Synchronous motor rotor position detection method, device, equipment, medium and product

Abstract

The invention relates to a synchronous motor rotor position detection method, device and equipment, a medium and a product. The method comprises the following steps: acquiring three-phase induced potential of the synchronous motor; calculating an armature induced potential according to the three-phase induced potential; a preset flux observer is used for observing the armature induction potential to obtain the rotor position, a transfer function corresponding to the flux observer comprises an integral item and a band-pass filtering item, the band-pass gain of the band-pass filtering item is matched with the integral gain of the integral item, and the phase characteristics of the band-pass filtering item and the integral item are complementary. And pole cancellation is carried out on drift poles generated by the integration item by the band-pass filtering item. By adopting the method, the fundamental wave signal characteristics can be naturally reserved while direct current bias and integral drift are avoided, an additional hardware filtering compensation module is not needed, and the system complexity is effectively reduced.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a method, device, equipment, medium and product for detecting the rotor position of a synchronous motor. Background Technology

[0002] The Static Frequency Converter (SFC) is a key piece of equipment in large pumped storage power stations, responsible for starting up all units under pumping conditions. The SFC needs to detect the rotor position in real time and control the thyristor triggering sequence of the inverter bridge connected to the motor stator according to the rotor position, ensuring that the motor rotates in the specified direction with maximum torque.

[0003] In existing technologies, the rotor position detection of synchronous motors is generally achieved by using the flux linkage observation method and the voltage zero-crossing detection method. Specifically, the flux linkage is obtained by using the integration method, and then the rotor position is determined.

[0004] However, existing synchronous motor rotor position detection methods suffer from high detection complexity. Summary of the Invention

[0005] Therefore, it is necessary to provide a synchronous motor rotor position detection method, device, equipment, medium, and product that can reduce the detection complexity in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a method for detecting the rotor position of a synchronous motor, including:

[0007] Obtain the three-phase induced electromotive force of the synchronous motor;

[0008] Calculate the armature induced electromotive force based on the three-phase induced electromotive force;

[0009] The armature induced electromotive force is observed and processed using a preset flux linkage observer to obtain the rotor position. The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term can cancel the drift poles generated by the integral term.

[0010] In one embodiment, the rotor position includes three-phase estimated flux linkage and position angle. The rotor position is obtained by observing and processing the armature induced electromotive force using a preset flux linkage observer, including:

[0011] The armature induced electromotive force is discretized and calculated using integral terms and bandpass filter terms respectively, and the estimated three-phase flux linkage of the synchronous motor at the target time is obtained.

[0012] The position angle is obtained by performing arctangent calculation on the three-phase estimated flux linkage.

[0013] In one embodiment, the armature induced electromotive force is discretized using integral terms and bandpass filter terms to obtain the estimated three-phase flux linkage of the synchronous motor at the target time, including:

[0014] The armature induced electromotive force is multiplied using the transfer function to obtain the observation integral term and the observation bandpass term;

[0015] The observation integral term is processed by integral channel calculation to obtain the first flux estimation component of the synchronous motor at the target time.

[0016] A bilinear transformation is performed on the observation bandpass term to obtain the second flux estimation component of the synchronous motor at the target time.

[0017] The first and second flux linkage estimation components are merged and transformed to obtain the three-phase estimated flux linkage.

[0018] In one embodiment, a bilinear transformation is performed on the observed bandpass term to obtain the second flux linkage estimation component of the synchronous motor at the target time, including:

[0019] Obtain the historical induced electromotive force of the synchronous motor at the first and second historical moments.

[0020] By replacing the differential operator in the bandpass term with the difference quotient form in the discrete domain, we obtain the time-domain expression for the bandpass filter.

[0021] Substituting the historical induced potentials corresponding to the first and second historical moments into the time-domain expression of the bandpass filter, the estimated component of the second magnetic flux is obtained.

[0022] In one embodiment, the observation integral term is processed by integration channel calculation to obtain the first flux linkage estimation component of the synchronous motor at the target time, including:

[0023] The differential operator in the observation integral term is processed by backward Euler mapping to obtain the discrete integral term;

[0024] The discrete integral term is transformed into the time domain to obtain the time domain expression of the integrator;

[0025] Substituting the historical induced potential corresponding to the first historical moment into the time-domain expression of the integrator, the estimated component of the first magnetic flux is obtained.

