CN103595322B - The starting method of a kind of permagnetic synchronous motor and device - Google Patents
The starting method of a kind of permagnetic synchronous motor and device Download PDFInfo
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- CN103595322B CN103595322B CN201310589185.XA CN201310589185A CN103595322B CN 103595322 B CN103595322 B CN 103595322B CN 201310589185 A CN201310589185 A CN 201310589185A CN 103595322 B CN103595322 B CN 103595322B
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Abstract
The invention discloses the starting method of a kind of permagnetic synchronous motor, including: the three-phase windings for permagnetic synchronous motor applies unidirectional current, permagnetic synchronous motor is made all to produce the forward electromagnetic torque more than load torque when stator is in Arbitrary Relative position with rotor under described galvanic effect, in order to the forward electromagnetic torque of described generation makes rotor rotate from static beginning and persistently accelerate；When rotor turns to the rotor-position of motor control mode conversion, the direct current of permagnetic synchronous motor is exported control mode and is converted to variable frequency regulating speed control mode, and be that described three-phase windings applies three-phase alternating current, and make the current instantaneous value being applied on described three-phase windings equal and the Transient Electromagnetic torque that makes permagnetic synchronous motor produce is equal at control mode switching instant.The method can make the current instantaneous value on the forward and backward three-phase windings of conversion seamlessly transit, electromagnetic torque does not has convex change in employing.The invention also discloses the launcher of a kind of permagnetic synchronous motor.
Description
Technical field
The present invention relates to technical field of motors, particularly relate to starting method and the dress of a kind of permagnetic synchronous motor
Put.
Background technology
Along with the popularization and application of new-energy automobile, little etc. with its high efficiency, high-performance, noise and torque pulsation
The permagnetic synchronous motor of advantage obtains more and more concern, power density height, Operational Zone field width, reliable
Permagnetic synchronous motor and drive system applications scope thereof that property is high are more and more wider.
In electric vehicle, alternating-current synchronous trailer system is by inverter and permanent-magnet synchronizing traction motor two
Big parts composition, uses frequency control.When permagnetic synchronous motor uses as traction electric machine, starting performance is wanted
Other traction electric machine of suing for peace is the same: have the permanent torque output section comprising 0 rotating speed, it is desirable to can realize
Heavy-load start including permanent torque.At present, the starting method of existing permanent-magnet synchronizing traction motor includes:
Boosting raising frequency synchronous initiation method and first position frequency variable synchronous starting method again (i.e. pre-determined bit startup method).
But, for described boosting raising frequency synchronous initiation method, applicable permanent-magnet synchronizing traction motor has necessarily
The situation of rotating speed, inapplicable 0 speed heavy-load start.Frequency variable synchronous starting method is more first positioned for described, by
When permanent-magnet synchronizing traction motor starts, rotor original position is arbitrary, at the electric motor starting initial stage, and i.e. 0
Speed, if being passed through alternating current in three-phase windings, then three-phase current is asymmetric, and no matter how low the frequency of electric current is,
Motor is always at desynchronizing state；It addition, the original position of the electromagnetic torque and the rotor that produce on motor shaft and
The initial phase sequence of terminal voltage is relevant, bad control mode, may cause starting failure or motor reversal, uncomfortable
For heavy-load start, if motor reversal, its torque produced will start progressively to strengthen from 0, the most satisfied
The not trailer system start request to permanent torque.
Summary of the invention
In view of this, the main purpose of the embodiment of the present invention is to provide the starting side of a kind of permagnetic synchronous motor
Method and device, to realize the purpose of the driven by motor smooth smooth starting of load.
For achieving the above object, embodiments provide the starting method of a kind of permagnetic synchronous motor, bag
Include:
Three-phase windings for permagnetic synchronous motor applies unidirectional current, makes permanent magnetism same under described galvanic effect
Step motor all produces when stator and rotor are in Arbitrary Relative position and turns more than the forward electromagnetism of load torque
Square, in order to the forward electromagnetic torque of described generation makes rotor rotate from static beginning and persistently accelerate；
When rotor turns to the rotor-position of motor control mode conversion, the direct current of permagnetic synchronous motor is exported
Control mode is converted to variable frequency regulating speed control mode, and is described three-phase windings applying three-phase alternating current, and
Control mode switching instant makes the current instantaneous value being applied on described three-phase windings equal and makes permanent-magnet synchronous
The Transient Electromagnetic torque that motor produces is equal.
