Permanent magnet synchronous motor rotor position estimation method, device and storage medium

Abstract

The application provides a rotor position estimation method and device of a permanent magnet synchronous motor and a storage medium, and the method comprises the following steps: forming a multiple reduced-order generalized integral frequency-locked loop based on multiple ROGI and a direct current compensation integrator in combination with a frequency-locked loop; obtaining a Hall signal output by a linear Hall sensor, wherein the Hall signal comprises a sine signal and a cosine signal; inputting the Hall signal into the multiple reduced-order generalized integral frequency-locked loop to obtain an estimated value of a positive sequence component separated from a fundamental wave of the Hall signal and a fundamental wave component of the cosine signal; determining an initial estimated value of an electrical angle of the rotor based on the estimated value of the positive sequence component; inputting the estimated value of the positive sequence component and the fundamental wave component of the cosine signal into a compensation module to obtain an electrical angle error estimation value, and compensating the initial estimated value of the electrical angle by using the electrical angle error estimation value to obtain an electrical angle estimation value, so that the problem of various interferences on the signal can be solved, and the position information of the rotor can be accurately estimated.

Description

Technical Field

[0001] This invention relates to the field of permanent magnet synchronous motor control technology, and in particular to a rotor position estimation method, device and storage medium for a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors (PMSMs), as a crucial component of high-precision servo systems, offer advantages such as high power density, small size, and excellent dynamic performance. They are increasingly being used in aerospace, electric vehicles, industry, and defense. Because PMSMs rely on sinusoidal current for drive and depend on high-precision rotor position information for feedback regulation and control...

[0003] Currently, PMSM control strategies are generally divided into two categories: sensorless control and sensor-based control. Sensorless control can be further divided into two main categories: back-EMF method and saliency tracking method. When the PMSM operates at low speed, the back-EMF is very small, and with the addition of noise, it is difficult to extract the correct back-EMF, resulting in large fluctuations in error. To extend to the low-to-zero speed range, saliency tracking-based methods have been proposed, including signal injection and pulse-width modulation excitation methods. However, high-precision servo systems require smooth operation and high-precision tracking at low speeds, and sensorless methods remain a challenge. Therefore, using sensors to acquire rotor information remains the primary approach.

[0004] Among them, the linear Hall sensor has the following four characteristics: (1) It is a magnetic sensor that works on the Hall effect. (2) By measuring its magnetic field strength, it can convert non-electrical and non-magnetic physical quantities into electrical quantities and output them, and the output analog quantity is proportional to the magnetic field. (3) It has a higher detection resolution, and does not require a series of estimation and processing methods for discrete position signals with low non-resolution. (4) It is smaller and cheaper. Therefore, based on the above advantages, the use of linear Hall sensors to extract rotor information has great application prospects in the control of permanent magnet synchronous motors.

[0005] Currently, linear Hall sensors placed in PMSMs ideally output a standard voltage waveform, but in real-world environments, this leads to waveform distortion, including white noise, amplitude and phase imbalances, and harmonic issues. Therefore, a suitable method is needed to extract accurate rotor position information from the Hall signal output by the linear Hall sensor. Existing research methods struggle to guarantee accurate estimation of rotor position information. Summary of the Invention

[0006] This invention provides a rotor position estimation method, device, and storage medium for a permanent magnet synchronous motor, which can solve various interference problems of the signal and improve the estimation accuracy of the rotor position.

[0007] In a first aspect, embodiments of the present invention provide a rotor position estimation method for a permanent magnet synchronous motor, comprising: A harmonic filter with multiple reduced-order generalized integrators is constructed based on multiple enhanced reduced-order generalized integrators; A DC-compensated integrator is added to the harmonic filter with multiple reduced-order generalized integrators, and a frequency-locking loop is formed by combining it with a frequency-locking loop with multiple reduced-order generalized integrators. Acquire the Hall signal output by the linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal; The Hall signal is input into a frequency-locked loop with multiple reduced-order generalized integrals to obtain an estimate of the positive-sequence component separated from the fundamental wave of the Hall signal, as well as the fundamental wave component of the cosine signal. The initial estimate of the rotor's electrical angle is determined based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal; The estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal are input into the compensation module to obtain the estimated value of the electrical angle error of the rotor. The initial electrical angle estimate is compensated by the electrical angle error estimate to obtain the electrical angle estimate of the rotor.

