阅读说明：本技术 抗积分饱和的无感永磁同步电机转子位置检测方法 (Integration saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method ) 是由 王可睿 孔令新 王乃龙 于 2021-08-26 设计创作，主要内容包括：本发明公开了一种抗积分饱和的无感永磁同步电机转子位置检测方法,所述方法包括：获取电压V-(α)与电压V-(β)及电流I-(α)与电流I-(β)；构建关于电机磁通量Ψ在ɑ轴上的投影磁通量Ψ-(α)以及在β轴上的投影磁通量Ψ-(β)的数学模型,使用积分运算器对数学模型中的积分项进行运算；并根据积分运算器的积分值实时对偏置值进行调整；对磁通量Ψ-(α)及磁通量Ψ-(β)进行高通滤波后进行反正切运算以得到转子原始角度位置θ-(raw)；对转子原始角度位置θ-(raw)进行差分运算得到转子原始角速度ω-(raw)；随对将转子原始角速度ω-(raw)进行低通滤波器从而得到转子角速度ω；根据转子角速度ω得转子角度位置θ。(The invention discloses an integral saturation resistant noninductive permanent magnet synchronous motor rotor position detection method, which comprises the following steps: obtaining a voltage V α And voltage V β And current I α And current I β (ii) a Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux Ψ α And the projected magnetic flux Ψ on the β axis β The integral operator is used for operating an integral term in the mathematical model; adjusting the bias value in real time according to the integral value of the integral arithmetic unit; for the magnetic flux Ψ α And magnetic flux Ψ β Performing high-pass filtering and performing arc tangent operation to obtain the original angle position theta of the rotor raw (ii) a For the original angular position theta of the rotor raw Carrying out differential operation to obtain the original angular velocity omega of the rotor raw (ii) a Rotor original angular velocity omega along with pair raw Performing a low-pass filter to obtain a rotor angular velocity omega; and obtaining the rotor angular position theta according to the rotor angular speed omega.)

1. An integral saturation resistant noninductive permanent magnet synchronous motor rotor position detection method is characterized by comprising the following steps:

acquiring applied voltage V on alpha and beta axes under motor stator coordinate system_αAnd voltage V_βAnd current I on alpha and beta axes_αAnd current I_β；

Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux Ψ_αAnd on the beta axisProjected magnetic flux Ψ_βThe mathematical model of (a), said mathematical model being represented as:

；；

in the mathematical model, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor;in order to be the first integral term,as a second integral term, Offset_αIs the first Offset value, Offset_βIs a second offset value;

using a first integral operator to operate the first integral term, and using a second integral operator to operate the second integral term; and real-time adjusting the first Offset value Offset according to the integral values of the first integral operator and the second integral operator_αAnd a second Offset value Offset_βAdjusting;

magnetic flux Ψ_αAnd magnetic flux Ψ_βThe magnetic flux psi is obtained after being filtered by an input high-pass filter_{α_hpf}And magnetic flux Ψ_{β_hpf}(ii) a And to the magnetic flux Ψ_{α_hpf}And a magnetic flux Ψ_{β_hpf}Performing arc tangent operation to obtain the original angle position theta of the rotor_raw；

For the original angular position theta of the rotor_rawCarrying out differential operation to obtain the original angular velocity omega of the rotor_raw；

Then the original angular speed omega of the rotor is measured_rawInputting the high-frequency noise to a low-pass filter to eliminate high-frequency noise introduced by a difference arithmetic unit so as to obtain a rotor angular speed omega;

obtaining the rotor angle position according to the rotor angular velocity omegaSetting a compensation value delta theta, and combining the rotor angle position compensation value delta theta with the original rotor angle position theta_rawThe rotor angle position θ is obtained by addition.

2. The method for detecting the rotor position of a non-inductive PMSM according to claim 1, wherein said first Offset value Offset is applied in real time based on the integrated values of the first and second integrating operators_αAnd a second Offset value Offset_βThe adjustment is specifically as follows:

let the maximum allowable value of the first integral arithmetic unit and the second integral arithmetic unit be T_maxMinimum tolerance value of T_min；

When the integral value of the first integral operator is inToIn between, the first Offset value Offset_αSet to 0; when the integral value of the first integral operator is inToIn between, the first Offset value Offset_αA is set as a, and a is a positive number; when the integral value of the first integral operator is inToIn between, the first Offset value Offset_αSet to-a;

when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βSet to 0; when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βA is set as a, and a is a positive number; when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βSet to-a.