Preferably, said method also includes:
Different with rotor for the stator relatively electric cycles that position is formed are bisected into six sections, described six districts
One in the most corresponding six kinds of direct current supply modes of section, wherein, supplies using the direct current that each section is corresponding
When being electrically the three-phase windings applying unidirectional current of described permagnetic synchronous motor, described permagnetic synchronous motor is fixed
Son and the produced transient electromagnetic torque when this section of rotor relative position are all higher than other direct current supply
Produced transient electromagnetic torque under mode；
Described six kinds of direct current supply modes are respectively as follows: the first power supply mode, the second power supply mode, the 3rd power supply
Mode, the 4th power supply mode, the 5th power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvFor the direct current applied on V phase winding
Current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Forward electromagnetic torque more than the setting current value of load torque.
Preferably, in the above-mentioned methods, the described three-phase windings for permagnetic synchronous motor applies unidirectional current,
Specifically include:
A kind of direct current supply mode that when determining stationary rotor, the section at place is corresponding, and use and described determine
This direct current supply mode is that the three-phase windings of permagnetic synchronous motor applies DC current.
Preferably, said method also includes:
Determine the section carrying out motor control mode conversion, and by true for the torque capacity angular position that determines section
It is set to the rotor-position carrying out motor control mode conversion, and determines with the three-phase dc current value work before changing
Initial instantaneous value for the three-phase alternating current after conversion；
Wherein, described torque capacity Angle Position presses phase current maximum amplitude for ginseng when being and use three-phase alternating-current powered
That examine, the position of maximum average rotor corresponding to forward electromagnetic torque value can be produced.
Preferably, in the above-mentioned methods, described the section carrying out motor control mode conversion is determined, and will be really
The torque capacity angular position determining section is defined as carrying out the rotor-position of motor control mode conversion, specifically wraps
Include:
Judge whether stationary rotor position exceedes the torque capacity Angle Position of place section；
If it is not, then be defined as carrying out by the torque capacity angular position of place, described stationary rotor position section
The rotor-position of motor control mode conversion；
If it is, after rotor turns to next section of place, described stationary rotor position section, press
The direct current supply mode that one section is corresponding is that described three-phase windings applies unidirectional current, and by next conducting section
Torque capacity angular position is defined as carrying out the rotor-position of motor control mode conversion.
Preferably, in the above-mentioned methods, described the section carrying out motor control mode conversion is determined, and will be really
The torque capacity angular position determining section is defined as carrying out the rotor-position of motor control mode conversion, specifically wraps
Include:
If the rotating speed of described rotor is not up to reference rotation velocity, then follow-up at place, stationary rotor position section
In one or more sections, it is that described three-phase windings applies directly according to the direct current supply mode that each section is corresponding
Stream electricity, described reference rotation velocity is the minimum speed required by described variable frequency regulating speed control mode；
When the rotating speed of rotor reaches described reference rotation velocity, by next section of rotor place, position section at that time
Torque capacity angular position be defined as carrying out the rotor-position of motor control mode conversion.
Preferably, in the above-mentioned methods, utilize the variable-frequency speed-regulating controller of motor, adopt respectively at six sections
Constant unidirectional current is applied with the three-phase windings that a kind of power supply mode is permagnetic synchronous motor corresponding with section
Stream.
The embodiment of the present invention additionally provides the launcher of a kind of permagnetic synchronous motor, including:
Unidirectional current applies sub-device, applies unidirectional current, described for the three-phase windings for permagnetic synchronous motor
Permagnetic synchronous motor is made all to produce when stator is in Arbitrary Relative position with rotor under galvanic effect big
Forward electromagnetic torque in load torque, in order to the forward electromagnetic torque of described generation makes rotor from the beginning of static
Rotate and persistently accelerate；
Control mode changes sub-device, when rotor turns to the rotor-position of motor control mode conversion,
The direct current of permagnetic synchronous motor is exported control mode and is converted to variable frequency regulating speed control mode, and be described three-phase
Winding applies three-phase alternating current, and makes the electric current being applied on described three-phase windings at control mode switching instant
Instantaneous value Transient Electromagnetic torque that is equal and that make permagnetic synchronous motor produce is equal.