[0008] Secondly, embodiments of the present invention provide a rotor position estimation device for a permanent magnet synchronous motor, comprising: The module is used to construct a harmonic filter with multiple reduced-order generalized integrators based on multiple enhanced reduced-order generalized integrators. A DC-compensated integrator is added to the harmonic filter with multiple reduced-order generalized integrators, and a frequency-locking loop is combined with the frequency-locking loop to form a frequency-locking loop with multiple reduced-order generalized integrators. An acquisition module is used to acquire the Hall signal of a linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal; The estimation module is used to input the Hall signal into a frequency-locked loop of multiple reduced-order generalized integrals to obtain the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal, as well as the fundamental wave component of the cosine signal. The determination module is used to determine the initial estimate of the rotor's electrical angle based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal; The compensation module is used to input the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal into the compensation module to obtain the estimated value of the electrical angle error of the rotor, and to compensate the initial estimated value of the electrical angle using the estimated value of the electrical angle error to obtain the estimated value of the electrical angle of the rotor.

[0009] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method provided in the embodiments of the present invention.

[0010] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that are used to cause a processor to execute the method provided in the embodiments of the present invention.

[0011] The technical solution provided by this invention constructs a harmonic filter with multiple generalized integrators by using multiple reduced-order generalized integrators, adds a DC compensation integrator, and combines it with a frequency-locked loop to form a frequency-locked loop with multiple reduced-order generalized integrators. By inputting the acquired Hall signal into the frequency-locked loop with multiple reduced-order generalized integrators, the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal can be obtained. That is, the frequency-locked loop with multiple reduced-order generalized integrators can filter out harmonics in the Hall signal and perform DC compensation on the Hall signal, making the estimation of the rotor's electrical angle more accurate. Furthermore, it can directly separate the positive and negative sequences of the Hall signal, making the structure and calculation method simpler.

[0012] In this embodiment, the initial estimate of the rotor's electrical angle is determined by the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal. The estimated value of the electrical angle error is obtained by inputting the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal into the compensation module, thereby determining the estimated value of the rotor's electrical angle. In other words, by inputting the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal into the compensation module for adaptive electrical angle compensation, the estimated value of the rotor's electrical angle is obtained. This solves the problem of various interferences to the Hall signal, enabling accurate estimation of the rotor's position and improving control accuracy. In short, this embodiment, through a frequency-locked loop with multiple reduced-order generalized integrals and a rotor electrical angle compensation method, can solve the problem of various interferences to the Hall signal, accurately estimate the rotor's position, and improve control accuracy.

[0013] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a flowchart of a rotor position estimation method for a permanent magnet synchronous motor provided by an embodiment of the present invention; Figure 2 This is a block diagram of the structure implemented by ROGI; Figure 3 This is a block diagram of the ROGI-FLL structure.

[0016] Figure 4 This is a block diagram of a frequency-locked loop for multiple reduced-order generalized integrals; Figure 5 This is a structural block diagram of the compensation module performing electrical angle compensation; Figure 6 Is In the case of frequency estimation curve; Figure 7 Is In the case where electrical angle compensation is not performed by the compensation module provided in this embodiment of the invention, the rotor position information is shown in the schematic diagram. Figure 8 Is In the case where electrical angle compensation is not performed by the compensation module provided in the embodiments of the present invention, the corresponding electrical angle error is shown in the schematic diagram. Figure 9 Is In the case of electrical angle compensation performed by the compensation module provided in this embodiment of the invention, the rotor position information is shown in the schematic diagram. Figure 10 Is In the case of electrical angle compensation performed by the compensation module provided in this embodiment of the invention, the electrical angle error is shown in the schematic diagram. Figure 11 yes In the case of frequency estimation curve; Figure 12 Is In the case of electrical angle compensation performed by the compensation module provided in this embodiment of the invention, the rotor position information is shown in the schematic diagram. Figure 13 Is In the case of electrical angle compensation performed by the compensation module provided in this embodiment of the invention, the electrical angle error is shown in the schematic diagram. Figure 14 This is a structural block diagram corresponding to the entire technical solution provided in the embodiments of the present invention; Figure 15 This is a structural block diagram of a rotor position estimation device for a permanent magnet synchronous motor provided in an embodiment of the present invention. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present invention, 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. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] In related technologies, only one type of interference is usually addressed in the Hall signal output by the linear Hall sensor, rather than suppressing all interference. In real-world environments, the Hall signal is unlikely to be affected by only one type of interference, so relatively strict environmental conditions need to be created before using these solutions. Some other methods perform optimal estimation of the rotor position, but the estimation effect is difficult to guarantee.

