阅读说明：本技术 一种无轴承同步磁阻电机转速估算系统构造方法 (Construction method of rotating speed estimation system of bearingless synchronous reluctance motor ) 是由 张汉年 徐开军 周望玮 王书旺 牛希文 于 2021-07-14 设计创作，主要内容包括：本发明公开了一种无轴承同步磁阻电机转速估算系统构造方法,首先检测电机转矩绕组三相电压、电流用于构造坐标变换；其次构建电机转速估算器,输出的电机转速最终估算值经积分运算可获取转子位置角估算值；建立虚拟控制器,电机转速最终估算值、转速参考值和电机转速最终估算值之间偏差、励磁电流分量参考值作为虚拟控制器的输入信号,其输出转矩电流分量参考值；励磁电流分量参考值、转矩电流分量参考值与坐标变换输出的两相电流实际值之间偏差送入PI调节器,其输出两相电压参考值,再送入广义逆变器；广义逆变器向电机转矩绕组供电,实现电机的无速度传感器旋转运行。本发明能够提高无轴承同步磁阻电机转速估算的精度,系统响应快速,性能良好。(The invention discloses a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, which comprises the steps of firstly detecting three-phase voltage and current of a motor torque winding for constructing coordinate transformation; secondly, a motor rotating speed estimator is constructed, and the final estimation value of the output motor rotating speed can obtain the estimation value of the rotor position angle through integral operation; establishing a virtual controller, wherein a final estimated value of the motor speed, a deviation between a reference value of the motor speed and the final estimated value of the motor speed and a reference value of an exciting current component are used as input signals of the virtual controller, and the reference value of a torque current component is output; the deviation between the exciting current component reference value, the torque current component reference value and the actual value of the two-phase current output by the coordinate transformation is sent to a PI regulator, and the PI regulator outputs the two-phase voltage reference value and then sends the two-phase voltage reference value to a generalized inverter; the generalized inverter supplies power to the motor torque winding, and the rotation operation of the motor without a speed sensor is realized. The method can improve the precision of the rotating speed estimation of the bearingless synchronous reluctance motor, and has quick system response and good performance.)

1. A construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor is characterized by comprising the following steps:

step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation_1d、i_1qAnd a two-phase voltage u_1d、u_1q；

Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i_1d、i_1qAnd a two-phase voltage u_1d、u_1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speed Integrated byObtaining the estimated value of the rotor position angle after operation For coordinate transformation;

step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motorReference value of speed of rotation omega^*Anddeviation betweenReference value of exciting current component under synchronous rotation d-q axis coordinateAs the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation d-q axis coordinate

Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinateReference value of torque current component output by virtual controllerTwo-phase current i output by coordinate transformation in step 1_1d、i_1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value

Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.

2. The method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor as claimed in claim 1, wherein the step 1 is implemented by constructing coordinate transformation comprising Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor_1A、u_1B、u_1CRotor position angle estimationAs an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate_1α、u_1β，u_1α、u_1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion_1d、u_1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor_1A、i_1B、i_1CRotor position angle estimationAs Clark transformation input signal, i_1A、i_1B、i_1C、Outputting a current detection value i under a two-phase static coordinate through Clark transformation_1α、i_1β，i_1α、i_1βThen, the synchronous rotation d-Two-phase current i in q-axis coordinate_1d、i_1q。

3. The method for constructing the bearing-free synchronous reluctance motor rotating speed estimation system according to claim 1 or 2, wherein the step 2 is as follows:

step 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor, wherein the motor rotating speed estimator comprises the following steps:

wherein the content of the first and second substances,for final estimation of the motor speed, L_1d、L_1qSelf-inductance, T, of torque windings of the stator d-q axes, respectively_sIn order to be the sampling period of time,for the estimation of the parameter m,for the estimation of the parameter r,omega is the actual value of the rotating speed of the motor;

step 2.2, coordinate transformation constructed in step 1, u of its output_1d、u_1qAnd i_1d、i_1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speed Obtaining the estimated value of the rotor position angle after integral operation As one of the coordinate transformation input signals.

