| (11) | EP 3 396 851 B1 |
(12) | EUROPEAN PATENT SPECIFICATION |
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(54) | METHOD AND APPARATUS FOR ONLINE ESTIMATION OF INITIAL POSITION OF SURFACE PERMANENT MAGNET MOTOR VERFAHREN UND VORRICHTUNG ZUR ONLINE-SCHÄTZUNG DER ANFÄNGLICHEN POSITION EINES OBERFLÄCHEN-PERMANENTMAGNETMOTORS PROCÉDÉ ET APPAREIL D'ESTIMATION EN LIGNE DE POSITION INITIALE DE MOTEUR À AIMANT PERMANENT EN SURFACE |
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Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention). |
Technical field
Background art
Content of the invention
injecting a high-frequency pulsating voltage signal;
acquiring a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal; and
estimating an initial position of the surface permanent magnet electric machine on the basis of a second harmonic of the d-axis high-frequency current signal.
converting the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component and a second component;
subjecting the first component to band-pass filtering, sine processing, low-pass filtering, and observation using a Luenberger observer or phase-locked loop circuit, so as to obtain a rotor salient pole position of the surface permanent magnet electric machine; and
subjecting the second component to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine.
a voltage injection unit, configured to inject a high-frequency pulsating voltage signal;
a current acquisition unit, configured to acquire a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal; and
an analysis unit, configured to analyse a second harmonic of the d-axis high-frequency current signal, so as to estimate an initial position of the surface permanent magnet electric machine.
a coordinate system conversion unit, configured to convert the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component and a second component;
a first processing unit, comprising a first band-pass filter, a sine processing unit, a first low-pass filter and a Luenberger observer or phase-locked loop circuit, and being configured to subject the first component to band-pass filtering, sine processing, low-pass filtering, and observation using the Luenberger observer or phase-locked loop circuit, so as to obtain a rotor salient pole position of the surface permanent magnet electric machine; and
a second processing unit, comprising a second band-pass filter, a cosine processing unit, a second low-pass filter and a polarity determination circuit, and being configured to subject the second component to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine.
First of all, the method realizes on-line rotor position polarity determination, and can realize rotor position polarity determination when starting is performed at a low speed, so has a significant comparative advantage over an off-line method in the prior art which can only be used when the rotor is in a stationary state.
Secondly, compared with a conventional off-line method, the method of the present invention can shorten the time taken to determine rotor position; the time needed in the method is only about 20 to 40 milliseconds, and can at the same time compensate for stator impedance and PWM delay, and thereby improve the precision of rotor position estimation.
Description of the accompanying drawings
Fig. 1 shows schematically a flow chart of a method 100 according to the present invention for on-line estimation of an initial position of a surface permanent magnet electric machine in a stationary state or at a first speed;
fig. 2 shows schematically a block diagram of an apparatus 200 according to the present invention for on-line estimation of an initial position of a surface permanent magnet electric machine in a stationary state or at a first speed; and
fig. 3 shows schematically a block diagram of an analysis unit 230 according to the present invention.
Particular embodiments
where zdh = Rs + jωhLd, zqh = Rs + jωhLq, and
φ1 = arctan(Rs/ωhLd), φ2 = arctan(Rs/ωhLq), φ3 is phase shift caused by PWM delay.
First of all, a high-frequency pulsating voltage signal will be injected in step 110;
then, in the next step 120, a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal will be acquired; and
finally, in step 130, an initial position of the surface permanent magnet electric machine is estimated on the basis of a second harmonic of the d-axis high-frequency current signal.
converting the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component and a second component;
subjecting the first component to band-pass filtering, sine processing, low-pass filtering and observation using a Luenberger observer LO or phase-locked loop circuit so as to obtain a rotor salient pole position of the surface permanent magnet electric machine; and
subjecting the second component to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine.
a voltage injection unit 210, configured to inject a high-frequency pulsating voltage signal;
a current acquisition unit 220, configured to acquire a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal; and
an analysis unit 230, configured to analyse a second harmonic of the d-axis high-frequency current signal, so as to estimate an initial position of the surface permanent magnet electric machine.
a coordinate system conversion unit 232, configured to convert the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component and a second component;
a first processing unit 234, comprising a first band-pass filter, a sine processing unit, a first low-pass filter and a Luenberger observer or phase-locked loop circuit, and being configured to subject the first component to band-pass filtering, sine processing, low-pass filtering, and observation using the Luenberger observer or phase-locked loop circuit, so as to obtain a rotor salient pole position of the surface permanent magnet electric machine; and
a second processing unit 236, comprising a second band-pass filter, a cosine processing unit, a second low-pass filter and a polarity determination circuit, and being configured to subject the second component to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine. Preferably, the second low-pass filter is a self-adaptive filter with zero delay, in order to compensate for a phase shift introduced by the second low-pass filter.
