CN106849804A - A kind of permanent-magnet synchronous motor rotor position observer of random frequency high frequency square wave voltage injection - Google Patents
A kind of permanent-magnet synchronous motor rotor position observer of random frequency high frequency square wave voltage injection Download PDFInfo
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals
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Abstract
In order in solving the existing internal permanent magnet synchronous motor sensorless strategy based on High Frequency Injection, produce the problem of noise, there is provided a kind of permanent-magnet synchronous motor rotor position observer of random frequency high frequency square wave voltage injection, belong to Motor Control Field.The present invention includes：Random frequency signal generator, for producing frequency identical and quadrature in phase random frequency Injection Signal vinjWith random frequency demodulated signal vdem；Envelope extraction device, for according to random frequency demodulated signal vdem, extract α axle high frequency electrics iαhWith β axle high frequency electrics iβhEnvelope, obtain α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu；Orthogonal phaselocked loop 3, for according to α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu, estimate the position of rotor.The present invention can be widely used in internal permanent magnet synchronous motor control system, it is not necessary to additional hardware, reduce noise result obvious.
Description
Technical field
The present invention relates to a kind of permanent-magnet synchronous motor rotor position observer, more particularly to a kind of random frequency high frequency square wave
The permanent-magnet synchronous motor rotor position observer of voltage injection, belongs to Motor Control Field.
Background technology
In recent years, alternating current generator plays the part of important role in industrial products and household electrical appliance.With traditional asynchronous machine
Compare, permagnetic synchronous motor has high torque density, the advantage of high power density, and have benefited from permanent-magnet material in the last few years and prepare
The development of technology so that it occupies critical role in modern industry.At present, there are various permagnetic synchronous motor types, used
In driving various production equipment such as conveyer belt, robotic arm, crane, paper mill and waste water treaters etc..Along with power half
Conductor device, frequency converter topology, the development and progress of microprocessor, permagnetic synchronous motor are played in variable speed electric motors, particularly control system
The effect for becoming more and more important.
For the control performance stablized, the rotor-position and rotating speed of motor are essential links.Conventional method
It is installation rate or position sensor on armature spindle, there are the machineries such as photoelectric code disk, rotary encoder and tachometer generator at present
Velocity location sensor.Although these mechanical pick-up devices have the advantages that high accuracy and high-resolution, but their installation meeting
Bring the problems such as volume increase, system cost raising, complexity increase and reliability decrease.Therefore between excessively 20 years,
Various method for controlling position-less sensor are proposed in succession.Two classes can be divided into according to its scope of application：Suitable for high speed
The High Frequency Injection of counter electromotive force modelling and zero low speed.The former by constructing back-EMF observer device, be calculated with
Turn from the related back-emf signal in position, and then obtain turning from position.However, in low speed even zero-speed region, the method is not
Can effectively work.It is another kind of that high-frequency signal is injected by motor stator based on high frequency electrocardiography, rotor with salient pole is followed the trail of, enter
And obtain motor rotor position.
High frequency square wave voltage signal injection method realizes the position Sensorless Control side of zero low speed by following the trail of motor salient pole
Method, it is ensured that control performance of the motor in low speed domain.However, the noise that the method existing defects, i.e. high frequency electric are produced is asked
Topic, this shortcoming makes it limited in industry and domestic environments application.Conventional highfrequency signal injection method uses the signal of fixed frequency
Injection, makes noise concentrate on a certain frequency, produces the noise of shrillness.
The content of the invention
The invention aims to solve it is existing based on High Frequency Injection internal permanent magnet synchronous motor without sensing
In device control, the problem of noise, the present invention is produced to provide a kind of permagnetic synchronous motor of random frequency high frequency square wave voltage injection
Rotor-position observer.
