Vector decoupling control-based dual three-phase motor position sensorless control method and device

Abstract

The invention discloses a dual three-phase motor position sensorless control method and device based on vector decoupling control. The method comprises the following steps: respectively reconstructing a torque plane output voltage and a harmonic plane output voltage so as to obtain a reconstructed torque plane instruction voltage and a reconstructed harmonic plane instruction voltage; vector decoupling coordinate inverse transformation is carried out on the reconstructed torque plane instruction voltage and the reconstructed harmonic plane instruction voltage, so that modulation waves of a first set of stator windings and modulation waves of a second set of stator windings are obtained; and obtaining the on-off state of a three-phase inverter power switch tube corresponding to the first set of stator winding and the on-off state of a three-phase inverter power switch tube corresponding to the second set of stator winding according to the modulation wave. The position-sensorless control of the dual three-phase motor can be realized in a full modulation range, the output voltage of the motor does not need to be sampled, so that the system cost and the debugging complexity are remarkably reduced, the calculation complexity is low, and the engineering realization is easy.

Description

Technical Field

[0001] This application relates to the field of dual three-phase motor technology, specifically to a sensorless control method and device for dual three-phase motors based on vector decoupling control. Background Technology

[0002] Currently, dual-phase and three-phase motors are expanding from military, aerospace, and shipbuilding industries to high-end industries, new energy vehicles, low-altitude economy, and flywheel energy storage. Dual-phase and three-phase motors typically employ vector decoupling current control strategies or dual DQ current control strategies to control motor torque. The vector decoupling current control strategy divides the control of the dual-phase and three-phase motor into two independent control planes: torque plane control and harmonic plane control. Its control structure is simple and allows for independent control of motor torque and motor harmonics.

[0003] However, in the overmodulation region of the inverter, the output voltage of the two control planes being superimposed is forcibly scaled, leading to errors in the output voltage used by the observer. To address this issue, the actual output voltage of the torque plane can be obtained by sampling and adding the output voltages of the two sets of stator windings of the dual three-phase motor. However, adding multiple sampling channels significantly increases system cost and debugging complexity. Furthermore, the above method does not consider the rotor position estimation error of the dual three-phase motor in the sensorless control method for dual three-phase motors caused by factors such as overmodulation operation and observer parameter mismatch. This rotor position estimation error results in undecoupled harmonic components between the torque plane and the harmonic plane in the sensorless vector decoupling control framework for dual three-phase motors, thus failing to effectively suppress harmonics in the dual three-phase motor current. Summary of the Invention

[0004] The purpose of this invention is to provide a sensorless control method for dual three-phase motors based on vector decoupling control to at least solve one of the above-mentioned technical problems.

[0005] One aspect of the present invention provides a sensorless control method for a dual three-phase motor based on vector decoupling control, the sensorless control method for the dual three-phase motor based on vector decoupling control comprising: Obtain the torque plane output voltage and the harmonic plane output voltage; The torque plane output voltage and harmonic plane output voltage are reconstructed respectively to obtain the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage; The reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage are subjected to vector decoupling coordinate inverse transformation to obtain the modulation waves of the first set of stator windings and the modulation waves of the second set of stator windings. Pulse width modulation is performed on the modulation waves of the first set of stator windings and the second set of stator windings to obtain the switching states of the three-phase inverter power switches corresponding to the first set of stator windings and the second set of stator windings.

[0006] Optionally, obtaining the torque plane output voltage and the harmonic plane output voltage includes: Obtain the phase current of the dual three-phase motor at the current time step; The torque plane current and harmonic plane current are obtained by vector decoupling coordinate transformation of the phase current of the dual three-phase motor. Torque plane flux linkage was observed using a torque plane flux linkage observer; Harmonic plane flux linkage was observed using a harmonic plane flux linkage observer. A position estimator based on a torque plane flux linkage model is used to obtain the real-time rotor position estimate of a dual three-phase motor; The torque plane flux linkage amplitude and electromagnetic torque of a two-phase three-phase motor are calculated using torque plane flux linkage and torque plane current. The torque plane output voltage is obtained through a torque plane controller; Harmonic plane output voltage is obtained through a harmonic plane controller.