4. The method for constructing the rotating speed estimation system of the bearingless synchronous reluctance motor according to claim 3, wherein the specific process of establishing the motor rotating speed estimator of the bearingless synchronous reluctance motor in the step 2.1 is as follows:

neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:

in the formula, R₁Is the torque winding resistance, omega is the actual value of the motor rotating speed,t represents time, which is a differential operator;

discretizing the formula (1), first, the following formula holds:

in the formula i_1d(n+1)、i_1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i_1d(n)、i_1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively;

substituting formula (2) into formula (1) to obtain a discretization form of formula (1):

in the formula u_1d(n)、u_1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;

the least squares model of equation (3) is rewritten as:

wherein the superscript T is transposed, in the formula (4)And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:

in formulas (5) and (6):

m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;

y₁(n)、y₂(n) is an output matrix, and y₁(n)＝i_1d(n+1)、y₂(n)＝i_1q(n+1)；

φ₁(n) is an input matrix phi₁At the time instant n the value of the sample is taken,

φ₂(n) is an input matrix phi₂At the time instant n the value of the sample is taken,

J₁(n) is a matrix J₁At the time instant n the value of the sample is taken, wherein K₁(n)、K₁(n-1) are each a matrix K₁Sampling values, delta, at times n and n-1₁Is a parameter, 0 < delta₁Less than 1, I is an identity matrix;

J₂(n) is a matrix J₂At the time instant n the value of the sample is taken, wherein K₂(n)、K₂(n-1) are each a matrix K₂Sampling values, delta, at times n and n-1₂Is a parameter, 0 < delta₂Less than 1, I is an identity matrix;

estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter mWhen obtaining the estimated value of the parameter mThen, further push out andcorresponding speed estimationComprises the following steps:

the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtainedWhen obtaining the estimated value of the parameter rThen, further deducing andcorresponding speed estimationComprises the following steps:

averaging the estimated speed values in equations (7) and (8), i.e.Obtaining the final estimated value of the motor speedComprises the following steps:

5. the method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 3, wherein the step 3 is as follows:

step 3.1, establishing a virtual controller:

wherein the content of the first and second substances,is the output signal of the virtual controller, B is the friction coefficient, T_LIs load torque, N is rotational inertia, lambda is parameter, lambda is more than 0, p₁In order to obtain the number of pole pairs of the torque winding,as a reference value of speed omega^*Anddeviation therebetween, i.e.

One of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega^*And final estimated valueThe second of the input signals is a reference value of the exciting current component of the motorThe third input signal is the final estimation value of the motor speedOutput after operation of the virtual controller

6. The method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 5, wherein the step 3.1 specifically comprises:

for bearingless synchronous reluctance machines, i is used_1dWhen controlling, i_1dThe electromagnetic torque equation of the motor is as follows:

in the formula, T_eIs an electromagnetic torque;

substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:

in the formula, N is rotational inertia, and B is a friction coefficient;

assuming the reference value of the motor speed as omega^*The deviation between the reference value of the motor speed and the actual value of the motor speed is e_ωThen e_ω＝ω^*ω, pair e_ωDerivation, yielding the following formula:

taking parametersThenThe following equation is designed:

wherein the parameter lambda is greater than 0;

using final estimation of motor speedInstead of actual value of speed omega, byIn place of e_ωUsing reference values of field current componentsInstead of the actual value i_1dCalculating the output signal of the virtual controller from equation (13)Comprises the following steps:

7. the method for constructing the system for estimating the rotating speed of the bearingless synchronous reluctance motor according to claim 1, wherein in step 5, a generalized inverter is established as follows:

step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulatorOutputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformationThen, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation As input signal for an SPWM inverter, SPWMThe inverter supplies power to the torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are achieved.

Technical Field

The invention relates to the technical field of alternating current motor control, in particular to a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor.

Background

The bearingless synchronous reluctance motor is an AC special motor developed on the basis of a common synchronous reluctance motor, and is mainly structurally characterized in that two sets of windings, namely a torque winding for dragging load torque and a suspension winding for supporting rotor suspension, are arranged in a stator slot. The two inverters respectively supply power to the torque winding and the suspension winding, are used for generating a synthetic magnetic field and applying the synthetic magnetic field to the motor rotor, and synchronously realize stable suspension and reliable rotation of the motor rotor.