injecting (110) a high-frequency pulsating voltage signal;
acquiring (120) a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal; and
estimating (130) an initial position of the surface permanent magnet electric machine on the basis of a second harmonic of the d-axis high-frequency current signal, wherein the initial position comprises a rotor salient pole position and a rotor position polarity, and wherein the step of estimating (130) an initial position of the surface permanent magnet electric machine on the basis of a second harmonic of the d-axis high-frequency current signal further comprises:
converting the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component (iq) and a second component (id); and
subjecting the second component (id) to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine, characterized by
subjecting the first component (iq) to band-pass filtering, sine processing, low-pass filtering, and observation using a Luenberger observer (LO) or phase-locked loop circuit, so as to obtain a rotor salient pole position of the surface permanent magnet electric machine.
a voltage injection unit (210), configured to inject a high-frequency pulsating voltage signal;
a current acquisition unit (220), configured to acquire a d-axis high-frequency current signal responding to the high-frequency pulsating voltage signal; and
an analysis unit (230), configured to analyse a second harmonic of the d-axis high-frequency current signal, so as to estimate an initial position of the surface permanent magnet electric machine, wherein the initial position comprises a rotor salient pole position and a rotor position polarity, wherein the analysis unit (230) further comprises:
a coordinate system conversion unit (232), configured to convert the d-axis high-frequency current signal to a d-q coordinate system so as to obtain a first component (iq) and a second component (id); and
a second processing unit (236), comprising a second band-pass filter, a cosine processing unit, a second low-pass filter and a polarity determination circuit, and being configured to subject the second component (id) to band-pass filtering, cosine processing, low-pass filtering and polarity determination so as to obtain a rotor position polarity of the surface permanent magnet electric machine, characterized by
a first processing unit (234), comprising a first band-pass filter, a sine processing unit, a first low-pass filter and a Luenberger observer or phase-locked loop circuit, and being configured to subject the first component (iq) to band-pass filtering, sine processing, low-pass filtering, and observation using the Luenberger observer or phase-locked loop circuit, so as to obtain a rotor salient pole position of the surface permanent magnet electric machine.
Einspeisen (110) eines pulsierenden Hochfrequenz-Spannungssignals,
Erfassen (120) eines d-Achsen-Hochfrequenz-Stromsignals in Reaktion auf das pulsierende Hochfrequenz-Spannungssignal, und
Schätzen (130) einer anfänglichen Position der elektrischen Oberflächenpermanentmagnet-Maschine auf der Basis einer zweiten Harmonischen des d-Achsen-Hochfrequenz-Stromsignals, wobei die anfängliche Position eine Rotor-Schenkelpolposition und eine Rotorpositionspolarität umfasst und wobei der Schritt des Schätzens (130) einer anfänglichen Position der elektrischen Oberflächenpermanentmagnet-Maschine auf der Basis einer zweiten Harmonischen des d-Achsen-Hochfrequenz-Stromsignals ferner Folgendes umfasst:
Umwandeln des d-Achsen-Hochfrequenz-Stromsignals in ein d-q-Koordinatensystem, um eine erste Komponente (iq) und eine zweite Komponente (id) zu erhalten, und
Unterziehen der zweiten Komponente (id) einer Bandpassfilterung, Cosinus-Verarbeitung, Tiefpassfilterung und Polaritätsbestimmung, um eine Rotorpositionspolarität der elektrischen Oberflächenpermanentmagnet-Maschine zu erhalten, gekennzeichnet durch
Unterziehen der ersten Komponente (iq) einer Bandpassfilterung, Sinus-Verarbeitung, Tiefpassfilterung und Beobachtung unter Verwendung eines Luenberger-Beobachters (LO) oder eines Phasenregelkreises, um eine Rotor-Schenkelpolposition der elektrischen Oberflächenpermanentmagnet-Maschine zu erhalten.