[0026] In one embodiment, the armature induced electromotive force is calculated based on the three-phase induced electromotive force, including:

[0027] Using a preset transformation matrix, the coordinate transformation of the three-phase induced electromotive force is performed to obtain the stationary coordinates in the two-phase stationary coordinate system of the armature.

[0028] The armature induced electromotive force is calculated based on the stationary coordinates, the resistance of the armature winding, its self-inductance, and its mutual inductance.

[0029] Secondly, this application also provides a synchronous motor rotor position detection device, comprising:

[0030] The data acquisition module is used to acquire the three-phase induced electromotive force of the synchronous motor;

[0031] The potential calculation module is used to calculate the armature induced potential based on the three-phase induced potential.

[0032] The position observation module is used to observe and process the armature induced electromotive force using a preset flux linkage observer to obtain the rotor position. The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term cancels the drift poles generated by the integral term.

[0033] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the synchronous motor rotor position detection method as described in the first aspect.

[0034] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the synchronous motor rotor position detection method as described in the first aspect.

[0035] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the synchronous motor rotor position detection method as described in the first aspect.

[0036] The aforementioned synchronous motor rotor position detection method, apparatus, computer equipment, computer-readable storage medium, and computer program product cancel out the poles of the bandpass filter term and the drift poles of the integral term in the transfer function, mathematically offsetting the cumulative effect of DC bias. This differs from existing filtering methods and ensures long-term stability of the flux linkage observation value. Furthermore, the bandpass filter term only targets DC and high-frequency noise, exhibiting no attenuation for the fundamental signal at motor operating frequencies greater than 5Hz. Its phase characteristics are complementary to those of the integral term, maintaining phase unbiasedness consistent with the integral term and avoiding the phase delay of traditional filtering. The flux linkage observer in this embodiment naturally preserves the fundamental signal characteristics while avoiding DC bias and integral drift, eliminating the need for additional hardware filtering compensation modules and effectively reducing system complexity. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is an application environment diagram of a synchronous motor rotor position detection method in one embodiment;

[0039] Figure 2 This is a flowchart illustrating a synchronous motor rotor position detection method in one embodiment;

[0040] Figure 3 This is a flowchart illustrating the steps for obtaining the three-phase estimated flux linkage at a target time in one embodiment.

[0041] Figure 4 This is a flowchart illustrating the synchronous motor rotor position detection method in another embodiment;

[0042] Figure 5 This is a schematic diagram of a three-phase induced electromotive force in one embodiment;

[0043] Figure 6 This is a schematic diagram of three-phase flux estimation in one embodiment;

[0044] Figure 7 This is a schematic diagram of the rotor position estimation process in one embodiment;

[0045] Figure 8 An error curve diagram from one embodiment;

[0046] Figure 9 This is a structural block diagram of a synchronous motor rotor position detection device in one embodiment;

[0047] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0050] The synchronous motor rotor position detection method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104, or it can be located in the cloud or on another network server.

[0051] Terminal 102 is used to detect the electrical signal of the synchronous motor and send it to server 104, so that server 104 can obtain the three-phase induced electromotive force (EMF) of the synchronous motor based on the electrical signal. Server 104 is used to acquire the three-phase induced EMF of the synchronous motor; calculate the armature induced EMF based on the three-phase induced EMF; and observe and process the armature induced EMF using a preset flux linkage observer to obtain the rotor position. The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term cancels the drift poles generated by the integral term.

[0052] The terminal 102 can be, but is not limited to, various voltage and current sensors, including resistive voltage dividers, isolation amplifiers, and operational amplifiers. The server 104 can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server providing cloud computing services.

[0053] In one exemplary embodiment, such as Figure 2 As shown, a method for detecting the rotor position of a synchronous motor is provided, which is applied to... Figure 1 Taking server 104 as an example, the explanation includes the following steps 202 to 206. Wherein:

[0054] Step 202: Obtain the three-phase induced electromotive force of the synchronous motor.