[0007] Optionally, the torque plane current and harmonic plane current obtained by vector decoupling coordinate transformation of the phase currents of the dual three-phase motor are obtained by the following formula: ; Where ia and ib are the phase a current and phase b current of the first set of dual three-phase circuits, ix and iy are the phase x current and phase y current of the second set of dual three-phase circuits, and P is the vector decoupling coordinate transformation matrix.

[0008] Optionally, the torque plane flux observed using the torque plane flux observer is obtained by the following formula: ; ; Wherein, ψD is the observed value of the direct-axis flux linkage in the torque plane, ψQ is the observed value of the quadrature-axis flux linkage in the torque plane, R is the stator resistance of the dual-three-phase motor, ω is the rotor electric angular velocity of the dual-three-phase motor, ψD* is the calculated value of the direct-axis flux linkage in the torque plane, ψQ* is the calculated value of the quadrature-axis flux linkage in the torque plane, kD and kQ are the observed direct-axis gain and quadrature-axis gain of the flux linkage in the torque plane, respectively, LD is the direct-axis inductance of the dual-three-phase motor in the torque plane, LQ is the quadrature-axis inductance of the dual-three-phase motor in the torque plane, and ψf is the permanent magnet flux linkage of the dual-three-phase motor; DisD represents the concentrated disturbance in the direct-axis flux linkage model of the torque plane of the dual-three-phase motor, kdisD represents the concentrated disturbance gain in the direct-axis flux linkage model of the torque plane of the dual-three-phase motor, DisQ represents the concentrated disturbance in the quadrature-axis flux linkage model of the torque plane of the dual-three-phase motor, and kdisQ represents the concentrated disturbance gain in the quadrature-axis flux linkage model of the torque plane of the dual-three-phase motor.

[0009] Optionally, the harmonic plane flux observed using the harmonic plane flux observer is obtained by the following formula: ; ; Wherein, ψd is the observed value of the direct-axis flux linkage in the harmonic plane, ψq is the observed value of the quadrature-axis flux linkage in the harmonic plane, R is the stator resistance of the three-phase motor, ω is the rotor electric angular velocity of the three-phase motor, ψd* is the calculated value of the direct-axis flux linkage in the harmonic plane, ψq* is the calculated value of the quadrature-axis flux linkage in the harmonic plane, kd and kd are the observed direct-axis gain and quadrature-axis gain of the flux linkage in the harmonic plane, respectively, Ld is the direct-axis inductance of the three-phase motor in the harmonic plane, and Lq is the quadrature-axis inductance of the three-phase motor in the harmonic plane; ΔR represents the stator resistance mismatch value of the three-phase motor, Disd represents the concentrated disturbance in the direct-axis flux linkage model of the three-phase motor in the harmonic plane, kdisd represents the concentrated disturbance gain in the direct-axis flux linkage model of the three-phase motor in the harmonic plane, Disq represents the concentrated disturbance in the quadrature-axis flux linkage model of the three-phase motor in the harmonic plane, and kdisq represents the concentrated disturbance gain in the quadrature-axis flux linkage model of the three-phase motor in the harmonic plane.

[0010] Optionally, the location estimator is specifically as follows: ; ; ; Where arctan is the arctangent function, Δθ is the rotor position estimation error extracted from the torque plane perpendicular-axis flux linkage model, ω is the estimated rotor electric angular velocity of the dual three-phase motor, kp0 and ki0 are the proportional gain and integral gain of the first phase-locked loop in the cascaded dual phase-locked loop, and kp1 and ki1 are the proportional gain and integral gain of the second phase-locked loop in the cascaded dual phase-locked loop; ψD* ψQ is the calculated value of the direct-axis flux linkage in the torque plane. * ψD is the calculated value of the quadrature-axis flux linkage in the torque plane; ψQ is the observed value of the direct-axis flux linkage in the torque plane.

[0011] Optionally, the torque plane controller includes a torque plane direct-axis controller and a torque plane quadrature-axis controller; The torque plane direct-axis controller is as follows: ; ; ; Where, kpDm is the proportional gain of the torque plane direct-axis m-th harmonic component controller, kiDm is the integral gain of the torque plane direct-axis m-th harmonic component controller, ψrm is the estimated value of the resonant component of the torque plane direct-axis m-th harmonic component controller, n is greater than or equal to 2; uD is the direct-axis voltage output of the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor rotor, kpD is the proportional gain of the torque plane direct-axis controller, kiD is the integral gain of the torque plane direct-axis controller, ψ* is the torque plane flux linkage amplitude command, and dt represents the derivative with respect to time.

