CN102545742B - Position sensorless control device and control method for permanent magnet synchronous motor - Google Patents
Position sensorless control device and control method for permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN102545742B CN102545742B CN201210047495.4A CN201210047495A CN102545742B CN 102545742 B CN102545742 B CN 102545742B CN 201210047495 A CN201210047495 A CN 201210047495A CN 102545742 B CN102545742 B CN 102545742B
- Authority
- CN
- China
- Prior art keywords
- synchronous motor
- instruction
- loop
- shaft
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a position sensorless control device for a permanent magnet synchronous motor. The position sensorless control device comprises a closed loop negative feedback control system, an open loop control system, a switching judger and a switch, wherein the switching judger is used for at least controlling switching of the switch between the open loop control system and the closed loop negative feedback control system based on rotation speed of the synchronous motor; when judged not to reach a set speed, the synchronous motor is switched to the open loop control system to perform open loop dragging control over the synchronous motor; and when judged to move to over the set speed, the synchronous motor is switched to the closed loop negative feedback control system to perform closed loop control on the synchronous motor, wherein electric phase fed back by the closed loop negative feedback control system and a presumption value of the rotation speed meet predetermined accuracy requirement when the synchronous motor runs to the set speed. The invention also discloses a corresponding control method thereby. Through the scheme, the synchronous motor can stably and reliably operate at high speed and low speed, so that the working efficiency of the motor is increased.
Description
Technical field
The present invention relates to permanent magnet synchronous motor, particularly a kind of position-sensorless control device of permanent magnet synchronous motor and control method.
Background technology
Motor is commonly used in the occasion that needs high-speed driving, for example, in PCB processing industry, user is more and more higher to the requirement of " little and thin " of position, hole, and this just requires the rotary speed of spindle motor also more and more higher, so the rotary speed of drive unit motor also requires more and more higher.Yet for high-speed driving device, holding position transducer is the very difficult thing of part on the rotor of motor, be therefore necessary motor to adopt the control mode of position-sensor-free.Induction machine does not need position transducer just can easily drive, existing ultrahigh speed drives and mostly adopts induction machine to drive, but, Induction Motor Drive is for permanent magnet synchronous motor drives, efficiency is low and be unfavorable for energy-conservation, moreover control mode is standard-sized sheet ring, when being subject to impact load, processing cannot stablize the speed of motor.Therefore, existing much research is controlling without transducer for permanent magnet synchronous motor.Relevant document for example, " Sensorless Speed Estimation of PMSM Using a Hybrid Method ", Y.Liu, J.Liu, L.Dai and C.Yu, Proceedings of the 7th World Congress on Intelligent Control and Automation, pp.3451-3454,2008.From electric motor starting until it,, the whole process of high velocity operation, by detecting the electric current flowing through on motor winding, infers the position of magnetic pole, motor is implemented to close loop negative feedback, control.Yet, according to this permanent magnet synchronous motor, without transducer control program, during motor starting, due to the large cause of the position deduction error of magnetic pole, easily cause the de-step-out phenomenon of adjusting.
Summary of the invention
Main purpose of the present invention is exactly for the deficiencies in the prior art, and position-sensorless control device and the method for permanent magnet synchronous motor is provided, and guarantees that motor can reliablely and stablely move at high low speed, and raises the efficiency to greatest extent, reaches energy-saving effect.
For achieving the above object, the present invention is by the following technical solutions:
A kind of Control for Sensorless PMSM control device, comprise close loop negative feedback control system, open-loop control system, switching judging device and diverter switch, described switching judging device is controlled described diverter switch for the rotating speed based on synchronous motor at least and is switched between described open-loop control system and described close loop negative feedback control system, when judgement synchronous motor does not reach setting speed, be switched to described open-loop control system and drag control so that synchronous motor is carried out to open loop, at judgement synchronous motor, move to setting speed when above, be switched to described close loop negative feedback control system so that synchronous motor is carried out to closed-loop control, wherein, described in when synchronous motor runs to described setting speed, the electric phase place of close loop negative feedback control system feedback and the presumed value of rotary speed meet predetermined accuracy requirement.
A Control for Sensorless PMSM control method, comprises the following steps:
Judge whether synchronous motor operates on setting speed, when judgement synchronous motor does not reach setting speed, by open-loop control system, synchronous motor is carried out to open loop and drag control, at judgement synchronous motor, move to setting speed when above, by close loop negative feedback control system, synchronous motor is carried out to closed-loop control, wherein said setting speed presets according to following condition: the electric phase place that described close loop negative feedback control system is fed back when synchronous motor runs to described setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
The technique effect that the present invention is useful is:
Adopt Control for Sensorless PMSM control device/method of the present invention, by the speed of service of judgement synchronous motor, when low speed, synchronous motor is carried out to open loop and drag control, electric phase place and rotary speed (position of magnetic pole and speed) that after motor runs to certain speed, recycling is inferred are carried out closed loop feedback control, drive and compare with existing permanent magnet synchronous motor, the present invention effectively eliminated in low speed situation, adopt closed-loop control due to presumed value error bring greatly unstable, easily cause the de-phenomenon of adjusting step-out, guarantee that motor can reliablely and stablely move when high low speed, be conducive to increase work efficiency to greatest extent and reach good energy-saving effect.