[0055] In synchronous motors with frequencies greater than 5 Hz, the rotor rotation induces a sinusoidal electromotive force (EMF) in the armature. The phase angle of the three-phase induced EMF depends on the rotor position; conversely, the rotor position can be calculated from the three-phase induced EMF. The three-phase induced EMF includes the three-phase voltage components in a three-phase stationary coordinate system. and three-phase current components .

[0056] Step 204: Calculate the armature induced electromotive force based on the three-phase induced electromotive force.

[0057] Among them, the armature induced electromotive force is the induced electromotive force in a two-phase stationary coordinate system, which is expressed as the time derivative of the magnetic flux linkage.

[0058] Step 206: Use a preset flux linkage observer to observe and process the armature induced electromotive force to obtain the rotor position.

[0059] The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term can cancel the drift poles generated by the integral term.

[0060] For example, in this embodiment of the application, the integral gain of the transfer function is 1, and the transfer function G(s) can be expressed in the frequency domain as:

[0061]

[0062] in, The characteristic frequency is represented by the first term, which is an integral term used to integrate the armature induced electromotive force to obtain the low-frequency DC component of the flux linkage. The second term is a bandpass filter term, which can reduce the error of the DC component in the estimation error to 0 when the differential operator s=0, thus mathematically eliminating the DC bias accumulation that may be caused by the integral term.

[0063] In the aforementioned synchronous motor rotor position detection method, the poles of the bandpass filter term and the drift poles of the integral term in the transfer function cancel each other out, mathematically offsetting the cumulative effect of DC bias. This differs from existing filtering methods and ensures long-term stability of the flux linkage observation value. Furthermore, the bandpass filter term only targets DC and high-frequency noise, exhibiting no attenuation for the fundamental signal at motor operating frequencies greater than 5Hz. Its phase characteristics are complementary to those of the integral term, maintaining phase unbiasedness consistent with the integral term and avoiding the phase delay of traditional filtering. The flux linkage observer in this embodiment naturally preserves the fundamental signal characteristics while avoiding DC bias and integral drift, eliminating the need for additional hardware filtering compensation modules and effectively reducing detection complexity.

[0064] In one exemplary embodiment, based on Figure 2The embodiment shown includes three-phase estimated flux linkage and position angle. The rotor position is obtained by observing and processing the armature induced electromotive force using a preset flux linkage observer. This includes: discretizing the armature induced electromotive force using integral terms and bandpass filter terms to obtain the three-phase estimated flux linkage of the synchronous motor at the target time; and performing arctangent calculation on the three-phase estimated flux linkage to obtain the position angle.

[0065] The discretization calculation process includes: discretizing and integrating the armature induced electromotive force (EMF) using an integral term to obtain the DC component of the flux linkage; discretizing and filtering the EMF using a bandpass filter term to compensate for drift caused by the accumulated error of the integral term and extract the AC component; and obtaining the estimated three-phase flux linkage of the synchronous motor at the target time through the superposition of the integral term and the bandpass filter term. During the discretization calculation process, the transfer function can be expressed in the time domain as:

[0066]

[0067] in, To observe the magnetic flux, Output the integral channel corresponding to the integral term. This is the output of the bandpass filter channel corresponding to the bandpass filter term.

[0068] The target time can be obtained after discretization and computation. , , The estimated flux linkages for the three phases can be expressed as follows:

[0069]

[0070] Time k is the target time. The position angle is obtained by arctangent calculation based on the three-phase estimated flux linkage. It can be represented as:

[0071]

[0072] In this embodiment, the armature induced electromotive force is discretized using integral terms and bandpass filtering terms, which can effectively suppress DC drift and low-frequency errors in the flux linkage observation process and achieve high-precision real-time estimation of the synchronous motor rotor position.

[0073] In one exemplary embodiment, such as Figure 3 As shown, the armature induced electromotive force is discretized using integral terms and bandpass filter terms to obtain the estimated three-phase flux linkage of the synchronous motor at the target time, including:

[0074] Step 302: Multiply the armature induced electromotive force using the transfer function to obtain the observation integral term and the observation bandpass term.