[0020] Figure 1This invention provides a flowchart of a rotor position estimation method for a permanent magnet synchronous motor. This embodiment is applicable to rotor position estimation in permanent magnet synchronous motors equipped with linear Hall sensors. The method can be executed by a rotor position estimation device for the permanent magnet synchronous motor, which can be implemented in hardware and / or software and can be configured in electronic devices such as computers.

[0021] like Figure 1 As shown, the method provided in this embodiment of the invention includes: S110: Construct a harmonic filter with multiple reduced-order generalized integrators based on multiple reduced-order generalized integrators, add a DC-compensated integrator to the harmonic filter with multiple reduced-order generalized integrators, and combine it with a frequency-locked loop to form a frequency-locked loop with multiple reduced-order generalized integrators.

[0022] In this embodiment of the invention, the constructed frequency-locked loop with multiple reduced-order generalized integrals can process the Hall signal output by the Hall sensor. The Hall sensor is installed in the PMSM and can be a linear Hall sensor. The constructed frequency-locked loop with multiple reduced-order generalized integrals can perform harmonic filtering and DC compensation on the Hall signal output by the Hall sensor, thereby reducing the influence of interference on the Hall signal.

[0023] Specifically, taking the use of two linear Hall sensors as an example, they are installed in the PMSM via an adapter, with electrical angles 90° apart. When the rotor rotates, they generate sine and cosine signals respectively. Ideally, the sine and cosine signals are strictly orthogonal and have equal amplitudes, which can be expressed as: (1) in, and These are the Hall signals from two linear Hall sensors, respectively. Under ideal conditions, the electrical angle of the rotor, This represents the output voltage of the linear Hall sensor corresponding to the maximum air gap magnetic density. The rotor's position information can be obtained simply using an arctangent operation. (2) However, in the complex environment inside the PMSM, the Hall signal output by the linear Hall effect sensor is easily affected by many uncertainties, resulting in waveform distortion. The reasons are as follows: (1) dispersion of the magnetic field and the shape of the magnet; (2) temperature and zero-point offset; (3) changes in ambient temperature; (4) harmonics in the air gap magnetic field. After the above interference factors occur in the signal, the distortion manifests as: (1) the existence of DC offset; (2) unequal amplitudes of sine and cosine signals; (3) phase deviation between sine and cosine signals, not strictly orthogonal; (4) the existence of higher harmonics. Ultimately, this will be reflected in the estimation error of the rotor position. In the middle, as shown in the following formula (3): (3) in, The detected electrical angle of the rotor.

[0024] Considering the aforementioned forms of distortion, in practice... and It can be represented as: (4) In the above formula (4), and These are the DC components of the two Hall signals, respectively. This is expressed as the amplitude of the fundamental wave in the Hall signal. Expressed as the amplitude of higher harmonics; It is expressed as the difference in amplitude between the two Hall signals; This is represented as the angular deviation of the non-orthogonal signals.

[0025] Assuming the two Hall signals do not have higher harmonics or DC components, and only differ in amplitude and phase, their mathematical expressions are as follows: (5) In the above formula (5), This is expressed as the difference in amplitude between the two Hall signals; This is represented as the angular deviation of the signal due to non-orthogonality. According to the symmetrical component method, the Hall signal can be... Separate according to positive and negative order. The separated form is shown below: (6) In the above formula (6), These are respectively represented as the positive-sequence component and the negative-sequence component separated from the Hall signal; These are represented by the amplitudes of the positive-sequence component and the negative-sequence component, respectively. The positive-sequence component can be extracted and its arctangent value applied to extract rotor information.

[0026] (7)

[0027] In the above formula (7). This represents the initial estimate of the rotor position angle. It can be observed that the angle after the arctangent still exists. The error will be addressed in subsequent steps. Error compensation was performed.

[0028] In this embodiment of the invention, ROGI can be combined with a frequency-locked loop (FLL) to form a reduced-order generalized integrator frequency-locked loop (ROGI-FLL). A block diagram of the reduced-order generalized integrator implementation can be found in [reference needed]. Figure 2 .

