability of the system. In the sensed state, the sensor provides accurate rotation angle and speed, while in the non-sensing state, the observer continues to estimate the position and speed, ensuring that the system can maintain stable operation in the face of external interference.

[0039] 6. The system can dynamically switch control modes according to actual needs under different operating conditions and has strong adaptability. For example, when the working conditions of the motor change, the control strategy can be adjusted quickly to improve the flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0041] Figure 1 The schematic diagram of the motor with sensor control of the present invention;

[0042] Figure 2 This is a schematic diagram of a motor with sensorless control according to the present invention;

[0043] Figure 3 is a control flow chart of the present invention;

[0044] Figure 4 It is the three-phase current waveform diagram in the present invention;

[0045] Figure 5 is the angle difference diagram;

[0046] Figure 6 This is the test data graph;

[0047] Figure 7 This is the test data graph;

[0048] In the figure, 1, motor; 2, rotor; 3, magnet; 4, sensor; 5, PCB board. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0051] The directions and positions mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inside", "outside", "top", "bottom", "side", etc., are only for reference to the directions or positions of the drawings. Therefore, the directions and positions used are for explaining and understanding the present invention, but not for limiting the scope of protection of the present invention.

[0052] Figure 2The schematic diagram of the motor with sensorless control of the present invention, wherein x is the state vector of the system; y is the output vector of the system; u is the input vector of the system; A is the parameter matrix of the state vector observation value; B is the parameter matrix of the input vector observation value; C is the parameter matrix of the output vector observation value.

[0053] Embodiment 1

[0054] See also Figure 1-3 The method for realizing the sensorless dual-mode FOC control of the electronic double pump specifically includes the following steps:

[0055] (1) Obtain three-phase current sampling and control the motor operation. The sensor transmits the rotation angle and speed of the motor rotor in the sensed state to the control unit, and the observer transmits the position and speed of the motor rotor in the non-sensed state to the control unit. The three-phase current waveform is as follows: Figure 4 ;

[0056] The motor rotor angle position is obtained through the sensor, and then the sensed feedback speed and sensed angle are obtained to perform Clark transformation; the three-phase current and voltage signals of the motor are sampled by the observer, the back EMF of the motor is calculated, and then the rotor position and speed information are obtained from the back EMF using a phase-locked loop.

[0057] (2) The control unit compares the data estimated by the observer with the data sampled by the sensor and calculates the angle difference between the sensed control and the senseless control, such as Figure 5 ;

[0058] (3) If the angle difference is less than 0.9Π, the senseless angle is locked to 0°, the senseless angle reverse flag is not set, and the sensed feedback speed is greater than 350rpm, the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control; if the angle difference is greater than 0.9Π, the senseless angle is locked to 180°. At this time, it is necessary to perform deviation compensation on the senseless angle so that the senseless angle is locked in the correct position after compensation, and then the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control;

[0059] (a) If the angle difference is less than 0.9Π, and the sensed feedback speed is less than 300 rpm, and the senseless angle reverse flag is in position, the senseless angle reverse flag is cleared; if the angle difference is greater than 0.9Π, the senseless angle reverse flag is in position;

[0060] (b) If the inductive angle reverse flag is set, the inductive angle deviation compensation is specifically: inductive final angle = inductive estimated angle - Π; if the inductive angle reverse flag is not set, inductive final angle = inductive estimated angle;

[0061] (c) If the speed with sensed feedback is > 600 rpm, the control mode switches to the non-sensing mode; if 400 rpm < the speed with sensed feedback < 600 rpm, the control mode switches to the sensed mode.

[0062] Where π is the ratio of a circle to its circumference.

[0063] (i) If the current mode is the sensed mode, use the sensed angle to perform SIN / COS calculation; if the current mode is

[0064] The formula is the non-sensing mode, using the non-sensing angle for SIN / COS calculation;

[0065] (ii) Perform Park transformation, calculate the D / Q axis request current RAMP, filter the D / Q axis feedback current, send the request current RAMP and feedback current into the current loop, calculate the output UD / UQ through the current loop, perform inverse Park transformation, obtain the three-phase output duty cycle request value and sector position through SVPWM, and send the three-phase output duty cycle request value and sector position into the three-phase PWM duty cycle output calculation function;

[0066] (iii) Calculate the three-phase output duty cycle and perform three-phase current sampling at the same time. Control the motor operation by outputting the three-phase duty cycle. When the motor is running, collect the motor angle position and speed in real time through the sensor and go to step (4).

[0067] (4) Every 100us, the above steps are executed periodically in the state machine.

[0068] Measured data:

[0069] 1. The speed when the sensorless observer is locked to the correct position: 347rpm. Required speed: 350rpm±20rpm. Figure 6 As shown;

[0070] 2. The speed when switching from inductive to non-inductive: 600rpm, the required speed: 600rpm±20rpm;

[0071] 3. Angle difference when switching from inductive to inductive: 3° (180° represents Π), required angle: <10°, such as Figure 7 As shown;

[0072] See also Figure 1 , the present invention also provides an electronic double pump system for implementing any of the above methods, comprising a motor, the motor comprising a rotor, and a magnet is disposed at the end of the rotating shaft;

[0073] A sensor, the sensor is used to detect the rotation angle and speed of the magnet, and the sensor is arranged on the PCB board;

[0074] An observer, the observer being used to observe the rotor position and speed;

[0075] A control unit is electrically connected to the sensor and the observer for receiving and processing information.

