A method for position calculation using phase-locked loop fuzzy control

Abstract

The present invention discloses a method for position calculation using phase-locked loop fuzzy control. The method is based on switch Hall position feedback and uses phase-locked loop fuzzy control to calculate position. Fuzzy calculation is performed according to the angle error and the rate of change of the error when the Hall signal jumps, and closed-loop calculation parameters are adjusted in real time. Ultimately, the error between the estimated position and the actual position is 0, which accelerates the speed and accuracy of PI controller tracking. The system's response speed and overshoot indicators are superior to those of traditional PI controllers, greatly improving the performance of the entire motor system.

Description

Technical Field

[0001] The invention relates to a method for position calculation using phase-locked loop fuzzy control, belonging to the technical field of motor control. Background Art

[0002] When a permanent magnet synchronous motor uses a switch type Hall as a rotor position sensor, the motor controller can obtain position signals with a phase difference of 120° through the Hall installed on the motor stator. The three Halls divide the rotor position into 6 sectors, each with a position interval of 60°. Then, the real-time position angle θ(t) is Fourier expanded to obtain

[0003]

[0004] Where θ k is the starting angle of the sector where the rotor is currently located, t k is the moment when the rotor enters the current sector;

[0005] Rotor angular velocity angular acceleration Substituting into formula 1, we can get the expression of the first-order operation of the rotor position estimation algorithm:

[0006]

[0007] In this estimation mode, the following situations may occur: 1. The estimated angle reaches the sector boundary before the Hall signal; 2. The estimated angle lags behind the Hall signal in reaching the sector boundary. In the first case, the angle plateaus, while in the second case, the angle abruptly changes. Both situations will degrade the performance of the entire system.

[0008] Based on the above problems, a new method that can solve the problem is needed. Summary of the Invention

[0009] In response to the above-mentioned technical problems, the purpose of the present invention is to propose a method for position calculation using phase-locked loop fuzzy control, perform fuzzy calculations based on the angle error and the rate of change of the error when the Hall signal jumps, adjust the closed-loop calculation parameters in real time, and improve the performance of the entire motor system.

[0010] The technical solution of the present invention is achieved as follows: a method for position calculation using phase-locked loop fuzzy control, comprising the following steps:

[0011] S10, assuming that the actual coordinate axes of the permanent magnet synchronous motor rotor position θ are d and q axes, estimate the position The estimated coordinate axis is Axis, the angle between the actual coordinate axis and the estimated coordinate axis is Δθ, which is the angle between the actual position of the rotor and the estimated position;

[0012] S20, suppose the actual q-axis back electromotive force is in the estimated coordinate axis The component on the axis is Then we have:

[0013]

[0014]

[0015] S30, obtain u by detecting the DC bus voltage and the output voltage space vector of the previous cycle α and u β , and then obtain the d and q axis voltage u through PARK transformation d 、u q ;

[0016] S40, obtaining an estimated value of the rotor position angle through a formula;

[0017] S50, using the designed fuzzy controller, obtain the deviation e between the Hall position angle and the estimated position angle each time the Hall signal changes, and the angle deviation change rate Δe of each deviation;

[0018] S60, the fuzzy controller performs fuzzy control through the changes of e and Δe, and selects the corresponding proportional parameter change ΔK according to the different values ​​of the angle deviation e and the angle deviation change rate Δe p and the integral parameter change ΔK i ;

[0019] S70, according to the change of different proportional parameters ΔK p and the integral parameter change ΔK i , respectively formulate ΔK p and ΔK i Fuzzy rule table;

[0020] S80, according to ΔK p and ΔK i The fuzzy rule table is used to adjust the closed-loop calculation parameters in real time to make the error between the estimated position and the actual position zero.

[0021] A preferred solution is that in step S20,

[0022] In steady state:

[0023]

[0024] In the above formula, R is the electronic resistance, i d 、i qThe synthetic vector of the three-phase customized current on the d and q axes; L q is the q-axis inductance, P n is the number of motor pole pairs, ω is the motor angular velocity, ψ f is the permanent magnet flux.

