High-frequency signal injection-based sensorless control method and system for driving motor of high-voltage circuit breaker

Abstract

The invention relates to the technical field of high-voltage circuit breaker control, in particular to a high-voltage circuit breaker driving motor sensorless control method and system based on high-frequency signal injection. The method comprises the following steps: acquiring three-phase current output by an inverter circuit, and calculating to obtain direct-axis component current and quadrature-axis component current of a stator, a rotating speed error and q-axis reference current; obtaining a direct-axis component voltage and a quadrature-axis component voltage of the stator according to the direct-axis component current and the quadrature-axis component current of the stator and the d-axis / q-axis reference current; injecting a high-frequency signal into the direct-axis component voltage, filtering stator quadrature-axis component current under high-frequency excitation, obtaining a rotor synchronous rotating speed estimated value through AESO-PLL algorithm processing, and optimizing a rotating speed error; and generating a signal for driving an inverter to work according to the direct-axis component voltage and the quadrature-axis component voltage of the stator and an SVPWM algorithm, and controlling a high-voltage circuit breaker to drive a motor to operate. According to the invention, the starting instant position error of the driving motor of the high-voltage circuit breaker is reduced, and the response speed of the system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-voltage circuit breaker control, and particularly relates to a high-frequency signal injection-based sensorless control method and system for a high-voltage circuit breaker driving motor. BACKGROUND

[0002] Permanent magnet synchronous motors (PMSM) are widely used in industrial drives, household appliances, electric vehicles, and other fields due to their high efficiency, high reliability, and high power density. In a PMSM vector control system, obtaining accurate rotor position information in real time is a necessary condition for achieving high-performance control, which usually relies on position sensors to obtain real-time data of the motor. However, the use of sensors leads to increased system cost, increased volume, and reduced reliability, especially in some harsh conditions, the signal of the position sensor is easily affected by the external environment, which may cause the system performance to decline. Therefore, the position sensorless control strategy has become a popular research topic in recent years.

[0003] According to the speed range of the motor, the sensorless control method can be divided into two categories: one is based on the back electromotive force observation method suitable for medium and high speed, and the other is the high-frequency signal injection method suitable for zero and low speed. Among them, the zero and low speed condition is the research difficulty, under this condition, the signal-to-noise ratio of the motor effective signal is low, and it is difficult to obtain accurate position information. The injection of high-frequency signals can achieve sensorless control operation of the motor in the zero and low speed domain, but increases the complexity of signal processing. When processing high-frequency current response, a low-pass filter (LPF), a band-pass filter (BPF), and a rotor position observer are needed to estimate the speed and rotor position. The calculation of the rotor position usually relies on a phase-locked loop (PLL), and the traditional PLL can effectively suppress errors under steady-state conditions, but the dynamic response performance is obviously insufficient when the speed or load suddenly changes, which is difficult to meet the requirements of high-precision control. SUMMARY

[0004] To solve the problems in the prior art, the present application provides a high-frequency signal injection-based sensorless control method and system for a high-voltage circuit breaker driving motor, which establishes a current response model after injecting a pulsating high-frequency signal, uses a phase-locked loop to estimate the rotor position, simplifies the parameter setting process, and ensures the accuracy of the estimation. The adaptive extended state observer-based is used to supplement the rotor position estimation value of the phase-locked loop, so that the system has good anti-interference ability and tracking performance, effectively improves the position observation accuracy, and improves the dynamic response performance of the system. The specific technical solutions are as follows:

[0005] A high-frequency signal injection-based sensorless control method for a high-voltage circuit breaker driving motor, comprising the following steps:

[0006] Step S1, collecting three-phase currents i a , ib and i c ;

[0007] Step S2: Output three-phase current i according to the inverter circuit a 、i b and i c and an estimate of the motor's synchronous speed Get the stator direct axis current i d and the quadrature axis current i q ;

[0008] Step S3: according to the estimated value of the synchronous speed of the rotor and the given rotor synchronous speed ω ref Get the speed error Δω e ;

