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CN-122026760-A - PMSM rotor position and rotation speed estimation method based on self-adaptive extended state observer

CN122026760ACN 122026760 ACN122026760 ACN 122026760ACN-122026760-A

Abstract

The invention discloses a PMSM rotor position and rotation speed estimation method based on a self-adaptive extended state observer, which comprises the steps of firstly, collecting three-phase stator current of a permanent magnet synchronous motor and calculating through Clark transformation The shaft stator current, then calculating the reference voltage output by the current loop PI controller and calculating by reverse Park conversion Shaft stator voltage, then based on the built frequency self-adaptive extended state observer, obtaining the system And finally, obtaining the estimated rotor position and the estimated rotating speed through a phase-locked loop. The invention can obviously improve the rotating speed of the position-free sensor and the estimation capability of the rotor position, solves the problem that the rotating speed can not be adjusted adaptively and the DC offset still exists in the traditional position-free sensor, and improves the accuracy of the system.

Inventors

  • YU FENG
  • HUANG KUNCHENG
  • ZHAO MEILING

Assignees

  • 南通大学

Dates

Publication Date
20260512
Application Date
20260114

Claims (8)

  1. 1. A PMSM rotor position and rotational speed estimation method based on an adaptive extended state observer, comprising: step 1, collecting three-phase stator current of a permanent magnet synchronous motor and calculating through Clark transformation Shaft stator current ; Step 2, calculating the reference voltage output by the current loop PI controller and calculating through inverse Park conversion Shaft stator voltage ; Step 3, based on the said Shaft stator current The said Shaft stator voltage And a constructed frequency self-adaptive extended state observer is used for obtaining Observed value of axial back electromotive force ; Step 4, the step 4 is to make the Observed value of axial back electromotive force Input phase-locked loop, output motor electric angular velocity estimated value Rotor electrical angle estimation 。
  2. 2. The method for estimating a PMSM rotor position and rotation speed based on an adaptive extended state observer according to claim 1, wherein in step 3, the method for constructing a frequency adaptive extended state observer comprises: Back electromotive force is generated As a total disturbance, with the following Shaft stator voltage As input, with the following Shaft stator current Building extended state observer estimates for feedback Shaft current observations And Axle back EMF observations ; For two gain coefficients in the extended state observer based on transfer function of first-order complex coefficient filter 、 And reconstructing, and constructing the frequency self-adaptive extended state observer, so that the observer has frequency selectivity, and the center frequency is adjusted in real time along with the rotating speed of the motor.
  3. 3. The method for estimating rotor-free position and rotational speed of a PMSM based on an adaptive extended state observer according to claim 2, wherein in step 2, a current estimation error of said extended state observer And obtaining an estimated error of current and counter electromotive force by making a difference between an observation equation of the extended state observer and a voltage equation of the PMSM under a static coordinate system, and converting the estimated error into a complex frequency domain to obtain a transfer function of the extended state observer.
  4. 4. The method for estimating a PMSM rotor position and rotation speed based on an adaptive extended state observer according to claim 3, wherein a transfer function of the extended state observer in a complex frequency domain is expressed as: (1) In the formula, For the stator inductance to be a function of the stator inductance, For the resistance of the stator, Representing the complex frequency domain.
  5. 5. The method for estimating a PMSM rotor position and rotational speed based on an adaptive extended state observer according to claim 4, wherein a transfer function of said first order complex coefficient filter The method comprises the following steps: (2) In the formula, As a bandwidth parameter of the filter, For the estimated value of the electric angular velocity of the motor, j is an imaginary unit, and for two gain coefficients in the extended state observer 、 The reconstruction is carried out as follows: (3) the constructed frequency adaptive extended state observer is expressed as: (4) where p is a differential operator representing a derivative over time.
  6. 6. The method for estimating a PMSM rotor position and rotational speed based on an adaptive extended state observer according to any one of claims 1 to 5, wherein in step 4, said phase locked loop is implemented by minimizing a position error To track the true rotor position and thereby output an electrical angular velocity estimate of the motor Rotor electrical angle estimation 。
  7. 7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement the PMSM rotor position and rotational speed estimation method according to any one of claims 1-6.
  8. 8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the computer program to implement the PMSM rotor position and rotational speed estimation method of any one of claims 1-7.