[0025] A preferred solution is that in step S20, i d 、i q It is obtained through PARK transformation and CLARK transformation. The formula is as follows: PARK transformation:

[0026]

[0027] Clark Transform:

[0028]

[0029] where i A 、i B 、i C Obtained by measuring the current sensor.

[0030] A preferred solution is that in step S30, u α and u β The voltage value is obtained by the formula,

[0031]

[0032] Among them, u dc is the DC voltage, T0, T 60 is the moment when the rotor enters the current sector, and T is the period of the output voltage space vector.

[0033] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0034] The present invention discloses a method for position calculation using phase-locked loop fuzzy control, which is a method for position calculation using phase-locked loop fuzzy control based on switch Hall position feedback. Fuzzy calculation is performed according to the angle error and the rate of change of the error when the Hall signal jumps, and closed-loop calculation parameters are adjusted in real time to ultimately achieve a zero error between the estimated position and the actual position, thereby accelerating the speed and accuracy of PI controller tracking. The system's response speed and overshoot indicators are superior to those of traditional PI controllers, greatly improving the performance of the entire motor system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0036] Attachment Figure 1 A flow chart of a method for position calculation using phase-locked loop fuzzy control according to the present invention;

[0037] Attachment Figure 2 A schematic diagram of the coordinate axis of the permanent magnet synchronous motor rotor of the present invention;

[0038] Attachment Figure 3 is the rotor position angle estimation formula of the present invention;

[0039] Attachment Figure 4 Schematic diagram of the fuzzy controller of the present invention;

[0040] Attachment Figure 5 is the ΔK of the present invention p and ΔK i The fuzzy rule table. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for protection, but merely represents selected embodiments of the present invention; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] The present invention will be described below with reference to the accompanying drawings.

[0043] As attached Figure 1-5 FIG. 1 is a method for position calculation using phase-locked loop fuzzy control according to the present invention, comprising the following steps:

[0044] Assume that the actual coordinate axes of the permanent magnet synchronous motor rotor position θ are d and q axes, and estimate the position The estimated coordinate axis is Axis, the angle between the actual coordinate axis and the estimated coordinate axis is Δθ, which is the angle between the actual position of the rotor and the estimated position;

[0045] Assume that the actual back electromotive force of the q axis is in the estimated coordinate axis The component on the axis is Then we have:

[0046]

[0047]

[0048] In steady state:

[0049]

[0050] In the above formula, R is the electronic resistance, i d 、i q The synthetic vector of the three-phase customized current on the d and q axes; L q is the q-axis inductance, P n is the number of motor pole pairs, ω is the motor angular velocity, ψ f is the permanent magnet flux.

[0051] i d 、i q It is obtained through PARK transformation and CLARK transformation, and the formula is as follows:

[0052] PARK Transformation:

[0053]

[0054] Clark Transform:

[0055]

[0056] where i A 、i B 、i C Obtained by measuring the current sensor.

[0057] By detecting the DC bus voltage and the output voltage space vector of the previous cycle, u α and u β , and then obtain the d and q axis voltage u through PARK transformation d 、u q ;

[0058] u α and u β The voltage value is obtained by the formula,

[0059]

[0060] Among them, u dc is the DC voltage, T0, T 60 is the moment when the rotor enters the current sector, T is the period of the output voltage space vector;

[0061] The estimated value of the rotor position angle is obtained through the formula;

[0062] The designed fuzzy controller is used to obtain the deviation e between the Hall position angle and the estimated position angle and the angle deviation change rate Δe of each deviation each time the Hall signal changes.

