A phase delay compensation method for aeronautical generator position estimation
By using the integrated module SOGI-FLL, which combines a second-order generalized integrator (SOGI) and a frequency-locked loop (FLL) in an aerospace switched reluctance generator for phase delay compensation, the problem of position signal delay in sensorless control is solved, the stability and dynamic performance of the control system are improved, and accurate position estimation is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NORTHWESTERN POLYTECHNICAL UNIV
- Filing Date
- 2026-05-19
- Publication Date
- 2026-07-31
AI Technical Summary
In sensorless control of aircraft-mounted switched reluctance generators, position signal delay is a problem that affects the stability and dynamic performance of the control system. Existing compensation methods have limited accuracy or high algorithm complexity under wide speed range and variable load conditions, which increases the burden on the processor.
The SOGI-FLL module, which integrates a second-order generalized integrator SOGI and a frequency-locked loop FLL, is used to compensate for phase delay by combining a first-order inertial element. By constructing a phase inductance-phase current-rotor position data table and calculating the compensation time in real time, accurate compensation of the position signal is achieved.
It improves the steady-state and dynamic performance of the aircraft generator control system, ensures the real-time performance and stability of the system, reduces position estimation errors, and enhances the accuracy and response speed of motor control.
Smart Images
Figure CN122316133B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of motor control and relates to a phase delay compensation method for position estimation of aircraft generators. Background Technology
[0002] Switched reluctance motors have significant advantages as generators in the aerospace field due to their robust and simple structure, ease of manufacture, good performance, and adaptability to harsh conditions.
[0003] Aircraft generators place extremely high demands on the dynamic performance, stability, and reliability of their control systems. Traditionally, the position signal of a switched reluctance motor (SRM) is obtained from a position sensor. However, mechanical position sensors are susceptible to the harsh working environment of aviation, which weakens the SRM's advantage in adapting to severe conditions. Furthermore, the mechanical position sensor is coaxially connected to the SRM, making it prone to failure when the SRM is running at high speeds. Therefore, sensorless control strategies are a research hotspot for aircraft SRM generators.
[0004] The latency of motor position estimation algorithms stems primarily from several factors, which not only affect the algorithm's real-time performance but may also lead to decreased system control accuracy and deteriorated dynamic response. First, computational complexity is a significant cause of latency. In sensorless control, the algorithm needs to process large amounts of data and perform various mathematical operations in real time, resulting in substantial computational loads and long processing times. Second, the performance of the hardware platform is also a crucial factor. Even efficient algorithms will experience latency if run on low-performance microcontrollers or processors due to slow processing speeds. Furthermore, the time delay in the acquisition and transmission of current and voltage sensor signals also impacts the algorithm's real-time performance. Sensor signal acquisition takes time, and signal transmission may also involve delays, especially when using wireless communication, where the uncertainty of signal transmission time further exacerbates the latency problem.
[0005] The impact of position information delay is primarily reflected in the stability and dynamic performance of the control system. In high-speed motors, the real-time requirements for position information are extremely high; even a slight delay can lead to lag in control commands, thus affecting the motor's dynamic response and control accuracy. Furthermore, delay can also cause phase lag in the system, reducing the stability of the control loop and making it prone to oscillations and instability. Therefore, reducing algorithm delay is crucial for improving the performance of sensorless control.
[0006] Further research revealed that phase compensation can be applied to the rotor position information obtained by the position estimation algorithm to compensate for the deficiencies caused by sampling or computation delays, thereby improving the accuracy of position estimation. In existing technologies, compensation methods for phase delay mainly fall into two categories: First, the fixed-duration compensation method, which directly superimposes a fixed lead angle onto the estimated position signal. This method is simple to implement, but under the wide speed range and variable load conditions of aero-generators, the fixed compensation amount cannot adapt to dynamic changes in the system, resulting in limited compensation accuracy. Second, observer-based compensation methods, such as using predictive control or sliding mode observer algorithms, calculate the compensation amount through a model. While these methods can achieve dynamic compensation, their high algorithm complexity increases the computational burden on the processor, potentially introducing new delays or affecting system stability in aero-generator control with extremely high real-time requirements. Summary of the Invention
[0007] To address the phase delay problem in position estimation algorithms for sensorless control of aircraft switched reluctance generators, this invention proposes a phase delay compensation algorithm for the position signal of a switched reluctance motor. This algorithm can accurately compensate for the phase delay of position estimation information, thereby improving the steady-state and dynamic performance of the aircraft generator control system.