3. The method for detecting a rotor position of a non-inductive PMSM according to claim 2, wherein the first Offset value Offset_αAnd a second Offset value Offset_βThe value of (a) is 1.

4. The method for detecting the rotor position of a non-inductive PMSM according to claim 1, wherein the magnetic flux Ψ is determined by a magnetic flux analyzer_αAnd magnetic flux Ψ_βFiltered by the first Offset value Offset after being input into the high-pass filter_αAnd a second Offset value Offset_βThe resulting dc offset will be filtered out.

5. The method for detecting the rotor position of the non-inductive PMSM according to claim 1, wherein the angular position compensation value Δ θ at the rotor angular velocity ω is obtained according to the rotor angular velocity ω and by searching a table of relationship between the angular velocity and the compensation value.

6. An anti-integral saturation noninductive permanent magnet synchronous motor rotor position detection system is characterized by comprising a first gain operator 1, a first addition operator 2, a first integrator operator 3, a second gain operator 4 and a second addition operator 5; when the applied voltage on the alpha axis under the motor stator coordinate system is voltage V_αAnd the applied current on the alpha axis is the current I_αWhen the current is over; current I_αPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage V_αAnd the first Offset value Offset_αSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously input_αThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5_α；

The system further comprises a third gain operator 6, a third adder operator 7, a second integrator operator 8, a fourth gain operator 9 and a fourth adder operator 10; when the applied voltage on the beta axis under the motor stator coordinate system is a voltage V_βAnd the current applied to the beta axis is the current I_βWhen the current is over; current I_βPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage V_αAnd a second Offset value Offset_βSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current I_βThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10_β；

The system further comprises a high-pass filter 11 and a second high-pass filter 12, the magnetic flux Ψ_αThe input to the first high pass filter 11 results in a filtered magnetic flux Ψ_{α_hpf}(ii) a Magnetic flux Ψ_βIs input to a second high-pass filter 12 to obtain filtered magnetismFlux Ψ_{β_hpf}；

The system further comprises an arctangent function operator 13, a difference operator 14, a low-pass filter 15 and a fifth addition operator 16; magnetic flux Ψ to be high-pass filtered_{α_hpf}And a magnetic flux Ψ_{β_hpf}Is fed to an arctangent function operator 13 to obtain the original angular position theta of the rotor_raw(ii) a The original angular position theta_rawThe input difference arithmetic unit 14 can obtain the original angular velocity ω of the rotor_rawThe original angular velocity ω_rawInputting the angular speed to a low-pass filter 15 to obtain the rotor angular speed omega; obtaining an angle position compensation value delta theta according to the rotor angular speed omega; the original angular velocity ω_rawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.

7. The system according to claim 6, wherein the integration operation in the first integrator operator 3 includes a first Offset value Offset_αIntegral operation of (1); the integration operation in the second integration operator 8 includes a second Offset_βIntegral operation of (1); let the maximum allowable value of the first integral operator 3 and the second integral operator 8 be T_maxMinimum tolerance value of T_min(ii) a And has the following components:

when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αSet to 0; when the integral value of the first integral operator 3 is atToIn the middle ofOffset of the first Offset value_αA is set as a, and a is a positive number; when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αSet to-a;

when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βSet to 0; when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βA is set as a, and a is a positive number; when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βSet to-a.

8. The sensorless permanent magnet synchronous motor rotor position detection system according to claim 6, the first Offset value Offset_αAnd a second Offset value Offset_βThe value of (a) is 1.

9. A control method of a non-inductive permanent magnet synchronous motor, wherein the motor rotor position detection method in the control method of the non-inductive permanent magnet synchronous motor uses the rotor position detection method of the non-inductive permanent magnet synchronous motor according to any one of claims 1 to 5.

10. A control system of a non-inductive permanent magnet synchronous motor, wherein the control system of the non-inductive permanent magnet synchronous motor utilizes the rotor position detection system of the non-inductive permanent magnet synchronous motor according to one of claims 6 to 8 to detect the position of the motor rotor.