A kind of permanent-magnet synchronous motor rotor position observer of random frequency high frequency square wave voltage injection of the invention, it is described
Observer includes random frequency signal generator 1, envelope extraction device 2 and an orthogonal phaselocked loop 3；
Random frequency signal generator 1, for producing random frequency Injection Signal vinjWith random frequency demodulated signal vdem,
The random frequency Injection Signal vinjWith random frequency demodulated signal vdemFrequency is identical and quadrature in phase；Random frequency injection letter
Number vinjIn input to the estimation d axles of vector controller of permanent-magnet synchronous motor；Random frequency demodulated signal vdemInput to envelope is carried
Take device 2；
The α axles high frequency electric and β axle high frequency electrics of vector controller of permanent-magnet synchronous motor output are separately input into envelope and carry
Take device 2；
Envelope extraction device 2, for according to random frequency demodulated signal vdem, extract α axle high frequency electrics iαhWith β axle high frequencies
Electric current iβhEnvelope, obtain α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu；
Orthogonal phaselocked loop 3, for according to α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu,
Estimate the position of rotor.
Preferably, the random frequency signal generator 1 include two fixed frequency signal generating units and one with
Machine select unit；
First fixed frequency signal generating unit, for producing an injection square-wave signal vinj1Believe with a demodulation square wave
Number vdem1, the injection square-wave signal vinj1With demodulation square-wave signal vdem1Frequency is identical and quadrature in phase；
The second fixed frequency signal generating unit, for producing an injection square-wave signal vinj2With a demodulation side
Ripple signal vdem2, injection square-wave signal vinj2With demodulation square-wave signal vdem2Frequency is identical and quadrature in phase；
The square-wave signal frequency difference that two fixed frequency signal generating units are produced；
The random selection unit is in each signal period to two fixed frequency signal generating unit random selections one
Secondary, the injection square-wave signal and demodulation square-wave signal of the fixed frequency signal generating unit generation of selection are respectively as random frequency
Injection Signal vinjWith random frequency demodulated signal vdemOutput.
Preferably, the envelope extraction device 2 includes binary cycle hysteresis unit, the first multiplier, second multiplication
Device, the first low-pass first order filter, the second low-pass first order filter, the first divider, the second divider and oneComputing unit；
Random frequency demodulated signal vdemInput to binary cycle hysteresis unit, the output of binary cycle hysteresis unit is input into simultaneously
To the first multiplier and the second multiplier；
First multiplier is by α axle high frequency electrics iαhAfter being multiplied with the output of binary cycle hysteresis unit, input to first
Low-pass first order filter is filtered；
Second multiplier is by β axle high frequency electrics iβhAfter being multiplied with the output of binary cycle hysteresis unit, input to second
Low-pass first order filter is filtered；
First low-pass first order filter by the filtering signal of output be separately input into the first divider andMeter
Calculate unit；
Second low-pass first order filter by the ripple signal of output be separately input into the first divider andCalculate
Unit；
It is describedComputing unit is defeated with the second low-pass first order filter by the output of the first low-pass first order filter
Go out respectively as input a and input b,The output of computing unit is separately input into the first divider and the second divider；
First divider, will using the output of the first low-pass first order filter as dividendComputing unit it is defeated
Go out as divisor, output α axle high frequency electric envelope signals iα,pu；
Second divider, will using the output of the second low-pass first order filter as dividendComputing unit it is defeated
Go out as divisor, output β axle high frequency electric envelope signals iβ,pu。
Preferably, the orthogonal phaselocked loop 3 includes the 3rd multiplier, the 4th multiplier, subtracter, a ratio
Integral unit, integral unit, a SIN function computing unit and a cosine function computing unit；
3rd multiplier is by α axle high frequency electric envelope signals iα,puIt is defeated after being multiplied with the output of SIN function computing unit
Enter to the subtrahend end of subtracter；
4th multiplier is by β axle high frequency electric envelope signals iβ,puIt is defeated after being multiplied with the output of cosine function computing unit
Enter to the minuend end of subtracter；
The subtracter output error signal ε, and the error signal is input into pi element；
The pi element output estimation rotating speedAnd by the estimation rotating speedIt is input into integrator；
The integrator output estimation positionAnd by the estimated locationInput simultaneously to SIN function computing unit and
Cosine function computing unit, the estimated locationIt is the position of the rotor that orthogonal phaselocked loop is estimated.
