Rotating speed estimation method for position-sensorless permanent magnet synchronous motor, system, and apparatus

Abstract

A rotating speed estimation method for a position-sensorless permanent magnet synchronous motor, a system, and an apparatus. The method comprises: acquiring a d-axis stator current and a d-axis stator voltage of a motor in a current control period; reconstructing the d-axis stator current and the d-axis stator voltage in the current control period on the basis of rotor flux linkage and d-axis inductance of the motor to obtain a d-axis extended current and a d-axis extended voltage; and inputting the d-axis extended current and the d-axis extended voltage in the current control period into an adaptive observer to obtain a rotating speed estimation value and a rotor position estimation value of the motor in the current control period. According to the rotating speed estimation method in the present application, by means of the adaptive observer, the rotating speed and rotor position estimation of a salient pole permanent magnet synchronous motor can be achieved, the rotating speed and rotor position estimation of a non-salient pole permanent magnet synchronous motor can also be achieved, and the precision of the rotating speed and rotor position estimation of the motor is guaranteed.

Description

Method, system and device for estimating the speed of a position sensorless permanent magnet synchronous motor

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 202410008884.9, filed on January 2, 2024, entitled “Speed ​​estimation method, system and device for position sensorless permanent magnet synchronous motor”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the technical field of electrical equipment, and in particular to a method, system and device for estimating the speed of a position sensorless permanent magnet synchronous motor. Background Art

[0004] To ensure stable operation of a permanent magnet synchronous motor (PMSM), real-time detection of the motor's speed and rotor position is required to precisely control speed and current. Related technologies typically use a tangent saturation function as the sliding mode surface control function of a flux sliding mode observer to estimate the motor's speed and rotor position angle.

[0005] Obtaining the motor speed and rotor position is crucial for the motor drive system. Although the above technical solution can estimate the motor speed and rotor position, it is based on a non-salient pole permanent magnet synchronous motor and cannot be applied to a salient pole permanent magnet synchronous motor.

[0006] Summary of the Invention

[0007] In view of the above problems, the present application provides a method, system and device for estimating the speed of a position sensorless permanent magnet synchronous motor. Through an adaptive observer, the speed and rotor position of the salient pole permanent magnet synchronous motor can be estimated, and the speed and rotor position of the non-salient pole permanent magnet synchronous motor can also be estimated, thereby expanding the scope of application of the control method and ensuring the accuracy of the speed and rotor position estimation of the motor.

[0008] In the first aspect, the present application provides a method for estimating the speed of a position sensorless permanent magnet synchronous motor, including: obtaining the d-axis stator current and d-axis stator voltage of the motor in the current control cycle; reconstructing the d-axis stator current and d-axis stator voltage of the current control cycle based on the rotor flux and d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle; inputting the d-axis extended current and d-axis extended voltage of the current control cycle into an adaptive observer to obtain an estimated speed value and a rotor position estimated value of the motor in the current control cycle; wherein the adaptive observer is determined based on the voltage equation of the motor, and the voltage equation includes the d-axis inductance and q-axis inductance of the motor.

[0009] In the technical solution of the embodiment of the present application, during motor operation, the d-axis stator current and d-axis stator voltage of the motor in the current control cycle are obtained, and the d-axis stator current and d-axis stator voltage of the motor in the current control cycle are reconstructed based on the rotor flux and d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle. The d-axis extended current and d-axis extended voltage of the current control cycle are input into an adaptive observer to obtain the estimated speed and rotor position of the motor in the current control cycle. The adaptive observer is determined based on the voltage equation of the motor, which includes the d-axis inductance and q-axis inductance of the motor. Thus, the first adaptive observer is determined based on the voltage equation including the d-axis inductance and q-axis inductance of the motor. This method can estimate the speed and rotor position of both salient-pole permanent magnet synchronous motors and non-salient-pole permanent magnet synchronous motors, expanding the scope of application of the control method while ensuring the accuracy of the motor speed and rotor position estimation.

[0010] In some embodiments, the d-axis stator current and d-axis stator voltage of the current control cycle are reconstructed based on the rotor flux of the motor and the d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle, including: obtaining the sum of the d-axis equivalent current generated by the rotor flux on the d-axis inductance and the d-axis stator current of the current control cycle to obtain the d-axis extended current of the current control cycle; obtaining the sum of the d-axis equivalent voltage generated by the d-axis equivalent current on the stator resistance of the motor and the d-axis stator voltage of the current control cycle to obtain the d-axis extended voltage of the current control cycle.

[0011] In some embodiments, the adaptive observer includes a first adaptive observer, and the speed estimation method of the position sensorless permanent magnet synchronous motor also includes: obtaining the q-axis stator current and q-axis stator voltage of the motor in the current control cycle; inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis stator voltage of the current control cycle into the first adaptive observer to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle.

[0012] In some embodiments, the d-axis stator current and d-axis stator voltage of the current control cycle are reconstructed based on the rotor flux of the motor and the d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle, including: obtaining the sum of the d-axis equivalent current generated by the rotor flux on the d-axis inductance and the d-axis stator current of the current control cycle to obtain the d-axis extended current of the current control cycle; obtaining the d-axis equivalent voltage generated by the d-axis equivalent current on the stator resistance of the motor, and obtaining the ratio of the sum of the d-axis equivalent voltage and the d-axis stator voltage of the current control cycle to the d-axis inductance to obtain the d-axis extended voltage of the current control cycle.

[0013] In some embodiments, the adaptive observer includes a second adaptive observer, and the speed estimation method of the position sensorless permanent magnet synchronous motor also includes: obtaining the q-axis stator current and q-axis stator voltage of the motor in the current control cycle; reconstructing the q-axis stator voltage of the current control cycle based on the q-axis inductance to obtain the q-axis extended voltage of the current control cycle; inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis extended voltage of the current control cycle into the second adaptive observer to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle.

[0014] In this embodiment, in addition to the rotor flux ψ based on the motor in the current control cycle f The d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 In addition, it is also based on the q-axis inductance L q The q-axis stator voltage u of the current control cycle q0 Reconstruct and obtain the q-axis extended voltage u′ of the current control cycle q0 , then the second adaptive observer is based on the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Get the estimated value of the motor speed in the current control cycle and the rotor position estimate At the same time, the second adaptive observer is also determined according to the voltage equation of the d-axis inductance and the q-axis inductance of the above-mentioned motor, and can be applied to estimate the speed and rotor position of the salient-pole permanent magnet synchronous motor and the non-salient-pole permanent magnet synchronous motor.

[0015] In some embodiments, the reconstructing the q-axis stator voltage of the current control cycle based on the q-axis inductance to obtain the q-axis extended voltage of the current control cycle includes: obtaining the ratio of the q-axis stator voltage of the current control cycle to the q-axis inductance to obtain the q-axis extended voltage of the current control cycle.

