CN103560724B - Method for determining initial position of synchronous motor - Google Patents
Method for determining initial position of synchronous motor Download PDFInfo
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Abstract
The invention discloses a method for determining the initial position of a synchronous motor. According to the method, both the current of a stator winding and the current of a rotor winding are under closed-loop control. The rotor winding is controlled to form a stable magnetic field first, then, the given angels of a stator magnetic field are sequentially a positive angle, a zero degree angle, a negative angle and a zero degree angle, encoder degrees are recorded at the zero degree angle respectively, and finally the zero degree initial position which has been compensated for is obtained after calculation correction. The method for determining the initial position of the synchronous motor has the advantages of being fast and safe to use, high in precision, capable of improving control performance of the synchronous motor and the like.
Description
Technical field
The present invention is mainly concerned with the control field of synchronous machine, refers in particular to a kind of initial position defining method being applicable to synchronous machine.
Background technology
Electric excitation synchronous motor (ESM) has the advantages such as moment of inertia is little, overload capacity is strong, efficiency is high, power factor is adjustable, and extensive application on large-scale drive apparatus is one of the main development direction in the field of high power AC speed governing in recent years.
The ESM synchronous machine of high accuracy, high dynamic response controls generally all to need to adopt encoder to carry out the detection of rotor angular position information to carry out field orientation.The initial angle of synchronous machine is the requisite part of positional information, and its precision directly has influence on the stability of control system, torque, efficiency and power factor etc.Therefore, the precision improving initial alignment has very large Practical significance.
Initial position (also known as the 0) implication of synchronous machine is: when motor stator resultant magnetic field overlaps in A phase axis, rotor passes into constant magnetic field, under stator and rotor magnetic fields, and rotor-position when rotor field overlaps with stator complete magnetic field ideal.Initial alignment is exactly by adopting suitable method or means detection rotor initial position.
The general encoder that adopts carries out position measurement at present, and what current application was more is optical-electricity encoder, and optical-electricity encoder can be divided into increment type and absolute type two kinds.When motor rotates, code-disc is driven to rotate.Incremental encoder exports A, B, Z signal, can not direct load position information, and each controller powers on all to be needed to reorientate.This traditional direct localization method, also exists larger error, and inconvenient operation, and control precision neither be very accurate.
Practitioner is had to propose one " ac synchronous motor rotor zero-frequency position control method " (number of patent application: 20121005366.0), this method provide a kind of method adopting absolute type encoder to position electric excitation synchronous motor, its method is: in a stationary situation, exciting current is passed into rotor windings, direct current is passed to again to stator, rotor is synchronous machine initial angle position along with the acting in conjunction of stator field and the rotor field position stopped of finally moving, then this numerical value of absolute type encoder record pass to control system, complete the location of synchro angle.The method is very simple, is the most general principle that have employed electric excitation synchronous motor positioning control.But also come with some shortcomings: (1) stator current does not have closed-loop control, operates dangerous; (2) quick position is not realized; (3) do not have corrective action, location does not turn true.
Practitioner is separately had to propose one " a kind of method of measurement of permanent-magnet synchronous motor rotor position offset angle and system " (number of patent application: 20121059464.1), the method adopts voltage source frequency converter, for permagnetic synchronous motor location, comprise key step and comprise:
(1) stator field field orientation angle Tha is set, d shaft voltage component instruction value is made to be 0, input can make permagnetic synchronous motor enter the q shaft voltage component instruction value of zero-speed lock shaft state, then by coordinate transform formation voltage vector, drives permagnetic synchronous motor to rotate to settling position; Obtain the angle K1 that absolute value encoder that now rotor is installed reads.
(2) setting stator field field orientation angle (Tha+90), by calculating the magnitude of voltage command value under d, q axle, then by coordinate transform formation voltage vector, driving permagnetic synchronous motor to rotate to settling position; Obtain the angle K2 that absolute value encoder that now rotor is installed reads.
(3) calculation compensation angle Kc=K1+90-K2; Utilize rotor angle as the correction of angle calculation, make as step (1) K0 read during Tha=0, then the zero degree information of working control is K0+Kc.