Above-mentioned technical characteristic can in any suitable manner be combined or substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
The beneficial effects of the present invention are first by the random frequency of the generation quadrature in phase of random frequency signal generator 1
Rate Injection Signal and random frequency demodulated signal.Then will at random frequently by the inverter in vector controller of permanent-magnet synchronous motor
Rate Injection Signal is injected into estimation d axles.Random high frequency electric current under two-phase rest frame is extracted by envelope extraction device 2
Envelope, obtain the cosine and sine signal related to position.The position of rotor will be estimated finally by orthogonal phaselocked loop.
The frequency that random frequency High Frequency Injection of the invention passes through random switching Injection Signal so that the frequency of noise
Rate is disperseed, so as to reduce noise.And simple and easy to apply, reliability is used.The practical ranges of High Frequency Injection have been widened, can
To be widely used in internal permanent magnet synchronous motor control system, it is not necessary to additional hardware, noise result is reduced obvious.
Brief description of the drawings
Fig. 1 is the permanent-magnet synchronous motor rotor position observation of random frequency high frequency square wave voltage injection in specific embodiment
The theory structure schematic diagram of device；Wherein vector controller of permanent-magnet synchronous motor is existing control program；
Fig. 2 is the theory structure schematic diagram of the random frequency signal generator described in specific embodiment；
Fig. 3 is the theory structure schematic diagram of the envelope extraction device described in specific embodiment；
Fig. 4 is the theory structure schematic diagram of the orthogonal phaselocked loop described in specific embodiment；
Fig. 5 is the relation schematic diagram of two-phase static axial system, two-phase synchronous rotary shafting and three phase static shafting；Wherein dq tables
Show two-phase synchronous rotating frame, α β represent two-phase rest frame, and ABC represents three-phase static coordinate system.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Mutually combination.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.Knot
Fig. 1 explanation present embodiments are closed, a kind of permanent magnet synchronous electric of the random frequency high frequency square wave voltage injection described in present embodiment
Machine rotor position detection device, present embodiment increases random frequency on the basis of existing vector controller of permanent-magnet synchronous motor
Signal generator 1, envelope extraction device 2 and an orthogonal phaselocked loop 3；
As shown in figure 1, vector controller of permanent-magnet synchronous motor include subtracter, PI pi controllers, adder,(synchronous rotary shafting to static axial system coordinate transform),(static axial system to synchronous rotary shafting coordinate transform),
Space vector pulse width modulation device SVPWM, low pass filter LPF and high-pass filter HPF；
Represent the stator current set-point under two-phase synchronous rotary shafting；
Represent the stator current feedback value under two-phase synchronous rotary shafting；
Represent the high frequency square wave voltage signal under two-phase synchronous rotary shafting；
vα,βRepresent the voltage under two-phase rest frame；
iα,βRepresent the electric current under two-phase rest frame；
Random frequency signal generator 1, for producing random frequency Injection Signal vinjWith random frequency demodulated signal vdem,
The random frequency Injection Signal vinjWith random frequency demodulated signal vdemFrequency is identical and quadrature in phase；
Random frequency Injection Signal vinjIn input to the estimation d axles of vector controller of permanent-magnet synchronous motor；Random frequency solution
Adjust signal vdemIt is input into envelope extraction device 2；
In present embodiment, random frequency Injection Signal is produced by random frequency signal generator 1, by permanent-magnet synchronous
The inverter of motor vector controller is to injection random frequency high-frequency voltage signal in internal permanent magnet synchronous motor IPMSM；Electricity