[0016] In some embodiments, the first adaptive observer includes a first state observer and an estimator, and the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis stator voltage of the current control cycle are input into the first adaptive observer to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle, including: inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis stator voltage of the current control cycle into the first state observer to obtain the first difference between the d-axis extended current and the d-axis extended current estimation value, and the second difference between the q-axis stator current and the q-axis stator current estimation value of the current control cycle; inputting the first difference between the d-axis extended current and the d-axis extended current estimation value, the second difference between the q-axis stator current and the q-axis stator current estimation value, the d-axis extended current and the q-axis stator current of the current control cycle into the estimator to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle.

[0017] In some embodiments, the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis stator voltage of the current control cycle are input into the first state observer to obtain a first difference between the d-axis extended current and the d-axis extended current estimate, and a second difference between the q-axis stator current and the q-axis stator current estimate, including: obtaining a first difference between the d-axis extended current and the d-axis extended current estimate, a speed estimate, and a q-axis stator current estimate of the previous control cycle based on the d-axis extended voltage of the current control cycle, and the d-axis extended current estimate, the speed estimate, and the q-axis stator current estimate, the first difference between the d-axis extended current and the d-axis extended current estimate, and the second difference between the q-axis stator current and the q-axis stator current estimate. The d-axis extended current estimated value of the current control cycle is estimated based on the q-axis stator voltage of the current control cycle, and the q-axis stator current estimated value, the speed estimated value, the d-axis extended current estimated value, the first difference between the d-axis extended current and the d-axis extended current estimated value, and the second difference between the q-axis stator current and the q-axis stator current estimated value of the previous control cycle are estimated based on the q-axis stator voltage of the current control cycle, and the q-axis stator current estimated value, the speed estimated value, the d-axis extended current estimated value, the first difference between the d-axis extended current and the d-axis extended current estimated value, and the second difference between the q-axis stator current and the q-axis stator current estimated value of the previous control cycle.

[0018] This embodiment combines the parameters of the previous control cycle to estimate the d-axis extended current estimate value of this cycle and the estimated q-axis stator current In this way, the deviation in the current control cycle is determined, and based on this deviation, the deviation compensation is determined, and finally the closed-loop state equation is obtained, which ensures the tracking effect of the control system.

[0019] In some embodiments, the first state observer estimates the d-axis extended current estimate and the q-axis stator current estimate of the current control cycle in the following manner:

[0020] in, is the estimated value of the d-axis extended current of the current control cycle, is the estimated value of the q-axis stator current in the current control cycle, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage of the current control cycle, u q0 is the q-axis stator voltage of the current control cycle, R s is the stator resistance of the motor, is the estimated value of the d-axis extended current of the previous control cycle, is the estimated value of the q-axis stator current of the previous control cycle, is the estimated value of the speed of the previous control cycle, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the first difference between the d-axis extended current of the previous control cycle and the d-axis extended current estimated value, e iq1 is a second difference between the q-axis stator current of the previous control period and the estimated value of the q-axis stator current.

[0021] In some embodiments, the second adaptive observer includes a second state observer and an estimator, and the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis extended voltage of the current control cycle are input into the second adaptive observer to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle, including: inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis extended voltage of the current control cycle into the second state observer to obtain the first difference between the d-axis extended current and the d-axis extended current estimation value, and the second difference between the q-axis stator current and the q-axis stator current estimation value of the current control cycle; inputting the first difference between the d-axis extended current and the d-axis extended current estimation value, the second difference between the q-axis stator current and the q-axis stator current estimation value, the d-axis extended current and the q-axis stator current of the current control cycle into the estimator to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle.

[0022] In some embodiments, the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis extended voltage of the current control cycle are input into the second state observer to obtain a first difference between the d-axis extended current and the d-axis extended current estimate of the current control cycle, and a second difference between the q-axis stator current and the q-axis stator current estimate, including: a first difference between the d-axis extended current and the d-axis extended current estimate, a speed estimate, a q-axis stator current estimate, the first difference between the d-axis extended current and the d-axis extended current estimate, and a second difference between the q-axis stator current and the q-axis stator current estimate of the previous control cycle; The d-axis extended current estimated value of the current control cycle is estimated based on the difference, and the first difference between the d-axis extended current and the d-axis extended current estimated value of the current control cycle is obtained; based on the q-axis extended voltage of the current control cycle, and the q-axis stator current estimated value, the speed estimated value, the d-axis extended current estimated value, the first difference between the d-axis extended current and the d-axis extended current estimated value, and the second difference between the q-axis stator current and the q-axis stator current estimated value of the previous control cycle, the q-axis stator current estimated value of the current control cycle is estimated, and the second difference between the q-axis stator current and the q-axis stator current estimated value of the current control cycle is obtained.

[0023] This embodiment combines the parameters of the previous control cycle to estimate the d-axis extended current estimate value of this cycle and the estimated q-axis stator current In this way, the deviation in the current control cycle is determined, and based on this deviation, the deviation compensation is determined, and finally the closed-loop state equation is obtained, which ensures the tracking effect of the control system.

[0024] In some embodiments, the second state observer estimates the d-axis extended current estimate and the q-axis stator current estimate of the current control cycle in the following manner:

[0025] in, is the estimated value of the d-axis extended current of the current control cycle, is the estimated value of the q-axis stator current in the current control cycle, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage of the current control cycle, u′ q0 is the q-axis extended voltage of the current control cycle, R s is the stator resistance of the motor, is the estimated value of the d-axis extended current of the previous control cycle, is the estimated value of the q-axis stator current of the previous control cycle, is the estimated value of the speed of the previous control cycle, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the first difference between the d-axis extended current of the previous control cycle and the d-axis extended current estimated value, e iq1 is a second difference between the q-axis stator current of the previous control period and the estimated value of the q-axis stator current.

[0026] In some embodiments, the first difference between the d-axis extended current and the d-axis extended current estimate, the second difference between the q-axis stator current and the q-axis stator current estimate, and the d-axis extended current and the q-axis stator current of the current control cycle are input into the estimator to obtain the speed estimate and rotor position estimate of the motor in the current control cycle, including: integrating the difference between the product of the d-axis extended current and the second difference between the q-axis stator current and the q-axis stator current estimate of the current control cycle and the product of the first difference between the q-axis stator current and the d-axis extended current and the d-axis extended current estimate of the current control cycle to obtain the speed estimate of the current control cycle; integrating the speed estimate of the current control cycle to obtain the rotor position change of the current control cycle, and obtaining the rotor position change of the current control cycle and the rotor position estimate of the motor in the previous control cycle to obtain the rotor position estimate of the current control cycle.

[0027] Furthermore, this embodiment considers the unequal d-axis inductance and q-axis inductance of the salient-pole permanent magnet synchronous motor and selects the variables for constructing the Lyapunov function, that is, based on the first difference e id0and the second difference e iq0 To meet the situation where the d-axis and q-axis of the salient pole permanent magnet synchronous motor are not equal, thereby meeting the application of the salient pole permanent magnet synchronous motor and the non-salient pole permanent magnet synchronous motor.

[0028] In a second aspect, the present application provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for estimating the speed of a position sensorless permanent magnet synchronous motor.

[0029] On the third aspect, the present application proposes a speed estimation system for a position sensorless permanent magnet synchronous motor, comprising: a memory, a processor, and a program stored on the memory and runnable on the processor. When the processor executes the program, the above-mentioned speed estimation method for the position sensorless permanent magnet synchronous motor is implemented.

