CN116317788A - PMSM rotor position and rotation speed estimation method of robust self-adaptive observer - Google Patents
PMSM rotor position and rotation speed estimation method of robust self-adaptive observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
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Abstract
The invention discloses a PMSM rotor position and rotation speed estimation method of a robust self-adaptive observer, which specifically comprises the following steps: step 1, constructing a state equation of a permanent magnet synchronous motor; step 2, constructing a strong self-adaptive observer to estimate an extended counter electromotive force through the state equation obtained in the step 1; and 3, estimating the rotor position and the rotating speed of the permanent magnet synchronous motor through the enhanced phase-locked loop by using the estimated expanded counter electromotive force obtained in the step 2, and solving the problems of large fluctuation and poor precision of the estimated rotor position and the rotating speed of the permanent magnet synchronous motor caused by a sign function or a nonlinear function and a low-pass filter of the traditional sliding mode observer.
Description
Technical Field
The invention belongs to the technical field of permanent magnet synchronous motor control, and particularly relates to a PMSM rotor position and rotating speed estimation method of a robust self-adaptive observer.
Background
The permanent magnet synchronous motor (Permanent magnet synchronous motor, PMSM) has the advantages of small volume, high power density, wide speed regulation range and the like, and has wide application value in the fields of military, industry, medical treatment, household appliances and the like. The control performance of the permanent magnet synchronous motor is seriously dependent on accurate acquisition of the rotor position and the rotating speed. However, installing mechanical sensors not only increases the volume and cost of the system, but also reduces the reliability of the system. Therefore, accurate estimation of the rotor position and rotational speed of the permanent magnet synchronous motor without installing mechanical sensors is of great importance.
At present, in a rotor position and rotating speed estimation method of a permanent magnet synchronous motor, a sliding mode observer controls the state of a system to trend towards a set sliding mode surface and a sliding mode through a preselected sliding mode surface and a sliding mode control function, and the sliding mode observer has strong robustness to parameter change, internal disturbance and external disturbance, so that the sliding mode observer is widely studied and applied. However, the sign function or nonlinear function in the sliding mode observer may cause a buffeting phenomenon, resulting in large fluctuations in estimated rotor position and rotational speed, poor accuracy, and the addition of a low pass filter may deteriorate the dynamic performance of the system and result in the estimated rotor position lagging the actual rotor position.
Disclosure of Invention
The invention aims to provide a PMSM rotor position and rotating speed estimation method of a robust self-adaptive observer, which solves the problems of large fluctuation of the estimated rotor position and rotating speed of a permanent magnet synchronous motor and poor precision caused by a sign function or a nonlinear function and a low-pass filter of the traditional sliding mode observer.
The technical scheme adopted by the invention is as follows:
a PMSM rotor position and rotation speed estimation method of a robust adaptive observer specifically comprises the following steps:
the voltage equation of the permanent magnet synchronous motor under the alpha beta two-phase static coordinate system is shown in formula (1):
wherein ,uα 、u β The components of the stator voltage in the alpha and beta axes, i α 、i β The components of the stator current in the alpha and beta axes, respectively, p being the differential operator, R s Is the stator resistance e α ＝-[(L d -L q )i d ω r +ω r ψ f ]sinθ r ，e β ＝[(L d -L q )i d ω r +ω r ψ f ]cosθ r ，e α and eβ Extending the component of back emf in the alpha and beta axes, L d Is d-axis inductance, L q Is q-axis inductance, i d Is the component of the stator current in the d-axis, ψ f Is the flux linkage of the permanent magnet, omega r Is the actual rotor speed, theta r Is the actual rotor position;
the differential equation of the stator current obtained by the formula (1) is shown as the formula (2):
step 2, constructing a robust self-adaptive observer to estimate an extended back electromotive force through the state equation of the permanent magnet synchronous motor obtained in the step 1, wherein the specific method comprises the following steps:
step 2.1, constructing a robust adaptive observer by using a differential equation of the stator current obtained by the formula (2) as shown in the formula (3):
wherein ,
is i α Estimated value of ∈10->
Is i β Estimated value f of (f) a Is an adaptive function of the adaptive observer;
adaptive function in equation (3)
and />
The estimated alpha axis extended back emf and beta axis extended back emf are shown in equation (4):
wherein ,
is alpha-axis extended back electromotive force e α Estimated value of ∈10->
Is beta-axis extended back electromotive force e β Is a function of the estimated value of (2);
step 2.2, designing the adaptive function f in the robust adaptive observer in step 2.1 a ；
Adaptive function f in a robust adaptive observer a The characteristics of (a) determine the estimation accuracy and dynamic performance of the robust adaptive observer, the adaptive function f a The adaptation function f of the robust adaptive observer should follow the frequency adaptation of the extended back emf and should have high gain and no phase shift at the extended back emf frequency a As shown in formula (5):
wherein ,ωα Is the center frequency omega e Is the estimated rotational speed omega α ＝ω e Center frequency omega α Following the estimated rotational speed omega e The self-adaptive change, s is complex frequency, mu is an adjustable parameter, mu is larger, amplitude and phase change near the center frequency are smaller, robustness to the center frequency is stronger, but frequency selection performance is reduced, noise suppression capability is reduced, mu is increased when the motor is in dynamic state to enhance the robustness to the center frequency, stability is improved, mu is reduced when the motor is in steady state to enhance the suppression capability to noise; λ is a gain coefficient, the larger the λ is, the larger the gain is at the center frequency, the better the frequency selection characteristic is, but the larger the gain coefficient λ is, the system instability is easily caused; k is an adjustable parameter, the larger the value of k, the faster the dynamic response of the adaptive observer, but too large k will result in an adaptive function f a The center frequency offset of the self-adaptive observer leads to the fact that the estimated rotor position lags behind the actual rotor position, so that the adjustable parameter k is adjusted according to the running state of the motor, k is increased when the motor runs in a dynamic state to increase the tracking performance of the self-adaptive observer, and k is decreased when the motor runs in a steady state to ensure the accuracy of the center frequency;
step 3, estimating the rotor position and the rotating speed of the permanent magnet synchronous motor through the enhanced phase-locked loop by the estimated extended counter electromotive force obtained in the step 2, wherein the specific method comprises the following steps:
the extended back emf estimated by equations (3) and (4) calculates the rotor position error signal as shown in equation (8):
wherein ,θe Is the estimated rotor position, ε is the rotor position error signal;
the rotor position error signal epsilon is adjusted by an enhanced loop filter to obtain an estimated rotational speed as shown in equation (9):
wherein ,ωσ ＝ω * Is an adjustable parameter omega σ Following the set rotational speed omega * Self-adaptive adjustment;
for estimated rotational speed omega e The integration results in an estimated rotor position as shown in equation (10):
further, the method for adjusting the adjustable parameter μ in step 2.2 is shown in formula (6):
wherein ,ω* The rotation speed is set.
Further, the method for adjusting the adjustable parameter k in the step 2.2 is as shown in the formula (7):
wherein ,ω* The rotation speed is set.
Further, λ=70 in step 2.2.
The beneficial effects of the invention are as follows:
compared with the traditional method for estimating the rotor position and the rotating speed by using the sliding mode observer, the method has the advantages that the buffeting phenomenon cannot be caused by using the strong self-adaptive observer, a low-pass filter is not needed in the rotor position and rotating speed estimation process, and the problem that the estimated rotor position lags behind the actual rotor position caused by the low-pass filter is avoided; rotor position error of traditional phase-locked loop in speed slope setting is restrained by adopting enhanced phase-locked loop, and adjustable parameter omega of enhanced loop filter in enhanced phase-locked loop σ Following the set rotational speed omega * The self-adaptive adjustment improves the dynamic performance and noise suppression capability of the system.