The method also comes with some shortcomings: (1) the method be direct control voltage to produce magnetic field, do not carry out the closed-loop control of electric current, system is dangerous.(2) the method is by offseting 90 degree of corrections, Problems existing due to electric current uncontrollable, the bad control of voltage, causes corrected value inaccurate.(3) only achieve rotor to rotate to a direction, do not realize bidirectional correcting, error is uncertain.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existed for prior art, the invention provides a kind of fast, safety, precision be high, the synchronous machine initial position defining method that can improve synchronous motor control performance.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of synchronous machine initial position defining method, all carries out closed-loop control to stator, rotor winding current; First control rotor windings and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, encoder number of degrees when writing given 0 angle respectively down, finally carry out calculating correction be compensated after 0 degree of initial position.
As a further improvement on the present invention: when synchronous machine is electric excitation synchronous motor, concrete steps are:
(1), given excitation winding 0.5*Ifn, Ifn are rated exciting current; DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measured, and its quick on-off controlling copped wave unit IGBT exports adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field;
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2; A phase current effective value is given as 0.5*Isn, and Isn is rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage and rotor windings voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
As a further improvement on the present invention: when synchronous machine is permagnetic synchronous motor, concrete steps are:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable, reading and storing this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable; Reading and storing this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
As a further improvement on the present invention: described θ
2for value during positive-angle 10 degree ~ 60 degree, described θ
2for value-10 during negative angle spends ~-60 degree.
Compared with prior art, the invention has the advantages that:
1, synchronous machine initial position determination localization method of the present invention, according to current closed-loop, considers the thinking of position correction, and no matter motor at an arbitrary position, all can be realized kind fast, safety, convenience and initial alignment accurately.
2, the present invention locate time due to stator winding current closed loop, so motor stator and rotor winding and peripheral switching device are not easy to cause overcurrent, control system safety.
The method of 3, present invention employs reciprocating positioning correcting, averaging, effectively corrects error.
4, present invention employs one-touch automatic finder, after only needing user's input control parameter, enter station-keeping mode algorithm and automatically can complete position fixing process by step, location can stop electric current exporting after terminating automatically, and show initial angle position, very convenient and quick.
5, the present invention is applied widely, does some simple modification and is namely applicable to permagnetic synchronous motor location.
6, the present invention have safety, high accuracy, fast, the advantage such as convenient, easily apply.
Accompanying drawing explanation
Fig. 1 is the principle schematic of stator and rotor magnetic field angle.
Fig. 2 is the principle schematic of the reciprocating four step positioning modes that the present invention adopts.
Fig. 3 is the schematic flow sheet of the present invention when being applied particularly to electric excitation synchronous motor.
Fig. 4 is the control principle schematic diagram of the present invention's stator current closed-loop control when embody rule.
Fig. 5 is the principle schematic of the present invention's absolute type encoder when embody rule.
Fig. 6 is the link schematic diagram of the present invention's encoder and controller when embody rule.
Fig. 7 is the control framework schematic diagram of the present invention's voltage source frequency converter when embody rule.
Fig. 8 is the circuit theory schematic diagram of the present invention's inversion unit when embody rule.
Fig. 9 is the circuit theory schematic diagram of the present invention's copped wave unit when embody rule.
Figure 10 is the schematic flow sheet of the present invention when being applied particularly to permagnetic synchronous motor.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
When synchronous electric motor rotor winding passes to constant excitation megnet electric current, constant rotor field Φ will be produced
f.Stator winding pass into three-phase electricity fail to be convened for lack of a quorum produce stator resultant magnetic field Φ
s, namely stator and rotor magnetic field interaction produces torque; The size of torque is directly proportional to both size and angle.As shown in Figure 1, be the position view in stator and rotor magnetic field.
The moment expression formula that stator and rotor magnetic field is formed is as follows:
T
n=k*Φf*Φs*sinθ
1 （1）
Wherein: k is a fixing ratio, θ
1for the angle in stator winding resultant magnetic field and rotor windings magnetic field.