The rotating speed closed-loop control is the premise of realizing the high-performance rotation control of the bearingless synchronous reluctance motor, and the first premise for constructing the rotating speed closed-loop control system is that a mechanical speed sensor is installed on the motor, and the rotating speed information is acquired by the speed sensor. However, the complex rotor displacement sensor is already installed in the bearingless synchronous reluctance motor, the firmness of the original structure of the motor is damaged by installing too many sensors, and the cost and the control difficulty of a control system are increased. In addition, when the speed sensor is applied to occasions of high rotating speed, severe environment and the like, a large detection error occurs, and the reliability of a rotating speed and torque control system is further reduced.

In order to omit a speed sensor of the bearingless synchronous reluctance motor, simplify the hardware structure of the system and realize the reliable rotation of the rotor of the bearingless synchronous reluctance motor under the condition of no speed sensor, some new control methods are required.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, based on the constructed rotating speed estimation system, the invention has higher rotating speed estimation precision, easy realization of a control system and quick response of the system, and can effectively avoid a series of problems caused by the installation of a traditional speed sensor on the motor.

The invention adopts the following technical scheme for solving the technical problems:

the invention provides a construction method of a rotating speed estimation system of a bearingless synchronous reluctance motor, which comprises the following steps:

step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation_1d、i_1qAnd a two-phase voltage u_1d、u_1q；

Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i_1d、i_1qAnd a two-phase voltage u_1d、u_1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speedObtaining the estimated value of the rotor position angle after integral operationFor coordinate transformation;

step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motorReference value of speed of rotation omega^*Anddeviation betweenReference value of exciting current component under synchronous rotation d-q axis coordinateAs the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation d-q axis coordinate

Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinateReference value of torque current component output by virtual controllerTwo-phase current i output by coordinate transformation in step 1_1d、i_1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value

Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.

As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, coordinate transformation is constructed in the step 1, the coordinate transformation comprises Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor_1A、u_1B、u_1CRotor position angle estimationAs an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate_1α、u_1β，u_1α、u_1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion_1d、u_1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor_1A、i_1B、i_1CRotor position angle estimationAs Clark transformation input signal, i_1A、i_1B、i_1C、Outputting a current detection value i under a two-phase static coordinate through Clark transformation_1α、i_1β，i_1α、i_1βThen two-phase current i under the coordinate of synchronously rotating d-q axis is output through Park conversion_1d、i_1q。

As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, the step 2 is as follows:

step 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor, wherein the motor rotating speed estimator comprises the following steps:

wherein the content of the first and second substances,for final estimation of the motor speed, L_1d、L_1qSelf-inductance, T, of torque windings of the stator d-q axes, respectively_sIn order to be the sampling period of time,for the estimation of the parameter m,for the estimation of the parameter r,omega is the actual value of the rotating speed of the motor;

step 2.2,Transformation of coordinates constructed in step 1, u of its output_1d、u_1qAnd i_1d、i_1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speedObtaining the estimated value of the rotor position angle after integral operationAs one of the coordinate transformation input signals.

As a further optimization scheme of the construction method of the bearing-free synchronous reluctance motor rotating speed estimation system, step 2.1 is to establish a motor rotating speed estimator of the bearing-free synchronous reluctance motor in the following specific process:

neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:

in the formula, R₁Is the torque winding resistance, omega is the actual value of the motor rotating speed,t represents time, which is a differential operator;

discretizing the formula (1), first, the following formula holds:

in the formula i_1d(n+1)、i_1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i_1d(n)、i_1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively;

substituting formula (2) into formula (1) to obtain a discretization form of formula (1):

in the formula u_1d(n)、u_1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;

the least squares model of equation (3) is rewritten as:

wherein the superscript T is transposed, in the formula (4)And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:

m(n)＝m(n-1)+J₁(n)[y₁(n)-φ₁ ^T(n)]m(n-1) (5)

in formulas (5) and (6):

m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;

y₁(n)、y₂(n) is an output matrix, and y₁(n)＝i_1d(n+1)、y₂(n)＝i_1q(n+1)；

φ₁(n) is an input matrix phi₁Sampling value at n time, phi₁ ^T(n)＝[i_1d(n) i_1q(n) u_1d(n)]^T；

φ₂(n) is an input matrix phi₂At the time instant n the value of the sample is taken,