[0076] By integrating the motor, sensor, observer and control unit into one system, the installation and debugging process can be simplified and the complexity of assembly can be reduced. This integrated design helps to shorten the development cycle and reduce production and maintenance costs. The sensor is used to detect the rotation angle and speed of the magnet, while the observer is responsible for estimating the position and speed of the rotor based on the sampled voltage / current. The cooperation of the two can provide comprehensive and accurate motion feedback and improve the response speed and stability of the control system. The design of the system enables it to flexibly switch the perception and control modes according to actual needs. It can maintain good control effects regardless of high or low speed working conditions, and improve the adaptability and flexibility of the system.

[0077] The observer is a Romberg back electromotive force observer, and the magnet is a magnetized permanent magnet.

[0078] The use of the Lumberg back-EMF observer can efficiently estimate the position and speed of the rotor during the operation of the motor. It is based on the principle of position estimation based on the motor back-EMF (BEMF), which enables high accuracy at medium / high speeds and avoids the mechanical wear of traditional position sensors. The use of the back-EMF observer can achieve contactless rotor position and speed measurement, which reduces mechanical wear and extends the service life of the system. In addition, since there is no physical connection, it reduces the number of failure points and improves the reliability of the system. Integrating the back-EMF observer into the control system can jointly process signals such as current, voltage and speed to achieve more accurate control strategies. This integrated design not only improves the response speed, but also enhances the overall performance of the system. With the help of the back-EMF characteristics, the observer can quickly capture changes in the rotation state of the motor, allowing the control system to quickly respond to load changes, improve the dynamic performance of the motor, and thus achieve smoother operation.

[0079] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

[0080] Although the invention has been described with reference to several specific embodiments, it should be understood that the invention is not limited to the specific embodiments disclosed. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. The method for realizing the sensorless dual-mode FOC control of the electronic double pump is characterized by: The specific steps include: (1) Obtain three-phase current samples and control the motor operation. The sensor transmits the rotation angle and speed of the motor rotor in the sensed state to the control unit, and the observer transmits the position and speed of the motor rotor in the non-sensed state to the control unit; (2) The control unit compares the data estimated by the observer with the data sampled by the sensor, and calculates the angle difference between the sensed control and the senseless control; (3) If the angle difference is less than 0.9Π, the senseless angle is locked to 0°, the senseless angle reverse flag is not set, and the sensed feedback speed is greater than 350rpm, the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control; if the angle difference is greater than 0.9Π, the senseless angle is locked to 180°. At this time, it is necessary to perform deviation compensation on the senseless angle so that the senseless angle is locked in the correct position after compensation, and then the sensed and senseless angles are synthesized in proportion, and the sensed-senseless control is switched until it is completely switched to senseless control; (4) Every 100us, the above steps are executed periodically in the state machine.

2. The method for realizing the sensorless dual-mode FOC control of the electronic double pump as claimed in claim 1 is characterized in that: In step (1), the motor rotor angle position is obtained through the sensor, and then the sensed feedback speed and sensed angle are obtained to perform Clark transformation; the three-phase current and voltage signals of the motor are sampled by the observer, the back electromotive force of the motor is calculated, and then the rotor position and speed information are obtained from the back electromotive force using a phase-locked loop.

3. The method for realizing the sensorless dual-mode FOC control of the electronic double pump as claimed in claim 1 is characterized in that: In step (3), the control switching includes the following steps: (a) If the angle difference is less than 0.9Π, and the sensed feedback speed is less than 300 rpm, and the senseless angle reverse flag is in position, the senseless angle reverse flag is cleared; if the angle difference is greater than 0.9Π, the senseless angle reverse flag is in position; (b) If the inductive angle reverse flag is set, the inductive angle deviation compensation is specifically: inductive final angle = inductive estimated angle - Π; if the inductive angle reverse flag is not set, inductive final angle = inductive estimated angle; (c) If the speed with sensed feedback is >600rpm, the control mode is switched to the non-sensing mode; if the speed with sensed feedback is <400rpm, the control mode is switched to the sensed mode.

4. The method for realizing the sensorless dual-mode FOC control of the electronic double pump as claimed in claim 3 is characterized by: In step (c), the calculation after the control switching includes the following steps: (i) If the current mode is the sensed mode, the sensed angle is used for SIN / COS calculation; if the current mode is the non-sensing mode, the non-sensing angle is used for SIN / COS calculation; (ii) Perform Park transformation, calculate the D / Q axis request current RAMP, filter the D / Q axis feedback current, send the request current RAMP and feedback current into the current loop, calculate the output UD / UQ through the current loop, perform inverse Park transformation, obtain the three-phase output duty cycle request value and sector position through SVPWM, and send the three-phase output duty cycle request value and sector position into the three-phase PWM duty cycle output calculation function; (iii) Calculate the three-phase output duty cycle and perform three-phase current sampling at the same time. Control the motor operation by outputting the three-phase duty cycle. When the motor is running, collect the motor angle position and speed in real time through the sensor and go to step (4).

5. An electronic double pump system for implementing the method according to any one of claims 1 to 4, characterized in that: include A motor, the motor comprising a rotor, and a magnet is disposed at the end of the rotating shaft; A sensor, the sensor is used to detect the rotation angle and speed of the magnet, and the sensor is arranged on the PCB board; An observer, the observer being used to observe the rotor position and speed; A control unit is electrically connected to the sensor and the observer for receiving and processing information.

6. The electronic double pump system according to claim 1, characterized in that: The observer is a Romberg back electromotive force observer, and the magnet is a radially magnetized permanent magnet.

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