[0008] The technical solution of this invention: A phase delay compensation method for aircraft generator position estimation includes the following steps: Step 1: Obtain the filtered initial estimate of the rotor position. ; Step 1.1: Obtain the inductance characteristics, current characteristics, and rotor position characteristics of the switched reluctance motor, and construct a phase inductance-phase current-rotor position data table. ,in, For rotor position, For phase current, For phase inductance; Step 1.2: Obtain the estimated rotor position in the sensorless control of the switched reluctance motor, and convert it into a sine wave signal using a sine function. , is represented as: In the formula, This refers to the estimated rotor position in sensorless control of a switched reluctance motor. Step 1.3, using a sine wave signal As input, an integrated module SOGI-FLL containing a second-order generalized integrator SOGI and a frequency-locked loop FLL is constructed; The second-order generalized integrator SOGI consists of two cascaded integrators and a feedback loop, using a sine wave signal. As input, a pair of quadrature signals are output as in-phase output signals. and quadrature output signal ; In-phase output signal Transfer function: Quadrature output signal Transfer function: In the formula, The resonant frequency of the second-order generalized integrator SOGI; The feedback gain is set to 2. It is a complex frequency; Step 1.4: Convert the in-phase output signal of the second-order generalized integrator SOGI... Quadrature output signal Substituting the values into the arctangent function, we can restore the filtered initial estimate of the rotor position. The expression is: .
[0009] Step 2, calculate compensation time in real time ; Step 2.1: Obtain the real-time phase voltage of the switched reluctance motor. and real-time phase current Calculate the real-time unsaturated inductance using the following formula. : in, Phase resistance; Step 2.2, based on the filtered initial estimate of the rotor position obtained in Step 1.4 Query the phase inductance-phase current-rotor position data table Obtain the reference inductance ; Step 2.3, calculate the difference between the reference inductance and the real-time unsaturated inductance: Step 2.4: Obtain the partial derivative of the phase inductance with respect to the rotor position as the inductance slope. Step 2.5, based on the inductance slope Rotor angular frequency And the difference between the reference inductance and the real-time unsaturated inductance. Calculate the compensation time using the following formula. : .
[0010] Step 3: Introduce a first-order inertial element into the feedback path of the integrated module SOGI-FLL for phase lead compensation. Step 3.1: Use the compensation time calculated in Step 2. A first-order inertial element is connected in series in the feedback path of the integrated module SOGI-FLL: The SOGI-FLL integrated module is obtained after delay compensation; Output signal in phase The feedback signal is obtained after processing by this first-order inertial element. Their temporal relationship is as follows: Step 3.2, the feedback path of the integrated module SOGI-FLL, which originally contained the in-phase output signal, is changed. The part that participates is replaced with a feedback signal. This constitutes an improved closed-loop control, and the improved transfer function is: Step 3.3, at the resonant frequency At this point, make the in-phase output signal With an ideal sinusoidal signal In phase, phase delay correction is achieved, wherein, The actual rotor position under no-delay conditions The corresponding ideal sine wave signal: .
[0011] During the initial operation phase, the first operating mode is adopted, which uses the integrated module SOGI-FLL; in the first operating mode, feedback signals are provided. It does not participate in closed-loop control, and is only output by the in-phase signal. This creates feedback, causing the output of the second-order generalized integrator SOGI to converge to a steady state. Once the second-order generalized integrator SOGI converges to a steady state, it switches to the second operating mode, which employs the delayed-compensated integrated module SOGI-FLL. In the second operating mode, the feedback signal... Replace in-phase output signal This constitutes an improved closed-loop control.