Contain fundamental wave component and random frequency composition in the electric current of machine.The random high frequency electric current of motor is entered by high-pass filter HPF
Row is extracted, and obtains α axle high frequency electrics iαhWith β axle high frequency electrics iβh。
As shown in figure 1, the envelope extraction device 2 of present embodiment is provided with α axle high frequency electrics iαhInput port, β axles are high
Frequency electric current iβhInput port and random frequency demodulated signal vdemInput port, α axle high frequency electric envelope signals iα,puOutput port
With β axle high frequency electric envelope signals iβ,puOutput port；
Envelope extraction device 2, for according to random frequency demodulated signal vdem, extract α axle high frequencies under static two phase coordinate system
Electric current iαhWith β axle high frequency electrics iβhEnvelope, obtain α axle high frequency electric envelope signals iα,puBelieve with β axle high frequency electrics envelope
Number iβ,pu；
As shown in figure 1, the orthogonal phaselocked loop 3 of present embodiment is provided with α axle high frequency electric envelope signals iα,puInput
Mouth, β axle high frequency electric envelope signals iβ,puInput port, estimation rotating speedOutput port and estimated locationOutput port；
Orthogonal phaselocked loop 3, for according to α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu,
Estimate the position of rotor.
Present embodiment is from α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,puMiddle extraction rotor
PositionAnd then estimate the position of rotor.
In preferred embodiment, as shown in Fig. 2 the random frequency signal generator 1 of present embodiment includes two fixed frequencies
Rate signal generating unit and a random selection unit；
First fixed frequency signal generating unit, for producing an injection square-wave signal vinj1Believe with a demodulation square wave
Number vdem1, injection square-wave signal vinj1With demodulation square-wave signal vdem1Frequency is identical and quadrature in phase；
Second fixed frequency signal generating unit, for producing an injection square-wave signal vinj2Believe with a demodulation square wave
Number vdem2, injection square-wave signal vinj2With demodulation square-wave signal vdem2Frequency is identical and quadrature in phase；
The square-wave signal frequency difference that two fixed frequency signal generating units are produced；
The random selection unit of present embodiment each signal period to two fixed frequency signal generating units with
Machine is selected once, injection square-wave signal that the fixed frequency signal generating unit of selection is produced and demodulation square-wave signal respectively as
Random frequency Injection Signal vinjWith random frequency demodulated signal vdemOutput.
The random frequency signal generator 1 of present embodiment randomly chooses a random frequency note in each signal period
Enter signal vinjWith random frequency demodulated signal vdem, random switching Injection Signal vinjFrequency so that motor high-frequency electrical miscarriage
The frequency dispersion of raw noise, so as to reduce noise.
In preferred embodiment, as shown in figure 3, the envelope extraction device 2 of present embodiment includes a delayed list of binary cycle
First 2-1, the first multiplier 2-2, the second multiplier 2-3, the first low-pass first order filter 2-4, the second low-pass first order filter 2-
5th, the first divider 2-6, the second divider 2-7 and oneComputing unit 2-8；
Random frequency demodulated signal vdemInput is to binary cycle hysteresis unit 2-1, and the output of binary cycle hysteresis unit 2-1 is same
When be input into the first multiplier 2-2 and the second multiplier 2-3；
First multiplier 2-2 is by α axle high frequency electrics iαhAfter being multiplied with the output of binary cycle hysteresis unit 2-1, input to the
One low-pass first order filter 2-4 is filtered；
Second multiplier 2-3 is by β axle high frequency electrics iβhAfter being multiplied with the output of binary cycle hysteresis unit 2-1, input to the
Two low-pass first order filter 2-5 are filtered；
First low-pass first order filter 2-4 by the filtering signal of output be separately input into the first divider 2-6 and
Computing unit 2-8；
Second low-pass first order filter 2-5 by the ripple signal of output be separately input into the first divider 2-7 andMeter
Calculate unit 2-8；
Present embodimentComputing unit 2-8 is by the output of the first low-pass first order filter 2-4 and the second single order