eine Spannungseinspeisungseinheit (210), die dazu gestaltet ist, ein pulsierendes Hochfrequenz-Spannungssignal einzuspeisen,
eine Stromerfassungseinheit (220), die dazu gestaltet ist, ein d-Achsen-Hochfrequenz-Stromsignal in Reaktion auf das pulsierende Hochfrequenz-Spannungssignal zu erfassen, und
eine Analyseeinheit (230), die dazu gestaltet ist, eine zweite Harmonische des d-Achsen-Hochfrequenz-Stromsignals zu analysieren, um eine anfängliche Position der elektrischen Oberflächenpermanentmagnet-Maschine zu schätzen, wobei die anfängliche Position eine Rotor-Schenkelpolposition und eine Rotorpositionspolarität umfasst, wobei die Analyseeinheit (230) ferner Folgendes umfasst:
eine Koordinatensystem-Umwandlungseinheit (232), die dazu gestaltet ist, das d-Achsen-Hochfrequenz-Stromsignal in ein d-q-Koordinatensystem umzuwandeln, um eine erste Komponente (iq) und eine zweite Komponente (id) zu erhalten, und
eine zweite Verarbeitungseinheit (236), die ein zweites Bandpassfilter, eine Cosinus-Verarbeitungseinheit, ein zweites Tiefpassfilter und eine Polaritätsbestimmungseinheit umfasst und dazu gestaltet ist, die zweite Komponente (id) einer Bandpassfilterung, Cosinus-Verarbeitung, Tiefpassfilterung und Polaritätsbestimmung zu unterziehen, um eine Rotorpositionspolarität der elektrischen Oberflächenpermanentmagnet-Maschine zu erhalten, gekennzeichnet durch
eine erste Verarbeitungseinheit (234), die ein erstes Bandpassfilter, eine Sinus-Verarbeitungseinheit, ein erstes Tiefpassfilter und einen Luenberger-Beobachter oder einen Phasenregelkreis umfasst und dazu gestaltet ist, die erste Komponente (iq) einer Bandpassfilterung, Sinus-Verarbeitung, Tiefpassfilterung und Beobachtung unter Verwendung des Luenberger-Beobachters oder des Phasenregelkreises zu unterziehen, um eine Rotor-Schenkelpolposition der elektrischen Oberflächenpermanentmagnet-Maschine zu erhalten.
injecter (110) un signal de tension pulsatoire haute fréquence ;
acquérir (120) un signal de courant haute fréquence d'axe d en réponse au signal de tension pulsatoire haute fréquence ; et
estimer (130) une position initiale de la machine électrique à aimant permanent de surface d'après une deuxième harmonique du signal de courant haute fréquence d'axe d, la position initiale comprenant une position de pôle saillant de rotor et une polarité de position de rotor, et l'étape d'estimation (130) d'une position initiale de la machine électrique à aimant permanent de surface d'après une deuxième harmonique du signal de courant haute fréquence d'axe d comprenant également les étapes consistant à :
convertir le signal de courant haute fréquence d'axe d vers un système de coordonnées d-q afin d'obtenir une première composante (iq) et une deuxième composante (id) ; et
soumettre la deuxième composante (id) à un filtrage passe-bande, un traitement de fonction cosinus, un filtrage passe-bas et une détermination de polarité afin d'obtenir une polarité de position de rotor de la machine électrique à aimant permanent de surface, caractérisé par l'étape consistant à
soumettre la première composante (iq) à un filtrage passe-bande, un traitement de fonction sinus, un filtrage passe-bas et une observation à l'aide d'un observateur de Luenberger (LO) ou d'un circuit de boucle à phase asservie, afin d'obtenir une position de pôle saillant de rotor de la machine électrique à aimant permanent de surface.
une unité d'injection de tension (210), configurée pour injecter un signal de tension pulsatoire haute fréquence ;
une unité d'acquisition de courant (220), configurée pour acquérir un signal de courant haute fréquence d'axe d en réponse au signal de tension pulsatoire haute fréquence ; et
une unité d'analyse (230), configurée pour analyser une deuxième harmonique du signal de courant haute fréquence d'axe d, afin d'estimer une position initiale de la machine électrique à aimant permanent de surface, la position initiale comprenant une position de pôle saillant de rotor et une polarité de position de rotor, l'unité d'analyse (230) comprenant également :
une unité de conversion de système de coordonnées (232), configurée pour convertir le signal de courant haute fréquence d'axe d vers un système de coordonnées d-q afin d'obtenir une première composante (iq) et une deuxième composante (id) ; et
une deuxième unité de traitement (236), comprenant un deuxième filtre passe-bande, une unité de traitement de fonction cosinus, un deuxième filtre passe-bas et un circuit de détermination de polarité, et étant configurée pour soumettre la deuxième composante (id) à un filtrage passe-bande, un traitement de fonction cosinus, un filtrage passe-bas et une détermination de polarité afin d'obtenir une polarité de position de rotor de la machine électrique à aimant permanent de surface, caractérisé par
une première unité de traitement (234), comprenant un premier filtre passe-bande, une unité de traitement de fonction sinus, un premier filtre passe-bas et un observateur de Luenberger ou un circuit de boucle à phase asservie, et étant configurée pour soumettre la première composante (iq) à un filtrage passe-bande, un traitement de fonction sinus, un filtrage passe-bas, et une observation à l'aide de l'observateur de Luenberger ou d'un circuit de boucle à phase asservie, afin d'obtenir une position de pôle saillant de rotor de la machine électrique à aimant permanent de surface.
REFERENCES CITED IN THE DESCRIPTION
Non-patent literature cited in the description