Position-sensorless operation control method for dual three-phase permanent magnet synchronous motor

Abstract

The invention belongs to the field of sensorless operation control, and particularly relates to a double three-phase permanent magnet synchronous motor sensorless operation control method, which comprises medium-low speed control and medium-high speed control, the medium-low speed control comprises a high-frequency signal injection method, and the medium-high speed control comprises a sliding mode observer method. The transition interval adopts a weighting function for calculating a weight coefficient based on a cosine function for transition; the high-frequency signal injection method comprises the steps that pulsating high-frequency sinusoidal voltage is injected into the stator, high-frequency components in induced current are modulated through rotor salient polarity, zero and low-speed control is achieved, a phase discriminator structure is reconstructed to eliminate 180-degree position deviation during inversion, and a feed-forward loop is designed to suppress direct-current offset errors of acceleration and deceleration working conditions. The sliding mode observer method comprises the steps of extracting rotor position information through back electromotive force observation, combining smooth output of a phase-locked loop PLL, fusing disturbance suppression capability of an ESO (extended state observer) and noise robustness of the phase-locked loop PLL, and reducing position tracking lag when the rotating speed suddenly changes.

Description

Technical Field

[0001] This invention relates to the field of sensorless operation control technology, and in particular to a sensorless operation control method for a dual three-phase permanent magnet synchronous motor. Background Technology

[0002] The sensorless control of dual three-phase permanent magnet synchronous motors achieves full-speed-domain rotor position identification by combining high-frequency signal injection and sliding mode observer technologies, which solves the problems of low reliability and high cost caused by traditional position sensors.

[0003] In existing technologies, sensorless control of dual three-phase permanent magnet synchronous motors is prone to deviations and lags. Therefore, we propose a sensorless operation control method for dual three-phase permanent magnet synchronous motors to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies, such as deviation and lag, when controlling dual three-phase permanent magnet synchronous motors without position sensors. Therefore, this invention proposes a sensorless operation control method for dual three-phase permanent magnet synchronous motors.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A sensorless operation control method for a dual three-phase permanent magnet synchronous motor includes low-speed control and high-speed control. The low-speed control includes a high-frequency signal injection method, and the high-speed control includes a sliding diaphragm observer method. The transition interval adopts a weighted function transition based on the weight coefficients calculated by the cosine function.

[0007] The steps of the high-frequency signal injection method are as follows: inject a pulsed high-frequency sinusoidal voltage into the stator, use the rotor salient polarity to modulate the high-frequency component in the induced current to achieve zero and low-speed control; reconstruct the phase detector structure to eliminate the 180° position deviation during reversal, and design a feedforward loop to suppress the DC offset error in acceleration and deceleration conditions.

[0008] The steps of the sliding film observer method are as follows: extract rotor information by observing back EMF, combine it with phase-locked loop (PLL) to smooth the output, integrate the disturbance suppression capability of ESO with the noise robustness of PLL, reduce position tracking lag when the speed changes abruptly, and compensate for the nonlinear effect of the inverter.

[0009] Preferably, the transition interval adopts a weighted function transition based on the weight coefficient calculated by the cosine function, including: setting the speed overlap interval between low and medium speed and medium and high speed, usually 20%-30% of the rated speed, and realizing the nonlinear mixing of the output of the two methods through the smoothness of the cosine function to avoid abrupt changes or oscillations caused by linear transition.

[0010] Preferably, the reconstruction of the phase detector structure to eliminate the 180° position deviation during reversal includes: reconstructing the phase detector stage using absolute value processing or a sign function, so that the output only reflects the position error amplitude and is independent of the direction of rotation.

[0011] Preferably, the feedforward loop suppresses DC offset error during acceleration and deceleration conditions by: estimating the load torque T in real time through an extended state observer, feeding T forward to the current loop, and generating a compensation voltage V, as shown in the following formula:

[0012]

[0013] K represents the feedforward gain. This represents the rate of change of the motor speed;

[0014] A linearized model of IQPLL is established, and the loop bandwidth is optimized through Bode plot. K and phase detector gain are adjusted under forward and reverse rotation and sudden acceleration and deceleration conditions to ensure that the position error is <±1°.

[0015] Preferably, when injecting high-frequency signals, the proportional resonant controller parameters are optimized to improve interference attenuation capability, or a harmonic suppression SVPWM modulation strategy is adopted to reduce high-frequency coupling current interference, the spectrum energy is dispersed by randomizing the injection frequency, or the injection voltage amplitude in steady state is dynamically reduced to reduce electromagnetic noise.