[0029] The transfer function for ROGI is: (8) Therefore, it can be observed that the ROGI has only one pole, while the second-order generalized integrator (SOGI) exhibits polarity selectivity. At the pole... The gain is greatest at [location], and at [location]... Since the gain is almost zero, the signal can be directly separated into positive and negative sequences. Therefore, ROGI can be used to directly separate the Hall signal of a linear Hall sensor into positive and negative sequences, which is very convenient.

[0030] Depend on The derivative of can be used to derive a model, as shown below: (9) in, ; It is a skew-symmetric matrix.

[0031] Based on the structure of the above formula (9), the basic components of the approximate input signal can be estimated using the second transform model (STM): (10) In the above formula (10), , They correspond to as , The estimated value; for The estimated value; gain coefficient This provides the observer with an estimated gain for the required damping, determining the response speed for positive and negative order separation. The error equation can then be designed as follows: (11) In the above formula (11), , , 。

[0032] The frequency adaptive law can be designed as follows: (12) Among them, all increments , and The system asymptotically converges to zero, and is asymptotically stable. The estimation effect is globally optimal.

[0033] In this embodiment of the invention, optionally, to improve the performance of the frequency adaptive rate (FAL) and optimize the adjustment effect, an additional loop, namely a proportional unit, can be added to the ROGI-FLL, called an enhanced FLL (EFLL). Optionally, a proportional unit can be added to the reduced-order generalized integrator; that is, the reduced-order generalized integrator in this embodiment may include a proportional unit. After adding the proportional unit, the structural block diagram of the ROGI-FLL can be referenced. Figure 3 .

[0034] In one embodiment of the present invention, optionally, the construction of a harmonic filter based on multiple reduced-order generalized integrators includes: connecting k reduced-order generalized integrators in parallel to form a harmonic filter with multiple reduced-order generalized integrators; wherein, k is greater than 1.

[0035] In one embodiment of the present invention, optionally, a DC compensation integrator is added to the harmonic filter of the multiple reduced-order generalized integrator, and a frequency-locking loop is formed in combination with the frequency-locking loop of the multiple reduced-order generalized integrator, including: connecting the two DC compensation integrators in parallel with the enhanced reduced-order generalized integrator in the harmonic filter of the multiple reduced-order generalized integrator, and forming a frequency-locking loop of the multiple reduced-order generalized integrator in combination with the frequency-locking loop.

[0036] In this embodiment of the invention, the Hall signal output by the linear Hall sensor suffers from problems such as unequal amplitude and non-orthogonal phase in actual motor environments, as well as DC components and higher harmonics. Both the DC components and higher harmonics cause considerable fluctuations, thus reducing estimation accuracy. Therefore, the DC components and higher harmonics can be eliminated using a frequency-locked loop with multiple reduced-order generalized integrators.

[0037] Specifically, Figure 4 This is a block diagram of a frequency-locked loop with multiple reduced-order generalized integrals, such as... Figure 4As shown, the frequency-locking loop of the multiple reduced-order generalized integral (MROGI-HF) includes a harmonic filter of the multiple reduced-order generalized integral (MROGI-HF) and a frequency-locking loop. The MROGI-HF harmonic filter consists of multiple ROGI units arranged in parallel and working collaboratively. Due to the bandpass filter characteristics of ROGI, each ROGI unit can act as a filter, responsible for extracting selective harmonic components from the input and then subtracting the selected harmonic components from the input, thereby filtering out the harmonics. In this case, the influence of harmonics is effectively reduced. Simultaneously, new branches are added to detect the DC component on the input signal, including two branches with equal gain. The integrator can perform DC compensation by detecting the DC component.

[0038] S120: Acquire the Hall signal output by the linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal.

[0039] In this embodiment of the invention, the Hall signal output by the linear Hall sensor may contain DC components and high-order harmonics. Therefore, the Hall signal can be input into a frequency-locked loop with multiple reduced-order generalized integrators, thereby filtering out harmonics and performing DC compensation through the frequency-locked loop with multiple reduced-order generalized integrators. The Hall signal can be a voltage signal.

[0040] S130: Input the Hall signal into a frequency-locked loop with multiple reduced-order generalized integrals to obtain the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal, and the fundamental wave component of the cosine signal.