Technical Field

The invention relates to the technical field of motor control, in particular to an integral saturation resistant non-inductive permanent magnet synchronous motor rotor position detection method and system.

Background

To maximize efficiency in motor control, it is necessary to know the real-time position information of the rotor. The position information can be obtained from a sensor or estimated by a certain algorithm. Among them, the former is called a sensible scheme, and the latter is called a non-sensible scheme. Compared with an inductive scheme, the non-inductive scheme has the advantages of low cost, adaptation to a high-temperature and high-pressure environment in which the sensor may fail and the like.

In the non-inductive solution, the algorithm module that detects the rotor position is called observer. According to the principle of the algorithm, observers can be divided into two categories: the first type is a saliency-based observer. The algorithm extracts position information by a high-frequency injection method by means of the characteristic that the inductance of the motor is not isotropic, and has the advantages of being suitable for low-speed scenes and insensitive to motor parameters. The disadvantage is that when the motor saliency is weak, the position estimation accuracy is greatly degraded, and high frequency injection generates noise. The second type is an observer based on a back electromotive force model. This type of algorithm extracts the position information contained therein by estimating the back emf generated as the motor rotates. Common extraction algorithms include a kalman filter algorithm, an extended flux linkage algorithm, a direct integration algorithm based on a stator voltage model, and the like. In which the direct integration algorithm is simple to calculate, but the dc offset present in the system saturates the integrator, thereby greatly reducing the position estimation accuracy. The Kalman filtering algorithm, the extended flux linkage algorithm and the like do not have the phenomenon of integrator saturation, but the operation is too complex, and the calculation cost paid in engineering is too large. And for different motors, values of some parameters introduced in the algorithms are different, and how to select proper parameters causes great challenges for users.

Based on the principle and the defect analysis of the existing position observer, the invention provides a noninductive permanent magnet synchronous motor position detection method capable of resisting integrator saturation based on a back electromotive force model. The method solves the problem of integrator saturation in a direct integration algorithm based on a stator voltage model, has small operand, saves logic resources and is easy to realize in engineering. Meanwhile, the algorithm has better parameter robustness, does not need a user to adjust the algorithm parameters, and is easy to popularize.

Disclosure of Invention

The invention aims to solve the technical problem that an integrator is saturated in a direct integration algorithm for detecting the position of a motor rotor based on a stator voltage model, has small operand, saves logic resources and is easy to realize in engineering.

In order to solve the technical problem, the invention provides an integral saturation resistant rotor position detection method for a non-inductive permanent magnet synchronous motor, which comprises the following steps:

acquiring applied voltage V on alpha and beta axes under motor stator coordinate system_αAnd voltage V_βAnd current I on alpha and beta axes_αAnd current I_β；

Constructing a projected magnetic flux Ψ on an axis alpha with respect to a motor magnetic flux Ψ_αAnd the projected magnetic flux Ψ on the β axis_βThe mathematical model of (a), said mathematical model being represented as:

；；

in the mathematical model, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor;in order to be the first integral term,as a second integral term, Offset_αIs the first Offset value, Offset_βIs a second offset value;

using a first integral operator to operate the first integral term, and using a second integral operator to operate the second integral term; and real-time adjusting the first Offset value Offset according to the integral values of the first integral operator and the second integral operator_αAnd a second biasValue Offset_βAdjusting;

magnetic flux Ψ_αAnd magnetic flux Ψ_βInputting the magnetic flux Ψ filtered by the high-pass filter_{α_hpf}And magnetic flux Ψ_{β_hpf}(ii) a And to the magnetic flux Ψ_{α_hpf}And a magnetic flux Ψ_{β_hpf}Performing arc tangent operation to obtain the original angle position theta of the rotor_raw；

For the original angular position theta of the rotor_rawCarrying out differential operation to obtain the original angular velocity omega of the rotor_raw；

Then the original angular speed omega of the rotor is measured_rawInputting the high-frequency noise to a low-pass filter to eliminate high-frequency noise introduced by a difference arithmetic unit so as to obtain a rotor angular speed omega;

obtaining a rotor angle position compensation value delta theta according to the rotor angular velocity omega, and comparing the rotor angle position compensation value delta theta with the original rotor angle position theta_rawThe rotor angle position θ is obtained by addition.