[0012] The difference between the compensated rotor position signal and the uncompensated rotor position signal is used as the convergence criterion. When the absolute value of the difference is continuously less than the convergence threshold, it is determined that the second-order generalized integrator SOGI has converged to a steady state, and the first working mode is switched to the second working mode. The convergence threshold is determined by the following formula: in, The convergence threshold is expressed in electrical degrees. To allow for mechanical angular deviation, This represents the number of rotor poles of the generator.
[0013] The beneficial effects of this invention are as follows: This invention aims to solve the problem of position signal delay in aircraft switched reluctance generators. Firstly, it overcomes the limitations of the art in which delay effects are often ignored or fixed compensation is used when performing motor position estimation algorithms in high-speed, high-reliability applications. It addresses the need for real-time compensation of position estimation delay to improve the stability and dynamic performance of the motor control system. Therefore, it proposes a phase delay compensation method for aircraft generator position estimation. This method is logically simple, easy to implement, and highly real-time, capable of accurately compensating for position signal delay in real time, playing a crucial role in improving the stability and dynamic performance of the motor control system. Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0014] Figure 1 This is a structural diagram of a second-order generalized integrator SOGI and a frequency-locked loop FLL.
[0015] Figure 2 The structure diagram of SOGI-FLL with added feedback compensation.
[0016] Figure 3 This is a comparison chart of the position estimation results before SOGI-FLL filtering and the actual positions.
[0017] Figure 4 This is a comparison chart of the position estimation result after SOGI-FLL filtering and the actual position. The position estimation result after filtering includes a comparison chart of the position before delay compensation (first working mode) and the position after compensation (second working mode).
[0018] Figure 5 This is a comparison chart showing the error of the position estimation results before and after SOGI-FLL filtering. Detailed Implementation
[0019] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.
[0020] Using a three-phase 12 / 8-pole aerospace switched reluctance generator as a prototype, a sensorless phase delay compensation control system was built in Matlab / Simulink. The generator voltage was 48V and the motor speed was 2000r / min. The compensation accuracy and robustness of the proposed method were verified.
[0021] Step 1: Obtain the filtered initial estimate of the rotor position. ; Step 1.1: Obtain the inductance characteristics, current characteristics, and rotor position characteristics of the switched reluctance motor, and construct a phase inductance-phase current-rotor position data table. ,in, For rotor position, For phase current, For phase inductance; Step 1.2: Obtain the estimated rotor position in the sensorless control of the switched reluctance motor, and convert it into a sine wave signal using a sine function. , is represented as: In the formula, This refers to the estimated rotor position in sensorless control of a switched reluctance motor. Step 1.3, using a sine wave signal As input, an integrated module SOGI-FLL containing a second-order generalized integrator SOGI and a frequency-locked loop FLL is constructed; The second-order generalized integrator SOGI consists of two cascaded integrators and a feedback loop, using a sine wave signal. As input, a pair of quadrature signals are output as in-phase output signals. and quadrature output signal ; In-phase output signal Transfer function: Quadrature output signal Transfer function: In the formula, The resonant frequency of the second-order generalized integrator SOGI; The feedback gain is set to 2. It is a complex frequency; Step 1.4: Convert the in-phase output signal of the second-order generalized integrator SOGI... Quadrature output signal Substituting the values into the arctangent function, we can restore the filtered initial estimate of the rotor position. The expression is: .
[0022] Step 2, calculate compensation time in real time ; Step 2.1: Obtain the real-time phase voltage of the switched reluctance motor. and real-time phase current Calculate the real-time unsaturated inductance using the following formula. : in, Phase resistance; Step 2.2, based on the filtered initial estimate of the rotor position obtained in Step 1.4 Query the phase inductance-phase current-rotor position data table Obtain the reference inductance ; Step 2.3, calculate the difference between the reference inductance and the real-time unsaturated inductance: Step 2.4: Obtain the partial derivative of the phase inductance with respect to the rotor position as the inductance slope. Step 2.5, based on the inductance slope Rotor angular frequency And the difference between the reference inductance and the real-time unsaturated inductance. Calculate the compensation time using the following formula. : .