[0016] Preferably, injecting a pulsating high-frequency square wave or sinusoidal voltage into the stator includes: injecting a high-frequency sinusoidal voltage into the estimated rotor coordinate system in the fifth harmonic plane to reduce interference to the fundamental plane and improve motor performance.

[0017] Preferably, the high-frequency component in the rotor salient polarity modulation response current is utilized, specifically including: injecting a high-frequency signal to obtain a high-frequency induced current containing rotor position information using the salient polarity effect, and then demodulating the current response to obtain rotor position information; using a PI circuit and an integral circuit to convert the high-frequency induced current information into speed and rotor position angle information; establishing a direct link between the high-frequency induced current and the rotor position angle observation error, and controlling the rotor position angle error by adjusting the high-frequency induced current; and applying amplitude modulation and low-pass filtering to the high-frequency induced current, which, after processing, can accurately reflect the rotor position angle observation error information.

[0018] Preferably, the rotor position observer adopts a phase-locked loop structure, which feeds the observed rotor position information back to the high-frequency current calculation stage, dynamically realizing the observation and tracking of the rotor position and reducing errors.

[0019] Preferably, extracting rotor information through back EMF observation includes: establishing a state observer based on the motor voltage equation, estimating the back EMF component in real time by inputting voltage and current, processing the observed back EMF component using a low-pass filter to obtain continuous back EMF information, and performing phase compensation on the observed rotor angle information to offset the phase delay caused by the filter.

[0020] Preferably, the integration of ESO's disturbance suppression capability and PLL's noise robustness includes: ESO real-time estimation and compensation of load disturbances and total disturbances from parameter changes, improving disturbance rejection capability through feedforward compensation; PLL utilizes a PI controller to achieve zero steady-state error tracking of speed / position, and its closed-loop structure is robust to high-frequency noise. When speed changes abruptly, the disturbance estimate of ESO is used as the feedforward input of PLL, reducing phase lag and improving dynamic response speed by more than 30%.

[0021] Preferably, the ESO bandwidth and PLL gain are dynamically adjusted according to the rotational speed: at high speeds, the ESO observation bandwidth is increased to track rapid disturbances, and at low speeds, the PLL filter is enhanced to suppress inverter harmonics.

[0022] The beneficial effects of the sensorless operation control method for a dual three-phase permanent magnet synchronous motor described in this invention are as follows:

[0023] Injecting a pulsed high-frequency sinusoidal voltage into the stator and using the rotor's salient polarity to modulate the high-frequency component in the induced current achieves zero and low-speed control; reconstructing the phase detector structure eliminates the 180° position deviation during reversal, and designing a feedforward loop to suppress DC offset error during acceleration and deceleration.

[0024] Rotor information is extracted by back EMF observation, and the output is smoothed by phase-locked loop (PLL). The disturbance suppression capability of ESO and the noise robustness of PLL are combined to reduce position tracking lag during sudden speed changes and compensate for inverter nonlinear effects.

[0025] This invention reconstructs the phase detector structure to eliminate the 180° position deviation during reversal, and designs a feedforward loop to suppress DC offset error during acceleration and deceleration. It extracts rotor information through back EMF observation, combines it with a phase-locked loop (PLL) to smooth the output, and integrates the disturbance suppression capability of the ESO (Extended State Observer) with the noise robustness of the PLL to reduce position tracking lag during sudden speed changes. Attached Figure Description

[0026] Figure 1 This is a flowchart of the high-frequency signal injection method for a sensorless operation control method for a dual three-phase permanent magnet synchronous motor proposed in this invention.

[0027] Figure 2This is a flowchart of the sliding diaphragm observer method for a sensorless operation control method for a dual three-phase permanent magnet synchronous motor proposed in this invention. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. The described embodiments are typical embodiments of the present invention.

[0029] Example

[0030] Reference Figures 1-2 A sensorless operation control method for a dual three-phase permanent magnet synchronous motor includes low-speed control and high-speed control. The low-speed control includes a high-frequency signal injection method, and the high-speed control includes a sliding diaphragm observer method. During the transition period, a weighted function transition based on the weight coefficients calculated by the cosine function is used.

[0031] The steps of the high-frequency signal injection method are as follows: inject a pulsed high-frequency sinusoidal voltage into the stator, use the rotor salient polarity to modulate the high-frequency component in the induced current to achieve zero and low-speed control; reconstruct the phase detector structure to eliminate the 180° position deviation during reversal, and design a feedforward loop to suppress the DC offset error in acceleration and deceleration conditions.

