CN101977000A - Method for measuring position and speed of rotor of electrically excited synchronous motor and control device - Google Patents
Method for measuring position and speed of rotor of electrically excited synchronous motor and control device Download PDFInfo
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- CN101977000A CN101977000A CN201010290967XA CN201010290967A CN101977000A CN 101977000 A CN101977000 A CN 101977000A CN 201010290967X A CN201010290967X A CN 201010290967XA CN 201010290967 A CN201010290967 A CN 201010290967A CN 101977000 A CN101977000 A CN 101977000A
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Abstract
The invention discloses a method for measuring position and speed of a rotor of an electrically excited synchronous motor and a control device, and belongs to the measurement method and a control device for the synchronous motor. The method comprises the following steps of: injecting a high-frequency voltage signal at the U phase of a stator of the electrically excited synchronous motor; generating a high-frequency pulsating magnetic field by the high-frequency voltage signal, wherein a high-frequency potential signal induced in a rotor winding by the high-frequency pulsating magnetic field also changes along with position change of the motor rotor; acquiring the signal by a voltage transformer and determining the position of the rotor and the rotation speed of a synchronizer; feeding the measured rotor position signal and rotation speed signal back to a controller; and accurately controlling the speed of the electrically excited synchronous motor by the controller according to a given signal. The method and the device have the advantages that: the device is not provided with a mechanical speed sensor; by using the electromagnetic structure of the synchronous motor, the rotation speed of the motor is directly measured by injecting the high-frequency signal at one phase of the stator; and the composition of the system is simplified, and the reliability of the system and the accuracy for the speed control are improved.
Description
Technical field
The present invention relates to a kind of method of measurement and control device of synchronous motor, particularly a kind of rotor-position of electric excitation synchronous motor and speed measurement method and control device.
Background technology
In high performance synchronous motor vector control system, the closed-loop control link of rotor-position and speed is essential.Based on the control system of velocity transducer, adopt mechanical speed transducers such as photoelectric code disk, tachogenerator to carry out motor speed and detect, and the feedback tach signal.These systems are relatively poor to the detectability of rotor-position, and there is installation question in the mechanical speed transducer simultaneously, and has increased the maintenance workload of system.
Present Speedless sensor control system utilize to detect physical quantitys such as motor stator voltage, electric current, carries out position and velocity estimation to replace mechanical pick-up device in conjunction with the asymmetry of rotor magnetic circuit.This system has solved the problem that the mechanical speed transducer brings, and has reduced system cost, but present evaluation method is strong to the dependence of the parameter of electric machine, and calculating and control ratio have the sensing system complexity, responds slowlyer, and the low speed dynamic response characteristic is relatively poor.
Therefore, good rotor-position and speed measurement method are the technical guarantees that improves synchronous motor drive control system reliability and accuracy with device.
Summary of the invention
The objective of the invention is to provide a kind of: the rotor-position of electric excitation synchronous motor and speed measurement method and control device, solve synchronous motor closed loop speed control system hardware configuration complicated problems, improve the reliability and the accuracy of control system simultaneously.
The object of the present invention is achieved like this: solving the rotor-position of the present invention's electricity excitation synchronous motor and the technical scheme of tachometric survey has method of measurement and control device:
Method of measurement is:
A, system controller control stator power inverter, the stator power inverter is exported three-phase alternating voltage on the one hand and is the power supply of synchronous motor stator winding, and frequency of stack is f in the alternating voltage of stator winding U phase on the other hand
HHigh-frequency voltage signal;
B, synchronous motor stator winding U mutually in injected frequency be f
HThe high frequency excitation signal, inducing the frequency that becomes cosine relation with rotor angle from the synchronous electric motor rotor excitation winding is f
HThe high frequency potential signal;
It is f that c, traffic filter extract the detected frequency of voltage transformer
HThe high frequency potential signal, system controller calculates the rotor position angle of synchronous motor, utilizes the derivative calculations spinner velocity n of rotor angle to the time
r
D, system controller basis signal are provided with the input signal and the detected spinner velocity signal of equipment stator power inverter and rotor DC power supply are controlled;
E, stator power inverter and rotor DC power supply change output according to the control signal that system controller sent, thereby control the rotating speed of synchronous motor rapidly and accurately.
Control device is:
The synchronous electric motor rotor excitation winding is connected to the rotor DC power supply; The synchronous motor stator winding is connected with the stator power inverter, and the stator power inverter is connected to the stator three-phase alternating-current supply by three-phase power switch; Two measuring junctions of voltage transformer are connected to synchronous electric motor rotor excitation winding two ends respectively, and the output of voltage transformer is connected to system controller through traffic filter; Signal is provided with equipment and is connected with system controller; System controller is connected with the rotor DC power supply with the stator power inverter simultaneously.