J₁(n) is a matrix J₁At the time instant n the value of the sample is taken, wherein K₁(n)、K₁(n-1) are each a matrix K₁Sampling values, delta, at times n and n-1₁Is a parameter, 0 < delta₁Less than 1, I is an identity matrix;

J₂(n) is a matrix J₂At the time instant n the value of the sample is taken, wherein K₂(n)、K₂(n-1) are each a matrix K₂Sampling values, delta, at times n and n-1₂Is a parameter, 0 < delta₂Less than 1, I is an identity matrix;

estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter mWhen obtaining the estimated value of the parameter mThen, further push out andcorresponding speed estimationComprises the following steps:

the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtainedWhen obtaining the estimated value of the parameter rThen, further deducing andcorresponding speed estimationComprises the following steps:

averaging the estimated speed values in equations (7) and (8), i.e.Obtaining the final estimated value of the motor speedComprises the following steps:

as a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, the step 3 is as follows:

step 3.1, establishing a virtual controller:

wherein the content of the first and second substances,for virtual controlOutput signal of the device, B is coefficient of friction, T_LIs load torque, N is rotational inertia, lambda is parameter, lambda is more than 0, p₁In order to obtain the number of pole pairs of the torque winding,as a reference value of speed omega^*Anddeviation therebetween, i.e.

One of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega^*And final estimated valueThe second of the input signals is a reference value of the exciting current component of the motorThe third input signal is the final estimation value of the motor speedOutput after operation of the virtual controller

As a further optimization scheme of the construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor, step 3.1 specifically comprises the following steps:

for bearingless synchronous reluctance machines, i is used_1dWhen controlling, i_1dThe electromagnetic torque equation of the motor is as follows:

in the formula, T_eIs an electromagnetic torque;

substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:

in the formula, N is rotational inertia, and B is a friction coefficient;

assuming the reference value of the motor speed as omega^*The deviation between the reference value of the motor speed and the actual value of the motor speed is e_ωThen e_ω＝ω^*ω, pair e_ωDerivation, yielding the following formula:

taking parametersThenThe following equation is designed:

wherein the parameter lambda is greater than 0;

using final estimation of motor speedInstead of actual value of speed omega, byIn place of e_ωUsing reference values of field current componentsInstead of the actual value i_1dCalculating the output signal of the virtual controller from equation (13)Comprises the following steps:

as a further optimization scheme of the construction method of the bearingless synchronous reluctance motor rotating speed estimation system, in step 5, a generalized inverter is established, specifically as follows:

step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulatorOutputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformationThen, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation As an input signal of the SPWM inverter, the SPWM inverter supplies power to a torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are realized.

Compared with the prior art, the invention adopting the technical scheme has the following technical effects:

the rotating speed estimation system provided by the invention removes the traditional mechanical speed sensor, simplifies the whole system structure of the motor, has higher rotating speed estimation precision, fast rotating speed tracking performance and stronger system stability, and solves the problems of complex structure, higher control difficulty and the like caused by the installation of the speed sensor on the motor.

Drawings

FIG. 1 is a schematic block diagram of a system for estimating the rotational speed of a bearingless synchronous reluctance motor according to the present invention.

Fig. 2 is a functional block diagram of coordinate transformation.

Fig. 3 is a schematic block diagram of a generalized inverter.

Detailed Description

The technical scheme of the invention is further explained in detail by combining the attached drawings:

when the rotating speed estimation system of the bearingless synchronous reluctance motor carries out rotating speed estimation, three-phase voltage and three-phase current of a motor torque winding are firstly detected and used for constructing a rotating speed estimator of the bearingless synchronous reluctance motor so as to obtain a rotating speed estimation value.