[0032] The steps of the sliding membrane observer method are as follows: extract rotor information by observing back electromotive force, combine it with phase-locked loop (PLL) to smooth the output, integrate the disturbance suppression capability of ESO (Extended State Observer) with the noise robustness of PLL, reduce position tracking lag when the speed changes abruptly, and compensate for the nonlinear effect of the inverter.

[0033] In this embodiment, the transition interval adopts a weighted function transition based on the weight function calculated by the cosine function. This includes setting a speed overlap interval between low-speed and medium-high-speed, typically 20%-30% of the rated speed. The smoothness of the cosine function is used to achieve a nonlinear mixing of the outputs of the two methods, avoiding abrupt changes or oscillations caused by linear transition.

[0034] In this embodiment, the reconstruction of the phase detector structure to eliminate the 180° position deviation during reversal includes: reconstructing the phase detector stage using absolute value processing or sign function so that the output only reflects the position error amplitude and is unrelated to the direction of rotation.

[0035] In this embodiment, the feedforward loop suppresses the DC offset error during acceleration and deceleration by: estimating the load torque T in real time through an extended state observer, feeding T forward to the current loop, and generating a compensation voltage V, as shown in the following formula:

[0036]

[0037] K represents the feedforward gain. This represents the rate of change of the motor speed;

[0038] A linearized model of IQPLL is established, and the loop bandwidth is optimized through Bode plot. K and phase detector gain are adjusted under forward and reverse rotation and sudden acceleration and deceleration conditions to ensure that the position error is <±1°.

[0039] In this embodiment, when injecting a high-frequency signal, the proportional resonant controller parameters are optimized to improve the interference attenuation capability, or a harmonic suppression SVPWM modulation strategy is adopted to reduce high-frequency coupling current interference. The spectral energy is dispersed by randomizing the injection frequency, or the injection voltage amplitude in steady state is dynamically reduced to reduce electromagnetic noise.

[0040] In this embodiment, injecting a pulsating high-frequency sinusoidal voltage into the stator includes: injecting a high-frequency sinusoidal voltage into the estimated rotor coordinate system in the fifth harmonic plane to reduce interference to the fundamental plane and improve motor performance.

[0041] In this embodiment, the high-frequency component in the rotor salient polarity modulation response current is utilized. Specifically, this includes: injecting a high-frequency signal to obtain a high-frequency induced current containing rotor position information using the salient polarity effect, and then demodulating the current response to obtain the rotor position information; using a PI circuit and an integral circuit to convert the high-frequency induced current information into rotational speed and rotor position angle information; establishing a direct link between the high-frequency induced current and the rotor position angle observation error, and controlling the rotor position angle error by adjusting the high-frequency induced current; and applying amplitude modulation and low-pass filtering to the high-frequency induced current, which, after processing, can accurately reflect the rotor position angle observation error information.

[0042] In this embodiment, the rotor position observer adopts a phase-locked loop structure, which feeds the observed rotor position information back to the high-frequency current calculation stage, dynamically realizing the observation and tracking of the rotor position and reducing errors.

[0043] In this embodiment, extracting rotor information through back EMF observation includes: establishing a state observer based on the motor voltage equation; estimating the back EMF component in real time by inputting voltage and current; processing the observed back EMF component using a low-pass filter to obtain continuous back EMF information; and performing phase compensation on the observed rotor angle information to offset the phase delay caused by the filter.

[0044] In this embodiment, the integration of the disturbance suppression capability of ESO and the noise robustness of PLL includes: ESO real-time estimation and compensation of load disturbances and total disturbances of parameter changes, improving disturbance rejection capability through feedforward compensation; PLL uses a PI controller to achieve zero steady-state error tracking of speed / position, and its closed-loop structure is robust to high-frequency noise. When the speed changes abruptly, the disturbance estimate of ESO is used as the feedforward input of PLL to reduce phase lag and improve dynamic response speed by more than 30%.

[0045] In this embodiment, the ESO bandwidth and PLL gain are dynamically adjusted according to the rotational speed: at high speed, the ESO observation bandwidth is increased to track rapid disturbances, and at low speed, the PLL filter is enhanced to suppress inverter harmonics.