Drawings
FIG. 1 is a block diagram of a vector control system employed in a method for estimating PMSM rotor position and rotational speed for a robust adaptive observer in accordance with the present invention;
FIG. 2 is a block diagram of a robust adaptive observer used in a method for estimating the position and rotational speed of a PMSM rotor of the robust adaptive observer according to the present invention, where FIG. 2 (a) is a block diagram of the robust adaptive observer for estimating the alpha-axis extended reactionary, and FIG. 2 (b) is a block diagram of the robust adaptive observer for estimating the beta-axis extended reactionary;
fig. 3 is a block diagram of an enhanced phase-locked loop used in a PMSM rotor position and rotational speed estimation method of a robust adaptive observer according to the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
A PMSM rotor position and rotation speed estimation method of a robust adaptive observer is provided, wherein a vector control system block diagram of the PMSM rotor position and rotation speed estimation method of the robust adaptive observer is shown in figure 1.
A PMSM rotor position and rotation speed estimation method of a robust self-adaptive observer is implemented according to the following steps:
the voltage equation of the permanent magnet synchronous motor under the alpha beta two-phase static coordinate system is shown in formula (1):
wherein ,uα 、u β The components of the stator voltage in the alpha and beta axes, i α 、i β The components of the stator current in the alpha and beta axes, respectively, p being the differential operator, R s Is the stator resistance e α ＝-[(L d -L q )i d ω r +ω r ψ f ]sinθ r ，e β ＝[(L d -L q )i d ω r +ω r ψ f ]cosθ r ，e α and eβ Extending the component of back emf in the alpha and beta axes, L d Is d-axis inductance, L q Is q-axis inductance, i d Is the component of the stator current in the d-axis, ψ f Is the flux linkage of the permanent magnet, omega r Is the actual rotor speed, theta r Is the actual rotor position;
the differential equation for the stator current obtained by equation (1) is shown in equation (2) below:
step 2, constructing a robust self-adaptive observer estimation extension back electromotive force shown in fig. 2 through the state equation obtained in the step 1, wherein the specific method comprises the following steps:
step 2.1, constructing a robust adaptive observer by using a differential equation of the stator current obtained by the formula (2) as shown in the formula (3):
wherein ,
is i α Estimated value of ∈10->
Is i β Estimated value f of (f) a Is an adaptive function of the adaptive observer;
adaptive function in equation (3)
and />
The estimated alpha axis extended back emf and beta axis extended back emf are shown in equation (4):
wherein ,
is alpha-axis extended back electromotive force e α Estimated value of ∈10->
Is beta-axis extended back electromotive force e β Is a function of the estimated value of (2);
step 2.2, designing the adaptive function f in the robust adaptive observer in step 2.1 a ；
Adaptive function f in a robust adaptive observer a The characteristics of (a) determine the estimation accuracy and dynamic performance of the robust adaptive observer, the adaptive function f a The adaptation function f of the robust adaptive observer should follow the frequency adaptation of the extended back emf and should have high gain and no phase shift at the extended back emf frequency a As shown in formula (5):
wherein ,ωα Is the center frequency omega e Is the estimated rotational speed omega α ＝ω e Omega when the motor is first operated e Given an initial value of 0, the center frequency ω α Following the rotational speed ω estimated in step 3 e The self-adaptive change, s is complex frequency, mu is an adjustable parameter, mu is larger, amplitude and phase change near the center frequency are smaller, robustness to the center frequency is stronger, but frequency selection performance is reduced, noise suppression capability is reduced, mu is increased when the motor is in dynamic state to enhance the robustness to the center frequency, stability is improved, mu is reduced when the motor is in steady state to enhance the suppression capability to noise; λ is a gain coefficient, the larger the λ is, the larger the gain is at the center frequency, the better the frequency selecting characteristic is, but the larger the gain coefficient λ is, the system is easy to be unstable, and λ=70 is taken; k is an adjustable parameter, the larger the value of k, the faster the dynamic response of the adaptive observer, but too large k will result in an adaptive function f a Center frequency of (2)The offset causes that the estimated rotor position lags behind the actual rotor position, so that the adjustable parameter k is adjusted according to the running state of the motor, k is increased when the motor runs in a dynamic state to increase the tracking performance of the self-adaptive observer, and k is decreased when the motor runs in a steady state to ensure the accuracy of the center frequency;