[0041] In embodiments of the present invention, such as Figure 4 As shown, the Hall signal is input into a frequency-locked loop with multiple reduced-order generalized integrators, specifically, the sine and cosine signals are input into the loop. Within this loop, the Hall signal can be separated into positive and negative sequences, yielding estimates of both the positive and negative sequences. Furthermore, harmonics in the Hall signal can be filtered out, and DC compensation can be applied to obtain the fundamental component of the Hall signal. This fundamental component comprises both the fundamental components of the cosine and sine signals.

[0042] In embodiments of the present invention, such as Figure 4As shown, in the frequency-locked loop with multiple order-reduction generalized integrals, the Hall signal undergoes harmonic filtering and DC compensation after passing through the frequency-locked loop with multiple order-reduction generalized integrals to obtain the fundamental component. This fundamental component is obtained by subtracting the estimated value of the DC component and the estimated value of the harmonic components from the previous moment from the Hall signal at the current moment, which are fed back by the frequency-locked loop with multiple order-reduction generalized integrals. The error of the fundamental component can be obtained by comparing this fundamental component with the estimated value of the fundamental component obtained by the frequency-locked loop with multiple order-reduction generalized integrals at the previous moment. The error of the fundamental component and the estimated value of the rotational speed output by the frequency-locked loop at the previous moment are then used to calculate the error. The input is fed into a harmonic filter with multiple reduced-order generalized integrators, and the error of the fundamental component is fed into a DC-compensated integrator to obtain estimates of the positive-sequence and negative-sequence components of the Hall signal at the current moment. The estimates of the positive-sequence, negative-sequence, and DC components separated from the harmonics are then fed back to the Hall signal at the next moment. Finally, the estimates of the positive-sequence and negative-sequence components separated from the fundamental component of the Hall signal, along with the error of the fundamental component, are input into a frequency-locked loop to output the estimated rotational speed at the current moment. The signal is fed back to the harmonic filter of the multiple reduced-order generalized integrator for processing the Hall signal at the next moment. Therefore, by inputting the Hall signal into the frequency-locked loop of the multiple reduced-order generalized integrator, the positive and negative sequences of the signal can be directly separated. This method is simple in structure, convenient in processing, and improves processing speed. Specifically, the estimated values ​​of the positive and negative sequences of the Hall signal include the estimates of the positive and negative sequences separated from the fundamental wave of the Hall signal, as well as the estimates of the positive and negative sequences separated from the harmonics of the Hall signal.

[0043] S140: Determine the initial estimate of the rotor's electrical angle based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal.

[0044] In one embodiment of the present invention, optionally, determining the initial estimate of the rotor's electrical angle based on the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal includes: The initial estimate of the electrical angle is determined based on the following formula: (13) in, This is an estimate of the positive-sequence component separated from the fundamental wave of the Hall signal.

[0045] In this embodiment of the invention, the fundamental wave of the Hall signal can be considered to have only problems of unequal amplitude and phase mismatch. Through a frequency-locked loop with multiple reduced-order generalized integrals, based on the characteristics of ROGI, the following can be obtained: .

[0046] S150: The estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal are input into the compensation module to obtain the estimated value of the electrical angle error of the rotor. The initial estimated value of the electrical angle is compensated by the estimated value of the electrical angle error to obtain the estimated value of the electrical angle of the rotor.

[0047] In one embodiment of the present invention, optionally, the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal are input into the compensation module to obtain the estimated value of the electrical angle error of the rotor, including: The compensation module determines the electrical angle error estimate based on the following formula:

[0048] in, The estimated value of the electrical angle error

[0049] in, The determination is based on the following formula: ; in, , is the Lyapunov function that is defined; , ; ; in,

[0050] in, This represents the fundamental component of the cosine signal in the Hall signal under ideal conditions. This represents the positive-sequence component separated from the fundamental wave of the cosine signal in the Hall signal under ideal conditions. This represents the positive-sequence component separated from the fundamental wave of the sinusoidal signal in the Hall signal under ideal conditions. The electrical angle of the rotor, This refers to electrical angle error; This indicates the amplitude of the fundamental wave in the Hall signal; This represents the amplitude of the positive-sequence component separated from the fundamental wave of the Hall signal.