Can find out according to Fig. 1 and formula (1), when positioning stablity ideally need meet: θ
1=0.
When the dead in line of both stator and rotor, the rotor-position angle information that controller DSP is read is initial position angle.
To order θ in two-phase rest frame
2=0, pass under voltage can realize stable situation by following formula (2), stator resultant magnetic field overlaps with the approximate of A phase axis.
u
α=A*cosθ
2
u
β=A*sinθ
2 （2）
By above-mentioned analysis, can find out and mainly contain two problems:
(1) can find out according to moment formula (1), when both magnetic fields close to time angle more and more less, torque can be more and more less; When torque is less than frictional resistance, stiction, rotor-position can be motionless, easily causes two magnetic field axis not overlap completely, cause number of degrees error, namely cause actual θ
1be not equal to 0.
(2) θ
1when being not equal to 0, may be stator field Advancing Rotor magnetic field, may be that stator field falls behind rotor field, system not be known yet.Therefore need the control method by improving to realize accurately location.
The present invention adopts reciprocating four step localization methods, and see Fig. 2, its general principle is: all carry out closed-loop control to stator, rotor winding current, and the size principle controlling electric current is should ensure not damage motor winding, ensure certain moment again; First control rotor windings and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, encoder number of degrees when writing given 0 angle respectively down, then carry out calculating correction be compensated after 0 degree of initial position.
As shown in Figure 3, for the initial alignment of electric excitation synchronous motor, concrete steps of the present invention are as follows:
(1), given excitation winding 0.5*Ifn, i.e. 0.5 times of rated exciting current, Ifn is rated exciting current; DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measured, and its quick on-off controlling copped wave unit IGBT exports adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field.
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2=30 degree (be such as 10 degree ~ 60 degree, this example gets 30 degree); A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current, and Isn is rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit.DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable.
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit.DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K1, prepares to carry out next step.
(4), given stator winding resultant magnetic field angle is angle θ
2=-30 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit.DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step.
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit.DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K2, prepares to carry out next step.
(6), DCU stops output stator winding voltage and rotor windings voltage, by formula (3) calculating initial position:
K0=0.5*（K1+K2） （3）。
In above process, be that DCU procedure auto-control completes in empty frame in figure, without the need to artificial participation, simplify artificial workload.Can error be eliminated by such method of measurement, simultaneously because be closed-loop current control, accurate positioning systematic comparison safety.Initial alignment once after, after encoder machinery is constant, general just do not need again to located.
In the present invention, in order to ensure quick, the trouble free service of system, stator and rotor electric current all adopts closed-loop current control, and the output of pi regulator is control voltage amplitude, and control block diagram as shown in Figure 4.Adopt absolute type encoder in the present invention, its principle engraves at code-disc higher slice the binary numeral or cyclic code (Gray's agate) that represent angle.Encoder is fixedly mounted on axle, and its inner concentric cover together rotates with motor, can export different information in each different position.As the encoder information of 14 totally 16 states of Fig. 5 display.Normal controller all can have corresponding decoding circuit unit and encoder to carry out interface communication, and the information after decoding sends controller (as DSP) to again for controlling, as shown in Figure 6.
The device utilized in the present invention is voltage source frequency converter, see Fig. 7.Wherein: rectification unit: be input as three-phase alternating voltage, three-phase controlled rectifier (the IGBT circuit of two level or three level) is adopted to provide direct voltage for system.Inversion unit is input as direct voltage, and output three-phase voltage and all adjustable alternating voltage of frequency are on SM stator winding.The input of copped wave unit is and direct voltage, exports in excitation winding that adjustable direct voltage receives SM and forms rotor field.Rectification unit is identical with the structure that inversion unit adopts, and difference is the input of rectification is three-phase alternating current, and output is direct current; Inversion unit is then that input connects direct current, and export and connect three-phase, Fig. 8 is the circuit structure diagram of two level inverse conversion unit, and Fig. 9 is copped wave element circuit figure.The control of above-mentioned three unit is all have DCU(controller) come.It, by according to given control overflow, detects electric current and voltage, controls IGBT device (T1 to T6) turn-on and turn-off.