In one embodiment, the first Offset value Offset is based on the operation values of the first and second integral operators_αAnd a second Offset value Offset_βThe adjustment is specifically as follows:

let the maximum allowable value of the first integral arithmetic unit and the second integral arithmetic unit be T_maxMinimum tolerance value of T_min；

When the integral value of the first integral operator is inToIn between, the first Offset value Offset_αSet to 0; when the integral value of the first integral operator is inToIn between, the first Offset value Offset_αIs arranged asa and a are positive numbers; when the integral value of the first integral operator is inToIn between, the first Offset value Offset_αSet to-a;

when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βSet to 0; when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βA is set as a, and a is a positive number; when the integral value of the second integral operator is inToIn between, the second Offset value Offset_βSet to-a.

In one embodiment, the first Offset value Offset_αAnd a second Offset value Offset_βThe value of (a) is 1.

In one embodiment, the magnetic flux Ψ_αAnd magnetic flux Ψ_βFiltered by the first Offset value Offset after being input into the high-pass filter_αAnd a second Offset value Offset_βThe resulting dc offset will be filtered out.

In one embodiment, the angular position compensation value delta theta at the rotor angular velocity omega is obtained according to the rotor angular velocity omega and by searching the angular velocity and compensation value numerical relation table,

according to another aspect of the present invention, there is also provided an anti-integral saturation non-inductive permanent magnet synchronous motor rotor position detection system, which includes a first gain operator 1, a first addition operator 2, a first integrator operator 3, a second gain operator 4, and a second addition operator 5; when the applied voltage on the alpha axis under the motor stator coordinate system is voltage V_αAnd the applied current on the alpha axis is the current I_αWhen the current is over; current I_αPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage V_αAnd the first Offset value Offset_αSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously input_αThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5_α；

The system further comprises a third gain operator 6, a third adder operator 7, a second integrator operator 8, a fourth gain operator 9 and a fourth adder operator 10; when the applied voltage on the beta axis under the motor stator coordinate system is a voltage V_βAnd the current applied to the beta axis is the current I_βWhen the current is over; current I_βPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage V_αAnd a second Offset value Offset_βSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current I_βThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10_β

The system further comprises a high-pass filter 11 and a second high-pass filter 12, the magnetic flux Ψ_αIs input to a first high-pass filter 11 to be filteredMagnetic flux Ψ after wave_{α_hpf}(ii) a Magnetic flux Ψ_βInput to a second high pass filter 12 resulting in a filtered magnetic flux Ψ_{β_hpf}；

The system further comprises an arctangent function operator 13, a difference operator 14, a low-pass filter 15 and a fifth addition operator 16; magnetic flux Ψ to be high-pass filtered_{α_hpf}And a magnetic flux Ψ_{β_hpf}Is fed to an arctangent function operator 13 to obtain the original angular position theta of the rotor_raw(ii) a The original angular position theta_rawThe input difference arithmetic unit 14 can obtain the original angular velocity ω of the rotor_rawThe original angular velocity ω_rawInputting the angular speed to a low-pass filter 15 to obtain the rotor angular speed omega; obtaining an angle position compensation value delta theta according to the rotor angular speed omega; the original angular velocity ω_rawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.

In one embodiment, the integration operation in the first integrator operator 3 includes the Offset of the first Offset value_αIntegral operation of (1); the integration operation in the second integration operator 8 includes a second Offset_βIntegral operation of (1); let the maximum allowable value of the first integral operator 3 and the second integral operator 8 be T_maxMinimum tolerance value of T_min(ii) a Then:

when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αSet to 0; when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αThe setting is that the a is a,a is a positive number; when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αSet to-a;

when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βSet to 0; when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βA is set as a, and a is a positive number; when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βSet to-a.

In one embodiment, the first Offset value Offset_αAnd a second Offset value Offset_βThe value of (a) is 1.