[0009] Step S4: Use PI controller to calculate the speed error Δω. e Perform signal processing to obtain the q-axis reference current Step S5, according to the stator direct axis component current i d and the quadrature axis current i q , d-axis reference current q-axis reference current The stator direct axis voltage u is obtained through PI controller and voltage compensation d and quadrature axis voltage u q ;

[0010] Step S6: When the direct axis component voltage u d Inject high frequency signal V h cosω h t, filter the stator quadrature axis component current under high frequency excitation, and obtain the estimated value of the rotor synchronous speed through AESO-PLL algorithm processing Then optimize the speed error Δω e ; Step S7, according to the stator direct axis component voltage u d and quadrature axis voltage u q The SVPWM algorithm generates a signal to drive the inverter to control the operation of the high-voltage circuit breaker drive motor.

[0011] Preferably, in step S2, the stator direct axis component current i d and the quadrature axis current i q By converting the inverter circuit to output three-phase current i a 、i b and i c Obtained through abc / dq coordinate transformation. The estimated value of the motor synchronous speed is used when the abc / dq coordinate transformation is performed for the first time. The initial setting value of

[0012] Preferably, the stator direct-axis component voltage u d and quadrature-axis component voltage u q are calculated as follows:

[0013]

[0014] where L d and L q are the stator direct-axis component inductance and quadrature-axis component inductance, respectively, R s is the stator resistance, ω e is the rotor synchronous speed, and ψ f is the flux linkage flux.

[0015] Preferably, the step S6 specifically comprises the following steps:

[0016] Step S61, injecting a high-frequency signal V d cos ω h t into the direct-axis component voltage u h The model of the high-voltage circuit breaker drive motor under high-frequency excitation can be described as:

[0017]

[0018] where u dh , u qh , i dh , i qh are the high-frequency components of u d , u q , i d , i q , respectively.

[0019] Step S62, injecting the high-frequency pulsating voltage vectors u dh , u qh shown in the above formula into the estimated dq synchronous reference frame to obtain:

[0020]

[0021] where V h and ω h are the amplitude and angular frequency of the injected voltage, and are the estimated values of the injected high-frequency voltage signal on the d and q axes, respectively.

[0022] Step S63, analyzing the current response contained in the direct-axis component current i d and the quadrature-axis component current i q under high-frequency pulsating excitation to obtain:

[0023]

[0024] wherein, are the direct-axis component current i d and the quadrature-axis component current i q respectively; L0 is the average inductance, L1 is the differential inductance, Δθ e is the rotor position estimation error;

[0025] Step S64, multiplying with sin(ω h t) to separate the position deviation containing signal f(Δθ e ) and linearize it;

[0026] Step S65, according to the rotor position estimation error Δθ e and the speed error Δω e , the rotor synchronous speed estimation value and the motor rotor position

[0027] Preferably, the average inductance L0 in step S63 is calculated as follows:

[0028] L0 = 0.5(L d + L q );

[0029] The differential inductance L1 is calculated as follows:

[0030] L1 = 0.5(L d - L q );

[0031] The rotor position estimation error Δθ e is calculated as follows:

[0032]

[0033] wherein θ e is the position of the rotor.

[0034] Preferably, the position deviation containing signal f(Δθ e ) in step S64 is specifically represented as follows:

[0035]

[0036] After linearizing the position deviation containing signal f(Δθ e ):

[0037]

[0038] wherein,

[0039] Preferably, the step S65 specifically comprises the following steps:

[0040] The signal f(Δθ e ) containing rotor position information is taken as the input of the third-order extended state observer, and a third-order AESO model is constructed, specifically as follows:

[0041]

[0042] Where a e is the angular acceleration, j e is the jerk, ω e is the synchronous speed of the rotor, represents the first derivative of a e , represents the first derivative of θ e , represents the first derivative of ω e ;

[0043] Assume that the third-order system state equation is:

[0044]

[0045] Where are the first derivatives of x1, x2, and x3, respectively, b is a constant, u = Δθ e is the control input, and η(t) is the sum of unknown internal disturbances and external uncertain disturbances of the system; let be the estimated value of the angular acceleration a e , then the AESO observation model is:

[0046]

[0047] Where z1, z2, and z3 are the observation values of x1, x2, and x3, respectively, β1, β2, and β3 are the observer gains, e is the error between x1 and its observation value z1, are the first derivatives of z1, z2, and z3, respectively;

[0048] Distribute all closed-loop poles at -ω, and the observer gains can be parameterized as follows:

[0049] β1 = 3ω, β2 = 3ω 2 , and β3 = ω 3 ;

[0050] Where ω is the bandwidth of the AESO.