Description

PMSM rotor position and rotation speed estimation method based on self-adaptive extended state observer Technical Field The present invention relates to a motor control method, and in particular, to a method for estimating a rotor position and a rotational speed of a Permanent Magnet Synchronous Motor (PMSM). Background Currently, most motors measure rotor position and rotational speed information by directly observing the rotor position and rotational speed information through sensors. Not only does the installation of the mechanical sensor in the motor lead to an increase in the volume and weight of the motor, but the price of the mechanical sensor is also relatively high when the precision required for the installation is higher. Mechanical sensors are also subject to external environmental factors such as temperature, humidity, etc. during operation. Thus, as PMSMs are widely used, the choice of mechanical sensors is limited in many ways. In addition, the mechanical sensor is arranged on the motor, so that a motor system is more complex, the stability of the system is reduced, and meanwhile, the maintenance difficulty and the cost of the motor in the later use period are increased. However, in the practical application process, the conventional extended state observer (Extended State Observer, ESO) algorithm presents a low-pass filter characteristic, when the motor speed is suddenly changed, the accuracy of the control system may be significantly reduced, and when the direct current bias exists, the estimation error is larger, and the stable operation of the system is affected. In order to solve the problems that the traditional ESO can not be adjusted adaptively along with the rotating speed and can not inhibit direct current bias, a frequency adaptive extended state observer (Frequency Adaptive Extended State Observer, FAESO) is built, and the method becomes a research hot spot. The rotor position and rotating speed estimation method of the permanent magnet synchronous motor based on the traditional ESO is characterized in that uncertainty of motor parameters, load disturbance and the like are uniformly regarded as generalized disturbance, and the ESO is utilized for on-line estimation and compensation of the motor parameter uncertainty, the load disturbance and the like, so that the inference of the back electromotive force and rotor position information of the motor is realized. The method effectively suppresses the influence of parameter deviation and external disturbance in the system on the position estimation precision, avoids the dependence on a high-precision mechanical sensor, and improves the controllability and the robustness of a weak magnetic region and under a low-speed working condition. Although this method can well estimate the back emf in certain situations. However, during operation with varying rotational speeds, the center frequency of the ESO cannot be varied with varying motor rotational speeds. Model mismatch caused by motor rotation speed change becomes an unavoidable problem under the long-term operation condition of the system. Disclosure of Invention Aiming at the problems that the equivalent back electromotive force estimation phase lag is large, the steady-state position error is unavoidable and the high-frequency noise inhibition capability is insufficient in the control of a permanent magnet synchronous motor sensorless of a traditional linear expansion state observer, the invention provides a method for estimating the rotating speed and the rotor position of the sensorless based on FAESO. The PMSM rotor position and rotation speed estimation method based on the self-adaptive extended state observer comprises the following steps: step 1, collecting three-phase stator current of a permanent magnet synchronous motor and calculating through Clark transformation Shaft stator current; Step 2, calculating the reference voltage output by the current loop PI controller and calculating through inverse Park conversionShaft stator voltage; Step 3, based on the saidShaft stator currentThe saidShaft stator voltageAnd a constructed frequency self-adaptive extended state observer is used for obtainingObserved value of axial back electromotive force; Step 4, the step 4 is to make theObserved value of axial back electromotive forceInput phase-locked loop, output motor electric angular velocity estimated valueRotor electrical angle estimation。 Further, in step3, the method for constructing the frequency adaptive extended state observer includes: Back electromotive force is generated As a total disturbance, with the followingShaft stator voltageAs input, with the followingShaft stator currentBuilding extended state observer estimates for feedbackShaft current observationsAndAxle back EMF observations; For two gain coefficients in the extended state observer based on transfer function of first-order complex coefficient filter、And reconstructing, and constructing the frequency self-adaptive