One or more embodiments of the present invention may have the following advantages over the prior art:

1. in the invention, a dynamic bias value is introduced into the integral operation, thereby realizing the effective integral saturation resistance effect, and the dynamic bias value can be filtered and eliminated by a high-pass filter without influencing the final calculation result;

2. compared with the traditional Kalman filtering algorithm, the calculation amount of the method is greatly reduced by the extended flux linkage algorithm, and the integral saturation resistant effect is kept equal.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural diagram of a rotor position detection system of an anti-integral saturation non-inductive PMSM according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a rotor position detection method of an anti-integral saturation non-inductive permanent magnet synchronous motor according to an example of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to fig. 1-2.

Fig. 1 is a schematic structural diagram of an anti-integral saturation sensorless permanent magnet synchronous motor rotor position detection system according to an embodiment of the invention. The present invention will be described with reference to fig. 1.

In the field of motor technology, in a stator coordinate system that uses a motor stator as a reference object, that is, an α - β coordinate system, a voltage model expression of a motor is as follows:

；

；

wherein, the voltage V_αAnd voltage V_βIs applied voltage on alpha, beta axis, current I_αAnd current I_βThe current on the alpha and beta axes acquired by the ADC circuit is shown, R is the phase resistance of the motor, L is the phase inductance of the motor, psi is the magnetic flux of the motor, and theta is the angular position of the electronic rotor.

As shown in FIG. 1, current I_αPasses through a first gain operator 1 and then is input to a first addition operator 2, and the voltage V_αAnd the first Offset value Offset_αSimultaneously input to a first adder 2, the output value of the first adder 2 is input to a first integration operator 3, the integration result of the first integration operator 3 is input to a second adder 5, and a current I is simultaneously input_αThe magnetic flux passes through the second gain operator 4 and is input to the second adder operator 5, and the projection amount Ψ of the motor magnetic flux Ψ on the a axis is obtained by the calculation of the second adder operator 5_α. The mathematical expression of the above process is:

from the above equation, the first gain operator 1 is used to complete the termFirst addition operator 2 for completing the termThe first integral operator 3 is used to complete the termOf the second gain operator 4, the termOf the second adder 5, the second adder completing the termAnd (4) performing the operation of (1).

Likewise, current I_βPasses through a third gain operator 6 and is input to a third addition operator 7, the voltage V_αAnd a second Offset value Offset_βSimultaneously input to a third addition operator 7, the output value of the third addition operator 7 is input to a second integral operator 8, the integral operation result of the second integral operator 8 is input to a fourth addition operator 10, and simultaneously the current I_βThe magnetic flux is input to a fourth addition operator 10 after passing through a fourth gain operator 9, and a projection amount Ψ of the motor magnetic flux Ψ on the β axis is obtained through calculation of the fourth addition operator 10_β. The mathematical expression of the above process is:

from the above equation, the third gain operator 6 is used to complete the termIs used to complete the term, the third addition operator 7 is used to complete the termA second integral operator 8 for performing the termOf the fourth gain operator 9Is performed by a fourth addition operator 10And (4) performing the operation of (1).

Note that the maximum allowable value of the first integration operator 3 and the second integration operator 8 is T_maxMinimum tolerance value of T_minThen, the present embodiment provides:

when the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αIs set to 0, i.e. the first Offset value Offset at this time_αNo offset is superimposed on the first integrating operator 3.

When the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αA is set to a, a is positive, i.e. the first Offset value Offset at this time_αThe first integral arithmetic unit 3 is superposed with forward bias to ensure that the integral result is continuously increased along with the integral operation, thereby avoiding the operation result of the first integral arithmetic unit 3 from reaching the minimum accommodating value T_min。

When the integral value of the first integral operator 3 is atToIn between, the first Offset value Offset_αIs set to-a, i.e. the first Offset value Offset at this time_αThe first integral arithmetic unit 3 is superposed with negative bias to ensure that the integral result is continuously reduced along with the integral operation, thereby avoiding the operation result of the first integral arithmetic unit 3 from reaching the maximum accommodating value T_max。

Similarly, when the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βIs set to 0, i.e. the second Offset value Offset at this time_βNo offset is superimposed on the second integrator operator 8.