[0051] A sensorless control system for a high-voltage circuit breaker drive motor based on high-frequency signal injection, applying the method described, comprising:

[0052] Data acquisition module, used to collect the three-phase current i output by the inverter circuit a 、i b and i c ;

[0053] Current calculation module, used to output three-phase current i according to the inverter circuit a 、i b and i c and an estimate of the motor's synchronous speed Get the stator direct axis current i d and the quadrature axis current i q ;

[0054] Speed ​​error calculation module, used to estimate the rotor synchronous speed and the given rotor synchronous speed ω ref Get the speed error Δω e ;

[0055] Reference current calculation module, used to use PI controller to calculate the speed error Δω e Perform signal processing to obtain the q-axis reference current Voltage calculation module, used to calculate the stator direct axis current i d and the quadrature axis current i q , d-axis reference current q-axis reference current The stator direct axis voltage u is obtained through PI controller and voltage compensation d and quadrature axis voltage u q ;

[0056] Speed ​​error optimization module is used to calculate the direct axis voltage u d Inject high frequency signal V h cosω h t, filter the stator quadrature axis component current under high frequency excitation, and obtain the estimated value of the rotor synchronous speed through AESO-PLL algorithm processing Then optimize the speed error Δω e ;

[0057] SVPWM control module, used to control the stator direct axis voltage u d and quadrature axis voltage u q The SVPWM algorithm generates a signal to drive the inverter to control the operation of the high-voltage circuit breaker drive motor.

[0058] A computer readable storage medium, comprising a stored program, wherein the computer readable storage medium controls a device where the computer readable storage medium is located to execute the sensorless control method for high-voltage circuit breaker drive motor based on high-frequency signal injection when the program runs.

[0059] A processor for running a program, wherein the processor executes the sensorless control method for high-voltage circuit breaker drive motor based on high-frequency signal injection when the program runs.

[0060] Compared with the prior art, the present application has the following beneficial effects:

[0061] The method of the present application comprises collecting three-phase currents output by an inverter circuit; obtaining stator direct-axis component currents and cross-axis component currents according to the three-phase currents output by the inverter circuit and an estimated value of a rotor synchronous speed; obtaining a speed error according to the estimated value of the rotor synchronous speed and a given rotor synchronous speed; obtaining a q-axis reference current by using a PI controller to process a signal of the speed error; obtaining stator direct-axis component voltages and cross-axis component voltages by using a PI controller and voltage compensation according to the stator direct-axis component currents and the cross-axis component currents, a d-axis reference current and the q-axis reference current; injecting a high-frequency signal into the direct-axis component voltages, filtering the stator cross-axis component currents under the high-frequency excitation, processing the stator cross-axis component currents by using an AESO-PLL algorithm to obtain the estimated value of the rotor synchronous speed, and then optimizing the speed error; and generating a signal for driving the inverter to work according to the stator direct-axis component voltages and the cross-axis component voltages and an SVPWM algorithm, so as to control the operation of the high-voltage circuit breaker drive motor. The present application reduces the position error of the high-voltage circuit breaker drive motor at the starting moment, and improves the response speed of the system. BRIEF DESCRIPTION OF DRAWINGS

[0062] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0063] Figure 1 The flow chart of the method of the present application.

[0064] Figure 2 The control principle block diagram of the motor for high-voltage circuit breaker of the present application.

[0065] Figure 3 The closed-loop characteristic curve of the PLL system of the present application.

[0066] Figure 4 The structure block diagram of the AESO-PLL of the present application.