FIG. 1 is a schematic block diagram of a system for estimating the rotational speed of a bearingless synchronous reluctance motor according to the present invention, and a method for constructing the system for estimating the rotational speed of the bearingless synchronous reluctance motor includes the following steps:

step 1, constructing coordinate transformation, detecting three-phase current and three-phase voltage of a torque winding of a bearingless synchronous reluctance motor, and obtaining two-phase current i under a synchronous rotation d-q axis coordinate after coordinate transformation_1d、i_1qAnd a two-phase voltage u_1d、u_1q；

Step 2, constructing a motor rotating speed estimator, and in step 1, establishing a two-phase current i_1d、i_1qAnd a two-phase voltage u_1d、u_1qAs input signal of motor speed estimator, the output signal of motor speed estimator is the final estimated value of motor speedObtaining the estimated value of the rotor position angle after integral operationFor coordinate transformation;

step 3, establishing a virtual controller and a final estimation value of the rotating speed of the motorReference value of speed of rotation omega^*And final motor speed estimateDeviation betweenReference value of exciting current component under synchronous rotation d-q axis coordinateAs the input signal of the virtual controller, the virtual controller outputs the reference value of the torque current component under the synchronous rotation coordinate

Step 4, constructing a PI regulator, and synchronously rotating an exciting current component reference value under a d-q axis coordinateReference value of torque current component output by virtual controllerTwo-phase current i output by coordinate transformation in step 1_1d、i_1qThe deviation between the two phases is sent to a PI regulator, which outputs a two-phase voltage reference value

Step 5, constructing a generalized inverter, and referring the two-phase voltage reference value output by the PI regulator in the step 4As an input signal of the generalized inverter, the generalized inverter outputs actually required three-phase voltage to supply power to a motor torque winding, and stable rotating operation of a motor rotor without a speed sensor is achieved.

FIG. 2 is a schematic block diagram of coordinate transformation, further, coordinate transformation is constructed in step 1, the coordinate transformation comprises Clark transformation and Park transformation, and the detected three-phase voltage u of the torque winding of the bearingless synchronous reluctance motor_1A、u_1B、u_1CRotor position angle estimationAs an input signal of Clark conversion, the input signal is firstly subjected to Clark conversion to output a voltage detection value u under a two-phase static coordinate_1α、u_1β，u_1α、u_1βThen two-phase voltage u under the coordinate of synchronously rotating d-q axis is output through Park conversion_1d、u_1q(ii) a Detected three-phase current i of torque winding of bearingless synchronous reluctance motor_1A、i_1B、i_1CRotor position angle estimationAs Clark transformation input signal, i_1A、i_1B、i_1C、Outputting a current detection value i under a two-phase static coordinate through Clark transformation_1α、i_1β，i_1α、i_1βThen two-phase current i under the coordinate of synchronously rotating d-q axis is output through Park conversion_1d、i_1q。

Further, step 2 is specifically as follows:

and 2.1, establishing a motor rotating speed estimator of the bearingless synchronous reluctance motor. Neglecting flux linkage, voltage and current changes caused by the eccentric displacement of the motor rotor, the stator current equation of the torque winding of the bearingless synchronous reluctance motor under the synchronous rotation d-q coordinate is as follows:

in the formula, R₁Is the torque winding resistance, omega is the actual value of the motor speed, L_1d、L_1qAre respectively the self-inductance of the d-q shaft torque winding of the stator,t represents time, which is a differential operator;

discretizing the formula (1), first, the following formula holds:

in the formula i_1d(n+1)、i_1q(n +1) respectively sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n + 1; i.e. i_1d(n)、i_1q(n) sampling values of d-axis current and q-axis current of the motor torque winding at the moment of n are respectively; t is_sIs a sampling period;

substituting formula (2) into formula (1) to obtain a discretization form of formula (1):

in the formula u_1d(n)、u_1q(n) sampling values of d-axis voltage and q-axis voltage of the motor torque winding at the moment of n are respectively;

the least squares model of equation (3) is rewritten as:

wherein the superscript T is transposed, in the formula (4)And respectively identifying the parameter m and the parameter r by adopting a least square method, wherein the identification models are respectively as follows:

m(n)＝m(n-1)+J₁(n)[y₁(n)-φ₁ ^T(n)]m(n-1) (5)

in formulas (5) and (6):

m (n) and r (n) are respectively the sampling values of m and r at the moment of n; m (n-1) and r (n-1) are sampling values of m and r at the moment of n-1 respectively;

y₁(n)、y₂(n) is an output matrix, and y₁(n)＝i_1d(n+1)、y₂(n)+i_1q(n+1)；

φ₁(n) is an input matrix phi₁Sampling value at n time, phi₁ ^T(n)＝[i_1d(n) i_1q(n) u_1d(n)]^T；