[0012] Optionally, the torque plane quadrature axis controller is as follows: ; ; ; Where uD is the direct-axis voltage output in the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor rotor, kpD is the proportional gain of the torque plane direct-axis controller, kiD is the integral gain of the torque plane direct-axis controller, and ψ * dt represents the torque plane flux linkage amplitude command, kpQm is the proportional gain of the torque plane quadrature axis m-th harmonic component controller, kiQm is the integral gain of the torque plane quadrature axis m-th harmonic component controller, Term is the estimated value of the resonant component of the torque plane quadrature axis m-th harmonic component controller, and n is greater than or equal to 2.

[0013] Optionally, the reconstructed torque plane command voltage is obtained by the following formula: ; ; ; Where uD* is the reconstructed calculated value of the direct-axis voltage of the final effective torque plane, uQ* is the reconstructed calculated value of the quadrature-axis voltage of the final effective torque plane, umax is the upper limit of the inverter overmodulation output voltage, and U* is the output voltage amplitude before overmodulation processing.

[0014] This application also provides a sensorless control device for a dual three-phase motor based on vector decoupling control, the sensorless control device for a dual three-phase motor based on vector decoupling control includes: An output voltage acquisition module is used to acquire the torque plane output voltage and the harmonic plane output voltage. The command voltage acquisition module is used to reconstruct the torque plane output voltage and the harmonic plane output voltage respectively, thereby acquiring the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage. The modulation wave acquisition module is used to perform vector decoupling coordinate inverse transformation on the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage to obtain the modulation wave of the first set of stator windings and the modulation wave of the second set of stator windings. The switch state acquisition module is used to perform pulse width modulation on the modulation waves of the first set of stator windings and the second set of stator windings, thereby acquiring the switch state of the three-phase inverter power switch corresponding to the first set of stator windings and the switch state of the three-phase inverter power switch corresponding to the second set of stator windings.

[0015] This application presents a sensorless control method for a dual-three-phase motor based on vector decoupling control. By reconstructing and calculating the output voltage of the motor's torque plane, a position observer based on the torque plane is constructed to achieve real-time estimation of the motor's rotor position. This enables sensorless control of the dual-three-phase motor across the entire modulation range. The scheme features low computational complexity and eliminates the need for sampling the motor's output voltage. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of sensorless control of a dual three-phase motor based on vector decoupling control according to an embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0018] This application provides a sensorless control method for a dual three-phase motor based on vector decoupling control. The sensorless control method for a dual three-phase motor based on vector decoupling control includes: Obtain the torque plane output voltage and the harmonic plane output voltage; The torque plane output voltage and harmonic plane output voltage are reconstructed respectively to obtain the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage; The reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage are subjected to vector decoupling coordinate inverse transformation to obtain the modulation waves of the first set of stator windings and the modulation waves of the second set of stator windings. Pulse width modulation is performed on the modulation waves of the first set of stator windings and the second set of stator windings to obtain the switching states of the three-phase inverter power switches corresponding to the first set of stator windings and the second set of stator windings.

[0019] In this embodiment, obtaining the torque plane output voltage and the harmonic plane output voltage includes: Obtain the phase current of the dual three-phase motor at the current time step; The torque plane current and harmonic plane current are obtained by vector decoupling coordinate transformation of the phase current of the dual three-phase motor. Torque plane flux linkage was observed using a torque plane flux linkage observer; Harmonic plane flux linkage was observed using a harmonic plane flux linkage observer. A position estimator based on a torque plane flux linkage model is used to obtain the real-time rotor position estimate of a dual three-phase motor; The torque plane flux linkage amplitude and electromagnetic torque of a two-phase three-phase motor are calculated using torque plane flux linkage and torque plane current. The torque plane output voltage is obtained through a torque plane controller; Harmonic plane output voltage is obtained through a harmonic plane controller.

[0020] In this embodiment, the torque plane current and harmonic plane current obtained by vector decoupling coordinate transformation of the phase currents of the dual three-phase motor are obtained through the following formula: (1) Where ia and ib are the phase a current and phase b current of the first set of dual three-phase circuits, ix and iy are the phase x current and phase y current of the second set of dual three-phase circuits, and P is the vector decoupling coordinate transformation matrix.