Beneficial effect: owing to adopted such scheme, in the method and apparatus of rotor-position and tachometric survey, do not adopt the mechanical speed sensor device, utilize the mechanical structure of electric excitation synchronous motor itself and electromagnetic relationship wherein, use stator side to inject the method for high-frequency signal, measure rotor-position and speed, reached good control effect.This method all is suitable for hidden pole type electricity excitation synchronous motor and salient pole type electricity excitation synchronous motor.Omit the mechanical speed transducer for electric excitation synchronous motor closed loop speed control system, simplified system configuration, strengthened the reliability of system, improved the precision of speed control.
Solve synchronous motor closed loop speed control system hardware configuration complicated problems, improved the reliability and the accuracy of control system, reached purpose of the present invention.
Advantage: this method is applicable to hidden pole type electricity excitation synchronous motor and salient pole type electricity excitation synchronous motor; This device does not have the mechanical speed transducer, utilizes the electromagnetic structure of synchronous machine itself, and the method that adopts stator one to inject high-frequency signal is mutually directly measured rotating speed of motor, has simplified the composition of system, has improved the reliability of system and the precision of speed control.
Description of drawings
Fig. 1 is electric excitation synchronous motor rotor position and tachometric survey schematic diagram;
Fig. 2 is the measurement and the control system figure of electric excitation synchronous motor rotor position and speed.
Among the figure: 1, stator three-phase alternating-current supply; 2, three-phase power switch; 3, stator power inverter; 4, signal is provided with equipment; 5, system controller; 6, traffic filter; 7, voltage transformer; 8, rotor DC power supply; 9, synchronous motor stator winding; 10, synchronous motor stator; 11, synchronous electric motor rotor; 12, synchronous electric motor rotor excitation winding.
Embodiment
Embodiment 1: to the rotor-position of electric excitation synchronous motor and the method for measurement of tachometric survey be:
A, system controller 5 control stator power inverters 3, it is 9 power supplies of synchronous motor stator winding that stator power inverter 3 is exported three-phase alternating voltage on the one hand, frequency of stack is f in the alternating voltage of stator winding U phase on the other hand
HHigh-frequency voltage signal;
B, synchronous motor stator winding U mutually in injected frequency be f
HThe high frequency excitation signal, inducing the frequency that becomes cosine relation with rotor angle from synchronous electric motor rotor excitation winding 12 is f
HThe high frequency potential signal;
It is f that c, traffic filter 6 extract voltage transformer 7 detected frequencies
HThe high frequency potential signal, system controller 5 calculates the rotor position angle of synchronous motor, utilizes the derivative calculations spinner velocity n of rotor angle to the time
r
D, system controller 5 basis signals are provided with the input signal and the detected spinner velocity signal of equipment 4 stator power inverter 3 and rotor DC power supply 8 are controlled;
E, stator power inverter 3 and rotor DC power supply 8 change output according to the control signal that system controller 5 is sent, thereby control the rotating speed of synchronous motor rapidly and accurately.
Realize that the rotor-position of electric excitation synchronous motor and the control device of speed measurement method are: synchronous electric motor rotor excitation winding 12 is connected to rotor DC power supply 8; Synchronous motor stator winding 9 is connected with stator power inverter 3, and stator power inverter 3 is connected to stator three-phase alternating-current supply 1 by three-phase power switch 2, and stator power inverter 3 adopts conventional power inverter; Two measuring junctions of voltage transformer 7 are connected to synchronous electric motor rotor excitation winding 12 two ends respectively, and the output of voltage transformer 7 is connected to system controller 5 through traffic filter 6, and traffic filter 6 adopts conventional at present traffic filter; Signal is provided with equipment 4 and is connected with system controller 5, and signal is provided with equipment 4 and is custom circuit, and system controller 5 adopts conventional controller; System controller 5 is connected with rotor DC power supply 8 with stator power inverter 3 simultaneously.
The principle of electric excitation synchronous motor rotor position of the present invention and tachometric survey:
In Fig. 1, utilize system controller 5, control stator power inverter 3 output three-phase alternating voltage u
u, u
v, u
w, be 9 power supplies of synchronous motor stator winding.For detection rotor position and speed, need synchronous motor stator winding U mutually in injected frequency be f
HHigh-frequency voltage signal, so stator power inverter 3 is in the output three-phase alternating voltage, will be f in the stator winding U frequency that superposes in mutually also
HHigh frequency single phase alternating current (A.C.) voltage u
HOutput.