[0067] Figure 5 Figure for verifying the result of the AESO-PLL method in the embodiment of the present application.

[0068] Figure 6 System schematic diagram of the present application. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0070] It should be understood that, when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of described features, integers, steps, operations, elements, and / or components, but do not exclude one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0071] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0072] It should be further understood that the term "and / or" used in the specification and the appended claims of the present application means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0073] Embodiment 1:

[0074] As Figure 1 The present embodiment provides a high-frequency signal injection-based sensorless control method for a high-voltage circuit breaker driving motor, establishes a motor control principle block diagram for a high-voltage circuit breaker as shown in Figure 2 The control system, inverter circuit, and permanent magnet synchronous motor (PMSM) of the high-voltage circuit breaker are connected in sequence. The method specifically includes the following steps:

[0075] Step S1, collecting three-phase currents i a , i b , and i c output by the inverter circuit.

[0076] Step S2, according to the three-phase currents i a , i b , and i cand an estimated value of synchronous speed of the motor obtained d and quadrature axis component current i q . The stator direct axis component current i d and quadrature axis component current i q is obtained by performing abc / dq coordinate transformation on the three-phase current i a , i b and i c , and the initial value of the estimated value of synchronous speed of the motor is used when performing the abc / dq coordinate transformation for the first time.

[0077] In step S3, the rotor synchronous speed estimation value and the given rotor synchronous speed ω ref are used to obtain a speed error In step S4, the speed error Δω e is processed by a PI controller to obtain a q-axis reference current The specific description is as follows: wherein K p and K I are the proportional coefficient and integral coefficient of the PI controller respectively.

[0078] In step S5, the stator direct axis component current i d and quadrature axis component current i q , the d-axis reference current and the q-axis reference current are used to obtain the stator direct axis component voltage u d and quadrature axis component voltage u q by a PI controller and voltage compensation.

[0079] Let wherein the compensation amount of the direct axis component voltage u d is ω e L q i q , and the compensation amount of the quadrature axis component voltage u q is ω e L d i d + ω e ψ f . The present application uses the PMSM voltage equation to design the inner loop controller. The voltage state equation of the high-voltage circuit breaker driving motor in the d-q coordinate system, i.e. the calculation method of the stator direct axis component voltage u d and quadrature axis component voltage u q is as follows:

[0080]

[0081] Wherein, L d and L q are the stator direct-axis component inductance and quadrature-axis component inductance respectively, R s is the stator resistance, ω e is the rotor synchronous speed, and ψ f is the flux linkage flux.

[0082] Step S6, a high-frequency signal V d cosω h t is injected into the direct-axis component voltage u h , the stator quadrature-axis component current under high-frequency excitation is filtered, and the rotor synchronous speed estimation value ω e is obtained through AESO-PLL algorithm processing. Further optimize the speed error Δω e .

[0083] The application can realize sensorless control of the high-voltage circuit breaker driving motor, and relies on the high-frequency signal injected in the control signal. The synchronous speed of the motor can be accurately estimated by using the high-frequency signal injected into the control signal, and the optimization target of the speed error Δω e is Δω d =0.

[0084] Specifically includes the following steps:

[0085] Step S61, a high-frequency signal V h cosω h t is injected into the direct-axis component voltage u h , and the principle is that if the motor is at rest or low speed, the injection frequency ω e >> ω h , for example, ω e >10ω dh , the cross-coupling term and the back electromotive force term can be ignored. The model of the high-voltage circuit breaker driving motor under high-frequency excitation can be described as:

[0086]

[0087] Wherein, the subscript "h" in the formula represents the high-frequency component, u qh , i dh , i qh are the high-frequency components of u d , u q , i d , i q . Step S62, the high-frequency pulsating voltage vector u dh , u qh shown in the above formula is injected into the estimated dq synchronous reference coordinate system, and the following is obtained:

[0088]

[0089] The superscript “^” indicates an estimated value. h and ω h are the amplitude and angular frequency of the injected voltage, and are the estimated values ​​of the injected high-frequency voltage signal on the d and q axes respectively.