[0021] When the parameters of the dual-three-phase motor used in the observer are mismatched, it will cause deviations in the state variables observed by the existing observer. Specifically, the torque plane flux linkage observer of the dual-three-phase motor will show deviations in the direct-axis flux linkage of the torque plane, and the harmonic plane flux linkage observer will show deviations in the direct-axis flux linkage of the harmonic plane. This will lead to deviations in the rotor position estimation and the torque plane and harmonic plane controllers. The rotor position estimation deviation will further lead to deviations in the vector decoupling coordinate transformation and the inverse vector decoupling coordinate transformation, ultimately resulting in undecoupled harmonic components in both control planes of the dual-three-phase motor. Therefore, this application improves the torque plane flux linkage observer and the harmonic plane flux linkage observer of the dual-three-phase motor.

[0022] (2) In equation (2), △θ represents the rotor position estimation deviation; θ is the rotor position estimation value of the dual three-phase motor.

[0023] Depend on Figure 1 It can be seen that the torque plane flux linkage amplitude and electromagnetic torque of a two-phase three-phase motor can be calculated using torque plane flux linkage and torque plane current. The calculation formula is as follows: (3) (4) In equations (3) and (4), ψ is the magnitude of the flux linkage in the torque plane, Te is the electromagnetic torque, ψD is the observed value of the direct-axis flux linkage in the torque plane, ψQ is the observed value of the quadrature-axis flux linkage in the torque plane, and p is the number of pole pairs of the motor.

[0024] In this embodiment, during the vector space coordinate transformation process, the undecoupled harmonic components are related to the rotor position estimation error. Therefore, in order to further suppress the undecoupled harmonic components of the two control planes, it is necessary to reconstruct the torque plane controller. In this embodiment, the torque plane controller includes a torque plane direct-axis controller and a torque plane quadrature-axis controller. The torque plane direct-axis controller considering the nth harmonic is constructed as follows: (5) (6) (7) In equations (6) and (7), kpDm is the proportional gain of the torque plane direct-axis m-th harmonic component controller, kiDm is the integral gain of the torque plane direct-axis m-th harmonic component controller, ψrm is the estimated value of the resonant component of the torque plane direct-axis m-th harmonic component controller, n is greater than or equal to 2, and the value of n can be selected according to the actual system requirements; uD is the direct-axis voltage output of the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor rotor, kpD is the proportional gain of the torque plane direct-axis controller, kiD is the integral gain of the torque plane direct-axis controller, ψrm is the integral gain of the torque plane direct-axis controller, and ψrm is the proportional gain of the torque plane direct-axis controller. * This is the torque plane flux linkage magnitude command, where dt represents the derivative with respect to time.

[0025] The torque plane quadrature-axis controller considering the nth harmonic is constructed as follows: (8) (9) (10) In equations (8) to (10), kpQ m For the proportional gain of the torque plane quadrature axis m-th harmonic component controller, kiQ m Term is the integral gain of the torque plane quadrature axis m-th harmonic component controller, n is greater than or equal to 2, and the value of n can be selected according to the actual system requirements; uQ is the quadrature axis voltage output in the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor, kpQ is the proportional gain of the torque plane quadrature axis controller, kiQ is the integral gain of the torque plane quadrature axis controller, and Te* is the electromagnetic torque command.

[0026] In this embodiment, the harmonic plane controller is as follows: (11) (12) In equations (11) and (12), ud and uq are the direct-axis voltage and quadrature-axis voltage output by the harmonic plane, respectively; ψd* and ψq* are the direct-axis flux linkage command and quadrature-axis flux linkage command input by the harmonic plane, respectively; ψd is the observed value of the direct-axis flux linkage of the harmonic plane; ψq is the observed value of the quadrature-axis flux linkage of the harmonic plane; and kpd and kpq are the control gains of the direct-axis flux linkage and quadrature-axis flux linkage of the harmonic plane, respectively. Since the harmonic plane controller is mainly used to control the direct-axis and quadrature-axis flux linkage components of the decoupled harmonic plane to zero, both the direct-axis flux linkage command and the quadrature-axis flux linkage command input by the harmonic plane are zero.