[0063] The fuzzy controller performs fuzzy control through the changes of e and Δe. According to the different values ​​of the angle deviation e and the angle deviation change rate Δe, the corresponding proportional parameter change ΔK is selected. p and the integral parameter change ΔK i ;

[0064] According to the different proportional parameter changes ΔK p and the integral parameter change ΔK i , respectively formulate ΔK p and ΔK i Fuzzy rule table;

[0065] The deviation e is the deviation between the Hall position angle and the estimated position angle each time the Hall signal changes. The fuzzy controller performs fuzzy control through the changes of e and Δe. When the angle deviation e is large, in order to improve the system response speed, the proportional parameter change ΔK p A larger value should be taken. In order to prevent a large overshoot during the response process, the integral saturation should be limited. Then the integral parameter change ΔK i Should take a smaller value; when the angle deviation e and the angle deviation change rate Δe are at a medium level, in order to ensure that a certain response speed can be maintained while reducing overshoot, the proportional parameter change ΔK p The value of should be reduced as appropriate, and ΔK i The value of should be moderate; when the value of e is relatively small, in order to eliminate the static error of the system, ΔK p and ΔK i The value should be appropriately larger; in summary, ΔK can be formulated p and ΔK i The fuzzy rule table is attached. Figure 5 .

[0066] According to ΔK p and ΔK i The fuzzy rule table is used to adjust the closed-loop calculation parameters in real time to make the error between the estimated position and the actual position zero.

[0067] The present invention discloses a method for position calculation using phase-locked loop fuzzy control, which is a method for position calculation using phase-locked loop fuzzy control based on switch Hall position feedback. Fuzzy calculation is performed according to the angle error and the rate of change of the error when the Hall signal jumps, and closed-loop calculation parameters are adjusted in real time to ultimately achieve a zero error between the estimated position and the actual position, thereby accelerating the speed and accuracy of PI controller tracking. The system's response speed and overshoot indicators are superior to those of traditional PI controllers, greatly improving the performance of the entire motor system.

[0068] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for position calculation using phase-locked loop fuzzy control, characterized in that: The following steps are included: S10, assuming that the actual coordinate axes of the permanent magnet synchronous motor rotor position θ are d and q axes, estimate the position The estimated coordinate axis is Axis, the angle between the actual coordinate axis and the estimated coordinate axis is Δθ, which is the angle between the actual position of the rotor and the estimated position; S20, suppose the actual q-axis back electromotive force is in the estimated coordinate axis The component on the axis is Then we have: S30, obtain u by detecting the DC bus voltage and the output voltage space vector of the previous cycle α and u β , and then obtain the d and q axis voltage u through PARK transformation d 、u q ; S40, obtaining an estimated value of the rotor position angle through a formula; S50, using the designed fuzzy controller, obtain the deviation e between the Hall position angle and the estimated position angle each time the Hall signal changes, and the angle deviation change rate Δe of each deviation; S60, the fuzzy controller performs fuzzy control through the changes of e and Δe, and selects the corresponding proportional parameter change ΔK according to the different values ​​of the angle deviation e and the angle deviation change rate Δe p and the integral parameter change ΔK i ; S70, according to the change of different proportional parameters ΔK p and the integral parameter change ΔK i , respectively formulate ΔK p and ΔK i Fuzzy rule table; S80, according to ΔK p and ΔK i The fuzzy rule table is used to adjust the closed-loop calculation parameters in real time to make the error between the estimated position and the actual position zero; In step S20, In steady state: In the above formula, R is the electronic resistance, i d 、i q The synthetic vector of the three-phase customized current on the d and q axes; L q is the q-axis inductance, P n is the number of motor pole pairs, ω is the motor angular velocity, ψ f is the permanent magnet flux; In step S20, i d 、i q It is obtained by PARK transformation and CLARK transformation. The formula is as follows, PARK Transformation: Clark Transform: where i A 、i B 、i C Obtained by measuring the current sensor.

2. The method for position calculation using phase-locked loop fuzzy control according to claim 1, wherein: In step S30, u α and u β The voltage value is obtained by the formula, Among them, u dc is the DC voltage, T0, T 60 is the moment when the rotor enters the current sector, and T is the period of the output voltage space vector.

Images