[0023] Step 3: Introduce a first-order inertial element into the feedback path of the integrated module SOGI-FLL for phase lead compensation. Step 3.1: Use the compensation time calculated in Step 2. A first-order inertial element is connected in series in the feedback path of the integrated module SOGI-FLL: The SOGI-FLL integrated module is obtained after delay compensation; Output signal in phase The feedback signal is obtained after processing by this first-order inertial element. Their temporal relationship is as follows: Step 3.2, the feedback path of the integrated module SOGI-FLL, which originally contained the in-phase output signal, is changed. The part that participates is replaced with a feedback signal. This constitutes an improved closed-loop control, and the improved transfer function is: Step 3.3, at the resonant frequency At this point, make the in-phase output signal With an ideal sinusoidal signal In phase, phase delay correction is achieved, wherein, The actual rotor position under no-delay conditions The corresponding ideal sine wave signal: .
[0024] like Figure 2 As shown, in the initial operation phase, the first working mode is adopted, and the first working mode uses the integrated module SOGI-FLL; in the first working mode, the feedback signal... It does not participate in closed-loop control, and is only output by the in-phase signal. This creates feedback, causing the output of the second-order generalized integrator SOGI to converge to a steady state. Once the second-order generalized integrator SOGI converges to a steady state, it switches to the second operating mode, which employs the delayed-compensated integrated module SOGI-FLL. In the second operating mode, the feedback signal... Replace in-phase output signal This constitutes an improved closed-loop control.
[0025] The difference between the compensated rotor position signal and the uncompensated rotor position signal is used as the convergence criterion. When the absolute value of the difference is continuously less than the convergence threshold, it is determined that the second-order generalized integrator SOGI has converged to a steady state, and the first working mode is switched to the second working mode. The convergence threshold is determined by the following formula: in, The convergence threshold is expressed in electrical degrees. To allow for mechanical angular deviation, This represents the number of rotor poles of the generator.
[0026] Set the allowable mechanical angle deviation. The angle is 3.75°, and the calculated convergence threshold is 30° electrical angle.
[0027] exist Figure 2 During the initial operation phase, because the system has not converged, the difference between the compensated rotor position signal and the uncompensated rotor position signal is greater than the convergence threshold. At this time, the system operates in the first working mode (corresponding to...). Figure 2 In the switch state 1), after the system converges to within the error threshold, it will switch to the second working mode (corresponding to the switch state 1). Figure 2(Switch state 2) When the difference exceeds 30° electrical angle due to changes in operating conditions, system failures, etc., the compensation circuit is disabled and switched to switch state 1, and the rotor position signal before compensation is used to avoid overcompensation caused by sudden changes in operating conditions and ensure system stability.
[0028] Next, simulation verification of the rotor position delay compensation effect was carried out, such as... Figure 3-5 As shown.
[0029] Figure 3 The waveforms showing the position estimation result before SOGI-FLL filtering and the actual rotor position are compared. Under steady-state operation, it can be seen that the initial estimated position before filtering has obvious phase lag. The estimated position waveform lags behind the actual position as a whole, and there is waveform distortion, making it impossible to accurately track the actual rotor position change.
[0030] Figure 4 The waveforms showing the position estimation result after SOGI-FLL filtering are compared with the actual rotor position, including the estimated position in two stages: before delay compensation (first operating mode) and after compensation (second operating mode). It can be seen that before compensation, the distortion of the estimated position waveform after filtering is eliminated, but phase delay still exists. Compared to before filtering, the phase delay increases due to the introduction of the new algorithm. After switching to the delay compensation operating mode, the estimated position waveform almost completely overlaps with the actual rotor position waveform, the phase lag is effectively eliminated, and accurate tracking of the actual position is achieved.
[0031] Figure 5 The position estimation error comparison curves at different stages correspond to three states: before filtering, before compensation (first working mode after filtering), and after compensation (second working mode after filtering). It can be seen that the position error fluctuates significantly before filtering, with an error value close to -10°; the error in the first working mode before compensation increases to around -18°, while the position error after compensation is significantly suppressed, with the error curve almost converging to around -2°, demonstrating a significant reduction in error and verifying the effective correction capability of this method for position estimation errors.