The output of low pass filter 2-5 is respectively as input a and is input into b,The output of computing unit 2-8 is separately input into
One divider 2-6 and the second divider 2-7；
First divider 2-6, will using the output of the first low-pass first order filter 2-4 as dividendCalculate single
The output of first 2-8 is used as divisor, output α axle high frequency electric envelope signals iα,pu；
Second divider 2-7, will using the output of the second low-pass first order filter 2-5 as dividendCalculate single
The output of first 2-8 is used as divisor, output β axle high frequency electric envelope signals iβ,pu。
Present embodiment gives the concrete structure of envelope extraction device 2, and the envelope extraction device 2 passes through binary cycle first
Hysteresis unit 2-1, the first multiplier 2-2, the second multiplier 2-3 and the first low-pass first order filter 2-4, the second first-order low-pass
Ripple device 2-5 tentatively obtains envelope current signal.In order to further improve rotor-position precision, the first divider 2-6, second are used
Divider 2-7 andComputing unit 2-8 is calculated precision envelope signal i higherα,puAnd iβ,pu.Not only in this, should
The binary cycle hysteresis unit 2-1 that implementation method is included can effectively restrain digital display circuit delay.Generally, the device can
Sine and cosine envelope signal is demodulated with from the random high frequency current signal of alpha-beta axle rest frame.It is allowed to orthogonal for below
The device of phaselocked loop 3 does preliminary treatment.
In preferred embodiment, as shown in figure 4, the orthogonal phaselocked loop 3 of present embodiment includes that the 3rd multiplier 3-1, the 4th multiply
Musical instruments used in a Buddhist or Taoist mass 3-2, subtracter 3-3, pi element 3-6, integral unit 3-7, a SIN function calculate single
First 3-4 and cosine function computing unit 3-5；
3rd multiplier 3-1 is by α axle high frequency electric envelope signals iα,puOutput with SIN function computing unit 3-4 is multiplied
Afterwards, it is input into the subtrahend end of subtracter 3-3；
4th multiplier 3-2 is by β axle high frequency electric envelope signals iβ,puOutput with cosine function computing unit 3-5 is multiplied
Afterwards, it is input into the minuend end of subtracter 3-3；
Subtracter 3-3 output error signal ε, and the error signal is input into pi element 3-6；
Pi element 3-6 output estimation rotating speedsAnd by the estimation rotating speedIt is input into integrator 3-7；
Integrator 3-7 output estimations positionAnd by the estimated locationIt is input into simultaneously to SIN function computing unit 3-4
With cosine function computing unit 3-5, the estimated locationWith estimation rotating speedRepresent the position of the rotor that orthogonal phaselocked loop 3 is estimated
Put.
Present embodiment gives the concrete structure of orthogonal phaselocked loop 3, and the input signal of the orthogonal phaselocked loop 3 is that α axles are high
Frequency current envelops signal and β axle high frequency electric envelope signals, output signal is estimated locationWith estimation rotating speedPass through first
Multiply the 3rd multiplier 3-1, the 4th multiplier 3-2, subtracter 3-3, SIN function computing unit 3-4 and cosine function computing unit
3-5 extracts rotor position error signal epsilon.Use ratio integral unit 3-6 and integral unit 3-7 is by rotor position error signal
ε is adjusted to 0, then estimated locationActual rotor position will be converged to, the estimation to rotor-position will be realized.Orthogonal phase-locked loop structures
Simply, and strong robustness, it is possible to achieve the estimation to rotor-position.
Although describing the present invention herein with reference to specific implementation method, it should be understood that, these realities
Apply the example of example only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and other arrangements are can be designed that, without departing from the spirit of the invention that appended claims are limited
And scope.It should be understood that can be by way of different from described by original claim come with reference to different appurtenances
Profit is required and feature specifically described herein.It will also be appreciated that the feature with reference to described by separate embodiments can be used
In other described embodiments.