Accompanying drawing explanation
Fig. 1-Fig. 4 is the system configuration schematic diagram of a plurality of embodiment of Control for Sensorless PMSM control device of the present invention.
Embodiment
By reference to the accompanying drawings the present invention is described in further detail by the following examples.
In an embodiment, Control for Sensorless PMSM control device, comprise close loop negative feedback control system, open-loop control system, switching judging device and diverter switch, described switching judging device is controlled described diverter switch for the rotating speed based on synchronous motor at least and is switched between described open-loop control system and described close loop negative feedback control system, when judgement synchronous motor does not reach setting speed, described diverter switch is switched to described open-loop control system and drags control so that synchronous motor is carried out to open loop, at judgement synchronous motor, move to setting speed when above, described diverter switch is switched to described close loop negative feedback control system so that synchronous motor is carried out to closed-loop control, wherein, described setting speed meets the following conditions: described in when synchronous motor runs to described setting speed, the electric phase place of close loop negative feedback control system feedback and the presumed value of rotary speed meet predetermined accuracy requirement.
Figure 1 shows that a preferred embodiment of the present invention.Referring to Fig. 1, the sensor-less control device of permanent magnet synchronous motor comprises close loop negative feedback control system, open-loop control system, switching judging device and diverter switch at interior each several part, and the signal of various piece is dealt with relationship as follows:
Subtract and calculate device 1, from given target velocity instruction ω
*in deduct and infer speed omega
safter obtain velocity deviation e.Speed control 2, carries out obtaining q Shaft current-order I after PI calculation based on velocity deviation e
q *.Current controller 3, based on q Shaft current-order I
q *with given d Shaft current-order I
d *and the q Shaft current-order I feeding back
qwith d Shaft current-order I
dcalculation obtains closed loop d Shaft voltage instruction V
dc *with closed loop q Shaft voltage instruction V
qc *.Park inverse converter 5, by d, q Shaft voltage instruction V
d *and V
q *be converted to α, β Shaft voltage instruction v
α *and v
β *.Clarke inverse converter 6, by α, β Shaft voltage instruction v
α *and v
β *be converted to three-phase voltage instruction v
u *, v
v *and v
w *.PWM inverter 7, by three-phase voltage instruction v
u *, v
v *and v
w *be converted to three-phase PWM voltage v
u, v
vand v
wand it is outputed to synchronous motor 8.Current sensor 9, two-phase or the three-phase current of detection synchronous motor 8, legend is depicted as and detects uw biphase current i
uand i
w.Adder-subtracter 10, calculates v phase current i according to kirchhoff's principle
v.Clarke converter 11, by three-phase current i
u, i
vand i
wbe converted to α, β Shaft current i
αand i
β.Park converter 12, by α, β Shaft current i
αand i
βbe converted to d, q Shaft current i
dand i
qand feed back to current controller 3.Velocity phase observer 13 based on rest frame model, the rest frame model equation based on synchronous motor 8, input α, β Shaft current i
αand i
βand α, β Shaft voltage instruction v
α *and v
β *calculate and infer electric phase theta
esthe speed omega of inferring with synchronous motor 8
s; Or separately increasing high pass filter (HPF) and multiplier (-icator) (not shown), high pass filter is by inferring electric phase theta
escalculate and infer electrical speed ω
es, and multiplier (-icator) will be inferred electrical speed ω
esthe inverse that is multiplied by the number of pole-pairs p of synchronous motor 8 obtains the speed omega of inferring of synchronous motor 8
s.Integrator 17, by target velocity instruction ω
*after integration, obtain target location instruction θ
*.Multiplier (-icator) 18, by target location instruction θ
*the number of pole-pairs p that is multiplied by synchronous motor 8 obtains the electric phase theta of open loop
eo.Open-loop voltage command generator 19, according to target velocity instruction ω
*produce open loop d Shaft voltage instruction V
do *with open loop q Shaft voltage instruction V
qo *.Switching judging device 16, according to target velocity instruction ω
*, the electric phase theta of open loop
eoand infer electric phase theta
esjudge and send switching command.Diverter switch 4, switches according to switching command.
Switching judging device 16 is according to target velocity instruction ω
*and the electric phase theta of open loop
eowith infer electric phase theta
esextent judges, and to diverter switch 4, sends switching command and change the control mode to synchronous motor 8.
On the one hand, target velocity instruction ω
*after being integrated, integrator 17 becomes displacement of targets instruction θ
*, displacement of targets instruction θ
*after being multiplied by again the number of pole-pairs p of synchronous motor 8, become the electric phase theta of open loop
eo.Meanwhile, open-loop voltage instruction device 19 is according to target velocity instruction ω
*produce open loop d Shaft voltage instruction V
do *with open loop q Shaft voltage instruction V
qo *.Because the increase with rotating speed of the back electromotive force of motor increases, preferably, open loop d Shaft voltage instruction V
do *can be made as certain value, open loop q Shaft voltage instruction V
qo *can be made as target velocity instruction ω
*linear function, or open loop d Shaft voltage instruction V
do *with open loop q Shaft voltage instruction V
qo *all be made as target velocity instruction ω
*linear function.Can allow like this synthesized voltage vector always be greater than back electromotive force and be difficult for de-tune.