[0075] The observation integral term is the product of the integral term in the transfer function and the armature induced electromotive force; the observation bandpass term is the product of the bandpass filter term in the transfer function and the armature induced electromotive force.

[0076] Step 304: Perform integration channel calculation on the observed integral term to obtain the first flux linkage estimation component of the synchronous motor at the target time.

[0077] In one possible implementation, step 304 may further include: performing backward Euler mapping on the differential operator in the observation integral term to obtain a discrete integral term; performing time-domain transformation on the discrete integral term to obtain the integrator time-domain expression; and substituting the historical induced potential corresponding to the first historical moment into the integrator time-domain expression to obtain the first flux linkage estimation component.

[0078] Here, the backward Euler mapping refers to approximating the differential operator s with the sampling period to obtain the discrete integral term. The time-domain expression of the integrator obtained by performing a time-domain transformation on the discrete integral term can be expressed as:

[0079]

[0080] in, The sampling period is For the target time, This is the cumulative value of the integration channel, i.e., the first flux linkage estimation component. The first flux linkage estimation component can be represented by the α component. and β component express.

[0081] Step 306: Perform bilinear transformation on the observed bandpass term to obtain the second flux estimation component of the synchronous motor at the target time.

[0082] Among them, the bilinear transformation process refers to replacing the differential operator s in the continuous domain with the difference quotient form in the discrete domain.

[0083] In one possible implementation, step 306 may further include: obtaining the historical induced electromotive force of the synchronous motor corresponding to the first historical time (k-1) and the second historical time (k-2). as well as The differential operator in the bandpass term is replaced with the difference quotient form in the discrete domain to obtain the time-domain expression of the bandpass filter; the historical induced potentials corresponding to the first and second historical times are substituted into the time-domain expression of the bandpass filter to obtain the second flux linkage estimation component.

[0084] The process of replacing the differential operator s can be expressed as:

[0085]

[0086] in, Let T be the unit delay operator, and T be the sampling period. The time-domain expression of the bandpass filter obtained after the substitution can be expressed as:

[0087]

[0088] Among them, the bandpass filter channel output This is the second flux linkage estimation component at the target time, which can be represented by the α component. and β component The coefficients of the second flux linkage estimation component can be expressed as:

[0089]

[0090] Step 308: The first flux linkage estimation component and the second flux linkage estimation component are merged and converted to obtain the three-phase estimated flux linkage.

[0091] The merging and conversion process includes merging the first flux linkage estimation component and the second flux linkage estimation component to obtain two-phase estimated flux linkage. Two-phase flux linkage estimation at the target time Includes α component and β component They can be represented as:

[0092]

[0093] The merging and conversion process also includes: using a preset inverse transformation matrix to convert the two-phase estimated flux linkage to a three-phase coordinate system to obtain the three-phase estimated flux linkage in the above embodiment.

[0094] .

[0095] In this embodiment, a discrete integrator is obtained by using backward Euler mapping, which can suppress the numerical error accumulated during integration while ensuring numerical stability. This allows the first flux estimation component to stably reflect the low-frequency and DC components of the armature induced electromotive force. By using bilinear transformation to process the observation bandpass term, the differential operator in the continuous domain is mapped to the difference quotient form in the discrete domain. This can accurately maintain the bandpass characteristics at a finite sampling frequency, effectively extract the AC component of the armature induced electromotive force and suppress the DC bias, thereby obtaining a more stable and accurate three-phase estimated flux, thus improving the accuracy of the obtained rotor position.

[0096] In an exemplary embodiment, the armature induced electromotive force is calculated based on the three-phase induced electromotive force, including: performing coordinate transformation processing on the three-phase induced electromotive force using a preset transformation matrix to obtain the stationary coordinates in the two-phase stationary coordinate system of the armature; and calculating the armature induced electromotive force based on the stationary coordinates, the resistance, self-inductance, and mutual inductance of the armature winding.