When the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βA is set to a, a is positive, i.e. the second Offset value Offset at this time_βThe second integral arithmetic unit 8 is superposed with forward bias to ensure that the integral result is continuously increased along with the integral operation, thereby avoiding the operation result of the second integral arithmetic unit 8 from reaching the minimum accommodating value T_min。

When the integral value of the second integral operator 8 is atToIn between, the second Offset value Offset_βIs set to-a, i.e. the second Offset value Offset at this time_βThe second integral arithmetic unit 8 is superposed with negative bias to ensure that the integral result is continuously reduced along with the integral operation, thereby avoiding the operation result of the second integral arithmetic unit 8 from reaching the maximum accommodating value T_max。

Projection amount psi on alpha axis of obtained motor magnetic flux psi_αAnd the projection amount Ψ on the β axis_βThen, the magnetic flux Ψ_αThe input to the first high pass filter 11 results in a filtered magnetic flux Ψ_{α_hpf}(ii) a Magnetic flux Ψ_βInput to a second high pass filter 12 resulting in a filtered magnetic flux Ψ_{β_hpf}. Due to magnetic flux Ψ_αWith the magnetic flux Ψ_βIncluding a DC Offset, i.e. the first Offset value Offset introduced in the previous integration operation_αAnd a second Offset value Offset_βTherefore, the influence of the dc offset on the operation result needs to be eliminated in the subsequent calculation. And the first Offset value Offset_αAnd a second Offset value Offset_βDuring the integration, the frequency changes among three values of-a, 0 and a along with the change of the integrated value, and the change belongs to a slowly-changing signal and is extremely low. Thus in the magnetic flux Ψ_αWith the magnetic flux Ψ_βAfter passing through the high frequency filter, is determined by the first Offset value Offset_αAnd a second Offset value Offset_βThe resulting dc offset will be filtered out.

When the first Offset value Offset_αAnd a second Offset value Offset_βThe larger the value of (a), the more obvious the bias effect is, i.e. the larger the value of (b), the faster the integral value can be brought away from the integral saturation state, but the larger the change of the signal is. An Offset value Offset is added to the input term of the integrator for dynamically adjusting the range of the integration value to avoid the integration value approaching the upper or lower bound of the integrator, i.e. to avoid saturation.

The offset value acts as an artifact, and the influence of the offset value on the calculated value needs to be eliminated by a high-pass filter of a later stage. According to the high-pass filter characteristic, in order to filter the bias value influence, it should have a "slow-varying" characteristic. According to the principle of dynamically adjusting the offset value, the smaller the amplitude of the offset value, the slower the whole integrator results to jump between the upper and lower limits, and the correspondingly lower the adjustment frequency of the offset value, the more easily it introduces effects that can be eliminated by the high-pass filter. Therefore, the bias value set should have three elements: the minimum positive value that the system can represent, the minimum negative value that the system can represent, and 0. For a fixed-point digital system, 1 is the minimum non-zero positive value that it can represent, so the value of a in this embodiment is + 1.

The high-pass filtered magnetic flux Ψ is then_{α_hpf}And a magnetic flux Ψ_{β_hpf}Is fed to an arctangent function operator 13 to obtain the original angular position theta of the rotor_rawNamely:

the original angular position theta_rawThe input difference operator 14 can obtain the original angular velocity ω of the rotor_rawNamely:

wherein T is the updating time interval of the observer of the non-inductive motor control system, and when the system observes and estimates the rotor position every fixed time interval T, theta_raw[n]Is the original angular position estimated the nth time.

The original angular velocity ω is then measured_rawAnd inputting the signal into a low-pass filter 15, and eliminating high-frequency noise introduced by a difference arithmetic unit to obtain the angular velocity omega of the motor rotor.

And obtaining an angular position compensation value delta theta under the rotor angular speed omega according to a rotor angular speed omega and rotor angular position compensation relation curve known in the art.

The original angular velocity ω_rawAnd the angle position compensation value delta theta are sent to a fifth arithmetic unit 16, and the angle position theta of the electronic rotor is obtained.

Thus, the position detection of the motor rotor is completed after the angular speed omega and the angular position theta of the motor rotor are obtained.

The above description is only an embodiment of the present invention, and the protection scope of the present invention is not limited thereto, and any person skilled in the art should modify or replace the present invention within the technical specification of the present invention.