[0027] Because the inverter's output voltage limit is constrained by its overmodulated output voltage limit, the sum of the output voltages in the torque plane and harmonic plane is forcibly scaled during pulse width modulation (PWM) to prevent the sum of the two planes from exceeding the current inverter's overmodulated output voltage limit. Therefore, without sampling the output voltages of both windings of the dual three-phase motor, directly using the final effective output voltage to construct an observer for estimating the motor rotor position will introduce voltage errors not only in the harmonic plane but also in the torque plane. Therefore, to ensure the flux linkage observer is unaffected by voltage errors, it is necessary to reconstruct the output voltages of both the torque plane and harmonic plane of the dual three-phase motor. The formula for reconstructing the output voltage of the torque plane of the dual three-phase motor is as follows: (13) (14) (15) In equations (13) and (15), uD * The reconstructed value of the direct-axis voltage in the final effective torque plane, uQ * The calculated value for the reconstructed quadrature-axis voltage in the final effective torque plane, where umax is the upper limit of the inverter's overmodulated output voltage, and U... * This represents the output voltage amplitude before overmodulation.

[0028] Similarly, the calculation formula for the harmonic plane output voltage reconstruction of a dual three-phase motor is as follows: (16) (17) In equations (16) and (17), ud * The reconstructed value of the direct-axis voltage of the harmonic plane that ultimately takes effect, uq * The reconstructed value of the quadrature-axis voltage of the harmonic plane is the final effective value. The reconstructed calculation of the output voltage of the torque plane and the output voltage of the harmonic plane of the dual three-phase motor is realized by equations (13) and (17).

[0029] By treating parameter mismatch and measurement errors in the torque plane quadrature-direct axis flux linkage model of a dual-three-phase motor as concentrated disturbances, a torque plane flux linkage observer for a dual-three-phase motor considering parameter mismatch can be constructed as follows: (18) (19) (20) (twenty one) ψD represents the observed direct-axis flux linkage in the torque plane, ψQ represents the observed quadrature-axis flux linkage in the torque plane, R represents the stator resistance of the three-phase motor, ω represents the rotor electric angular velocity of the three-phase motor, ψD* represents the calculated direct-axis flux linkage in the torque plane, ψQ* represents the calculated quadrature-axis flux linkage in the torque plane, kD and kQ represent the observed direct-axis gain and quadrature-axis gain of the flux linkage in the torque plane, respectively, LD represents the direct-axis inductance in the torque plane of the three-phase motor, LQ represents the quadrature-axis inductance in the torque plane of the three-phase motor, and ψf represents the permanent magnet flux linkage of the three-phase motor; DisD represents the concentrated disturbance in the direct-axis flux linkage model of the torque plane of the three-phase motor, kdisD represents the concentrated disturbance gain in the direct-axis flux linkage model of the torque plane of the three-phase motor, DisQ represents the concentrated disturbance in the quadrature-axis flux linkage model of the torque plane of the three-phase motor, and kdisQ represents the concentrated disturbance gain in the quadrature-axis flux linkage model of the torque plane of the three-phase motor. By estimating and compensating for concentrated disturbances in the torque plane quadrature-direct axis flux linkage model of a dual three-phase motor, the parameter robustness of the torque plane flux linkage observer of the dual three-phase motor can be improved, thereby reducing the estimation deviation of the torque plane quadrature-direct axis flux linkage caused by parameter mismatch and measurement error.

[0030] By treating parameter mismatch and measurement errors in the harmonic plane direct-axis flux linkage model of a dual-three-phase motor as concentrated disturbances, a harmonic plane flux linkage observer for the dual-three-phase motor considering parameter mismatch can be constructed as follows: (twenty two) (twenty three) (twenty four) (25) In equations (22) to (25), Disd represents the concentrated disturbance in the harmonic plane direct-axis flux linkage model of the two-phase three-phase motor, kdisd represents the concentrated disturbance gain in the harmonic plane direct-axis flux linkage model of the two-phase three-phase motor, Disq represents the concentrated disturbance in the harmonic plane quadrature-axis flux linkage model of the two-phase three-phase motor, and kdisq represents the concentrated disturbance gain in the harmonic plane quadrature-axis flux linkage model of the two-phase three-phase motor. By estimating and compensating for the concentrated disturbance in the harmonic plane quadrature-axis flux linkage model of the two-phase three-phase motor, the parameter robustness of the harmonic plane flux linkage observer of the two-phase three-phase motor can be improved, thereby reducing the estimation bias of the harmonic plane quadrature-axis flux linkage caused by parameter mismatch and measurement error.