[0097] The transformation matrix is ​​used to perform a Clarke transformation on the three-phase induced electromotive force to obtain the stationary coordinates. The coordinate transformation process can be represented as follows:

[0098] ,

[0099] in, The voltage components are defined in the stationary coordinate system of the two phases of the armature. The current components are in the stationary coordinate system of the two phases of the armature.

[0100] During the operation of a synchronous motor, current flowing through the resistance R of the armature winding generates an ohmic voltage drop, and the self-inductance of the armature winding... It can reflect the electromagnetic properties that reflect the magnetic flux generated by the winding's own current; shaft and The mutual inductance M between the armature windings of the two shafts reflects the coupling effect of the magnetic flux linkages. Armature induced electromotive force. Including Axial components and Axial components They can be represented as:

[0101]

[0102] in, These represent the rate of change of current with respect to time in the two stationary coordinate systems, and the dynamic voltage drop of the corresponding inductor, respectively.

[0103] In this embodiment, by comprehensively considering the voltage input, the resistance, self-inductance, mutual inductance, and inductance of the armature winding, the calculated armature induced electromotive force can be closer to the true value, thereby improving the accuracy and robustness of the synchronous motor rotor position detection method.

[0104] In one exemplary embodiment, such as Figure 4 As shown, a method for detecting the rotor position of a synchronous motor is provided, which is applied to... Figure 1 Taking server 104 as an example, the explanation includes steps 401 to 408. Wherein:

[0105] Step 401: Obtain the three-phase induced electromotive force of the synchronous motor.

[0106] Step 402: Using a preset transformation matrix, the coordinate transformation of the three-phase induced electromotive force is performed to obtain the stationary coordinates in the two-phase stationary coordinate system of the armature.

[0107] Step 403: The armature induced electromotive force is calculated based on the stationary coordinates, the resistance of the armature winding, the self-inductance, and the mutual inductance.

[0108] Step 404: The armature induced electromotive force is multiplied using the transfer function to obtain the observation integral term and the observation bandpass term.

[0109] The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term can cancel the drift poles generated by the integral term.

[0110] Step 405: Perform integration channel calculation on the observed integral term to obtain the first flux linkage estimation component of the synchronous motor at the target time.

[0111] Specifically, the differential operator in the observation integral term is subjected to backward Euler mapping to obtain the discrete integral term; the discrete integral term is subjected to time-domain transformation to obtain the integrator time-domain expression; and the historical induced potential corresponding to the first historical moment is substituted into the integrator time-domain expression to obtain the first flux linkage estimation component.

[0112] Step 406: Perform bilinear transformation on the observed bandpass term to obtain the second flux linkage estimation component of the synchronous motor at the target time.

[0113] Specifically, the historical induced electromotive force of the synchronous motor at the first and second historical moments is obtained; the differential operator in the observed bandpass term is replaced with the difference quotient form in the discrete domain to obtain the time-domain expression of the bandpass filter; and the historical induced electromotive force at the first and second historical moments is substituted into the time-domain expression of the bandpass filter to obtain the second flux linkage estimation component.

[0114] Step 407: The first flux linkage estimation component and the second flux linkage estimation component are merged and converted to obtain the three-phase estimated flux linkage.

[0115] Step 408: Perform arctangent calculation on the three-phase estimated flux linkage to obtain the position angle.

[0116] In an exemplary embodiment, by running the synchronous motor rotor position detection method of the above embodiments using code, the following can be obtained: Figure 5 The displayed three-phase induced potential decays exponentially within a time constant of 0.02 seconds, at a decay rate of 0.1 s. The maximum difference in the three-phase amplitude reaches 0.15 volts, which is consistent with the theoretical calculation value of the salient pole model, proving that the salient pole mutual inductance model accurately represents the actual physical characteristics. Figure 6 The estimated flux linkage for the three phases is shown, and the flux linkage value stabilizes within ±0.25 Webers after 0.015 seconds. The amplitude ratio of the estimated flux linkage for the three phases is 1:0.85:0.78, which is consistent with the ratio of the induced potentials in the three phases, proving that pole cancellation in the complex domain eliminates integral drift while preserving the salient pole characteristics, and the maximum deviation does not exceed the theoretical value. Figure 7 The results show that during the rotor position estimation process, the estimated rotor position converges to the true value of 35 degrees within 0.025 seconds, the dynamic process overshoot is less than 5 degrees, the steady-state fluctuation range is 34.8-35.2 degrees, and the standard deviation is 0.15 degrees, proving that the synchronous motor rotor position detection method in this application still maintains high accuracy in noisy environments. Figure 8 The error curve of the synchronous motor rotor position detection method is shown. The error value enters the ±0.5 degree error band after 0.03 seconds, the maximum instantaneous error of 1.8 degrees occurs at 0.015 seconds, and the average absolute error is 0.28°. This proves that the method is still significantly better than the traditional solution under DC bias and noise interference. It can be seen that the synchronous motor rotor position detection method in this embodiment can avoid DC bias and integral drift, and obtain an accurate and reliable rotor position.