[0030] In a fourth aspect, the present application proposes a speed estimation device for a position sensorless permanent magnet synchronous motor, the device comprising: an acquisition module for acquiring the d-axis stator current and d-axis stator voltage of the motor in the current control cycle; an expansion module for reconstructing the d-axis stator current and d-axis stator voltage of the current control cycle based on the rotor flux of the motor in the current control cycle and the d-axis inductance of the motor, to obtain the d-axis extended current and d-axis extended voltage of the current control cycle; an adaptive observer for estimating the speed estimation value and rotor position estimation value of the motor in the current control cycle based on the d-axis extended current and d-axis extended voltage of the current control cycle; wherein the adaptive observer is determined based on the voltage equation of the motor, and the voltage equation includes the d-axis inductance and q-axis inductance of the motor.

[0031] In a fifth aspect, the present application proposes an electrical device, including the above-mentioned speed estimation system for the position sensorless permanent magnet synchronous motor, or the above-mentioned speed estimation device for the position sensorless permanent magnet synchronous motor.

[0032] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0034] FIG1 is a flow chart of a method for estimating the speed of a position sensorless permanent magnet synchronous motor according to some embodiments of the present application;

[0035] FIG2 is a schematic diagram of a control system of a position sensorless permanent magnet synchronous motor according to some embodiments of the present application;

[0036] FIG3 is a schematic diagram of an adaptive observer according to some embodiments of the present application;

[0037] FIG4 is a block diagram of a speed estimation system for a position sensorless permanent magnet synchronous motor according to some embodiments of the present application;

[0038] FIG5 is a block diagram of a rotation speed estimation device for a position sensorless permanent magnet synchronous motor according to some embodiments of the present application;

[0039] FIG6 is a block diagram of an electrical device according to some embodiments of the present application;

[0040] FIG7 is a block diagram of electrical equipment according to some other embodiments of the present application.

[0041] Reference numerals:

[0042] A speed estimation system 100 for a position sensorless permanent magnet synchronous motor, a memory 110, a processor 120, a detection probe 130, a speed estimation device 200 for a position sensorless permanent magnet synchronous motor, an acquisition module 210, an expansion module 220, an adaptive observer 230, and an electrical device 1000. DETAILED DESCRIPTION

[0043] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0045] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0046] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0048] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0049] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0050] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0051] In order to ensure the operational stability of the permanent magnet synchronous motor, the motor speed and rotor position need to be observed in real time during the operation of the permanent magnet synchronous motor.

[0052] In related technologies, a tangent saturation function is used as the sliding mode surface control function of a flux sliding mode observer. A speed adaptive observation module based on a Lyapunov function is used to obtain the speed and rotor position angle. Another related technology uses signal processing to digitally process the changes in the back EMF of the three-phase windings, extracting the positional feature points of the back EMF during motor rotation. The rotor position information at these feature points is estimated using an extended Kalman filter to accurately determine the rotor's position.

[0053] Although the above technical solution can estimate the speed and rotor position of the permanent magnet synchronous motor, it is based on the non-salient pole permanent magnet synchronous motor and cannot be applied to the salient pole permanent magnet synchronous motor. At the same time, the above technical solution performs data calculation based on the fourth-order state equation in the actual calculation process, which has a large amount of calculation and is complex to implement.

[0054] To solve the above technical problems, the present application proposes a speed estimation method for a position sensorless permanent magnet synchronous motor. During the operation of the motor, the d-axis stator current and d-axis stator voltage of the motor in the current control cycle are obtained, and based on the rotor flux and d-axis inductance of the motor in the current control cycle, the d-axis stator current and d-axis stator voltage of the current control cycle are reconstructed to obtain the d-axis extended current and d-axis extended voltage of the current control cycle, and the d-axis extended current and d-axis extended voltage of the current control cycle are input into an adaptive observer to obtain the speed estimation value and rotor position estimation value of the motor in the current control cycle, wherein the adaptive observer is determined based on the voltage equation of the motor, and the voltage equation includes the d-axis inductance and q-axis inductance of the motor.

[0055] In the technical solution of the embodiment of the present application, during motor operation, the d-axis stator current and d-axis stator voltage of the motor in the current control cycle are obtained, and the d-axis stator current and d-axis stator voltage of the motor in the current control cycle are reconstructed based on the rotor flux and d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle. The d-axis extended current and d-axis extended voltage of the current control cycle are input into an adaptive observer to obtain the estimated speed and rotor position of the motor in the current control cycle. The adaptive observer is determined based on the voltage equation of the motor, which includes the d-axis inductance and q-axis inductance of the motor. Therefore, the adaptive observer is determined based on the voltage equation including the d-axis inductance and q-axis inductance of the motor, so that the method can estimate the speed and rotor position of both salient-pole permanent magnet synchronous motors and non-salient-pole permanent magnet synchronous motors, expanding the scope of application of the control method while ensuring the accuracy of the motor speed and rotor position estimation.

[0056] For the convenience of description, the following embodiment describes the rotation speed estimation method of the position sensorless permanent magnet synchronous motor of the present application with reference to FIG1 .

[0057] 1 , the speed estimation method of a position sensorless permanent magnet synchronous motor in the present application may include the following steps:

[0058] S1, obtain the d-axis stator current i of the motor in the current control cycle d0 and d-axis stator voltage u d0 ;

[0059] S2, based on the rotor flux ψ of the motor in the current control cycle f and the motor's d-axis inductance L d , for the d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 ;

[0060] S3, the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 Input to the adaptive observer to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate The adaptive observer is determined based on the voltage equation of the motor, which includes the d-axis inductance L of the motor. d and q-axis inductance L q .

[0061] 2, during the control process of the permanent magnet synchronous motor, the three-phase current i of the permanent magnet synchronous motor is sampled and obtained. a 、i b 、i c , after Park transformation, the d-axis stator current i is obtained d and the q-axis stator current i q , then set the given speed and speed estimate The difference between the two values ​​is used to obtain the reference torque T through the speed regulator. ref , and according to the reference torque T ref , bus voltage U dc and speed estimates Combine the maximum torque current ratio control and weak magnetic control to obtain the d-axis reference current and q-axis reference current The d-axis reference current and the d-axis stator current i dThe difference is input into the d-axis current regulator to obtain the d-axis stator voltage u d and the q-axis reference current and the q-axis stator current i q The difference is input into the q-axis current regulator to obtain the q-axis stator voltage u q . The d-axis stator voltage u d and q-axis stator voltage u q After rotational transformation, it is input into the modulation module, which generates a PWM (Pulse Width Modulation) signal. The inverter converts the received PWM signal into a three-phase current to control the operation of the permanent magnet synchronous motor.