On the other hand, speed control 2 is according to target velocity instruction ω
*with infer speed omega
sdifference produce q Shaft current-order I
q *.At given d Shaft current-order I
d *after (being generally given as 0), current controller 3 is according to d Shaft current-order I
d *with q Shaft current-order I
q *produce closed loop d Shaft voltage instruction V
dc *with closed loop q Shaft voltage instruction V
qc *.
As target velocity instruction ω
*hour, switching judging device 16 sends open loop instruction allows diverter switch 4 by open loop d Shaft voltage V
dowith open loop q Shaft voltage V
qoconnect respectively and change to d Shaft voltage instruction V
d *with q Shaft voltage instruction V
q *, simultaneously by the electric phase theta of open loop
eoconnect and change to electric phase theta
e.Then according to electric phase theta
eby d Shaft voltage instruction V
d *with q Shaft voltage instruction V
q *after Park inverse transformation, produce α Shaft voltage instruction v
α *he β Shaft voltage instruction v
β *, then Jiang α Shaft voltage instruction v
α *he β Shaft voltage instruction v
β *after Clarke inverse transformation, produce three-phase voltage instruction v
u *, v
v *, v
w *.Finally, by three-phase voltage instruction v
u *, v
v *, v
w *after the inversion of PWM inverter, produce three-phase voltage and output to the three-phase coil of synchronous motor 8 and produce rotating magnetic field rotor driven synchronous rotary, realized open loop rotational voltage and dragged control.
Same β therewith, current sensor 9 detects the electric current that flows into synchronous motor 8.Generally detect any biphase current, according to kirchhoff's principle, can calculate very simply the electric current of third phase.By three-phase current instruction i
u, i
v, i
wafter Clarke conversion, produce α Shaft current i
αhe β Shaft current i
β, then Jiang α Shaft current i
αhe β Shaft current i
βafter Park conversion, produce d Shaft electric current I
dwith q Shaft electric current I
q.Velocity phase observer 13 input α, β Shaft voltage instruction v based on rest frame model
α *, v
β *and α, β Shaft current i
α, i
β, calculate the electric phase theta of inferring of synchronous motor 8
es.Finally, will infer electric phase theta
esafter a high pass filter being combined into by differentiator and low pass filter (HPF), obtain inferring electrical speed ω
es, then will infer electrical speed ω
esafter number of pole-pairs p divided by synchronous motor 8, obtain inferring speed omega
s.
As target velocity instruction ω
*while surpassing predetermined value, switching judging device 16 sends closed loop instruction allows diverter switch 4 by closed loop d Shaft voltage V
dcwith closed loop q Shaft voltage V
qcconnect respectively and change to d Shaft voltage instruction V
d *with q Shaft voltage instruction V
q *, will infer electric phase theta simultaneously
esconnect and change to electric phase theta
e.Like this, when synchronous motor has been completed to current phasor negative feedback control, also completed negative velocity feedback control.The size of described predetermined value can be depending on the length of the Dead Time of PWM inverter.Preferably, for the larger predetermined value of longer dead band time setting.The words that Dead Time is long, three-phase voltage and the difference between three-phase voltage instruction of inverter output are also large, this just need to allow motor open loop run to fair speed, to increase three-phase voltage instruction, reduce actual voltage on motor and the relative error between voltage instruction of being added in, thereby improve the precision of inferring of phase place.Preferably, switch under the prerequisite that meets speed of service condition, in the electric phase theta of open loop
eowith infer electric phase theta
esdifference less (as reaching a less difference of setting) time carry out, to reduce, switch the impact bringing.
In sum, although the electric phase place of synchronous motor and the estimation error of rotary speed are larger during low speed, but owing to adopting the electric phase place of open loop to carry out open loop rotational voltage to synchronous motor, drag control, synchronous motor can be stabilized and is dragged to reliably fair speed.Enter behind high velocity, the precision of inferring of the electric phase place of synchronous motor and rotary speed becomes higher, now adopt infer electric phase place with infer rotary speed carry out close loop negative feedback control just can resist add the impact of load in man-hour and speed stabilizing move, and owing to having adopted vector control, it is very high that the operating efficiency of synchronous motor can reach.
In previous embodiment, on-off control system and closed-loop control system have all adopted vector control, but this is only preferred embodiment, it will be appreciated by those skilled in the art that it is also feasible that control system does not adopt vector control.
Figure 2 shows that another preferred embodiment of the present invention.Referring to Fig. 2, the present embodiment is compared with the embodiment shown in Fig. 1, and structurally except following 2, other are all identical:
The one, open-loop current command generator 20 has replaced open-loop voltage command generator 19.According to target velocity instruction ω
*produce open loop d Shaft current-order i
do *with open loop q Shaft current-order i
qo *;
The 2nd, diverter switch 4 is by before being moved to current controller 3 after current controller 3.