The phase axle of definition synchronous motor stator U phase winding is the U axle, and the axis of rotor magnetic pole N (being rotor DC excitation winding axis) is the d axle, and the electrical degree of the space angle of the two is θ.If the synchronous motor number of pole-pairs is P, the mechanical angle θ at U axle and d axle clamp angle then
rWith electrical degree be that the pass of θ is:
θ＝P×θ
r (1)
Applying frequency in synchronous motor stator U phase winding is f
HHigh-frequency voltage signal the time, can produce frequency at the U shaft position be f
HThe high frequency impulsive magnetic field.When rotor rotation when the electrical degree of the space angle of axle (being the U axle) is θ mutually to d axle and stator U phase winding, the frequency that the rotor-exciting winding induces is f
HHigh frequency transformer electromotive force E
RHSize is:
E
rH＝E
H?cosθ (2)
In the formula, E
HFor the electrical degree of the space angle of rotor d axle and U axle is 0 o'clock, the frequency that the rotor-exciting winding induces is f
HThe high frequency transformer electromotive force.As seen, the frequency of responding in the rotor-exciting winding is f
HHigh frequency potential become cosine relation with the electrical degree θ of rotor-position, be f by detection rotor excitation winding medium frequency
HHigh frequency potential, just can utilize formula (2) to calculate the electrical degree θ of rotor-position.
The rotor position angle θ that measures is carried out derivative calculations to time t, and convolution (1), just can calculate the speed n of rotor
rFor:
Rotor-position and the rate signal measured are fed back to system controller 5, just constituted the closed loop speed control system of synchronous motor, can control accurately the speed of synchronous motor dragging system.Fig. 2 is the measurement and the control system figure of electric excitation synchronous motor rotor position and speed.The present invention's electricity excitation synchronous motor rotor position is made up of electric excitation synchronous motor and Measurement and Control System thereof with speed measurement method and control device, and synchronous electric motor rotor excitation winding 12 is connected to rotor DC power supply 8; Synchronous motor stator winding 9 is connected with stator power inverter 3, and stator power inverter 3 is connected to stator three-phase alternating-current supply 1 by three-phase power switch 2; Two measuring junctions of voltage transformer 7 are connected to the two ends of synchronous electric motor rotor excitation winding 12 respectively, and the output of voltage transformer 7 is connected to system controller 5 through traffic filter 6; System controller 5 is connected with rotor DC power supply 8 with stator power inverter 3 simultaneously, and system controller 5 basis signals are provided with the input signal and the detected spinner velocity signal of equipment 4 stator power inverter 3 and rotor DC power supply 8 are controlled.
The present invention's electricity excitation synchronous motor rotor position and the measurement of speed and a concrete grammar of control are:
Inject the high-frequency voltage signal that frequency is 1000Hz at the stator winding U of synchronous motor in mutually, it will induce one on synchronous electric motor rotor excitation winding 12 to become the frequency of cosine relation with rotor-position electrical degree θ be the high-frequency voltage signal of 1000Hz, utilize on the voltage transformer 7 measurement synchronization motor rotor excitation winding 12 and comprise the ac voltage signal of frequency for the 1000Hz high fdrequency component, this signal is passed through traffic filter 6, extract the high fdrequency component that frequency is 1000Hz, system controller 5 calculates the rotor position angle and the rotating speed of synchronous motor, and itself and given signal compared, thereby send appropriate control signals.Stator power inverter 3 is connected with system controller 5 respectively with rotor DC power supply 8, and the control signal that both are sent according to system controller 5 respectively changes its output, thereby controls the rotating speed of synchronous machine rapidly and accurately.
Claims (2)
1. the rotor-position of an electric excitation synchronous motor and speed measurement method, it is characterized in that: method of measurement is:
A, system controller control stator power inverter, the stator power inverter is exported three-phase alternating voltage on the one hand and is the power supply of synchronous motor stator winding, and frequency of stack is f in the alternating voltage of stator winding U phase on the other hand
HHigh-frequency voltage signal;
B, synchronous motor stator winding U mutually in injected frequency be f
HThe high frequency excitation signal, inducing the frequency that becomes cosine relation with rotor angle from the synchronous electric motor rotor excitation winding is f
HThe high frequency potential signal;
It is f that c, traffic filter extract the detected frequency of voltage transformer
HThe high frequency potential signal, system controller calculates the rotor position angle of synchronous motor, utilizes the derivative calculations spinner velocity n of rotor angle to the time
r
D, system controller basis signal are provided with the input signal and the detected spinner velocity signal of equipment stator power inverter and rotor DC power supply are controlled;
E, stator power inverter and rotor DC power supply change output according to the control signal that system controller sent, thereby control the rotating speed of synchronous motor rapidly and accurately.