[0046] The above description is a typical embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A sensorless operation control method for a dual three-phase permanent magnet synchronous motor, characterized in that, It includes low-speed and medium-speed control and high-speed and medium-speed control. Low-speed and medium-speed control includes high-frequency signal injection method, and high-speed and medium-speed control includes sliding diaphragm observer method. The transition interval adopts weighted function transition based on cosine function to calculate weight coefficients. The steps of the high-frequency signal injection method are as follows: inject a pulsed high-frequency sinusoidal voltage into the stator, use the rotor salient polarity to modulate the high-frequency component in the induced current to achieve zero and low-speed control; reconstruct the phase detector structure to eliminate the 180° position deviation during reversal, and design a feedforward loop to suppress the DC offset error in acceleration and deceleration conditions. The steps of the sliding film observer method are as follows: extract rotor information by observing back EMF, combine it with phase-locked loop (PLL) to smooth the output, integrate the disturbance suppression capability of ESO with the noise robustness of PLL, reduce position tracking lag when the speed changes abruptly, and compensate for the nonlinear effect of the inverter.

2. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 1, characterized in that, The transition interval adopts a weighted function transition based on the weight coefficient calculated by the cosine function, including: setting the speed overlap interval between low and medium speed and medium and high speed, usually 20%-30% of the rated speed, and realizing the nonlinear mixing of the output of the two methods through the smoothness of the cosine function to avoid abrupt changes or oscillations caused by linear transition.

3. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 2, characterized in that, To eliminate the 180° position deviation during reversal, the phase detector structure is reconstructed by using absolute value processing or sign function to reconstruct the phase detector, so that the output only reflects the position error amplitude and is independent of the direction of rotation.

4. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 3, characterized in that, The feedforward loop suppresses DC offset error during acceleration and deceleration conditions by: estimating the load torque T in real time using an extended state observer, feeding T forward to the current loop, and generating a compensation voltage V, as shown in the following formula: K represents the feedforward gain. This represents the rate of change of the motor speed; A linearized model of IQPLL is established, and the loop bandwidth is optimized through Bode plot. K and phase detector gain are adjusted under forward and reverse rotation and sudden acceleration and deceleration conditions to ensure that the position error is <±1°.

5. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 4, characterized in that, When injecting high-frequency signals, optimize the proportional resonant controller parameters to improve interference attenuation capability, or adopt a harmonic suppression SVPWM modulation strategy to reduce high-frequency coupling current interference. Disperse spectral energy by randomizing the injection frequency, or dynamically reduce the injection voltage amplitude in steady state to reduce electromagnetic noise.

6. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 5, characterized in that, Injecting pulsating high-frequency sinusoidal voltage into the stator includes: injecting high-frequency sinusoidal voltage into the estimated rotor coordinate system in the fifth harmonic plane to reduce interference to the fundamental plane and improve motor performance.

7. A sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 6, characterized in that, The high-frequency component in the rotor salient polarity modulation response current is utilized, specifically including: injecting a high-frequency signal to obtain a high-frequency induced current containing rotor position information using the salient polarity effect, and then demodulating the current response to obtain rotor position information; using a PI circuit and an integral circuit to convert the high-frequency induced current information into speed and rotor position angle information; establishing a direct link between the high-frequency induced current and the rotor position angle observation error, and controlling the rotor position angle error by adjusting the high-frequency induced current; and applying amplitude modulation and low-pass filtering to the high-frequency induced current to accurately reflect the rotor position angle observation error information.

8. The sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 7, characterized in that, The rotor position observer adopts a phase-locked loop structure, which feeds the observed rotor position information back to the high-frequency current calculation stage, dynamically realizing the observation and tracking of the rotor position and reducing errors.

9. A sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 8, characterized in that, Extracting rotor information through back EMF observation includes: establishing a state observer based on the motor voltage equation; estimating the back EMF component in real time using input voltage and current; processing the observed back EMF component using a low-pass filter to obtain continuous back EMF information; and performing phase compensation on the observed rotor angle information to offset the phase delay caused by the filter.

10. A sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 9, characterized in that, The integration of ESO's disturbance suppression capability and PLL's noise robustness includes: ESO real-time estimation and compensation for load disturbances and total disturbances caused by parameter changes, improving disturbance rejection capability through feedforward compensation; and PLL using a PI controller to achieve zero steady-state error tracking of speed and position, with its closed-loop structure being robust to high-frequency noise. When speed changes abruptly, the disturbance estimate from ESO is used as the feedforward input of PLL, reducing phase lag and improving dynamic response speed by more than 30%.

11. A sensorless operation control method for a dual three-phase permanent magnet synchronous motor according to claim 10, characterized in that, The ESO bandwidth and PLL gain are dynamically adjusted according to the speed: at high speeds, the ESO observation bandwidth is increased to track rapid disturbances, and at low speeds, the PLL filter is enhanced to suppress inverter harmonics.

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