[0051] Specifically, the input is selected as the fundamental component of the Hall signal. The positive sequence component separated from the fundamental wave of the Hall signal However, in practice, it is necessary to consider using Hall signals after high-order harmonic filtering and DC compensation. In And the frequency-locked loop estimated by multiple reduced-order generalized integrals As input.

[0052] Input as well as The ideal expression for input is as follows: (14) By performing a trigonometric function transformation on the input signal, we can obtain: (15) Where, let the cost function be... for (16) And order (17) After resubmitting the cost function, we get: (18) Let the Lyapunov function be: (19) Differentiating the above formula yields: (20) In order to make This leads to global asymptotic stability. Therefore, the control law is designed as follows: (twenty one) right Integrating, the solution at this point... It is globally optimal. Therefore, for The electrical angle error estimate can be obtained after tangenting. ,Right now (twenty two) In an embodiment of the present invention, optionally, the initial electrical angle estimate is compensated by the electrical angle error estimate to obtain the electrical angle estimate of the rotor, including: The electrical angle estimate is determined based on the following formula: (twenty three) in, The estimated electrical angle value can be obtained from the above formula (13). From the above formula (22), we can obtain Therefore, the estimated electrical angle can be calculated. The block diagram of the compensation module for electrical angle compensation can be found by referring to... Figure 5 .

[0053] The technical solution provided by this invention constructs a harmonic filter with multiple generalized integrators by using multiple reduced-order generalized integrators, adds a DC compensation integrator, and combines it with a frequency-locked loop to form a frequency-locked loop with multiple reduced-order generalized integrators. By inputting the acquired Hall signal into the frequency-locked loop with multiple reduced-order generalized integrators, the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal can be obtained. That is, the frequency-locked loop with multiple reduced-order generalized integrators can filter out harmonics in the Hall signal and perform DC compensation on the Hall signal, making the estimation of the rotor's electrical angle more accurate. Furthermore, it can directly separate the positive and negative sequences of the Hall signal, making the structure and calculation method simpler.

[0054] In this embodiment, the initial estimate of the rotor's electrical angle is determined by the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal. The estimated value of the electrical angle error is obtained by inputting the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal into the compensation module, thereby determining the estimated value of the rotor's electrical angle. That is, by inputting the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal into the compensation module for adaptive compensation, the estimated value of the rotor's electrical angle is obtained. This reduces interference to the Hall signal, allows for accurate estimation of the rotor's position, and improves control accuracy. In other words, this embodiment, through a frequency-locked loop with multiple reduced-order generalized integrals and electrical angle compensation via a compensation module, can solve various interference problems affecting the Hall signal, accurately estimate the rotor's position, and improve control accuracy.

[0055] The technical solution verification method provided in the embodiments of the present invention can be referred to as follows: Firstly, considering the cases of phase imbalance and amplitude inequality, let the input Hall signal be:

[0056] Wherein, the frequency is set to rad / s, phase deviation set to The frequency estimation curve can be referenced. Figure 6 .

[0057] Without adaptive compensation for the electrical angle error through the compensation module, the rotor position information and electrical angle error can be referenced separately. Figure 7 and Figure 8 ,like Figure 7 and Figure 8 As shown, the separation effect of the positive sequence component is very good, but there is indeed an error in extracting the electrical angle. After adaptive compensation by the compensation module, the rotor position information and electrical angle error can be referenced respectively. Figure 9 and Figure 10 ,like Figure 9 and Figure 10 As shown, the method of electrical angle compensation through the compensation module in this embodiment of the invention can effectively compensate for the electrical angle error, and the final extracted rotor position information is very accurate.

[0058] Secondly, consider the case where DC components and higher harmonics are included. Let the input Hall signal be:

[0059] Wherein, the frequency is set to The frequency is set to rad / s, DC deviation is set to 0.1, and the amplitude ratio of the fundamental frequency to the third harmonic is set to 1:0.2. The frequency estimation curve can be referenced. Figure 11 The rotor's position information can be referenced. Figure 12 Electrical angle error can be referenced. Figure 13 ,like Figure 12 and Figure 13 As shown, the method of electrical angle compensation through the compensation module in this embodiment of the invention can effectively compensate for the electrical angle error, and the final extracted rotor position information is very accurate.