[0090] Step S63, analyzing the direct axis component current i d and the quadrature axis current i q The current response under the high-frequency pulsation excitation contained in is obtained:

[0091]

[0092] in, They are the direct axis current i d and the quadrature axis current i q The current estimate under high-frequency pulsation excitation is included in; L0 is the average inductance, L1 is the differential inductance, Δθ e is the rotor position estimation error.

[0093] The average inductance L0 is calculated as follows:

[0094] L0=0.5(L d +L q );

[0095] The differential inductance L1 is calculated as follows:

[0096] L1=0.5(L d -L q );

[0097] Rotor position estimation error Δθ e is calculated as follows:

[0098]

[0099] where θ e is the position of the rotor.

[0100] Step S64: high-frequency pulse voltage injection method uses PLL strategy to extract high-frequency current Will and sin(ω h t) is multiplied to perform amplitude modulation and separate the signal f(Δθ e ) and linearizes it. The signal f(Δθ e ) is specifically expressed as follows:

[0101]

[0102] If the rotor position estimation error is small enough, the error signal can be linearized, i.e. sin2Δθ e ≈2Δθ e , the signal f(Δθ e ) containing the position deviation is linearized as follows:

[0103]

[0104] wherein,

[0105] Figure 3 The closed-loop characteristic curve of the position error signal extraction based on the PLL method is shown in the figure. According to the curve change and the bandwidth mark in the figure, it can be seen that as the cutoff frequency increases, the system bandwidth increases. When designing the PI control parameters, not only should the filter have sufficient bandwidth to enable the system to respond quickly to dynamic changes, but also the bandwidth should be limited to effectively filter out high-frequency components in the signal. The filter accuracy and dynamic performance are in conflict with each other.

[0106] In step S65, the rotor position estimation error Δθ e and the speed error Δω e are processed by the AESO-PLL algorithm to obtain the rotor synchronous speed estimation value and the motor rotor position

[0107] The principle diagram of the rotor position estimation system based on the AESO-PLL method is shown in Figure 4 . The signal f(Δθ e ) containing the rotor position information obtained is used as the input of the third-order extended state observer, which avoids the problem of poor dynamic performance caused by pole placement and realizes accurate observation of the motor rotor position and speed. Specifically, the following steps are included:

[0108] The signal f(Δθ e ) containing the rotor position information is used as the input of the third-order extended state observer, and a third-order AESO model is constructed, as follows:

[0109]

[0110] wherein, a e is the angular acceleration, j e is the jerk, and ω e is the rotor synchronous speed. The dot above the variable indicates the first derivative operation, for example, represents the first derivative of a e , represents the first derivative of θ e , represents the first derivative of ω eThe first derivative of .

[0111] Assume that the state equation of the third-order system is:

[0112]

[0113] In the formula are the first-order derivatives of x1, x2, and x3, b is a constant, and u = Δθ e is the control input, η(t) is the sum of the unknown internal disturbance and external uncertainty disturbance of the system; let is the angular acceleration a e The estimated value of , then the AESO observation model is:

[0114]

[0115] Where z1, z2, z3 are the observed values ​​of x1, x2, x3 respectively, β1, β2, β3 are the observer gains, e is the error between x1 and its observed value z1, are the first-order derivatives of z1, z2, and z3 respectively.

[0116] Assigning all closed-loop poles at -ω, the observer gain can be parameterized as follows:

[0117] β1=3ω、β2=3ω 2 β3=ω 3 ;

[0118] where ω is the bandwidth of the AESO.

[0119] Step S7, according to the stator direct axis voltage u d and quadrature axis voltage u q The SVPWM algorithm generates a signal to drive the inverter to control the operation of the high-voltage circuit breaker drive motor.

[0120] It should be noted that the direct axis component voltage u d When inputting the SVPWM control module, a high-frequency signal is injected synchronously for the estimation of rotor speed and position. h cosω h t amplitude relative to u d is very small and has a high frequency, so u d and u q When the SVPWM control module is input, a high-frequency signal V is injected h cosω h t has almost no effect on the entire motor inner loop control.