Preferably, said apparatus also includes:
The sub-device of section partition, for being bisected into different with rotor for the stator relatively electric cycles that position is formed
Six sections, the one in the most corresponding six kinds of direct current supply modes of described six sections, wherein, using
When the three-phase windings that direct current supply mode is described permagnetic synchronous motor that each section is corresponding applies unidirectional current,
Described permagnetic synchronous motor produced transient electromagnetic when stator and rotor relative position are in this section turns
Square is all higher than under other direct current supply mode produced transient electromagnetic torque；
Described six kinds of direct current supply modes are respectively as follows: the first power supply mode, the second power supply mode, the 3rd power supply
Mode, the 4th power supply mode, the 5th power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvFor the direct current applied on V phase winding
Current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Forward electromagnetic torque more than the setting current value of load torque.
Preferably, in said apparatus, described unidirectional current applies sub-device, specifically includes:
Power supply mode determines unit, a kind of direct current supply that the section at place is corresponding in time determining stationary rotor
Mode；
Unidirectional current applying unit, is permagnetic synchronous motor for using the described this direct current supply mode determined
Three-phase windings apply DC current.
Preferably, said apparatus also includes:
The true stator apparatus of dislocation, for determining the section carrying out motor control mode conversion, and will determine
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion；
The conversion true stator apparatus of initial current, for determining using the three-phase dc current value before conversion as conversion
After the initial instantaneous value of three-phase alternating current；
Wherein, described torque capacity Angle Position presses phase current maximum amplitude for ginseng when being and use three-phase alternating-current powered
That examine, the position of maximum average rotor corresponding to forward electromagnetic torque value can be produced.
Preferably, in said apparatus, the true stator apparatus of described dislocation, specifically include:
Resting position judging unit, for judging whether stationary rotor position exceedes the torque capacity of place section
Angle Position；
First dislocation determines unit, for judging that the rotor obtained is quiet at described resting position judging unit
When stop bit puts the torque capacity Angle Position not less than place section, by place, described stationary rotor position section
Torque capacity angular position is defined as carrying out the rotor-position of motor control mode conversion；
Second dislocation determines unit, for judging that the rotor obtained is quiet at described resting position judging unit
When stop bit puts the torque capacity Angle Position exceeding place section, turn to described stationary rotor position institute at rotor
After next section of section, it is that described three-phase windings applies directly by the direct current supply mode that next section is corresponding
Stream electricity, and be defined as carrying out motor control mode conversion by the torque capacity angular position of next conducting section
Rotor-position.
Preferably, in said apparatus, the true stator apparatus of described dislocation, specifically include:
Unidirectional current continues to unit, for when the rotating speed of described rotor is not up to reference rotation velocity, at rotor
In one or more sections that resting position place section is follow-up, according to the direct current supply side that each section is corresponding
Formula is that described three-phase windings applies unidirectional current, and described reference rotation velocity is required by described variable frequency regulating speed control mode
Minimum speed；
3rd dislocation determines unit, for when the rotating speed of rotor reaches described reference rotation velocity, by rotor
The torque capacity angular position of next section of place, position section was defined as carrying out motor control mode at that time
The rotor-position of conversion.
Preferably, in said apparatus, utilize the variable-frequency speed-regulating controller of motor, adopt respectively at six sections
Constant unidirectional current is applied with the three-phase windings that a kind of power supply mode is permagnetic synchronous motor corresponding with section
Stream.
The starting method of the permagnetic synchronous motor that the embodiment of the present invention provides and device, be applied to three by control
Galvanic amplitude on phase winding and direction, make motor equal when stator and rotor are in Arbitrary Relative position
The forward electromagnetic torque more than load torque can be produced, so that rotor all can drag when any initial position
Dynamic load rotates from static beginning and persistently accelerates, when rotor turns to the rotor position of motor control mode conversion
Be converted to variable frequency regulating speed control mode when putting, and apply three-phase alternating current for three-phase windings, and in control mode
Switching instant makes the current instantaneous value being applied on described three-phase windings equal and makes permagnetic synchronous motor produce
Transient Electromagnetic torque equal, make the current instantaneous value on the forward and backward three-phase windings of conversion seamlessly transit, electromagnetism
Torque does not has convex change, thus realizes the purpose of motor belt motor heavy duty smooth starting.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present invention, for those of ordinary skill in the art, do not paying wound
On the premise of the property made work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is one of schematic flow sheet of starting method of embodiment of the present invention permagnetic synchronous motor；
Fig. 2 is the two of the schematic flow sheet of the starting method of embodiment of the present invention permagnetic synchronous motor；
Fig. 3 is the torque-output characteristics figure under six kinds of direct current supply modes of the embodiment of the present invention；
Fig. 4 is the torque-output characteristics curve synoptic diagram that embodiment of the present invention difference section is corresponding；
Fig. 5 is the torque-output characteristics that 6 characteristic points are the most corresponding in one electric cycle of the embodiment of the present invention
Figure；
Fig. 6 is the starting three-phase current change schematic diagram of embodiment of the present invention permagnetic synchronous motor；
Fig. 7 is the starting torque change schematic diagram of embodiment of the present invention permagnetic synchronous motor；
Fig. 8 is the structural representation of the launcher of embodiment of the present invention permagnetic synchronous motor.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
Embodiment one
Seeing Fig. 1, the flow process for the starting method of the permagnetic synchronous motor of the embodiment of the present invention one offer is illustrated
Figure, specifically includes:
Step 101: the three-phase windings for permagnetic synchronous motor applies unidirectional current, in described galvanic effect
Under make permagnetic synchronous motor all produce more than load torque when stator and rotor are in Arbitrary Relative position
Forward electromagnetic torque, in order to the forward electromagnetic torque of described generation makes rotor rotate from static beginning and persistently add
Speed.