Switching judging device 16 is according to target velocity instruction ω
*to diverter switch 4, send switching command and change the control mode to synchronous motor 8.
On the one hand, target velocity instruction ω
*after being integrated, integrator 17 becomes displacement of targets instruction θ
*, displacement of targets instruction θ
*after being multiplied by again the number of pole-pairs p of synchronous motor 8, become the electric phase theta of open loop
eo.Meanwhile, open-loop current instruction device 20 is according to target velocity instruction ω
*produce open loop d Shaft current-order I
do *with open loop q Shaft current-order I
qo *.In view of approximate being directly proportional to q Shaft electric current of the moment of motor and almost irrelevant with d Shaft electric current, general open loop d Shaft current-order I
do *can be made as 0, open loop q Shaft current-order I
qo *can be made as target velocity instruction ω
*the linear function of differential value.Can allow like this moment of motor increase with the increase of acceleration, not be prone to the de-phenomenon of adjusting.
On the other hand, speed control 2 is according to target velocity instruction ω
*with infer speed omega
sdifference produce q Shaft closed loop current instruction I
qc *, given d Shaft closed loop current instruction I of while
dc *(being generally given as 0).
As target velocity instruction ω
*hour, switching judging device 16 sends open loop instruction allows diverter switch 4 by open loop d Shaft current-order I
do *with open loop q Shaft current-order I
qo *connect respectively and change to d Shaft current-order I
d *with q Shaft current-order I
q *, simultaneously by the electric phase theta of open loop
eoconnect and change to electric phase theta
e.Then current controller 3 is according to d Shaft current-order I
d *with q Shaft current-order I
q *produce d Shaft voltage instruction V
d *with q Shaft voltage instruction V
q *, and according to electric phase theta
eby d Shaft voltage instruction V
d *with q Shaft voltage instruction V
q *after Park inverse transformation, produce α Shaft voltage instruction v
α *he β Shaft voltage instruction v
β *, then Jiang α Shaft voltage instruction v
α *he β Shaft voltage instruction v
β *after Clarke inverse transformation, produce three-phase voltage instruction v
u *, v
v *, v
w *.Finally, by three-phase voltage instruction v
u *, v
v *, v
w *after the inversion of PWM inverter, producing three-phase voltage outputs to the three-phase coil of synchronous motor 8 and produces rotating magnetic field rotor driven synchronous rotary.
Meanwhile, current sensor 9 detects the electric current that flows into synchronous motor 8.Generally detect any biphase current, follow the electric current that can calculate very simply third phase according to kirchhoff's principle.By three-phase current instruction i
u, i
v, i
wafter Clarke conversion, produce α Shaft current i
αhe β Shaft current i
β, then Jiang α Shaft current i
αhe β Shaft current i
βafter Park conversion, produce d Shaft electric current I
dwith q Shaft electric current I
q.Velocity phase observer 13 based on rest frame model is according to α β Shaft voltage instruction v
α *, v
β *and α β Shaft current i
α, i
βcalculate the electric phase theta of inferring of synchronous motor 8
es.Finally, will infer electric phase theta
esafter a high pass filter being combined into by differentiator and low pass filter (HPF), obtain inferring electrical speed ω
es, then will infer electrical speed ω
esafter number of pole-pairs p divided by synchronous motor 8, obtain inferring speed omega
s.
As target velocity instruction ω
*while surpassing certain value, switching judging device 16 sends closed loop instruction allows diverter switch 4 by closed loop d Shaft current-order I
dc *with closed loop q Shaft current-order I
qc *connect respectively and change to d Shaft current-order I
d *with q Shaft current-order I
q *, will infer electric phase theta simultaneously
esconnect and change to electric phase theta
e.Like this, when synchronous motor has been completed to current phasor negative feedback control, also completed negative velocity feedback control.
In sum, during low speed, the electric phase place of permanent magnet synchronous motor and the estimation error of rotary speed are larger, although current closed-loop but drag control owing to adopting the electric phase place of open loop to carry out open loop rotatory current to synchronous motor, synchronous motor can be stabilized and is dragged to reliably fair speed.Enter behind high velocity, the precision of inferring of the electric phase place of synchronous motor and rotary speed becomes higher, now adopt infer electric phase place with infer rotary speed carry out close loop negative feedback control just can resist add the impact of load in man-hour and speed stabilizing move, and owing to having adopted vector control, it is very high that the operating efficiency of synchronous motor can reach.
Figure 3 shows that another preferred embodiment of the present invention.Referring to Fig. 3, the present embodiment is compared with the embodiment shown in Fig. 1, and structurally other are all identical a bit except following.
In the embodiment shown in fig. 1, the 13 input α, β Shaft voltage instruction v of the velocity phase observer based on rest frame model
α *, v
β *and α, β Shaft current i
α, i
βcalculate the electric phase theta of inferring of synchronous motor 8
esand infer speed omega
s; And in the present embodiment, the rotating coordinate system model equation of the velocity phase observer 14 based on rotating coordinate system model based on synchronous motor 8, input d, q Shaft voltage instruction V
d *, V
q *and d, q Shaft electric current I
d, I
qcalculate synchronous motor 8 and infer speed omega
s.Finally, will infer speed omega
sthe number of pole-pairs p that is multiplied by synchronous motor 8 after integration obtains inferring electric phase theta
es.