the adjusting method of the adjustable parameter mu is shown in a formula (6):
wherein ,ω* Setting a rotating speed;
the adjustable parameter k adjusting method is shown in a formula (7):
step 3, estimating the rotor position and the rotating speed of the permanent magnet synchronous motor through the enhanced phase-locked loop shown in fig. 3 by the estimated extended counter electromotive force obtained in step 2, which comprises the following specific steps:
the extended back emf estimated by equations (3) and (4) calculates the rotor position error signal as shown in equation (8):
wherein ,θe Is the estimated rotor position, ε is the rotor position error signal;
the rotor position error signal epsilon is adjusted by an enhanced loop filter to obtain an estimated rotational speed as shown in equation (9):
wherein ,ωσ ＝ω * Is an adjustable parameter omega σ Following the set rotational speed omega * Self-adaptive adjustment;
for estimated rotational speed omega e The integration results in an estimated rotor position as shown in equation (10):
a vector control system block diagram adopted by a PMSM rotor position and rotation speed estimation method of a robust self-adaptive observer is shown in figure 1, the system is formed by 3 PI regulators to form double-loop control of a rotation speed loop and a current loop, the output of the rotation speed loop PI regulator is used as the input of maximum torque current ratio control (MTPA), and the current command output by the MTPA
As an input to the current loop PI regulator, the output of the current regulator controls the power electronic converter.
Stator current i of permanent magnet synchronous motor in three-phase static coordinate system is detected through current Hall sensor a 、i b 、i c The method comprises the steps of carrying out a first treatment on the surface of the Detected three-phase stator current i a 、i b 、i c Conversion to a current value i in a two-phase stationary coordinate system by abc/αβ transformation α 、i β ；i α 、i β Conversion to a current value i in a two-phase synchronous rotating coordinate system by alpha beta/dq conversion d 、i q The method comprises the steps of carrying out a first treatment on the surface of the Two-phase voltage u in two-phase stationary coordinate system α 、u β And two-phase current i α 、i β As an input to the robust adaptive observer as shown in fig. 2, the output of the robust adaptive observer is the estimated extended back emf
Estimated extended back emf>
Estimated by an enhanced phase-locked loop as shown in fig. 3Rotor theta of meter e And rotation speed omega e The method comprises the steps of carrying out a first treatment on the surface of the Setting a given rotational speed omega of the rotational speed ring * With the rotational speed omega estimated by the phase-locked loop e Difference is made, and electromagnetic torque set value is output after passing through a rotating speed ring PI controller>
A given excitation current is then obtained from the maximum torque current ratio (MTPA)>
And a given torque current>
Given exciting current +.>
And feedback current i d Difference is made, d-axis voltage is output through a current loop PI controller>
Given exciting current +.>
And feedback current i q Difference is made, q-axis voltage is output through a current loop PI controller
Obtaining two-phase voltage u under two-phase static coordinate system through dq/alpha beta transformation α 、u β And then, a three-phase inverter is controlled through SVPWM modulation, and finally, a permanent magnet synchronous motor is driven to work.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (4)
1. A method for estimating the position and the rotation speed of a PMSM rotor of a robust adaptive observer, which is characterized by comprising the following steps:
step 1, constructing a state equation of a permanent magnet synchronous motor, wherein the specific method comprises the following steps:
the voltage equation of the permanent magnet synchronous motor under the alpha beta two-phase static coordinate system is shown in formula (1):
wherein ,uα 、u β The components of the stator voltage in the alpha and beta axes, i α 、i β The components of the stator current in the alpha and beta axes, respectively, p being the differential operator, R s Is the stator resistance e α ＝-[(L d -L q )i d ω r +ω r ψ f ]sinθ r ，e β ＝[(L d -L q )i d ω r +ω r ψ f ]cosθ r ，e α and eβ Extending the component of back emf in the alpha and beta axes, L d Is d-axis inductance, L q Is q-axis inductance, i d Is the component of the stator current in the d-axis, ψ f Is the flux linkage of the permanent magnet, omega r Is the actual rotor speed, theta r Is the actual rotor position;