[0031] This application constructs a high signal-to-noise ratio position estimator based on a dual phase-locked loop across the entire rotational speed range as follows: (26) (27) (28) In equations (26) to (28), arctan is the arctangent function, Δθ is the rotor position estimation error extracted from the torque plane perpendicular-axis flux linkage model, ω is the estimated rotor electrical angular velocity of the dual three-phase motor, kp0 and ki0 are the proportional gain and integral gain of the first phase-locked loop in the cascaded dual phase-locked loop, and kp1 and ki1 are the proportional gain and integral gain of the second phase-locked loop in the cascaded dual phase-locked loop. The cascaded dual phase-locked loop allows the estimation of the rotor position electrical angle and the rotor electrical angular velocity of the dual three-phase motor to be performed almost in parallel. Therefore, compared with a single phase-locked loop, the first phase-locked loop in the two cascaded phase-locked loops can be configured as a low-bandwidth phase-locked loop, mainly used to achieve the filtered estimation of the rotor electrical angular velocity; the second phase-locked loop can be configured as a high-bandwidth phase-locked loop, mainly used to achieve the fast estimation of the rotor electrical angular velocity. Therefore, the cascaded dual phase-locked loop has better dynamic performance for the estimation of the rotor position electrical angle and can effectively suppress the rotor position estimation deviation in the dynamic process.

[0032] See Figure 1 In this embodiment, the torque plane currents iD and iQ, and the harmonic plane currents id and iq are obtained by performing vector decoupling coordinate transformation on the phase currents ia, ib, ix, and iy of the dual three-phase motor. Then, the torque plane flux linkages ψD, ψQ, and harmonic plane flux linkages ψd and ψq are observed using torque plane flux linkage observers and harmonic plane flux linkage observers, respectively. A position estimator based on the torque plane flux linkage model is used to estimate the rotor position of the dual three-phase motor in real time. The torque plane flux linkage amplitude and electromagnetic torque of the dual three-phase motor are calculated using torque plane flux linkage and torque plane current. Then, the torque plane output voltages UD and UQ, and the harmonic plane output voltages Ud and Uq are obtained using torque plane controllers and harmonic plane controllers, respectively. The torque plane output voltages are then reconstructed using an overmodulation voltage reconstruction module. Overmodulation of the output voltages UD, UQ, and harmonic plane output voltages Ud, Uq yields the torque plane command voltage UDQ* and harmonic plane command voltages Ud*, Uq*. Vector decoupling and inverse coordinate transformation of the torque plane command voltages UD*, UQ*, and harmonic plane command voltages Ud*, Uq*, and Uq* produce the modulation waves Ua, Ub, Uc of the first set of stator windings and Ux, Uy, Uz of the second set of stator windings. Pulse width modulation of the modulation waves Ua, Ub, Uc of the first set of stator windings and Ux, Uy, Uz of the second set of stator windings yields the switching states Sa, Sb, Sc of the three-phase inverter power switches corresponding to the first set of stator windings and Sx, Sy, Sz of the three-phase inverter power switches corresponding to the second set of stator windings.

[0033] This application also provides a sensorless control device for a dual three-phase motor based on vector decoupling control, the sensorless control device for a dual three-phase motor based on vector decoupling control includes: An output voltage acquisition module is used to acquire the torque plane output voltage and the harmonic plane output voltage. The command voltage acquisition module is used to reconstruct the torque plane output voltage and the harmonic plane output voltage respectively, thereby acquiring the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage. The modulation wave acquisition module is used to perform vector decoupling coordinate inverse transformation on the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage to obtain the modulation wave of the first set of stator windings and the modulation wave of the second set of stator windings. The switch state acquisition module is used to perform pulse width modulation on the modulation waves of the first set of stator windings and the second set of stator windings, thereby acquiring the switch state of the three-phase inverter power switch corresponding to the first set of stator windings and the switch state of the three-phase inverter power switch corresponding to the second set of stator windings.