Localization method of the present invention not only can be used for electric excitation synchronous motor and controls, and also can be used for permagnetic synchronous motor location.Just do not need when being applied to permagnetic synchronous motor to control exciting current.In another embody rule example, when being applied to the location of permagnetic synchronous motor, its flow process as shown in Figure 10.That is:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable, reading and storing this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable; Reading and storing this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (4)
1. a synchronous machine initial position defining method, is characterized in that, all carries out closed-loop control to stator, rotor winding current; First control rotor windings and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, encoder number of degrees when writing given 0 angle respectively down, finally carry out calculating and revise 0 degree of initial position after being compensated, K0=0.5* (K1+K2), K1 reads and the angle information stored given 0 degree of first time, and K2 is that given 0 degree of second time reads and the angle information stored.
2. synchronous machine initial position defining method according to claim 1, is characterized in that, when synchronous machine is electric excitation synchronous motor, concrete steps are:
(1), given excitation winding 0.5*Ifn, Ifn are rated exciting current; Controller DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measured, and its quick on-off controlling copped wave unit IGBT exports adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field;
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2; A phase current effective value is given as 0.5*Isn, and Isn is rated secondary current; Controller DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; Controller DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; Controller DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; Controller DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, A phase current effective value is given as 0.5*Isn; Controller DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; Controller DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; Controller DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and this given voltage controls to be added on stator winding to form stator field by the IGBT break-make of inversion unit; Controller DCU is by encoder moment load position angle information, and reading and store this angle information after positional information is stable is K2, prepares to carry out next step;
(6), controller DCU stops output stator winding voltage and rotor windings voltage, is calculated as follows initial position:
K0＝0.5*(K1+K2)。
3. synchronous machine initial position defining method according to claim 1, is characterized in that, when synchronous machine is permagnetic synchronous motor, concrete steps are:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; Controller DCU, by encoder moment load position angle information, carries out next step after positional information is basicly stable;
(2), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable, reading and storing this angle information is K1, prepares to carry out next step;
(3), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; Controller DCU, by encoder moment load position angle information, after positional information is basicly stable, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is angle θ
2=0 degree, start stator current closed loop, wait for that rotor-position is basicly stable; Reading and storing this angle information is K2, prepares to carry out next step;
(5), controller DCU stops output stator winding voltage, is calculated as follows initial position:
K0＝0.5*(K1+K2)。
4. the synchronous machine initial position defining method according to Claims 2 or 3, is characterized in that, described θ
2for value during positive-angle 10 degree ~ 60 degree, described θ
2for value-10 during negative angle spends ~-60 degree.
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| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
| CN105871162B (en) * | 2016-04-13 | 2018-05-08 | 上海信耀电子有限公司 | PMSM Servo System and positioning and deviation eliminating method |
| CN106100468A (en) * | 2016-07-08 | 2016-11-09 | 深圳市科陆驱动技术有限公司 | A kind of rotor null adjustment method, device, circuit and rotary transformer |
| CN106253783B (en) * | 2016-09-28 | 2018-07-03 | 西北工业大学 | Initial position evaluation method under electric excitation synchronous motor rotor oscillation |
| CN107482984B (en) * | 2016-10-12 | 2019-09-20 | 宝沃汽车（中国）有限公司 | Motor initial position angle automatic Calibration angle compensation process and system |
| CN106602969B (en) * | 2017-01-17 | 2019-06-07 | 河南师范大学 | A kind of the self calibration positive system and method for exoskeleton robot motor |
| CN110932636B (en) * | 2019-12-16 | 2021-11-02 | 合肥阳光电动力科技有限公司 | Method and system for identifying initial position of permanent magnet synchronous motor |
| CN114427830A (en) * | 2021-12-29 | 2022-05-03 | 中国航天空气动力技术研究院 | Wide-temperature-range high-precision servo positioning system and positioning method |
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