[0060] It should be noted that Figures 6-13 In the diagram, Ref represents the reference value, and Est represents the estimated value provided by the method in the embodiment of the present invention.

[0061] Figure 14 This is a structural block diagram of the entire technical solution provided in the embodiments of the present invention. The method provided in the embodiments of the present invention can obtain the estimated value of the rotor's electrical angle. By constructing a frequency-locked loop with multiple reduced-order generalized integrals, the estimated value of the rotor's speed can be output, thereby enabling precise control of the permanent magnet synchronous motor.

[0062] Therefore, the technical solution provided by the embodiments of the present invention, by adding a compensation module for adaptive compensation, can simultaneously solve various interference problems of the signal and extract more accurate rotor position information.

[0063] Figure 15 A structural block diagram of a rotor position estimation device for a permanent magnet synchronous motor provided in an embodiment of the present invention is shown below. Figure 15 As shown, the device includes: The construction module 141 is used to construct a harmonic filter with multiple reduced-order generalized integrators based on multiple enhanced reduced-order generalized integrators, add a DC compensation integrator to the harmonic filter with multiple reduced-order generalized integrators, and combine it with a frequency-locking loop to form a frequency-locking loop with multiple reduced-order generalized integrators. The acquisition module 142 is used to acquire the Hall signal of the linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal; The estimation module 143 is used to input the Hall signal into a frequency-locked loop of multiple reduced-order generalized integrals to obtain the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal, and the fundamental wave component of the cosine signal. The determination module 144 is used to determine the initial estimate of the rotor's electrical angle based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal; The compensation module 145 is used to input the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal into the compensation module to obtain the estimated value of the electrical angle error of the rotor, and to compensate the initial estimated value of the electrical angle using the estimated value of the electrical angle error to obtain the estimated value of the electrical angle of the rotor.

[0064] Optionally, the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal are input into the compensation module to obtain the estimated value of the rotor's electrical angle error, including: The compensation module determines the electrical angle error estimate based on the following formula:

[0065] in, The estimated value of the electrical angle error

[0066] in, The determination is based on the following formula: ; in, , is the Lyapunov function that is defined; , ; ; in,

[0067] in, This represents the fundamental component of the cosine signal in the Hall signal under ideal conditions. This refers to the positive-sequence component separated from the fundamental wave of the cosine signal in the Hall signal under ideal conditions. This represents the positive-sequence component separated from the fundamental sinusoidal wave in a Hall signal under ideal conditions. The electrical angle of the rotor under ideal conditions; This refers to electrical angle error; This indicates the amplitude of the fundamental wave in the Hall signal; This represents the amplitude of the positive-sequence component separated from the fundamental wave of the Hall signal.

[0068] Optionally, determining the initial estimate of the rotor's electrical angle based on the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal includes: The initial estimate of the electrical angle is determined based on the following formula:

[0069] in, This is an estimate of the positive-sequence component separated from the fundamental wave of the Hall signal.

[0070] Optionally, the initial electrical angle estimate is compensated by the electrical angle error estimate to obtain the electrical angle estimate of the rotor, including: The electrical angle estimate is determined based on the following formula:

[0071] in, It is the estimated value of the electrical angle.

[0072] Optionally, the construction of a harmonic filter based on multiple reduced-order generalized integrators includes: k reduced-order generalized integrators are connected in parallel to form a harmonic filter with multiple reduced-order generalized integrators; where k is greater than 1.

[0073] Optionally, a DC-compensated integrator is added to the harmonic filter with multiple reduced-order generalized integrators, and a frequency-locking loop is formed by combining it with a frequency-locking loop with multiple reduced-order generalized integrators, including: The two DC compensation integrators are connected in parallel with the reduced-order generalized integrator in the harmonic filter with multiple reduced-order generalized integrators, and combined with the frequency-locking loop to form the frequency-locking loop of multiple reduced-order generalized integrators.

[0074] Optionally, the reduced-order generalized integrator is a reduced-order generalized integrator that includes a scaling unit.

[0075] The apparatus provided in the embodiments of the present invention can execute the method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0076] This invention also provides an electronic device, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the method provided in the embodiments of the present invention.

[0077] This invention also provides a computer-readable storage medium storing computer instructions that are used to cause a processor to execute the method provided in this invention.