the differential equation of the stator current obtained by the formula (1) is shown as the formula (2):
step 2, constructing a robust self-adaptive observer to estimate an extended back electromotive force through the state equation of the permanent magnet synchronous motor obtained in the step 1, wherein the specific method comprises the following steps:
step 2.1, constructing a robust adaptive observer by using a differential equation of the stator current obtained by the formula (2) as shown in the formula (3):
wherein ,
is i α Estimated value of ∈10->
Is i β Estimated value f of (f) a Is an adaptive function of the adaptive observer;
adaptive function in equation (3)
and />
The estimated alpha axis extended back emf and beta axis extended back emf are shown in equation (4):
wherein ,
is alpha-axis extended back electromotive force e α Estimated value of ∈10->
Is beta-axis extended back electromotive force e β Is a function of the estimated value of (2);
step 2.2, designing the adaptive function f in the robust adaptive observer in step 2.1 a ；
Adaptive function f in a robust adaptive observer a Is determined by the nature of the robust adaptive observerEnergy, adaptive function f a The adaptation function f of the robust adaptive observer should follow the frequency adaptation of the extended back emf and should have high gain and no phase shift at the extended back emf frequency a As shown in formula (5):
wherein ,ωα Is the center frequency omega e Is the estimated rotational speed omega α ＝ω e Center frequency omega α Following the estimated rotational speed omega e The self-adaptive change, s is complex frequency, mu is an adjustable parameter, mu is larger, amplitude and phase change near the center frequency are smaller, robustness to the center frequency is stronger, but frequency selection performance is reduced, noise suppression capability is reduced, mu is increased when the motor is in dynamic state to enhance the robustness to the center frequency, stability is improved, mu is reduced when the motor is in steady state to enhance the suppression capability to noise; λ is a gain coefficient, the larger the λ is, the larger the gain is at the center frequency, the better the frequency selection characteristic is, but the larger the gain coefficient λ is, the system instability is easily caused; k is an adjustable parameter, the larger the value of k, the faster the dynamic response of the adaptive observer, but too large k will result in an adaptive function f a The center frequency offset of the self-adaptive observer leads to the fact that the estimated rotor position lags behind the actual rotor position, so that the adjustable parameter k is adjusted according to the running state of the motor, k is increased when the motor runs in a dynamic state to increase the tracking performance of the self-adaptive observer, and k is decreased when the motor runs in a steady state to ensure the accuracy of the center frequency;
step 3, estimating the rotor position and the rotating speed of the permanent magnet synchronous motor through the enhanced phase-locked loop by the estimated extended counter electromotive force obtained in the step 2, wherein the specific method comprises the following steps:
the extended back emf estimated by equations (3) and (4) calculates the rotor position error signal as shown in equation (8):
wherein ,θe Is the estimated rotor position, ε is the rotor position error signal;
the rotor position error signal epsilon is adjusted by an enhanced loop filter to obtain an estimated rotational speed as shown in equation (9):
wherein ,ωσ ＝ω * Is an adjustable parameter omega σ Following the set rotational speed omega * Self-adaptive adjustment;
for estimated rotational speed omega e The integration results in an estimated rotor position as shown in equation (10):
2. the method for estimating PMSM rotor position and rotational speed of a robust adaptive observer according to claim 1, wherein the adjustable parameter μ adjustment method in step 2.2 is as follows in formula (6):
wherein ,ω* The rotation speed is set.
3. The method for estimating PMSM rotor position and rotational speed of a robust adaptive observer according to claim 1, wherein the adjustable parameter k adjustment method in step 2.2 is as follows in formula (7):
wherein ,ω* The rotation speed is set.
4. A PMSM rotor position and rotational speed estimation method for a robust adaptive observer according to claim 1, wherein λ=70 in step 2.2.
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