2. realize the rotor-position of electric excitation synchronous motor and the control device of speed measurement method for one kind, it is characterized in that: control device is:
The synchronous electric motor rotor excitation winding is connected to the rotor DC power supply; The synchronous motor stator winding is connected with the stator power inverter, and the stator power inverter is connected to the stator three-phase alternating-current supply by three-phase power switch; Two measuring junctions of voltage transformer are connected to synchronous electric motor rotor excitation winding two ends respectively, and the output of voltage transformer is connected to system controller through traffic filter; Signal is provided with equipment and is connected with system controller; System controller is connected with the rotor DC power supply with the stator power inverter simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010290967XA CN101977000A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of rotor of electrically excited synchronous motor and control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010290967XA CN101977000A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of rotor of electrically excited synchronous motor and control device |
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|---|---|
| CN101977000A true CN101977000A (en) | 2011-02-16 |
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| CN201010290967XA Pending CN101977000A (en) | 2010-09-21 | 2010-09-21 | Method for measuring position and speed of rotor of electrically excited synchronous motor and control device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102170258A (en) * | 2011-04-26 | 2011-08-31 | 哈尔滨工业大学 | Open loop servo control method based on permanent magnet inductor stepping motor |
| CN102208895A (en) * | 2011-06-14 | 2011-10-05 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| US9979345B1 (en) | 2017-05-17 | 2018-05-22 | Industrial Technology Research Institute | Rotor driving system and method for driving rotor |
| CN114034323A (en) * | 2020-06-18 | 2022-02-11 | 苏州希声科技有限公司 | System for measuring rotating speed and angle of micro shaft |
| SE545283C2 (en) * | 2022-06-20 | 2023-06-20 | Roberto Felicetti | Salient pole electrical machine |
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| US5990641A (en) * | 1996-11-19 | 1999-11-23 | U.S. Philips Corporation | Motor control device apparatus for the recording and/or reproduction of information including the motor control device |
| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| EP2197103A2 (en) * | 2008-12-12 | 2010-06-16 | Hitachi Appliances, Inc. | Speed controller of magnetic motor |
| CN101789747A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Control method for speed measurement of asynchronous motor and device therefor |
| CN101789746A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Method and device for rotor position measurement and speed measurement and control of synchronous motor |
-
2010
- 2010-09-21 CN CN201010290967XA patent/CN101977000A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5990641A (en) * | 1996-11-19 | 1999-11-23 | U.S. Philips Corporation | Motor control device apparatus for the recording and/or reproduction of information including the motor control device |
| EP2197103A2 (en) * | 2008-12-12 | 2010-06-16 | Hitachi Appliances, Inc. | Speed controller of magnetic motor |
| CN101789747A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Control method for speed measurement of asynchronous motor and device therefor |
| CN101789746A (en) * | 2009-01-23 | 2010-07-28 | 中国矿业大学 | Method and device for rotor position measurement and speed measurement and control of synchronous motor |
| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102170258A (en) * | 2011-04-26 | 2011-08-31 | 哈尔滨工业大学 | Open loop servo control method based on permanent magnet inductor stepping motor |
| CN102208895A (en) * | 2011-06-14 | 2011-10-05 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| CN102208895B (en) * | 2011-06-14 | 2013-02-13 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| US9979345B1 (en) | 2017-05-17 | 2018-05-22 | Industrial Technology Research Institute | Rotor driving system and method for driving rotor |
| TWI627410B (en) * | 2017-05-17 | 2018-06-21 | 財團法人工業技術研究院 | Rotor driving system and method for driving rotor |
| CN114034323A (en) * | 2020-06-18 | 2022-02-11 | 苏州希声科技有限公司 | System for measuring rotating speed and angle of micro shaft |
| CN114034323B (en) * | 2020-06-18 | 2024-05-24 | 中国科学院苏州生物医学工程技术研究所 | System for measuring rotation speed and angle of miniature shaft |
| SE545283C2 (en) * | 2022-06-20 | 2023-06-20 | Roberto Felicetti | Salient pole electrical machine |
| SE2250749A1 (en) * | 2022-06-20 | 2023-06-20 | Roberto Felicetti | Salient pole electrical machine |
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Application publication date: 20110216 |