[0117] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0118] Based on the same inventive concept, this application also provides a synchronous motor rotor position detection device for implementing the synchronous motor rotor position detection method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the synchronous motor rotor position detection device provided below can be found in the limitations of the synchronous motor rotor position detection method described above, and will not be repeated here.

[0119] In one exemplary embodiment, such as Figure 9As shown, a synchronous motor rotor position detection device is provided, comprising: a data acquisition module 902, an electromotive force calculation module 904, and a position observation module 906, wherein:

[0120] The data acquisition module 902 is used to acquire the three-phase induced electromotive force of the synchronous motor.

[0121] The potential calculation module 904 is used to calculate the armature induced potential based on the three-phase induced potential.

[0122] The position observation module 906 is used to observe and process the armature induced electromotive force using a preset flux linkage observer to obtain the rotor position. The transfer function corresponding to the flux linkage observer includes an integral term and a bandpass filter term. The bandpass gain of the bandpass filter term is matched with the integral gain of the integral term, and the phase characteristics of the bandpass filter term and the integral term are complementary, so that the bandpass filter term cancels the drift poles generated by the integral term.

[0123] In one embodiment, the rotor position includes the three-phase estimated flux linkage and the position angle. The position observation module 906 is also used to perform discretization calculation on the armature induced electromotive force using the integral term and the bandpass filter term respectively to obtain the three-phase estimated flux linkage of the synchronous motor at the target time; and to perform arctangent calculation on the three-phase estimated flux linkage to obtain the position angle.

[0124] In one embodiment, the position observation module 906 is further configured to perform multiplication calculation on the armature induced electromotive force using the transfer function to obtain the observation integral term and the observation bandpass term; perform integration channel calculation processing on the observation integral term to obtain the first flux linkage estimation component of the synchronous motor at the target time; perform bilinear transformation processing on the observation bandpass term to obtain the second flux linkage estimation component of the synchronous motor at the target time; and perform merging and conversion processing on the first flux linkage estimation component and the second flux linkage estimation component to obtain the three-phase estimated flux linkage.

[0125] In one embodiment, the position observation module 906 is further configured to obtain the historical induced electromotive force of the synchronous motor at the first historical time and the second historical time; replace the differential operator in the observed bandpass term with the difference quotient form in the discrete domain to obtain the time-domain expression of the bandpass filter; and substitute the historical induced electromotive force at the first historical time and the second historical time into the time-domain expression of the bandpass filter to obtain the second flux estimation component.

[0126] In one embodiment, the position observation module 906 is further configured to perform backward Euler mapping on the differential operator in the observation integral term to obtain a discrete integral term; perform time-domain transformation on the discrete integral term to obtain the integrator time-domain expression; and substitute the historical induced potential corresponding to the first historical moment into the integrator time-domain expression to obtain the first flux linkage estimation component.

[0127] In one embodiment, the potential calculation module 904 is further used to perform coordinate transformation processing on the three-phase induced potential using a preset transformation matrix to obtain the stationary coordinates in the two-phase stationary coordinate system of the armature; and to calculate the armature induced potential based on the stationary coordinates, the resistance, self-inductance and mutual inductance of the armature winding.

[0128] Each module in the aforementioned synchronous motor rotor position detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0129] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores three-phase induced electromotive force, armature induced electromotive force, and rotor position. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When executed by the processor, the computer program implements a synchronous motor rotor position detection method.