When the electromagnetic torque produced on motor shaft is more than load torque, the electromagnetic torque ability that motor produces
Make rotor drag load rotate and accelerate, so, the embodiment of the present invention by control be applied to threephase stator around
Unidirectional current in group makes motor all can produce whole electricity cycle (stator and rotor are in Arbitrary Relative position)
Give birth to forward transient electromagnetic torque, and produced forward electromagnetic torque is all higher than load torque, thus realize profit
Make rotor from the static purpose starting and rotating and persistently accelerate with produced forward electromagnetic torque.
Step 102: when rotor turns to the rotor-position of motor control mode conversion, by permagnetic synchronous motor
Direct current output control mode be converted to variable frequency regulating speed control mode, and it is crossing be that described three-phase windings applies three
Stream electricity, and make the current instantaneous value being applied on described three-phase windings equal at control mode switching instant and make
The Transient Electromagnetic torque that permagnetic synchronous motor produces is equal.
Embodiment two
See Fig. 2, for the flow process of starting method of the permanent-magnet synchronizing traction motor that the embodiment of the present invention two provides
Schematic diagram, specifically includes:
Step 201: different with rotor for the stator relatively electric cycles that position is formed are bisected into six sections,
One in the most corresponding six kinds of direct current supply modes of described six sections.
Wherein, use the three-phase that direct current supply mode is described permagnetic synchronous motor corresponding to each section around
When group applies unidirectional current, described permagnetic synchronous motor is produced when stator and rotor relative position are in this section
Raw transient electromagnetic torque is all higher than under other direct current supply mode produced transient electromagnetic torque；
Described six kinds of direct current supply modes are respectively as follows: the first power supply mode, the second power supply mode, the 3rd power supply
Mode, the 4th power supply mode, the 5th power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvFor the direct current applied on V phase winding
Current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Forward electromagnetic torque more than the setting current value of load torque.
Step 202: a kind of direct current supply mode that when determining stationary rotor, the section at place is corresponding, and use
The described three-phase windings that this direct current supply mode is permagnetic synchronous motor determined applies DC current, in institute
State and under galvanic effect, make permagnetic synchronous motor be in Arbitrary Relative position at described segmented stator and rotor
Time all produce the forward electromagnetic torque more than load torque, in order to the forward electromagnetic torque of described generation makes rotor
Rotate from static beginning and persistently accelerate.
For realizing step 202, first, rotor corresponding initiateing when static (initial speed is zero) is determined
Electrical angle position, described initial electrical angle position is the angle between rotor N pole axis line and reference position, institute
Stating reference position is that rotor N pole axis line aligns with stator U phase winding and U phase winding forward current weakens air gap magnetic
Position during field；Then, it is determined that the section at place, described initial electrical angle position；Finally, by the district determined
Power supply mode corresponding to Duan is that described three-phase windings applies unidirectional current.
Step 203: determine the section carrying out motor control mode conversion, and the torque capacity of section will be determined
Angular position is defined as carrying out the rotor-position of motor control mode conversion, and determines with the three-phase before changing straight
Stream current value is as the initial instantaneous value of the three-phase alternating current after conversion；Wherein, position, described torque capacity angle
When being set to use three-phase alternating-current powered by phase current maximum amplitude be reference, to produce maximum averagely forward electric
The position of the rotor corresponding to magnetic torque value.