Claims
1. A phase delay compensation method for aircraft generator position estimation, characterized in that, Includes the following steps: Step 1, obtain filtered rotor position initial estimate ; Step 2, Real-time computation of compensation time ; The specific implementation process of step 2 is as follows: Step 2.1: Obtain the real-time phase voltage of the switched reluctance motor. and real-time phase current Calculate the real-time unsaturated inductance using the following formula. : wherein R is the phase resistance; Step 2.2, filtered rotor position initial estimate value obtained from step 1.4 Query phase inductance - phase current - rotor position data table , obtain reference inductance ; Step 2.3, calculate the difference between the reference inductance and the real-time unsaturated inductance: Step 2.4: Obtain the partial derivative of the phase inductance with respect to the rotor position as the inductance slope. Step 2.5, based on the inductance slope Rotor angular frequency And the difference between the reference inductance and the real-time unsaturated inductance. Calculate the compensation time using the following formula. : ； Step 3: Introduce a first-order inertial element into the feedback path of the integrated module SOGI-FLL for phase lead compensation. During the initial operation phase, the first operating mode is adopted, which uses the integrated module SOGI-FLL; in the first operating mode, feedback signals are provided. It does not participate in closed-loop control, and is only output by in-phase signals. This creates feedback, causing the output of the second-order generalized integrator SOGI to converge to a steady state. Once the second-order generalized integrator SOGI converges to a steady state, it switches to the second operating mode, which employs the delayed-compensated integrated module SOGI-FLL. In the second operating mode, the feedback signal... Replace in-phase output signal This constitutes an improved closed-loop control; The difference between the compensated rotor position signal and the uncompensated rotor position signal is used as the convergence criterion. When the absolute value of the difference is continuously less than the convergence threshold, it is determined that the second-order generalized integrator SOGI has converged to a steady state, and the first working mode is switched to the second working mode. The convergence threshold is determined by the following formula: wherein is a convergence threshold, in electrical degrees; is an allowed mechanical angular deviation, is the number of rotor poles of the generator.
2. The phase delay compensation method for aircraft generator position estimation according to claim 1, characterized in that, The specific implementation process of step 1 is as follows: Step 1.1: Obtain the inductance characteristics, current characteristics, and rotor position characteristics of the switched reluctance motor, and construct a phase inductance-phase current-rotor position data table. ,in, For rotor position, For phase current, For phase inductance; Step 1.2, obtaining the estimated rotor position in sensorless control of switched reluctance motor, which is converted into a sinusoidal signal by a sinusoidal function is expressed as: In the formula, is the estimated rotor position in sensorless control of switched reluctance machines; Step 1.3, with a sinusoidal signal As input, an integrated module SOGI-FLL comprising a second order generalized integrator SOGI and a frequency locked loop FLL is constructed; The second order generalized integrator SOGI comprises two cascaded integrators with a feedback loop to a sinusoidal signal as input, outputs a pair of quadrature signals as in-phase output signal and quadrature output signal ; In-phase output signal Transfer function: Quadrature output signal Transfer function: In the formula, The resonant frequency of the second-order generalized integrator SOGI; The feedback gain is set to 2. It is a complex frequency; Step 1.4: Convert the in-phase output signal of the second-order generalized integrator SOGI... Quadrature output signal Substituting the values into the arctangent function, we can restore the filtered initial estimate of the rotor position. The expression is: 。 3. The phase delay compensation method for aircraft generator position estimation according to claim 1, characterized in that, The specific implementation process of step 3 is as follows: Step 3.1, using the compensation time calculated in step 2 Incorporating a first order inertia element in series in the feedback path of the integrated module SOGI-FLL: The SOGI-FLL integrated module is obtained after delay compensation; Output signal in phase The feedback signal is obtained after processing by this first-order inertial element. Their temporal relationship is as follows: Step 3.2, the feedback path of the integrated module SOGI-FLL, which originally contained the in-phase output signal, is changed. The part that participates is replaced with a feedback signal. This constitutes an improved closed-loop control, and the improved transfer function is: Step 3.3, at the resonant frequency At this point, make the in-phase output signal With an ideal sinusoidal signal In phase, phase delay correction is achieved, wherein, The actual rotor position under no-delay conditions The corresponding ideal sine wave signal: 。