[0078] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A rotor position estimation method for a permanent magnet synchronous motor, characterized in that, include: A harmonic filter with multiple reduced-order generalized integrators is constructed based on multiple reduced-order generalized integrators. A DC-compensated integrator is added to the harmonic filter with multiple reduced-order generalized integrators, and a frequency-locking loop is formed by combining it with a frequency-locking loop. Acquire the Hall signal output by the linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal; The Hall signal is input into a frequency-locked loop with multiple reduced-order generalized integrals to obtain an estimate of the positive-sequence component separated from the fundamental wave of the Hall signal, as well as the fundamental wave component of the cosine signal. The initial estimate of the rotor's electrical angle is determined based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal; The estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal are input into the compensation module to obtain the estimated value of the electrical angle error of the rotor. The estimated value of the electrical angle error is then used to compensate the initial estimated value of the electrical angle to obtain the estimated value of the electrical angle of the rotor. The estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal and the fundamental component of the cosine signal are input into the compensation module to obtain the estimated value of the rotor's electrical angle error, including: The compensation module determines the electrical angle error estimate based on the following formula: in, The estimated value of the electrical angle error in, The determination is based on the following formula: ； in, , is the Lyapunov function that is defined; , ; ; in, in, This represents the fundamental component of the cosine signal in the Hall signal under ideal conditions. This refers to the positive-sequence component separated from the fundamental wave of the cosine signal in the Hall signal under ideal conditions. This represents the positive-sequence component separated from the fundamental sinusoidal wave in a Hall signal under ideal conditions. The electrical angle of the rotor under ideal conditions; This refers to electrical angle error; This indicates the amplitude of the fundamental wave in the Hall signal; This represents the amplitude of the positive-sequence component separated from the fundamental wave of the Hall signal; The determination of the initial estimate of the rotor's electrical angle based on the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal includes: The initial estimate of the electrical angle is determined based on the following formula: in, This is an estimate of the positive-sequence component separated from the fundamental wave of the Hall signal.

2. The method according to claim 1, characterized in that, The electrical angle estimate of the rotor is obtained by compensating the initial electrical angle estimate with the electrical angle error estimate, including: The electrical angle estimate is determined based on the following formula: in, It is the estimated value of the electrical angle.

3. The method according to claim 1, characterized in that, The harmonic filter constructed based on multiple reduced-order generalized integrators includes: k reduced-order generalized integrators are connected in parallel to form a harmonic filter with multiple reduced-order generalized integrators; where k is greater than 1.

4. The method according to claim 1, characterized in that, A DC-compensated integrator is added to the harmonic filter of the multiple order-reduced generalized integrator, and a frequency-locking loop is formed by combining it with a frequency-locking loop, including: The two DC compensation integrators are connected in parallel with the reduced-order generalized integrator in the harmonic filter with multiple reduced-order generalized integrators, and combined with the frequency-locking loop to form the frequency-locking loop of multiple reduced-order generalized integrators.

5. The method according to claim 3, characterized in that, The reduced-order generalized integrator is a reduced-order generalized integrator that includes a scaling unit.

6. A rotor position estimation device for a permanent magnet synchronous motor, characterized in that, For performing the method as described in any one of claims 1-5, comprising: The module is used to construct a harmonic filter with multiple reduced-order generalized integrators based on multiple enhanced reduced-order generalized integrators. A DC-compensated integrator is added to the harmonic filter with multiple reduced-order generalized integrators, and a frequency-locking loop is combined with the frequency-locking loop to form a frequency-locking loop with multiple reduced-order generalized integrators. An acquisition module is used to acquire the Hall signal of a linear Hall sensor, wherein the Hall signal includes a sine signal and a cosine signal; The estimation module is used to input the Hall signal into a frequency-locked loop of multiple reduced-order generalized integrals to obtain the estimated value of the positive-sequence component separated from the fundamental wave of the Hall signal, as well as the fundamental wave component of the cosine signal. The determination module is used to determine the initial estimate of the rotor's electrical angle based on the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal; The compensation module is used to input the estimated value of the positive sequence component separated from the fundamental wave of the Hall signal and the fundamental wave component of the cosine signal into the compensation module to obtain the estimated value of the electrical angle error of the rotor, and to compensate the initial estimated value of the electrical angle using the estimated value of the electrical angle error to obtain the estimated value of the electrical angle of the rotor.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the method of any one of claims 1-5.

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