Figure 4 shows that another preferred embodiment of the present invention.Referring to Fig. 4, the present embodiment is compared with the embodiment shown in Fig. 2, and structurally other are all identical a bit except following.
In the embodiment shown in Figure 2, the 13 input α, β Shaft voltage instruction v of the velocity phase observer based on rest frame model
α *, v
β *and α, β Shaft current i
α, i
βcalculate the electric phase theta of inferring of synchronous motor 8
esand infer speed omega
s.And in the present embodiment, the rotating coordinate system model equation of the velocity phase observer 14 based on rotating coordinate system model based on synchronous motor 8, input d, q Shaft voltage instruction V
d *, V
q *and d, q Shaft current i
d, i
qcalculate synchronous motor 8 and infer speed omega
s.Finally, will infer speed omega
sthe number of pole-pairs p that is multiplied by synchronous motor 8 after integration obtains inferring electric phase theta
es.
On the other hand, the present invention also provides a kind of Control for Sensorless PMSM control method, in one embodiment, said method comprising the steps of:
Judge whether synchronous motor operates on setting speed, when judgement synchronous motor does not reach setting speed, by open-loop control system, synchronous motor is carried out to open loop and drag control, at judgement synchronous motor, move to setting speed when above, by close loop negative feedback control system, synchronous motor is carried out to closed-loop control, wherein said setting speed presets according to following condition: the electric phase place that described close loop negative feedback control system is fed back when synchronous motor runs to described setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
The specific embodiment that it will be understood by those skilled in the art that control method of the present invention can be optimized with reference to the detailed features of the various preferred embodiments of apparatus of the present invention.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. a Control for Sensorless PMSM control device, comprise close loop negative feedback control system, it is characterized in that, also comprise open-loop control system, switching judging device and diverter switch, described switching judging device is controlled described diverter switch for the rotating speed based on synchronous motor at least and is switched between described open-loop control system and described close loop negative feedback control system, when judgement synchronous motor does not reach setting speed, be switched to described open-loop control system and drag control so that synchronous motor is carried out to open loop, at judgement synchronous motor, move to setting speed when above, be switched to described close loop negative feedback control system so that synchronous motor is carried out to closed-loop control, described in wherein when synchronous motor runs to described setting speed, the electric phase place of close loop negative feedback control system feedback and the presumed value of rotary speed meet predetermined accuracy requirement,
-described close loop negative feedback control system comprises:
Subtract calculation device, for the target velocity instruction ω from given
*in deduct and infer speed omega
safter obtain velocity deviation e;
Speed control, obtains q shaft current instruction I for carrying out based on velocity deviation e after PI calculation
q *;
Current controller, for based on q shaft current instruction I
q *with given d shaft current instruction I
d *and the q shaft current I feeding back
qwith d shaft current I
dcalculation obtains closed loop d shaft voltage instruction V
dc *with closed loop q shaft voltage instruction V
qc *;
Park inverse converter, for by d, q shaft voltage instruction V
d *and V
q *be converted to α, β shaft voltage instruction v
α *and v
β *;
Clarke inverse converter, for by α, β shaft voltage instruction v
α *and v
β *be converted to three-phase voltage instruction v
u *, v
v *and v
w *;
PWM inverter, for by three-phase voltage instruction v
u *, v
v *and v
w *be converted to three-phase PWM voltage v
u, v
vand v
wand it is outputed to synchronous motor;
Current sensor and adder-subtracter, described current sensor is for detection of the biphase current i of synchronous motor
u, i
wand described adder-subtracter is used for calculating third phase current i
v; Or current sensor, for detection of the three-phase current i of synchronous motor
u, i
vand i
w;
Clarke converter, for by three-phase current i
u, i
vand i
wbe converted to α, β shaft current i
αand i
β; Park converter, by α, β shaft current i
αand i
βbe converted to d, q shaft current i
dand i
qand feed back to current controller;
Velocity phase observer based on rest frame model, for the rest frame model equation based on synchronous motor, input α, β shaft current i
αand i
βand α, β shaft voltage instruction v
α *and v
β *calculate and infer electric phase theta
esthe speed omega of inferring with synchronous motor
s;
-described open-loop control system comprises:
Integrator, for by target velocity instruction ω
*after integration, obtain target location instruction θ
*;
Multiplier (-icator), for by target location instruction θ
*the number of pole-pairs p that is multiplied by synchronous motor obtains the electric phase theta of open loop
eo;
Open-loop voltage command generator, for according to target velocity instruction ω
*produce open loop d shaft voltage instruction V
do *with open loop q shaft voltage instruction V
qo *; And
Described Park inverse converter, described Clarke inverse converter and described PWM inverter;
-described switching judging device at least receives the target velocity instruction ω of synchronous motor
*, and as described target velocity instruction ω
*while reaching preset value, judgement synchronous motor reaches described setting speed;
-described diverter switch is at described target velocity instruction ω
*while not reaching preset value, by open loop d shaft voltage V
dowith open loop q shaft voltage V
qoreceive respectively d shaft voltage instruction V
d *with q shaft voltage instruction V
q *, simultaneously by the electric phase theta of open loop
eoreceive electric phase theta
e, at described target velocity instruction ω
*while reaching preset value, by closed loop d shaft voltage V
dcwith closed loop q shaft voltage V
qcconnect respectively and change to d shaft voltage instruction V
d *with q shaft voltage instruction V
q *, will infer electric phase theta simultaneously
esconnect and change to electric phase theta
e.