[0130] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0131] In one exemplary embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0132] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above-described method embodiments.

[0133] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0134] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0135] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0136] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0137] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of detecting the position of a rotor of a synchronous electric machine, characterized in that, The method comprises: acquiring three-phase induction electromotive forces of a synchronous motor; calculating an armature induction electromotive force according to the three-phase induction electromotive forces; observing and processing the armature induction electromotive force by using a preset flux linkage observer to obtain a rotor position, a transfer function corresponding to the flux linkage observer comprising an integral term and a band-pass filter term, a band-pass gain of the band-pass filter term being matched with an integral gain of the integral term, and phase characteristics of the band-pass filter term and the integral term being complementary to each other, so that a drift pole generated by the band-pass filter term to the integral term is pole-canceled.

2. The method of claim 1, wherein, The rotor position comprises three-phase estimated flux linkages and a position angle, and the observation and processing of the armature induction electromotive force by using the preset flux linkage observer to obtain the rotor position comprises: discretely calculating and processing the armature induction electromotive force by using the integral term and the band-pass filter term respectively to obtain three-phase estimated flux linkages of the synchronous motor at a target time; performing an inverse tangent calculation on the three-phase estimated flux linkages to obtain the position angle.

3. The method of claim 2, wherein, The discretely calculating and processing of the armature induction electromotive force by using the integral term and the band-pass filter term respectively to obtain the three-phase estimated flux linkages of the synchronous motor at the target time comprises: multiplying the armature induction electromotive force by using the transfer function to obtain an observed integral term and an observed band-pass term; performing an integral channel calculation on the observed integral term to obtain a first flux linkage estimated component of the synchronous motor at the target time; performing a bilinear transformation on the observed band-pass term to obtain a second flux linkage estimated component of the synchronous motor at the target time; performing a merging and conversion on the first flux linkage estimated component and the second flux linkage estimated component to obtain the three-phase estimated flux linkages.

4. The method of claim 3, wherein, The bilinear transformation on the observed band-pass term to obtain the second flux linkage estimated component of the synchronous motor at the target time comprises: acquiring historical induction electromotive forces corresponding to a first historical time and a second historical time of the synchronous motor; replacing a differential operator in the observed band-pass term with a difference quotient form in a discrete domain to obtain a band-pass filter time domain expression; substituting the historical induction electromotive forces corresponding to the first historical time and the second historical time into the band-pass filter time domain expression to obtain the second flux linkage estimated component.

5. The method of claim 4, wherein, The integral channel calculation on the observed integral term to obtain the first flux linkage estimated component of the synchronous motor at the target time comprises: performing a backward Euler mapping on a differential operator in the observed integral term to obtain a discrete integral term; performing a time domain conversion on the discrete integral term to obtain an integrator time domain expression; substituting a historical induction electromotive force corresponding to the first historical time into the integrator time domain expression to obtain the first flux linkage estimated component.

6. The method according to any one of claims 1 to 5, characterized in that, The calculation of the armature induction electromotive force according to the three-phase induction electromotive forces comprises: performing a coordinate transformation on the three-phase induction electromotive forces by using a preset transformation matrix to obtain a stationary coordinate in a stationary coordinate system of an armature two-phase; calculating the armature induction electromotive force based on the stationary coordinate, resistance, self-inductance and mutual inductance of the armature winding.

7. A synchronous machine rotor position detection device, characterized by The device comprises: A data acquisition module is configured to acquire three-phase induced electromotive forces of the synchronous motor. An electromotive force calculation module is configured to calculate an armature induced electromotive force according to the three-phase induced electromotive forces. A position observation module is configured to obtain a rotor position by performing an observation process on the armature induced electromotive force by using a preset flux linkage observer, wherein a transfer function corresponding to the flux linkage observer comprises an integral term and a band-pass filtering term, a band-pass gain of the band-pass filtering term is matched with an integral gain of the integral term, and phase characteristics of the band-pass filtering term and the integral term are complementary, so that a drift pole generated by the band-pass filtering term on the integral term is pole-canceled.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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