[0062] In this embodiment of the present application, the d-axis stator current i of the current control cycle obtained by Park transformation is d0 Reconstruct the d-axis extended current i′ of the current control cycle d0 , the d-axis stator voltage u d0 Reconstruct the d-axis extended voltage u′ of the current control cycle d0 , and then the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 Input adaptive observer, adaptive observer based on Lyapunov stability theorem to obtain the adaptive law of estimated speed, according to the received d-axis extended current i′ of the current control cycle d0 and the d-axis extended voltage u′ d0 Thus, the estimated value of the motor speed in the current control cycle is calculated and the rotor position estimate Speed ​​estimate for the current control cycle and the rotor position estimate For motor control, e.g., setting the speed and speed estimate The difference between the two values ​​is used to obtain the reference torque T through the speed regulator. ref , rotor position estimate For d-axis stator voltage u d and q-axis stator voltage u q Rotational transformation, rotor position estimate For three-phase current i a 、i b 、i c Park transformation. In the synchronous rotating coordinate system, the voltage equation of the ideal permanent magnet synchronous motor is: resistance voltage drop + magnetic field voltage drop + back electromotive force, as shown in formula (1) and formula (2).

[0063] Among them, ud is the d-axis stator voltage, R s is the stator resistance, i d is the d-axis stator current, L d is the d-axis inductance, ω r is the rotor electrical angular velocity, L q is the q-axis inductance, i q is the q-axis stator current, u q is the q-axis stator voltage, ψ f is the rotor flux.

[0064] In the above formulas (1) and (2), L d Indicates the d-axis inductance, L q represents the q-axis inductance, so the voltage equation has already reflected the non-salient pole permanent magnet synchronous motor and the salient pole permanent magnet synchronous motor when it was selected. Specifically, when L d Equal to L q When L d Not equal to L q When , it represents the voltage equation of the salient pole permanent magnet synchronous motor.

[0065] The adaptive observer is determined based on formula (1) and formula (2), so that it can be applied to the speed estimation of non-salient pole permanent magnet synchronous motor and salient pole permanent magnet synchronous motor. and the rotor position estimate The determination of can be used to estimate the speed and rotor position of salient-pole permanent magnet synchronous motor and non-salient-pole permanent magnet synchronous motor.

[0066] According to some embodiments of the present application, based on the rotor flux ψ of the motor in the current control cycle f and the motor's d-axis inductance L d , for the d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 , including: obtaining the rotor flux ψ f Inductance L in the d-axis d The d-axis equivalent current generated on The d-axis stator current i of the current control cycle d0 The sum of the d-axis extended current i′ of the current control cycle is obtained. d0 ; Get the d-axis equivalent current The stator resistance R of the motor s The d-axis equivalent voltage generated on The d-axis stator voltage u of the current control cycle d0 The sum of the d-axis extended voltage u′ of the current control cycle is obtained.d0 Specifically, the d-axis extended current i′ of the current control cycle d0 The calculation formula is as follows:

[0067] Among them, i′ d0 is the d-axis extended current of the current control cycle, is the d-axis equivalent current generated by the rotor flux on the d-axis inductance, i d0 is the d-axis stator current of the current control cycle.

[0068] The d-axis extended voltage u′ of the current control cycle d0 The calculation formula is as follows:

[0069] Among them, u′ d0 is the d-axis extended voltage of the current control cycle, u d0 is the d-axis stator voltage of the current control cycle, It is the d-axis equivalent voltage generated by the d-axis equivalent current on the stator resistance of the motor.

[0070] According to some embodiments of the present application, the adaptive observer includes a first adaptive observer, and the speed estimation method of the position sensorless permanent magnet synchronous motor further includes: obtaining the q-axis stator current i of the motor in the current control cycle q0 and q-axis stator voltage u q0 ; Expand the d-axis current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 Input to the first adaptive observer to obtain the estimated speed of the motor in the current control cycle and the rotor position estimate

[0071] Specifically, the input of the first adaptive observer is the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 The first adaptive observer is based on the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 Observe and estimate the motor system to obtain the speed estimate of the current control cycle and the rotor position estimate Speed ​​estimate for the current control cycle and the rotor position estimate Used for motor control.

[0072] According to some embodiments of the present application, based on the rotor flux ψ of the motor in the current control cycle f and the motor's d-axis inductance L d , for the d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 , including: obtaining the rotor flux ψ f Inductance L in the d-axis d The d-axis equivalent current generated on The d-axis stator current i of the current control cycle d0 The sum of the d-axis extended current i′ of the current control cycle is obtained. d0 ; Get the d-axis equivalent current The stator resistance R of the motor s The d-axis equivalent voltage generated on And get the d-axis equivalent voltage The d-axis stator voltage u of the current control cycle d0 The sum of the d-axis inductance L d The ratio of the d-axis extended voltage u′ of the current control cycle is obtained. d0 .

[0073] Specifically, the d-axis extended current i′ of the current control cycle d0 The calculation formula is formula (3), the d-axis extended voltage u′ of the current control cycle d0 The calculation formula is:

[0074] Among them, u′ d0 is the d-axis extended voltage of the current control cycle, u d0 is the d-axis stator voltage, L d is the d-axis inductance, R s is the stator resistance, ψ f is the rotor flux.

[0075] This embodiment uses As the calculation coefficient, the d-axis extended voltage u′ of the current control cycle is obtained by formula (5) d0 , relative to the d-axis extended voltage u′ of the current control cycle obtained using formula (4) above d0 , which can reduce the amount of computation in the adaptive observer.

[0076] According to some embodiments of the present application, the adaptive observer includes a second adaptive observer, and the speed estimation method of the position sensorless permanent magnet synchronous motor further includes: obtaining the q-axis stator current i of the motor in the current control cycle q0 and q-axis stator voltage u q0 ; Based on q-axis inductance L q The q-axis stator voltage u of the current control cycle q0 Reconstruct and obtain the q-axis extended voltage u′ of the current control cycle q0 ; Expand the d-axis current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Input to the second adaptive observer to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0077] In this embodiment, in addition to the rotor flux ψ based on the motor in the current control cycle f and d-axis inductance L d The d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 In addition, it is also based on the q-axis inductance L q The q-axis stator voltage u of the current control cycle q0 Reconstruct and obtain the q-axis extended voltage u′ of the current control cycle q0 , then the second adaptive observer is based on the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Observe the motor system and estimate the speed of the motor in the current control cycle and the rotor position estimate

[0078] The second adaptive observer is also determined according to the voltage equation of the motor in the above formula (1) and formula (2), so it is suitable for estimating the speed and rotor position of the salient pole permanent magnet synchronous motor and the non-salient pole permanent magnet synchronous motor.

[0079] According to some embodiments of the present application, based on the q-axis inductance L q The q-axis stator voltage u of the current control cycle d0Reconstruct and obtain the q-axis extended voltage u′ of the current control cycle q0 , including: obtaining the q-axis stator voltage u of the current control cycle q0 and q-axis inductance L q The ratio of the q-axis extended voltage u′ of the current control cycle is obtained. q0 .

[0080] That is, the q-axis extended voltage u′ of the current control cycle q0 The calculation formula is:

[0081] Among them, u′ q0 is the q-axis extended voltage of the current control cycle, u q0 is the q-axis stator voltage of the current control cycle, L q is the q-axis inductance.