2. a Control for Sensorless PMSM control device, comprise close loop negative feedback control system, it is characterized in that, also comprise open-loop control system, switching judging device and diverter switch, described switching judging device is controlled described diverter switch for the rotating speed based on synchronous motor at least and is switched between described open-loop control system and described close loop negative feedback control system, when judgement synchronous motor does not reach setting speed, be switched to described open-loop control system and drag control so that synchronous motor is carried out to open loop, at judgement synchronous motor, move to setting speed when above, be switched to described close loop negative feedback control system so that synchronous motor is carried out to closed-loop control, described in wherein when synchronous motor runs to described setting speed, the electric phase place of close loop negative feedback control system feedback and the presumed value of rotary speed meet predetermined accuracy requirement,
-described close loop negative feedback control system comprises:
Subtract calculation device, for the target velocity instruction ω from given
*in deduct and infer speed omega
safter obtain velocity deviation e;
Speed control, obtains q shaft current instruction I for carrying out based on velocity deviation e after PI calculation
q *;
Current controller, for based on q shaft current instruction I
q *with given d shaft current instruction I
d *and the q shaft current I feeding back
qwith d shaft current I
dcalculation obtains closed loop d shaft voltage instruction V
dc *with closed loop q shaft voltage instruction V
qc *;
Park inverse converter, for by d, q shaft voltage instruction V
d *and V
q *be converted to α, β shaft voltage instruction v
α *and v
β *;
Clarke inverse converter, for by α, β shaft voltage instruction v
α *and v
β *be converted to three-phase voltage instruction v
u *, v
v *and v
w *;
PWM inverter, for by three-phase voltage instruction v
u *, v
v *and v
w *be converted to three-phase PWM voltage v
u, v
vand v
wand it is outputed to synchronous motor;
Current sensor and adder-subtracter, described current sensor is for detection of the biphase current i of synchronous motor
u, i
wand described adder-subtracter is used for calculating third phase current i
v; Or current sensor, for detection of the three-phase current i of synchronous motor
u, i
vand i
w;
Clarke converter, for by three-phase current i
u, i
vand i
wbe converted to α, β shaft current i
αand i
β;
Park converter, for by α, β shaft current i
αand i
βbe converted to d, q shaft current i
dand i
qand feed back to current controller;
Velocity phase observer based on rotating coordinate system model, for the rotating coordinate system model equation based on synchronous motor, input d, q shaft voltage instruction V
d *, V
q *and d, q shaft current I
d, I
qcalculate the speed omega of inferring of synchronous motor
sand infer electric phase theta
es;
-described open-loop control system comprises:
Integrator, for by target velocity instruction ω
*after integration, obtain target location instruction θ
*;
Multiplier (-icator), for by target location instruction θ
*the number of pole-pairs p that is multiplied by synchronous motor obtains the electric phase theta of open loop
eo;
Open-loop voltage command generator, for according to target velocity instruction ω
*produce open loop d shaft voltage instruction V
do *with open loop q shaft voltage instruction V
qo *; And
Described Park inverse converter, described Clarke inverse converter and described PWM inverter;
-described switching judging device at least receives the target velocity instruction ω of synchronous motor
*, and as described target velocity instruction ω
*while reaching preset value, judgement synchronous motor reaches described setting speed;
-described diverter switch is at described target velocity instruction ω
*while not reaching preset value, by open loop d shaft voltage V
dowith open loop q shaft voltage V
qoreceive respectively d shaft voltage instruction V
d *with q shaft voltage instruction V
q *, simultaneously by the electric phase theta of open loop
eoreceive electric phase theta
e, at described target velocity instruction ω
*while reaching preset value, by closed loop d shaft voltage V
dcwith closed loop q shaft voltage V
qcconnect respectively and change to d shaft voltage instruction V
d *with q shaft voltage instruction V
q *, will infer electric phase theta simultaneously
esconnect and change to electric phase theta
e.
3. control device as claimed in claim 1 or 2, is characterized in that, described open loop d shaft voltage instruction V
do *be made as certain value, described open loop q shaft voltage instruction V
qo *can be made as described target velocity instruction ω
*linear function, or described open loop d shaft voltage instruction V
do *with described open loop q shaft voltage instruction V
qo *all be made as described target velocity instruction ω
*linear function.
4. the control device as described in claim 1-3 any one, is characterized in that, described switching judging device is also further according to the electric phase theta of open loop
eoand infer electric phase theta
esjudge and send switching command, described in switch in the electric phase theta of open loop
eowith infer electric phase theta
eswhile differing from not higher than set point, carry out.