Claims (4)
1. a kind of permanent-magnet synchronous motor rotor position observer that random frequency high frequency square wave voltage is injected, it is characterised in that institute
Stating observer includes random frequency signal generator, envelope extraction device and an orthogonal phaselocked loop；
Random frequency signal generator, for producing random frequency Injection Signal vinjWith random frequency demodulated signal vdem, it is described
Random frequency Injection Signal vinjWith random frequency demodulated signal vdemFrequency is identical and quadrature in phase；Random frequency Injection Signal
vinjIn input to the estimation d axles of vector controller of permanent-magnet synchronous motor；Random frequency demodulated signal vdemIt is input into envelope extraction
Device；
The α axles high frequency electric and β axle high frequency electrics of vector controller of permanent-magnet synchronous motor output are separately input into envelope extraction dress
Put；
Envelope extraction device, for according to random frequency demodulated signal vdem, extract α axle high frequency electrics iαhWith β axle high frequency electrics iβh
Envelope, obtain α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu；
Orthogonal phaselocked loop, for according to α axle high frequency electric envelope signals iα,puWith β axle high frequency electric envelope signals iβ,pu, estimate
The position of rotor.
2. a kind of permanent-magnet synchronous motor rotor position of random frequency high frequency square wave voltage injection according to claim 1 is seen
Survey device, it is characterised in that the random frequency signal generator is random including two fixed frequency signal generating units and one
Select unit；
First fixed frequency signal generating unit, for producing an injection square-wave signal vinj1With a demodulation square-wave signal
vdem1, the injection square-wave signal vinj1With demodulation square-wave signal vdem1Frequency is identical and quadrature in phase；
The second fixed frequency signal generating unit, for producing an injection square-wave signal vinj2Believe with a demodulation square wave
Number vdem2, injection square-wave signal vinj2With demodulation square-wave signal vdem2Frequency is identical and quadrature in phase；
The square-wave signal frequency difference that two fixed frequency signal generating units are produced；
The random selection unit is randomly choosed once in each signal period to two fixed frequency signal generating units, choosing
The injection square-wave signal and demodulation square-wave signal that the fixed frequency signal generating unit selected is produced inject respectively as random frequency
Signal vinjWith random frequency demodulated signal vdemOutput.
3. the permanent-magnetic synchronous motor rotor position that a kind of random frequency high frequency square wave voltage according to claim 1 and 2 is injected
Put observer, it is characterised in that the envelope extraction device multiplies including binary cycle hysteresis unit, the first multiplier, second
Musical instruments used in a Buddhist or Taoist mass, the first low-pass first order filter, the second low-pass first order filter, the first divider, the second divider and oneComputing unit；
Random frequency demodulated signal vdemTo binary cycle hysteresis unit, the output of binary cycle hysteresis unit is input into the simultaneously for input
One multiplier and the second multiplier；
First multiplier is by α axle high frequency electrics iαhAfter being multiplied with the output of binary cycle hysteresis unit, input to the first single order
Low pass filter is filtered；
Second multiplier is by β axle high frequency electrics iβhAfter being multiplied with the output of binary cycle hysteresis unit, input to the second single order
Low pass filter is filtered；
First low-pass first order filter by the filtering signal of output be separately input into the first divider andCalculate single
Unit；
Second low-pass first order filter by the ripple signal of output be separately input into the first divider andCalculate single
Unit；
It is describedComputing unit divides the output of the first low-pass first order filter and the output of the second low-pass first order filter