[0082] Due to the adoption of vector control, the rotor flux ψ f The component on the q axis is 0, and the rotor flux is on the d axis, which will cause the rotor flux ψ f The induced electromotive force is generated on the d-axis. Therefore, this embodiment is based on the rotor flux ψ f The current state variable is constructed to take into account the influence of the rotor flux change. At the same time, since the component of the rotor flux in the q-axis is 0, the q-axis current does not change, and the q-axis voltage is also multiplied by the coefficient

[0083] In this embodiment, the d-axis extended current i′ of the current control cycle is calculated by formula (3): d0 , the d-axis extended voltage u′ of the current control cycle is calculated by formula (5) d0 , the q-axis extended voltage u′ of the current control cycle is calculated by formula (6) q0 The second adaptive observer is based on the q-axis stator current i q0 , and the reconstructed d-axis extended current i′ d0 , d-axis extended voltage u′ d0 , q-axis extended voltage u′ q0 , get the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0084] According to some embodiments of the present application, the first adaptive observer includes a first state observer and an estimator, which converts the d-axis extended current i′ of the current control cycle into d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0Input to the first adaptive observer to obtain the estimated speed of the motor in the current control cycle and the rotor position estimate Including: the d-axis expansion current i' of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 Input to the first state observer to obtain the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , and the q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 The d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0 Input to the estimator to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0085] Specifically, the first state observer is based on the d-axis extended current i′ of the current control cycle. d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 First, the d-axis stator current of the current control cycle is estimated to determine the d-axis extended current estimate of the current control cycle And estimate the q-axis stator current of the current control cycle to determine the estimated value of the q-axis stator current Then the d-axis extended current i′ of the current control cycle is d0 Estimated value of the d-axis extended current Subtract and get the first difference e id0 , the q-axis stator current i q0 and the estimated value of the q-axis stator current Subtract and get the second difference e iq0 , the first difference e id0 , the second difference e iq0is the deviation of the current control cycle. The estimator is based on the d-axis expanded current i′ of the current control cycle. d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0 Determine the speed and rotor position of the motor in the current control cycle.

[0086] In this embodiment, the estimator calculates the deviation of the current control cycle and the d-axis extended current i′. d0 and the q-axis stator current i q0 To estimate the speed and rotor position of the current control cycle, that is, to obtain the estimated speed value of the motor in the current control cycle and the rotor position estimate

[0087] In this application, the d-axis extended current estimation value of the current control cycle is and the estimated q-axis stator current The determination method is based on the voltage equation of the permanent magnet synchronous motor. The following is the estimated value of the d-axis extended current of the current control cycle and the estimated q-axis stator current The determination method is described in detail.

[0088] For formula (1), after formula conversion, we can get:

[0089] According to formula (3), it can be converted into:

[0090] According to formula (4), it can be converted into:

[0091] Substituting formula (8) and formula (9) into formula (7) yields:

[0092] The formula (10) is transformed as follows:

[0093] Simplifying formula (11) we can get:

[0094] According to the derivative rule, the derivative of the constant is equal to zero, that is, the formula Then, formula (12) can be converted to:

[0095] As for formula (2), after formula transformation, we can get:

[0096] Substituting formula (8) into formula (14), we can obtain:

[0097] Transforming formula (15) yields:

[0098] Therefore, through the transformation of the above formula, the two-order state equations (13) and (18) in the synchronous rotating coordinate system are obtained from the voltage equation of the permanent magnet synchronous motor.

[0099] In the application process, the d-axis extended current i′ of the current control cycle can be d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 Input into formula (13) and integrate the calculation result to obtain the estimated value of the d-axis extended current of the current control cycle Then the d-axis extension current i′ d0 Estimated value of the d-axis extended current The first difference value e of the current control cycle is obtained by subtraction id0 .

[0100] At the same time, the d-axis extended current i′ of the current control cycle d0 , q-axis stator current i q0 and q-axis stator voltage u q0 Substitute into formula (18) and integrate the calculated result to obtain the estimated value of the q-axis stator current Then the q-axis stator current i q0 and the estimated value of the q-axis stator current Subtract and get the second difference e iq0 .

[0101] The estimator is based on the first difference e of the current control cycle id0 , the second difference e iq0 , and the d-axis extension current i′ d0 and the q-axis stator current i q0 To estimate the speed and rotor position of the current control cycle, that is, to obtain the estimated speed value of the motor in the current control cycle and the rotor position estimate

[0102] In conjunction with FIG3 , according to some embodiments of the present application, the d-axis extended current i′ of the current control cycle is d0 , d-axis extended voltage u′ d0 , q-axis stator current iq0 and q-axis stator voltage u q0 Input to the first state observer to obtain the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , and the q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , including: d-axis extended voltage u′ based on the current control cycle d0 , and the d-axis extended current estimate of the previous control cycle Speed ​​estimate q-axis stator current estimate d-axis extension current i′ d1 Estimated value of the d-axis extended current The first difference between id1 and the q-axis stator current i q1 and the estimated value of the q-axis stator current The second difference between iq1 , estimate the d-axis extended current estimate of the current control cycle And get the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 Based on the q-axis stator voltage u of the current control cycle q0 , and the estimated value of the q-axis stator current of the previous control cycle Speed ​​estimate d-axis extended current estimate d-axis extension current i′ d1 Estimated value of the d-axis extended current The first difference between id1 and the q-axis stator current i q1 and the estimated value of the q-axis stator current The second difference between iq1 , estimate the q-axis stator current estimate value of the current control cycle And get the q-axis stator current i of the current control cycle q0 and the estimated value of the q-axis stator current The second difference between iq0 .

[0103] To ensure the tracking effect of the control system, this embodiment combines the parameters of the previous control cycle to estimate the d-axis extended current estimation value of this cycle. and the estimated q-axis stator current Thus, the deviation in the current control cycle is determined. Based on this deviation, the deviation compensation is determined, and finally the closed-loop state equation is obtained.

[0104] According to some embodiments of the present application, the first state observer estimates the d-axis extended current estimate of the current control cycle by the following method: and the estimated q-axis stator current

[0105] in, is the estimated value of the d-axis extended current in the current control cycle, is the estimated value of the q-axis stator current in the current control cycle, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage of the current control cycle, u q0 is the q-axis stator voltage of the current control cycle, R s is the stator resistance of the motor, is the estimated value of the d-axis extended current in the previous control cycle, is the estimated value of the q-axis stator current in the previous control cycle, is the estimated value of the speed of the previous control cycle, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the d-axis extended current i′ of the previous control cycle d1 Estimated value of the d-axis extended current The first difference between iq1 is the q-axis stator current i of the previous control cycle q1 and the estimated value of the q-axis stator current The second difference between .