5. the control device as described in claim 1-3 any one, is characterized in that, the described setting speed also length of the Dead Time of the described PWM inverter of foundation is set.
6. a Control for Sensorless PMSM control method for the Control for Sensorless PMSM control device described in right to use requirement 1-5 any one, is characterized in that, comprises the following steps:
Judge whether synchronous motor operates on setting speed, when judgement synchronous motor does not reach setting speed, by open-loop control system, synchronous motor is carried out to open loop and drag control, at judgement synchronous motor, move to setting speed when above, by close loop negative feedback control system, synchronous motor is carried out to closed-loop control, described setting speed presets according to following condition: the electric phase place that described close loop negative feedback control system is fed back when synchronous motor runs to described setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210047495.4A CN102545742B (en) | 2012-02-27 | 2012-02-27 | Position sensorless control device and control method for permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210047495.4A CN102545742B (en) | 2012-02-27 | 2012-02-27 | Position sensorless control device and control method for permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102545742A CN102545742A (en) | 2012-07-04 |
| CN102545742B true CN102545742B (en) | 2014-03-12 |
Family
ID=46351846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210047495.4A Active CN102545742B (en) | 2012-02-27 | 2012-02-27 | Position sensorless control device and control method for permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102545742B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11855567B2 (en) | 2020-12-18 | 2023-12-26 | Black & Decker Inc. | Impact tools and control modes |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2883302B1 (en) * | 2012-08-10 | 2020-09-30 | Emerson Climate Technologies, Inc. | Motor drive control using pulse-width modulation pulse skipping |
| CN103197490A (en) * | 2013-04-08 | 2013-07-10 | 日立数字安防***（上海）有限公司 | Focusing motor out-of-adjustment restoration method of camera movement |
| CN103401493B (en) * | 2013-08-09 | 2015-09-16 | 固高科技(深圳)有限公司 | Permanent magnet synchronization motor spindle driving control system and method |
| CN103746619B (en) * | 2013-12-03 | 2017-04-19 | 广东威灵电机制造有限公司 | Synchronous motor start control method and system |
| CN103997270B (en) * | 2014-06-09 | 2017-01-04 | 浙江理工大学 | A kind of ensorless control device and method of non-salient pole permanent magnet synchronous motor |
| CN104601075B (en) * | 2014-12-31 | 2018-03-27 | 广东美的制冷设备有限公司 | The control method and its control system of transducer air conditioning |
| CN105356812B (en) * | 2015-10-23 | 2018-10-02 | 杭州娃哈哈精密机械有限公司 | Permanent magnet synchronous motor start-up circuit and startup method |
| CN105703683B (en) * | 2016-03-09 | 2018-05-01 | 广东美的制冷设备有限公司 | The startup control method and device of air conditioner and its compressor |
| CN105827160B (en) * | 2016-03-18 | 2018-09-07 | 浙江工业大学 | A kind of permanent magnet synchronous motor system based on active disturbance rejection and PHASE-LOCKED LOOP PLL TECHNIQUE is without sensor method for control speed |
| CN106602939B (en) * | 2016-11-30 | 2019-06-18 | 中冶南方（武汉）自动化有限公司 | A kind of permanent magnet synchronous motor method for controlling torque |
| CN106788098A (en) * | 2017-01-11 | 2017-05-31 | 南京师范大学 | A kind of permanent magnetic linear synchronous motor is based on the sliding formwork control of varying index Reaching Law |
| CN107565869A (en) * | 2017-08-30 | 2018-01-09 | 深圳市天祜智能有限公司 | Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine |
| CN108429503A (en) * | 2018-03-20 | 2018-08-21 | 美的集团股份有限公司 | The drive control method, apparatus and computer storage media of induction machine |
| CN108616233A (en) * | 2018-04-03 | 2018-10-02 | 美的集团股份有限公司 | The drive control method, apparatus and computer storage media of permanent magnet synchronous motor |
| CN109039195B (en) * | 2018-05-24 | 2021-04-20 | 广州市香港科大***研究院 | Indirect vector control method, system and device of servo motor |
| CN109995274B (en) * | 2018-11-26 | 2020-11-24 | 珠海格力节能环保制冷技术研究中心有限公司 | Motor, starting method and device thereof, storage medium and electric appliance |
| CN111103791B (en) * | 2019-12-26 | 2023-05-23 | 航天科工智能机器人有限责任公司 | Synchronous control method for multiple electric rods |
| CN111726049B (en) * | 2020-07-07 | 2023-08-15 | 江苏常荣电器股份有限公司 | Automobile electronic water pump driving method based on position-sensor-free permanent magnet synchronous motor |
| CN113497583A (en) * | 2021-05-06 | 2021-10-12 | 本钢板材股份有限公司 | Method for converting control mode of frequency converter of triple cold rolling continuous annealing unit to electric frequency motor |
| CN113307164B (en) * | 2021-06-01 | 2022-06-03 | 中联重科股份有限公司 | Steady speed regulation control method and device, rotation system, crane and electronic equipment |
| CN113395020B (en) * | 2021-07-01 | 2022-09-16 | 长沙金泰时仪器有限公司 | Control method of intelligent high-speed centrifuge |