[0121] Under no-load condition, the starting performance of the AESO-PLL method at a given speed of 50r / min is verified. Figure 5 As can be seen from the table, the position error of the traditional PLL method at the starting moment is as high as 0.107 rad, and it takes 0.23s to stabilize. In contrast, the position error of the AESO-PLL method at the starting moment is only 0.057 rad, and it takes only 0.14s to reach the steady state. Therefore, the use of the AESO-PLL method not only significantly reduces the position error at the starting moment, but also greatly improves the response speed of the system.

[0122] The application establishes a current response model after injecting a pulsating high-frequency signal, uses a phase-locked loop to estimate the rotor position, simplifies the parameter setting process, and ensures the accuracy of the estimation; uses an adaptive extended state observer to supplement the phase-locked loop to estimate the rotor position, so that the system has good anti-interference ability and tracking performance, effectively improves the position observation accuracy, and improves the dynamic response performance of the system.

[0123] Based on the obtained current response model under the pulsating high-frequency signal, the rotor position is estimated using the PLL, which can simplify the parameter setting process and ensure the accuracy of the estimation. When estimating the rotor position using the PLL, the parameters of the PLL need to be adjusted, and in this method, PI (proportional-integral) control parameters are used to improve the dynamic performance of the PLL system.

[0124] The application designs an adaptive extended state observer (AESO) to compensate for the speed estimation value of the PLL, forming an AESO-PLL rotor position estimation method, wherein the AESO is designed as a third-order extended state observer, which eliminates the dependence on motor parameters by considering angular acceleration, and only needs to adjust the gain parameters of the observer to achieve accurate state estimation without the need for additional identification process of related mechanical parameters such as moment of inertia.

[0125] The position and speed information of the drive motor in the circuit breaker is obtained using the AESO-PLL rotor position estimation method, and these information is provided to the corresponding controller of the drive motor in the circuit breaker, and the control strategy adopted by the controller is field-oriented control. The sensorless control of the drive motor of the circuit breaker is realized without using motor position sensors.

[0126] The application uses ESO as LF, and in the framework of the third-order ESO, the dependence on motor parameters is eliminated by considering angular acceleration, and only the gain parameters of the observer need to be adjusted to achieve accurate state estimation without the need for additional identification process of related mechanical parameters such as moment of inertia. The system bandwidth is controlled by adjusting a single parameter ω to achieve accurate steady-state tracking.

[0127] In order to compensate for the delay in the dynamic response, a speed error compensation mechanism is introduced, which feeds the speed error signal to the PLL as the input of the adaptive speed compensation, and constantly updates the parameters according to the size and trend of the signal to reduce the error signal, and combines the ESO output signal to obtain more accurate position information, so as to ensure the best filtering efficiency and fast system response.

[0128] Considering the defects of the phase-locked loop (PLL) in tracking the rapidly changing rotor speed during speed or load transients, the proposed adaptive speed estimation compensation scheme enhances the PLL, which can effectively reduce the transient speed and position error under the conditions of motor starting, speed mutation and load mutation, and significantly improve the dynamic performance of the system, and further improve the accuracy of position estimation.

[0129] Embodiment 2:

[0130] As shown in Figure 6 , based on the same inventive concept as embodiment 1, the present embodiment provides a high-voltage circuit breaker drive motor sensorless control system based on high-frequency signal injection, which applies the method, comprising:

[0131] A data acquisition module is used to acquire the three-phase current i a , i b and i c output by the inverter circuit.

[0132] A current calculation module is used to obtain the stator direct-axis component current i d and the cross-axis component current i q according to the three-phase current i a , i b and i c output by the inverter circuit and the estimated value of the motor synchronous speed .

[0133] A speed error calculation module is used to obtain the speed error Δω e according to the rotor synchronous speed estimation value and the given rotor synchronous speed ω ref .