[0106] Specifically, in the process of estimating the speed of the permanent magnet synchronous motor, the d-axis stator current i of the current control cycle is first determined. d0 , d-axis stator voltage u d0 , q-axis stator current i q0 and q-axis stator voltage u q0 , then the d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 , the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0and q-axis stator voltage u q0 Input to the first adaptive observer, then combine the parameters of the previous control cycle and substitute into formula (19) and formula (20) to calculate the d-axis extended current estimate of the current control cycle Estimated value of the q-axis stator current in the current control cycle And further calculate the first difference e of this control cycle id0 , the second difference e iq0 , and then according to the first difference e of the current control cycle id0 , the second difference e iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0 Calculate the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0107] According to some embodiments of the present application, the second adaptive observer includes a second state observer and an estimator, which converts the d-axis extended current i′ of the current control cycle into d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Input to the second adaptive observer to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate Including: the d-axis expansion current i' of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Input to the second state observer to obtain the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , and the q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 ; Expand the d-axis current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0Input to the estimator to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0108] That is, the second state observer is based on the d-axis extended current i′ of the current control cycle. d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 First, estimate the d-axis stator current of the current control cycle and determine the d-axis extended current estimate of the current control cycle And estimate the q-axis stator current of the current control cycle to determine the estimated value of the q-axis stator current Then the d-axis extended current i′ of the current control cycle is d0 Estimated value of the d-axis extended current Subtract and get the first difference e id0 , the q-axis stator current i q0 and the estimated value of the q-axis stator current Subtract and get the second difference e iq0 , d-axis extension current i′ d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 is the deviation of the current control cycle. The estimator is based on the deviation of the current control cycle and the d-axis extended current i′ d0 and the q-axis stator current i q0 To estimate the speed and rotor position of the current control cycle, that is, to obtain the estimated speed value of the motor in the current control cycle and the rotor position estimate

[0109] Furthermore, according to formula (6), we can transform it into:

[0110] u q =L q u′ q (twenty one)

[0111] Substituting formula (21) and formula (8) into formula (14), we can obtain:

[0112] Transform formula (22):

[0113] Therefore, this embodiment obtains the two-order state equations (13) and (25) in the synchronous rotating coordinate system from the voltage equation of the permanent magnet synchronous motor.

[0114] During the application process, the d-axis extended current i′ of the current control cycle is d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 Input into formula (13) and integrate the calculation result to obtain the estimated value of the d-axis extended current of the current control cycle Then the d-axis extension current i′ d0 Estimated value of the d-axis extended current The first difference value e of the current control cycle is obtained by subtraction id0 .

[0115] At the same time, the d-axis extended current i′ of the current control cycle d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Substitute into formula (25) and integrate the calculated result to obtain the estimated value of the q-axis stator current Then the q-axis stator current i q0 and the estimated value of the q-axis stator current Subtract and get the second difference e iq0 .

[0116] The estimator is based on the first difference e of the current control cycle id0 , the second difference e iq0 , and the d-axis extension current i′ d0 and the q-axis stator current i q0 To estimate the speed and rotor position of the current control cycle, that is, to obtain the estimated speed value of the motor in the current control cycle and the rotor position estimate

[0117] According to some embodiments of the present application, the d-axis extended current i′ of the current control cycle is d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis extended voltage u′ q0 Input to the second state observer to obtain the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , and the q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , including: d-axis extended voltage u′ based on the current control cycled0 , and the d-axis extended current estimate of the previous control cycle Speed ​​estimate q-axis stator current estimate d-axis extension current i′ d1 Estimated value of the d-axis extended current The first difference between id1 and the q-axis stator current i q1 and the estimated value of the q-axis stator current The second difference between iq1 , estimate the d-axis extended current estimate of the current control cycle And get the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 Based on the q-axis extended voltage u′ of the current control cycle q0 , and the estimated value of the q-axis stator current of the previous control cycle Speed ​​estimate d-axis extended current estimate d-axis extension current i′ d1 Estimated value of the d-axis extended current The first difference between id1 and the q-axis stator current i q1 and the estimated value of the q-axis stator current The second difference between iq1 , estimate the q-axis stator current estimate value of the current control cycle And get the q-axis stator current i of the current control cycle q0 and the estimated value of the q-axis stator current The second difference between iq0 .

[0118] To ensure the tracking effect of the control system, this embodiment combines the parameters of the previous control cycle to estimate the d-axis extended current estimation value of this cycle. and the estimated q-axis stator current The deviation amount within this control cycle is thus determined, and based on this deviation amount, the deviation compensation is determined, and finally the closed-loop state equation is obtained.

[0119] According to some embodiments of the present application, the second state observer estimates the d-axis extended current estimate of the current control cycle by the following method: and the estimated q-axis stator current

[0120] in, is the estimated value of the d-axis extended current in the current control cycle, is the estimated value of the q-axis stator current in the current control cycle, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage of the current control cycle, u′ d0 is the q-axis extended voltage of the current control cycle, R s is the stator resistance of the motor, is the estimated value of the d-axis extended current in the previous control cycle, is the estimated value of the q-axis stator current in the previous control cycle, is the estimated value of the speed of the previous control cycle, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the d-axis extended current i′ of the previous control cycle d1 Estimated value of the d-axis extended current The first difference between iq1 is the q-axis stator current i of the previous control cycle q1 and the estimated value of the q-axis stator current The second difference between .

[0121] In this embodiment, during the process of estimating the speed of the permanent magnet synchronous motor, the d-axis stator current i of the current control cycle is first obtained. d0 , d-axis stator voltage u d0 , q-axis stator current i q0 and q-axis stator voltage u q0 , then the d-axis stator current i of the current control cycle d0 and d-axis stator voltage u d0 Reconstruct and obtain the d-axis extended current i′ of the current control cycle d0 and d-axis extended voltage u′ d0 , and the q-axis stator voltage u of the current control cycle q0 Reconstruct and obtain the q-axis extended voltage u′ of the current control cycle q0 , the d-axis extended current i′ of the current control cycle d0 , d-axis extended voltage u′ d0 , q-axis stator current i q0 and q-axis stator voltage u q0 Input to the second adaptive observer, then combine the parameters of the previous control cycle and substitute into formula (26) and formula (27) to calculate the d-axis extended current estimate of the current control cycle Estimated value of the q-axis stator current in the current control cycle And further calculate the d-axis extended current i′ of this control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , and then according to the d-axis expansion current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between id0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0 Calculate the estimated value of the motor speed in the current control cycle and the rotor position estimate

[0122] According to some embodiments of the present application, the d-axis extended current i′ of the current control cycle is d0 Estimated value of the d-axis extended current The first difference between ′d0 , q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 , d-axis extension current i′ d0 and the q-axis stator current i q0 Input to the estimator to obtain the estimated value of the motor speed in the current control cycle and the rotor position estimate Including: d-axis extended current i' for the current control cycle d0 and the q-axis stator current i q0 and the estimated value of the q-axis stator current The second difference between iq0 The product of the q-axis stator current i in the current control cycle q0 and d-axis extension current i′ d0 Estimated value of the d-axis extended current The first difference between id0 The product of the two is integrated to get the estimated speed value of the current control cycle. Estimated speed for the current control cycle Integrate to obtain the rotor position change of the current control cycle, and obtain the rotor position change of the current control cycle and the estimated value θ0 of the rotor position of the motor in the previous control cycle to obtain the estimated value of the rotor position of the current control cycle

[0123] Specifically, the function formula is determined based on Lyapunov's stability theorem:

[0124] in, ρ=L q / L d .

[0125] According to Lyapunov's stability theorem, when When , the system is asymptotically stable over a large range, and the adaptive law for estimating the speed is obtained:

[0126] or

[0127] For example, you can Expand, when If The adaptive law for the estimated speed is determined as formula (29).