| CN113595451A (en) * | 2021-08-30 | 2021-11-02 | 上海东软载波微电子有限公司 | Multi-motor operation control system |
| CN113872470A (en) * | 2021-09-01 | 2021-12-31 | 河北汉光重工有限责任公司 | Dual-mode composite control method of brushless direct current motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101917152A (en) * | 2010-07-29 | 2010-12-15 | 宁波奥克斯空调有限公司 | Starting method of permanent-magnet synchronous compressor for variable-frequency air conditioner |
| CN101984554A (en) * | 2010-12-01 | 2011-03-09 | 东元总合科技（杭州）有限公司 | Method for starting motor without sensor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4517793B2 (en) * | 2004-09-14 | 2010-08-04 | 株式会社日立製作所 | Permanent magnet synchronous motor control device and module |
| JP5127800B2 (en) * | 2009-09-18 | 2013-01-23 | 株式会社東芝 | Motor control device |
-
2012
- 2012-02-27 CN CN201210047495.4A patent/CN102545742B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101917152A (en) * | 2010-07-29 | 2010-12-15 | 宁波奥克斯空调有限公司 | Starting method of permanent-magnet synchronous compressor for variable-frequency air conditioner |
| CN101984554A (en) * | 2010-12-01 | 2011-03-09 | 东元总合科技（杭州）有限公司 | Method for starting motor without sensor |
Non-Patent Citations (4)
| Title |
|---|
| JP特开2006-87152A 2006.03.30 |
| JP特开2011-67054A 2011.03.31 |
| 反电势算法的永磁同步电机无位置传感器自启动过程;王子辉等;《电机与控制学报》;20111031;第15卷(第10期);第37-39页及图1 * |
| 王子辉等.反电势算法的永磁同步电机无位置传感器自启动过程.《电机与控制学报》.2011,第15卷(第10期), |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11855567B2 (en) | 2020-12-18 | 2023-12-26 | Black & Decker Inc. | Impact tools and control modes |
| US12015364B2 (en) | 2020-12-18 | 2024-06-18 | Black & Decker Inc. | Impact tools and control modes |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102545742A (en) | 2012-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102545742B (en) | Position sensorless control device and control method for permanent magnet synchronous motor | |
| CN101355337B (en) | Control method for driving permanent magnet synchronous motor base on magnetic field orthotropic control | |
| CN108155838A (en) | A kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop | |
| CN107046387A (en) | A kind of change pid parameter electric current loop of permagnetic synchronous motor starts method | |
| CN108390602B (en) | A kind of direct prediction power control method of hybrid exciting synchronous motor | |
| CN102694498A (en) | Device and method for resisting rotor disturbance of permanent-magnet synchronous motor in zero-speed or extremely-low-speed state | |
| CN106602941A (en) | Control device and method for reducing commutation torque ripple of brushless direct-current motor | |
| CN109167543A (en) | A kind of permanent magnet synchronous motor can positive and negative rotation speed regulation method for controlling position-less sensor | |
| CN102780433A (en) | Instantaneous torque control method of brushless direct-current motor based on direct-current control | |
| CN103916062B (en) | A kind of vector controlled YE based on DSP | |
| CN106788041B (en) | A kind of stator permanent magnetic type memory electrical machine high efficiency and wide speed regulation control method | |
| CN103944478B (en) | A kind of AC excitation synchronous motor control device and method | |
| CN103078573A (en) | Starting method of brushless DC (Direct Current) motor without Hall sensor | |
| CN104868808B (en) | Aerial three-stage brushless power generation system starting excitation control method of two-phase exciter | |
| CA2942148A1 (en) | A method for controlling torque in permanent magnet motor drives | |
| CN103856132A (en) | Control system of alternating current servo permanent magnet synchronous motor | |
| CN102647134A (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| CN104993761A (en) | Method and device for performing weak magnetic control on permanent-magnet brushless direct-current motor | |
| JP2012050285A (en) | Electric-motor drive device | |
| CN105763121B (en) | Synchronous electric spindle towards varying load superhigh speed grinding accelerates strong magnetic control method | |
| JP2015080344A (en) | Driving device for motor | |
| CN106712632B (en) | Control device without position sensor for AC permanent magnet synchronous motor and starting method thereof | |
| CN202696533U (en) | Variable speed permanent magnet alternating current generator system | |
| CN105429547B (en) | Single-phase brushless direct-current motor vector control method based on virtual phase structure | |
| CN203457094U (en) | System for controlling AC servo permanent magnet synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 518057 room W211, second floor, West building, Shenzhen Hong Kong industry university research base, South District, high tech Industrial Park, Nanshan District, Shenzhen, Guangdong Patentee after: Solid High Tech Co.,Ltd. Address before: 518057 room W211, second floor, West building, Shenzhen Hong Kong industry university research base, South District, high tech Industrial Park, Nanshan District, Shenzhen, Guangdong Patentee before: GOOGOL TECHNOLOGY (SHENZHEN) Ltd. |