Not as input a and input b,The output of computing unit is separately input into the first divider and the second divider；
First divider, will using the output of the first low-pass first order filter as dividendThe output of computing unit is made
It is divisor, output α axle high frequency electric envelope signals iα,pu；
Second divider, will using the output of the second low-pass first order filter as dividendThe output of computing unit is made
It is divisor, output β axle high frequency electric envelope signals iβ,pu。
4. a kind of permanent-magnet synchronous motor rotor position of random frequency high frequency square wave voltage injection according to claim 3 is seen
Survey device, it is characterised in that the orthogonal phaselocked loop includes the 3rd multiplier, the 4th multiplier, subtracter, a ratio product
Subdivision, integral unit, a SIN function computing unit and a cosine function computing unit；
3rd multiplier is by α axle high frequency electric envelope signals iα,puAfter being multiplied with the output of SIN function computing unit, input is to subtracting
The subtrahend end of musical instruments used in a Buddhist or Taoist mass；
4th multiplier is by β axle high frequency electric envelope signals iβ,puAfter being multiplied with the output of cosine function computing unit, input is to subtracting
The minuend end of musical instruments used in a Buddhist or Taoist mass；
The subtracter output error signal ε, and the error signal is input into pi element；
The pi element output estimation rotating speedAnd by the estimation rotating speedIt is input into integrator；
The integrator output estimation positionAnd by the estimated locationIt is input into simultaneously to SIN function computing unit and cosine
Function calculating unit, the estimated locationIt is the position of the rotor that orthogonal phaselocked loop is estimated.
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| CN108288936A (en) * | 2018-01-03 | 2018-07-17 | 东南大学 | A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor |
| CN109104129A (en) * | 2018-09-13 | 2018-12-28 | 珠海格力电器股份有限公司 | Idle rotation speed self-identification method and system of magnetic suspension compressor |
| CN109150052A (en) * | 2018-08-13 | 2019-01-04 | 哈尔滨工业大学 | A kind of high frequency noise suppressing method for the random sinusoidal injection permanent magnet machine rotor position detection device considering digital control delay |
| CN109981001A (en) * | 2019-05-13 | 2019-07-05 | 哈尔滨工业大学 | A kind of initial position detection method for permanent magnet synchronous electric motor rotor of low noise |
| CN110176881A (en) * | 2019-06-06 | 2019-08-27 | 哈尔滨工业大学 | Magneto method for controlling position-less sensor based on mixing random signal injection |
| CN110190782A (en) * | 2019-06-05 | 2019-08-30 | 哈尔滨工业大学 | Magneto method for controlling position-less sensor based on the injection of lower frequency quadrature randomly pulsed phase signal |
| CN110460270A (en) * | 2019-07-24 | 2019-11-15 | 东南大学盐城新能源汽车研究院 | A kind of high frequency square wave voltage injection method for controlling position-less sensor considering cross saturation inductance |
| CN110504887A (en) * | 2019-08-29 | 2019-11-26 | 阳光电源股份有限公司 | A kind of electric machine controller and its control method |
| CN111049453A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN111049452A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN111049454A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN111130410A (en) * | 2018-10-15 | 2020-05-08 | 广东威灵电机制造有限公司 | Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor |
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| CN111181456A (en) * | 2020-01-08 | 2020-05-19 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Vibration control method for permanent magnet synchronous motor without position sensor |
| CN111817636A (en) * | 2020-06-03 | 2020-10-23 | 浙江工业大学 | Permanent magnet synchronous motor position estimation method adopting high-frequency sinusoidal voltage injection with continuously-changing frequency |
| CN112653360A (en) * | 2020-04-15 | 2021-04-13 | 北方工业大学 | High-speed permanent magnet synchronous motor position-sensorless control method |