[0128] When the adaptive law for estimating the speed adopts formula (29), the speed estimation value of the current control cycle can be obtained: The calculation formula is:

[0129] in, is the estimated speed value of the current control cycle, i′ d0 is the d-axis extended current of the current control cycle, e iq0 is the q-axis stator current i of the current control cycle q0 and the estimated value of the q-axis stator current The second difference between q0 is the q-axis stator current of the current control cycle, e id0 is the d-axis extended current i′ of the current control cycle d0 Estimated value of the d-axis extended current The first difference between .

[0130] The rotor position estimate is calculated as:

[0131] in, is the estimated value of the rotor position in the current cycle, is the estimated value of the speed of the current control cycle, and θ0 is the estimated value of the rotor position of the previous control cycle.

[0132] This embodiment uses the second-order state equation to estimate the speed estimate of the permanent magnet synchronous motor in the current control cycle: And further estimated by the speed Calculate rotor position estimate

[0133] Furthermore, this embodiment considers the unequal d-axis inductance and q-axis inductance of the salient-pole permanent magnet synchronous motor and selects the variables for constructing the Lyapunov function, that is, based on the first difference e id0 and the second difference e iq0 This method takes into account the situation where the d-axis and q-axis of a salient-pole permanent magnet synchronous motor are unequal, thereby meeting the application requirements of both salient-pole permanent magnet synchronous motors and non-salient-pole permanent magnet synchronous motors. Furthermore, the speed estimation method disclosed in this application reduces the order of the state equation, making it simple to program and implement, and significantly reducing the amount of computation.

[0134] Corresponding to the above embodiment, the present application also proposes a computer-readable storage medium.

[0135] The computer-readable storage medium of the embodiment of the present application stores a program thereon, and when the program is executed by a processor, the above-mentioned method for estimating the speed of a position sensorless permanent magnet synchronous motor is implemented.

[0136] Corresponding to the above embodiment, the present application also proposes a speed estimation system for a position sensorless permanent magnet synchronous motor.

[0137] 4 , the speed estimation system 100 of the position sensorless permanent magnet synchronous motor of the present application includes: a memory 110, a processor 120, and a program stored on the memory 110 and executable on the processor 120. When the processor 120 executes the program, the speed estimation method of the position sensorless permanent magnet synchronous motor is implemented.

[0138] Corresponding to the above embodiment, the present application also proposes a speed estimation device for a position sensorless permanent magnet synchronous motor.

[0139] 5 , the speed estimation device 200 for a position sensorless permanent magnet synchronous motor of the present application includes: an acquisition module 210, an expansion module 220, and an adaptive observer 230. The acquisition module 210 is used to acquire the d-axis stator current and d-axis stator voltage of the motor in the current control cycle. The expansion module 220 is used to reconstruct the d-axis stator current and d-axis stator voltage of the current control cycle based on the rotor flux and d-axis inductance of the motor in the current control cycle to obtain the d-axis extended current and d-axis extended voltage of the current control cycle. The adaptive observer 230 is used to estimate the speed estimate and rotor position estimate of the motor in the current control cycle based on the d-axis extended current and d-axis extended voltage of the current control cycle. The adaptive observer 230 is determined based on the voltage equation of the motor, which includes the d-axis inductance and q-axis inductance of the motor.

[0140] Corresponding to the above embodiment, the present application also proposes an electrical device.

[0141] 6 , the electrical device 1000 of the present application includes the aforementioned position sensorless permanent magnet synchronous motor speed estimation system 100 , or, as shown in FIG7 , the electrical device 1000 of the present application includes a position sensorless permanent magnet synchronous motor speed estimation device 200 .

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for estimating the speed of a sensorless permanent magnet synchronous motor, characterized in that, The method includes: Obtaining the d-axis stator current and d-axis stator voltage of the motor in the current control period; Based on the rotor flux linkage of the motor in the current control period and the d-axis inductance of the motor, reconstructing the d-axis stator current and d-axis stator voltage in the current control period to obtain the d-axis extended current and d-axis extended voltage in the current control period; Inputting the d-axis extended current and d-axis extended voltage in the current control period into an adaptive observer to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period; wherein, the adaptive observer is determined based on the voltage equation of the motor, and the voltage equation includes the d-axis inductance and q-axis inductance of the motor.

2. The method according to claim 1, wherein The reconstructing the d-axis stator current and d-axis stator voltage in the current control period based on the rotor flux linkage of the motor in the current control period and the d-axis inductance of the motor to obtain the d-axis extended current and d-axis extended voltage in the current control period includes: Obtaining the sum of the d-axis equivalent current generated by the rotor flux linkage on the d-axis inductance and the d-axis stator current in the current control period to obtain the d-axis extended current in the current control period; Obtaining the sum of the d-axis equivalent voltage generated by the d-axis equivalent current on the stator resistance of the motor and the d-axis stator voltage in the current control period to obtain the d-axis extended voltage in the current control period.

3. The method according to claim 2, wherein The adaptive observer includes a first adaptive observer, and the method further includes: Obtaining the q-axis stator current and q-axis stator voltage of the motor in the current control period; Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis stator voltage in the current control period into the first adaptive observer to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period.

4. The method according to claim 1, characterized in that The reconstructing the d-axis stator current and d-axis stator voltage in the current control period based on the rotor flux linkage of the motor in the current control period and the d-axis inductance of the motor to obtain the d-axis extended current and d-axis extended voltage in the current control period includes: Obtaining the sum of the d-axis equivalent current generated by the rotor flux linkage on the d-axis inductance and the d-axis stator current in the current control period to obtain the d-axis extended current in the current control period; Obtaining the d-axis equivalent voltage generated by the d-axis equivalent current on the stator resistance of the motor, and obtaining the ratio of the sum of the d-axis equivalent voltage and the d-axis stator voltage in the current control period to the d-axis inductance to obtain the d-axis extended voltage in the current control period.

5. The method according to claim 4, characterized in that, The adaptive observer includes a second adaptive observer, and the method further includes: Obtaining the q-axis stator current and q-axis stator voltage of the motor in the current control period; Reconstructing the q-axis stator voltage in the current control period based on the q-axis inductance to obtain the q-axis extended voltage in the current control period; Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current and q-axis extended voltage in the current control period into the second adaptive observer to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period.

6. The method according to claim 5, wherein Reconstructing the q-axis stator voltage of the current control period based on the q-axis inductance to obtain the q-axis extended voltage of the current control period includes: Obtaining the ratio of the q-axis stator voltage of the current control period to the q-axis inductance to obtain the q-axis extended voltage of the current control period.

7. The method according to claim 3, wherein The first adaptive observer includes a first state observer and an estimator. Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis stator voltage of the current control period into the first adaptive observer to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period includes: Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis stator voltage of the current control period into the first state observer to obtain a first difference between the d-axis extended current and the estimated value of the d-axis extended current, and a second difference between the q-axis stator current and the estimated value of the q-axis stator current in the current control period; Inputting the first difference between the d-axis extended current and the estimated value of the d-axis extended current, the second difference between the q-axis stator current and the estimated value of the q-axis stator current, the d-axis extended current, and the q-axis stator current in the current control period into the estimator to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period.