[0034] This application first reconstructs and calculates the output voltage of the torque plane and harmonic plane of a dual three-phase motor. Then, it constructs a torque plane flux observer and a harmonic plane flux observer that consider parameter mismatch. A position estimator based on the torque plane flux model is used to realize the real-time estimation of the rotor position of the dual three-phase motor. Finally, a torque plane controller and a harmonic plane controller that consider undecoupled harmonic components are used to realize sensorless control of the dual three-phase motor and motor current harmonic suppression in the full modulation range.

[0035] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A sensorless control method for a dual three-phase motor based on vector decoupling control, characterized in that, The sensorless control method for dual three-phase motors based on vector decoupling control includes: Obtain the torque plane output voltage and the harmonic plane output voltage; The torque plane output voltage and harmonic plane output voltage are reconstructed respectively to obtain the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage; The reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage are subjected to vector decoupling coordinate inverse transformation to obtain the modulation waves of the first set of stator windings and the modulation waves of the second set of stator windings. Pulse width modulation is performed on the modulation waves of the first set of stator windings and the second set of stator windings to obtain the switching states of the three-phase inverter power switches corresponding to the first set of stator windings and the second set of stator windings.

2. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 1, characterized in that, The acquisition of torque plane output voltage and harmonic plane output voltage includes: Obtain the phase current of the dual three-phase motor at the current time step; The torque plane current and harmonic plane current are obtained by vector decoupling coordinate transformation of the phase current of the dual three-phase motor. Torque plane flux linkage was observed using a torque plane flux linkage observer; Harmonic plane flux linkage was observed using a harmonic plane flux linkage observer. A position estimator based on a torque plane flux linkage model is used to obtain the real-time rotor position estimate of a dual three-phase motor; The torque plane flux linkage amplitude and electromagnetic torque of a two-phase three-phase motor are calculated using torque plane flux linkage and torque plane current. The torque plane output voltage is obtained through a torque plane controller; Harmonic plane output voltage is obtained through a harmonic plane controller.

3. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 2, characterized in that, The torque plane current and harmonic plane current are obtained by vector decoupling coordinate transformation of the phase currents of the dual three-phase motor, and are obtained by the following formula: ； Where ia and ib are the phase a current and phase b current of the first set of dual three-phase circuits, ix and iy are the phase x current and phase y current of the second set of dual three-phase circuits, and P is the vector decoupling coordinate transformation matrix.

4. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 3, characterized in that, The torque plane flux observed using the torque plane flux observer is obtained through the following formula: ； ； Wherein, ψD is the observed value of the direct-axis flux linkage in the torque plane, ψQ is the observed value of the quadrature-axis flux linkage in the torque plane, R is the stator resistance of the dual-three-phase motor, ω is the rotor electric angular velocity of the dual-three-phase motor, ψD* is the calculated value of the direct-axis flux linkage in the torque plane, ψQ* is the calculated value of the quadrature-axis flux linkage in the torque plane, kD and kQ are the observed direct-axis gain and quadrature-axis gain of the flux linkage in the torque plane, respectively, LD is the direct-axis inductance of the dual-three-phase motor in the torque plane, LQ is the quadrature-axis inductance of the dual-three-phase motor in the torque plane, and ψf is the permanent magnet flux linkage of the dual-three-phase motor; DisD represents the concentrated disturbance in the direct-axis flux linkage model of the torque plane of the dual-three-phase motor, kdisD represents the concentrated disturbance gain in the direct-axis flux linkage model of the torque plane of the dual-three-phase motor, DisQ represents the concentrated disturbance in the quadrature-axis flux linkage model of the torque plane of the dual-three-phase motor, and kdisQ represents the concentrated disturbance gain in the quadrature-axis flux linkage model of the torque plane of the dual-three-phase motor.

5. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 4, characterized in that, The harmonic plane flux observed using the harmonic plane flux observer is obtained through the following formula: ； ； Wherein, ψd is the observed value of the direct-axis flux linkage in the harmonic plane, ψq is the observed value of the quadrature-axis flux linkage in the harmonic plane, R is the stator resistance of the three-phase motor, ω is the rotor electric angular velocity of the three-phase motor, ψd* is the calculated value of the direct-axis flux linkage in the harmonic plane, ψq* is the calculated value of the quadrature-axis flux linkage in the harmonic plane, kd and kd are the observed direct-axis gain and quadrature-axis gain of the flux linkage in the harmonic plane, respectively, Ld is the direct-axis inductance of the three-phase motor in the harmonic plane, and Lq is the quadrature-axis inductance of the three-phase motor in the harmonic plane; ΔR represents the stator resistance mismatch value of the three-phase motor, Disd represents the concentrated disturbance in the direct-axis flux linkage model of the three-phase motor in the harmonic plane, kdisd represents the concentrated disturbance gain in the direct-axis flux linkage model of the three-phase motor in the harmonic plane, Disq represents the concentrated disturbance in the quadrature-axis flux linkage model of the three-phase motor in the harmonic plane, and kdisq represents the concentrated disturbance gain in the quadrature-axis flux linkage model of the three-phase motor in the harmonic plane.

6. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 5, characterized in that, The location estimator is specifically as follows: ； ； ； Where arctan is the arctangent function, Δθ is the rotor position estimation error extracted from the torque plane perpendicular-axis flux linkage model, ω is the estimated rotor electric angular velocity of the dual three-phase motor, kp0 and ki0 are the proportional gain and integral gain of the first phase-locked loop in the cascaded dual phase-locked loop, and kp1 and ki1 are the proportional gain and integral gain of the second phase-locked loop in the cascaded dual phase-locked loop; ψD * ψQ is the calculated value of the direct-axis flux linkage in the torque plane. * ψD is the calculated value of the quadrature-axis flux linkage in the torque plane; ψQ is the observed value of the direct-axis flux linkage in the torque plane.

7. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 6, characterized in that, The torque plane controller includes a torque plane direct-axis controller and a torque plane quadrature-axis controller; The torque plane direct-axis controller is as follows: ； ； ； Where, kpDm is the proportional gain of the torque plane direct-axis m-th harmonic component controller, kiDm is the integral gain of the torque plane direct-axis m-th harmonic component controller, ψrm is the estimated value of the resonant component of the torque plane direct-axis m-th harmonic component controller, n is greater than or equal to 2; uD is the direct-axis voltage output of the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor rotor, kpD is the proportional gain of the torque plane direct-axis controller, kiD is the integral gain of the torque plane direct-axis controller, ψ* is the torque plane flux linkage amplitude command, and dt represents the derivative with respect to time.

8. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 7, characterized in that, The torque plane quadrature axis controller is as follows: ； ； ； Where uD is the direct-axis voltage output in the torque plane, R is the stator resistance of the motor, ω is the electric angular velocity of the motor rotor, kpD is the proportional gain of the torque plane direct-axis controller, kiD is the integral gain of the torque plane direct-axis controller, and ψ * dt represents the torque plane flux linkage amplitude command, kpQm is the proportional gain of the torque plane quadrature axis m-th harmonic component controller, kiQm is the integral gain of the torque plane quadrature axis m-th harmonic component controller, Term is the estimated value of the resonant component of the torque plane quadrature axis m-th harmonic component controller, and n is greater than or equal to 2.

9. The sensorless control method for dual three-phase motors based on vector decoupling control as described in claim 8, characterized in that, The reconstructed torque plane command voltage is obtained using the following formula: ； ； ； Where uD* is the reconstructed calculated value of the direct-axis voltage of the final effective torque plane, uQ* is the reconstructed calculated value of the quadrature-axis voltage of the final effective torque plane, umax is the upper limit of the inverter overmodulation output voltage, and U* is the output voltage amplitude before overmodulation processing.

10. A sensorless control device for dual three-phase motors based on vector decoupling control, characterized in that, The sensorless control device for dual three-phase motors based on vector decoupling control includes: An output voltage acquisition module is used to acquire the torque plane output voltage and the harmonic plane output voltage. The command voltage acquisition module is used to reconstruct the torque plane output voltage and the harmonic plane output voltage respectively, thereby acquiring the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage. The modulation wave acquisition module is used to perform vector decoupling coordinate inverse transformation on the reconstructed torque plane command voltage and the reconstructed harmonic plane command voltage to obtain the modulation wave of the first set of stator windings and the modulation wave of the second set of stator windings. The switch state acquisition module is used to perform pulse width modulation on the modulation waves of the first set of stator windings and the second set of stator windings, thereby acquiring the switch state of the three-phase inverter power switch corresponding to the first set of stator windings and the switch state of the three-phase inverter power switch corresponding to the second set of stator windings.

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