| CN112865617A (en) * | 2021-03-22 | 2021-05-28 | 哈尔滨理工大学 | PMSM driver noise suppression method based on pseudo-random technology |
| CN113098337A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨理工大学 | Noise suppression method for PMSM driver by pseudo-random equal difference injection |
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| CN108288936B (en) * | 2018-01-03 | 2020-12-25 | 东南大学 | Low-speed position-sensorless control method for permanent magnet linear motor |
| CN108288936A (en) * | 2018-01-03 | 2018-07-17 | 东南大学 | A kind of permanent-magnetism linear motor low speed method for controlling position-less sensor |
| CN109150052B (en) * | 2018-08-13 | 2020-04-24 | 哈尔滨工业大学 | High-frequency noise suppression method of random sine injection permanent magnet motor rotor position observer considering digital control delay |
| CN109150052A (en) * | 2018-08-13 | 2019-01-04 | 哈尔滨工业大学 | A kind of high frequency noise suppressing method for the random sinusoidal injection permanent magnet machine rotor position detection device considering digital control delay |
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| CN111130410A (en) * | 2018-10-15 | 2020-05-08 | 广东威灵电机制造有限公司 | Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor |
| CN111049453A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN111049452A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN111049454A (en) * | 2018-10-15 | 2020-04-21 | 广东威灵电机制造有限公司 | Rotor angular velocity and rotor position detection method and device |
| CN109981001B (en) * | 2019-05-13 | 2020-09-01 | 哈尔滨工业大学 | Low-noise permanent magnet synchronous motor rotor initial position detection method |
| CN109981001A (en) * | 2019-05-13 | 2019-07-05 | 哈尔滨工业大学 | A kind of initial position detection method for permanent magnet synchronous electric motor rotor of low noise |
| CN110190782A (en) * | 2019-06-05 | 2019-08-30 | 哈尔滨工业大学 | Magneto method for controlling position-less sensor based on the injection of lower frequency quadrature randomly pulsed phase signal |
| CN110190782B (en) * | 2019-06-05 | 2020-10-27 | 哈尔滨工业大学 | Permanent magnet motor position sensorless control method |
| CN110176881A (en) * | 2019-06-06 | 2019-08-27 | 哈尔滨工业大学 | Magneto method for controlling position-less sensor based on mixing random signal injection |
| CN110176881B (en) * | 2019-06-06 | 2020-10-27 | 哈尔滨工业大学 | Permanent magnet motor position sensorless control method based on mixed random signal injection |
| CN110460270A (en) * | 2019-07-24 | 2019-11-15 | 东南大学盐城新能源汽车研究院 | A kind of high frequency square wave voltage injection method for controlling position-less sensor considering cross saturation inductance |
| CN110504887A (en) * | 2019-08-29 | 2019-11-26 | 阳光电源股份有限公司 | A kind of electric machine controller and its control method |
| CN110504887B (en) * | 2019-08-29 | 2021-06-11 | 阳光电源股份有限公司 | Motor controller and control method thereof |
| CN111181456A (en) * | 2020-01-08 | 2020-05-19 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Vibration control method for permanent magnet synchronous motor without position sensor |
| CN111181456B (en) * | 2020-01-08 | 2021-09-17 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Vibration control method for permanent magnet synchronous motor without position sensor |
| CN112653360A (en) * | 2020-04-15 | 2021-04-13 | 北方工业大学 | High-speed permanent magnet synchronous motor position-sensorless control method |
| CN112653360B (en) * | 2020-04-15 | 2022-05-20 | 北方工业大学 | Control method for high-speed permanent magnet synchronous motor without position sensor |
| CN111817636B (en) * | 2020-06-03 | 2022-04-08 | 浙江工业大学 | Permanent magnet synchronous motor position estimation method adopting high-frequency sinusoidal voltage injection with continuously-changing frequency |
| CN111817636A (en) * | 2020-06-03 | 2020-10-23 | 浙江工业大学 | Permanent magnet synchronous motor position estimation method adopting high-frequency sinusoidal voltage injection with continuously-changing frequency |
| CN112865617A (en) * | 2021-03-22 | 2021-05-28 | 哈尔滨理工大学 | PMSM driver noise suppression method based on pseudo-random technology |
| CN113098337A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨理工大学 | Noise suppression method for PMSM driver by pseudo-random equal difference injection |
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