[0134] A reference current calculation module is used to process the speed error Δω e by a PI controller to obtain the q-axis reference current A voltage calculation module is used to obtain the stator direct-axis component voltage u d by a PI controller and voltage compensation according to the stator direct-axis component current i d and the cross-axis component current i q , the d-axis reference current and the q-axis reference current .and quadrature-axis component voltage u q ;

[0135] a rotational speed error optimization module, configured to inject a high-frequency signal V d into the direct-axis component voltage u h cosω h t, filter the stator quadrature-axis component current under the high-frequency excitation, and obtain a rotor synchronous rotational speed estimation value through an AESO-PLL algorithm to further optimize the rotational speed error Δω e ;

[0136] an SVPWM control module, configured to generate a signal for driving the inverter to work according to the stator direct-axis component voltage u d and the quadrature-axis component voltage u q and an SVPWM algorithm, to control the operation of the high-voltage circuit breaker driving motor.

[0137] Embodiment 3

[0138] Based on the same inventive concept as Embodiment 1, this embodiment provides a computer readable storage medium comprising a stored program, wherein the program, when executed, controls the device where the computer readable storage medium is located to perform the high-frequency signal injection based sensorless control method for a high-voltage circuit breaker driving motor.

[0139] Embodiment 4

[0140] Based on the same inventive concept as Embodiment 1, this embodiment provides a processor configured to execute a program, wherein the program, when executed, performs the high-frequency signal injection based sensorless control method for a high-voltage circuit breaker driving motor.

[0141] Those skilled in the art can appreciate that the modules of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components of the examples have been described in general terms in the above description. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0142] In the embodiments provided in the present application, it should be understood that the division of the modules is only a logical functional division, and actual implementation can have another division manner, for example, multiple modules can be combined into one module, one module can be split into multiple modules, or some features can be ignored, etc.

[0143] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can be physically present alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0144] When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application.

Claims

1. A sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection, characterized in that: The following steps are involved: Step S1, collecting the three-phase current i output by the inverter circuit a 、i b and i c ; Step S2: Output three-phase current i according to the inverter circuit a 、i b and i c and an estimate of the motor's synchronous speed Get the stator direct axis current i d and the quadrature axis current i q ; Step S3, based on the estimated value of the rotor synchronous speed and the given rotor synchronous speed ω ref Get the speed error Δω e ; Step S4: Use PI controller to calculate the speed error Δω. e Perform signal processing to obtain the q-axis reference current Step S5, according to the stator direct axis component current i d and the quadrature axis current i q , d-axis reference current q-axis reference current The stator direct axis voltage u is obtained through PI controller and voltage compensation d and quadrature axis voltage u q ; Step S6: When the direct axis component voltage u d Inject high frequency signal V h cosω h t, filter the stator quadrature axis component current under high frequency excitation, and obtain the estimated value of the rotor synchronous speed through AESO-PLL algorithm processing Then optimize the speed error Δω e ; Step S7, according to the stator direct axis voltage u d and quadrature axis voltage u q The SVPWM algorithm generates a signal to drive the inverter to control the operation of the high-voltage circuit breaker drive motor.

2. A sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 1, characterized in that: In step S2, the stator direct axis component current i d and the quadrature axis current i q By converting the inverter circuit to output three-phase current i a 、i b and i c Obtained through abc / dq coordinate transformation. The estimated value of the motor synchronous speed is used when the abc / dq coordinate transformation is performed for the first time. The initial setting value of 3. The sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 1, characterized in that: In step S5, the stator direct axis component voltage u d and quadrature axis voltage u q is calculated as follows: Among them, L d and L q They are the stator direct-axis inductance and quadrature-axis inductance, R s is the stator resistance, ω e is the synchronous speed of the rotor, ψ f is the magnetic flux.