φ₂(n) is an input matrix phi₂At the time instant n the value of the sample is taken,

J₁(n) is a matrix J₁At the time instant n the value of the sample is taken, wherein K₁(n)、K₁(n-1) are each a matrix K₁Sampling values, delta, at times n and n-1₁Is a parameter, 0 < delta₁Less than 1, I is an identity matrix;

J₂(n) is a matrix J₂At the time instant n the value of the sample is taken, wherein K₂(n)、K₂(n-1) are each a matrix K₂Sampling values, delta, at times n and n-1₂Is a parameter, 0 < delta₂Less than 1, I is an identity matrix;

estimating the parameter m according to the formula (5) to obtain an estimated value of the parameter mWhen obtaining the estimated value of the parameter mThen, further push out andcorresponding speed estimationComprises the following steps:

the parameter r is estimated according to the formula (6), and the estimated value of the parameter r is obtainedWhen obtaining the estimated value of the parameter rThen, further deducing andcorresponding speed estimationComprises the following steps:

in the following equations (7) and (8), the parameter estimation values are obtained firstThen respectively calculating by the relational expression to obtain the corresponding rotating speed estimated valuesIn order to make the estimated value of the rotating speed approach the actual value and improve the estimation precision of the rotating speed, the estimated values of the rotating speed under the formulas (7) and (8) are averaged, namelyObtaining the final estimated value of the motor speedComprises the following steps:

step 2.2, coordinate transformation constructed in step 1, u of its output_1d、u_1qAnd i_1d、i_1qAs the input signal of the motor speed estimator of the bearingless synchronous reluctance motor in the step 2.1, the output signal of the speed estimator in the step 2.1 is the final estimated value of the motor speedObtaining the estimated value of the rotor position angle after integral operationAs one of the coordinate transformation input signals.

The step 3 is as follows:

step 3.1, establishing a virtual controller;

for bearingless synchronous reluctance machines, i is used_1dWhen controlling, i_1dThe electromagnetic torque equation of the motor is as follows:

in the formula, T_eIs an electromagnetic torque, p₁The number of pole pairs of the torque winding is;

substituting the formula (10) into the motion equation of the bearingless synchronous reluctance motor to obtain the following formula:

wherein N is rotational inertia, B is friction coefficient, and T_LIs the load torque;

assuming the reference value of the motor speed as omega^*The deviation between the reference value of the motor speed and the actual value of the motor speed is e_ωI.e. e_ω＝ω^*ω, pair e_ωDerivation, yielding the following formula:

taking parametersThenIn order to stabilize the reverse control system, the following equation is designed:

wherein the parameter lambda is greater than 0;

using final estimation of motor speedReplacing the actual value omega of the rotation speed, and making the reference value omega of the rotation speed^*And final estimated valueWith a deviation ofNamely, it isBy usingIn place of e_ωUsing reference values of field current componentsInstead of the actual value i_1dCalculating the output signal of the virtual controller from equation (13)Comprises the following steps:

one of the virtual controller input signals established in step 3.2 and step 3.1 is a rotation speed reference value omega^*And final estimated valueThe second of the input signals is a reference value of the exciting current component of the motorThe third input signal is the final estimation value of the motor speedOutput after operation of the virtual controller

Further, in step 5, a generalized SPWM inverter is built, and fig. 3 is a schematic block diagram of the generalized inverter. The method comprises the following specific steps:

step 4, outputting two-phase voltage reference values under synchronous rotation d-q coordinates by the PI regulatorOutputting a voltage reference value under a two-phase static coordinate after carrying out Park inverse transformationThen, the voltage reference value under the three-phase static coordinate is output through Clark inverse transformation As an input signal of the SPWM inverter, the SPWM inverter supplies power to a torque winding of the bearingless synchronous reluctance motor, and effective estimation of the rotating speed of the motor and stable rotation of a rotor are realized.

The construction method of the rotating speed estimation system of the bearingless synchronous reluctance motor can accurately estimate the rotating speed of the motor, and the system response is quick. The traditional mechanical speed sensor is not required to be installed, and the defects of cost increase of a control system, complex structure of a motor body and the like caused by speed sensor assembly are overcome.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.