8. The method according to claim 7, wherein Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis stator voltage of the current control period into the first state observer to obtain a first difference between the d-axis extended current and the estimated value of the d-axis extended current, and a second difference between the q-axis stator current and the estimated value of the q-axis stator current in the current control period includes: Based on the d-axis extended voltage of the current control period, the estimated value of the d-axis extended current, the estimated value of the speed, the estimated value of the q-axis stator current, the first difference between the d-axis extended current and the estimated value of the d-axis extended current, and the second difference between the q-axis stator current and the estimated value of the q-axis stator current in the previous control period, estimating the estimated value of the d-axis extended current in the current control period, and obtaining the first difference between the d-axis extended current and the estimated value of the d-axis extended current in the current control period; Based on the q-axis stator voltage of the current control period, the estimated value of the q-axis stator current, the estimated value of the speed, the estimated value of the d-axis extended current, the first difference between the d-axis extended current and the estimated value of the d-axis extended current, and the second difference between the q-axis stator current and the estimated value of the q-axis stator current in the previous control period, estimating the estimated value of the q-axis stator current in the current control period, and obtaining the second difference between the q-axis stator current and the estimated value of the q-axis stator current in the current control period.

9. The method according to claim 8, wherein The first state observer estimates the d-axis extended current estimate and the q-axis stator current estimate of the current control period in the following manner: Among them, is the estimated d-axis extended current value for the current control period, is the estimated value of the q-axis stator current for the current control period, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage for the current control period, u q0 is the q-axis stator voltage for the current control period, R s is the stator resistance of the motor is the estimated d-axis extended current value for the previous control period, is the estimated value of the q-axis stator current for the previous control period, is the rotational speed estimation value for the previous control period, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the first difference between the d-axis extended current and the estimated value of the d-axis extended current for the previous control period, e iq1 is the second difference between the q-axis stator current and the estimated value of the q-axis stator current for the previous control period.

10. The method according to claim 5, wherein The second adaptive observer includes a second state observer and an estimator. Inputting the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis extended voltage of the current control period into the second adaptive observer to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period includes: Input the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis extended voltage of the current control period into the second state observer to obtain a first difference between the d-axis extended current of the current control period and the estimated value of the d-axis extended current, and a second difference between the q-axis stator current and the estimated value of the q-axis stator current; Input the first difference between the d-axis extended current of the current control period and the estimated value of the d-axis extended current, the second difference between the q-axis stator current and the estimated value of the q-axis stator current, the d-axis extended current, and the q-axis stator current of the current control period into the estimator to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period.

11. The method according to claim 10, wherein The step of inputting the d-axis extended current, d-axis extended voltage, q-axis stator current, and q-axis extended voltage of the current control period into the second state observer to obtain a first difference between the d-axis extended current of the current control period and the estimated value of the d-axis extended current, and a second difference between the q-axis stator current and the estimated value of the q-axis stator current includes: Based on the d-axis extended voltage of the current control period, and the estimated value of the d-axis extended current, the estimated value of the speed, the estimated value of the q-axis stator current, the first difference between the d-axis extended current and the estimated value of the d-axis extended current, and the second difference between the q-axis stator current and the estimated value of the q-axis stator current in the previous control period, estimate the estimated value of the d-axis extended current of the current control period, and obtain the first difference between the d-axis extended current of the current control period and the estimated value of the d-axis extended current; Based on the q-axis extended voltage of the current control period, and the estimated value of the q-axis stator current, the estimated value of the speed, the estimated value of the d-axis extended current, the first difference between the d-axis extended current and the estimated value of the d-axis extended current, and the second difference between the q-axis stator current and the estimated value of the q-axis stator current in the previous control period, estimate the estimated value of the q-axis stator current of the current control period, and obtain the second difference between the q-axis stator current of the current control period and the estimated value of the q-axis stator current.

12. The method according to claim 11, wherein The second state observer estimates the d-axis extended current estimate and the q-axis stator current estimate of the current control period in the following manner: Among them, is the estimated d-axis extended current value for the current control period, is the estimated value of the q-axis stator current for the current control period, L d is the d-axis inductance, L q is the q-axis inductance, u′ d0 is the d-axis extended voltage for the current control period, u′ q0 is the q-axis extended voltage for the current control period, R s is the stator resistance of the motor, is the estimated d-axis extended current value for the previous control period, is the estimated value of the q-axis stator current for the previous control period, is the rotational speed estimation value for the previous control period, ρ = L q / L d , g1 is the first gain coefficient, g2 is the second gain coefficient, e id1 is the first difference between the d-axis extended current and the estimated value of the d-axis extended current for the previous control period, e iq1 is the second difference between the q-axis stator current and the estimated value of the q-axis stator current for the previous control period.

13. The method according to claim 7 or 10, characterized in that The step of inputting the first difference between the d-axis extended current of the current control period and the estimated value of the d-axis extended current, the second difference between the q-axis stator current and the estimated value of the q-axis stator current, the d-axis extended current, and the q-axis stator current of the current control period into the estimator to obtain the estimated value of the motor speed and the estimated value of the rotor position in the current control period includes: Integrate the difference between the product of the d-axis extended current of the current control period and the second difference between the q-axis stator current and the estimated value of the q-axis stator current, and the product of the q-axis stator current of the current control period and the first difference between the d-axis extended current and the estimated value of the d-axis extended current, to obtain the estimated value of the speed in the current control period; Integrate the estimated value of the speed in the current control period to obtain the change in the rotor position in the current control period, and obtain the estimated value of the rotor position in the current control period by adding the change in the rotor position in the current control period to the estimated value of the rotor position of the motor in the previous control period.

14. A computer-readable storage medium, characterized in that, A program is stored therein, and when the program is executed by a processor, the method according to any one of claims 1-13 is implemented.

15. A speed estimation system for a sensorless permanent magnet synchronous motor, characterized in that, Comprising: A memory, a processor, and a program stored on the memory and executable on the processor, and when the processor executes the program, the method according to any one of claims 1-13 is implemented.

16. A speed estimation device for a sensorless permanent magnet synchronous motor, characterized in that, The device comprises: An acquisition module for acquiring the d-axis stator current and d-axis stator voltage of the motor in the current control period; An expansion module for reconstructing the d-axis stator current and d-axis stator voltage in the current control period based on the rotor magnetic flux of the motor in the current control period and the d-axis inductance of the motor to obtain the d-axis expansion current and d-axis expansion voltage in the current control period; An adaptive observer for estimating the rotational speed estimation value and rotor position estimation value of the motor in the current control period based on the d-axis expansion current and d-axis expansion voltage in the current control period; wherein, the adaptive observer is determined based on the voltage equation of the motor, and the voltage equation includes the d-axis inductance and q-axis inductance of the motor.

17. An electrical device, characterized in that, Comprising the rotational speed estimation system of the sensorless permanent magnet synchronous motor according to claim 15, or the rotational speed estimation device of the sensorless permanent magnet synchronous motor according to claim 16.

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