4. The sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 1, characterized in that: The step S6 specifically includes the following steps: Step S61: When the direct axis component voltage u d Inject high frequency signal V h cosω h t, the model of the high-voltage circuit breaker drive motor under high-frequency excitation can be described as: Among them, u dh 、u qh 、i dh 、i qh u d 、u q 、i d 、i q The high-frequency component of Step S62: The high frequency pulsating voltage vector u shown in the above formula is dh 、u qh Injected into the estimated dq synchronous reference frame, we get: Among them, V h and ω h are the amplitude and angular frequency of the injected voltage, and are the estimated values ​​of the injected high-frequency voltage signal on the d and q axes, respectively; Step S63, analyzing the direct axis component current i d and the quadrature axis current i q The current response under the high-frequency pulsation excitation contained in is obtained: in, They are the direct axis current i d and the quadrature axis current i q The current estimate under high-frequency pulsation excitation is included in; L0 is the average inductance, L1 is the differential inductance, Δθ e is the rotor position estimation error; Step S64: and sin(ω h t) is multiplied to perform amplitude modulation and separate the signal f(Δθ e ) and perform linearization; Step S65: Estimating the error Δθ based on the rotor position e , speed error Δω e , the rotor synchronous speed estimation value is obtained through AESO-PLL algorithm processing and the motor rotor position 5. The sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 4, characterized in that: The average inductance L0 in step S63 is calculated as follows: L0=0.5(L d +L q ); The differential inductance L1 is calculated as follows: L1=0.5(L d -L q ); Rotor position estimation error Δθ e is calculated as follows: where θ e is the position of the rotor.

6. The sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 4, characterized in that: The position deviation signal f(Δθ e ) is specifically expressed as follows: The signal f(Δθ containing the position deviation) e )After linearization: in, 7. The sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection according to claim 4, characterized in that: The step S65 specifically includes the following steps: The signal f(Δθ containing the rotor position information) e ) is used as the input of the third-order extended state observer to construct a third-order AESO model, as follows: Among them, a e is the angular acceleration, j e is the acceleration, ω e is the synchronous speed of the rotor, Indicates a e The first derivative of represents θ e The first derivative of Represents ω e The first derivative of ; Assume that the state equation of the third-order system is: In the formula are the first-order derivatives of x1, x2, and x3, b is a constant, and u = Δθ e is the control input, η(t) is the sum of the unknown internal disturbance and external uncertainty disturbance of the system; let is the angular acceleration a e The estimated value of , then the AESO observation model is: Where z1, z2, z3 are the observed values ​​of x1, x2, x3 respectively, β1, β2, β3 are the observer gains, e is the error between x1 and its observed value z1, are the first-order derivatives of z1, z2, and z3 respectively; Assigning all closed-loop poles at -ω, the observer gain can be parameterized as follows: β1=3ω、β2=3ω 2 、β3=ω 3 ; where ω is the bandwidth of the AESO.

8. A sensorless control system for a high-voltage circuit breaker drive motor based on high-frequency signal injection, characterized in that: Applying the method according to any one of claims 1 to 7, comprising: Data acquisition module, used to collect the three-phase current i output by the inverter circuit a 、i b and i c ; Current calculation module, used to output three-phase current i according to the inverter circuit a 、i b and i c and an estimate of the motor's synchronous speed Get the stator direct axis current i d and the quadrature axis current i q ; Speed ​​error calculation module, used to estimate the rotor synchronous speed and the given rotor synchronous speed ω ref Get the speed error Δω e ; Reference current calculation module, used to use PI controller to calculate the speed error Δω e Perform signal processing to obtain the q-axis reference current Voltage calculation module, used to calculate the stator direct axis current i d and the quadrature axis current i q , d-axis reference current q-axis reference current The stator direct axis voltage u is obtained through PI controller and voltage compensation d and quadrature axis voltage u q ; Speed ​​error optimization module is used to calculate the direct axis voltage u d Inject high frequency signal V h cosω h t, filter the stator quadrature axis component current under high frequency excitation, and obtain the estimated value of the rotor synchronous speed through AESO-PLL algorithm processing Then optimize the speed error Δω e ; SVPWM control module, used to control the stator direct axis voltage u d and quadrature axis voltage u q The SVPWM algorithm generates a signal to drive the inverter to control the operation of the high-voltage circuit breaker drive motor.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection as described in any one of claims 1 to 7.

10. A processor, characterized in that: The processor is used to run a program, wherein when the program is run, the sensorless control method for a high-voltage circuit breaker drive motor based on high-frequency signal injection as described in any one of claims 1 to 7 is executed.

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