In step 203, for determining the section carrying out motor control mode conversion, and determining which of section
When individual rotor-position carries out the conversion of motor control mode, the one in following two mode can be used:
Mode one: can be by stationary rotor position place section or next section of place, stationary rotor position section
Torque capacity angular position be defined as carrying out the rotor-position of motor control mode conversion；Implement as
Under:
Judge whether stationary rotor position exceedes the torque capacity Angle Position of place section；If it is not, then will turn
The torque capacity angular position of sub-resting position place section is defined as carrying out turning of motor control mode conversion
Sub-position；If it is, after rotor turns to next section of place, described stationary rotor position section,
It is that described three-phase windings applies unidirectional current by the direct current supply mode that next section is corresponding, and by next section
Torque capacity angular position is defined as carrying out the rotor-position of motor control mode conversion.
Mode two: if the rotating speed of rotor is not up to reference velocity, described reference rotation velocity is variable frequency regulating speed control
Minimum speed required by mode, then at one or more sections that place, stationary rotor position section is follow-up
In, it is that three-phase windings applies unidirectional current, in the speed of rotor according to the direct current supply mode that each section is corresponding
After reaching reference velocity, by true for the torque capacity angular position of next section of rotor place, position section at that time
It is set to the rotor-position carrying out motor control mode conversion；It is implemented as follows:
If the rotating speed of rotor is not up to reference rotation velocity, then follow-up one of place, stationary rotor position section
Or in multiple section, be that three-phase windings applies unidirectional current, institute according to the direct current supply mode that each section is corresponding
Stating reference rotation velocity is the minimum speed required by described variable frequency regulating speed control mode；Rotating speed at rotor reaches institute
When stating reference rotation velocity, the torque capacity angular position of next section of rotor place, position section at that time is determined
For carrying out the rotor-position of motor control mode conversion.
For mode two, there is also the mode of another rotor-position determining that motor control mode changes,
That is, when the rotating speed of rotor reaches described reference rotation velocity, if rotor position at that time is not less than location at that time
The torque capacity Angle Position of section, can be defined as carrying out motor by the torque capacity angular position of place section at that time
The rotor-position of control mode conversion.
It should be noted that the embodiment of the present invention is to utilize the variable-frequency speed-regulating controller of motor, at six sections
It is respectively adopted the three-phase windings that a kind of power supply mode be permagnetic synchronous motor corresponding with section and applies constant
DC current, so all can produce the forward electromagnetic torque more than load torque at each section motor, thus
Rotor is made persistently to accelerate.
Step 204: when rotor turns to the rotor-position of motor control mode conversion, by permagnetic synchronous motor
Direct current output control mode be converted to variable frequency regulating speed control mode, and it is crossing be that described three-phase windings applies three
Stream electricity, and using the three-phase dc current value before conversion as conversion after three-phase alternating current the most instantaneous
Value.
In embodiments of the present invention, be using conversion before three-phase dc current value as conversion after three-phase alternating current
The initial instantaneous value of electric current, so can make the electric current wink being applied on three-phase windings at control mode switching instant
Duration Transient Electromagnetic torque that is equal and that make permagnetic synchronous motor produce is equal, so that changing forward and backward three-phase
Current instantaneous value on winding seamlessly transits, electromagnetic torque does not has convex change.
The starting method of the permagnetic synchronous motor that the embodiment of the present invention provides, directly uses motor variable frequency regulating speed control
Device, the galvanic amplitude being applied on three-phase windings by control and direction, make motor at stator and rotor
The forward electromagnetic torque more than load torque all can be produced, so that rotor exists when being in Arbitrary Relative position
All can drag load during arbitrary initial position to rotate from static beginning and persistently accelerate, when rotor turns to motor
Be converted to variable frequency regulating speed control mode during the rotor-position that control mode is changed, and apply three-phase for three-phase windings
Alternating current, and make the current instantaneous value being applied on described three-phase windings equal also at control mode switching instant
The Transient Electromagnetic torque making permagnetic synchronous motor produce is equal, makes the electric current wink on the forward and backward three-phase windings of conversion
Duration seamlessly transits, electromagnetic torque does not has convex change, thus realizes the purpose of motor belt motor heavy duty smooth starting.
In order to more easily understand the embodiment of the present invention, introduce the reasoning realizing the embodiment of the present invention in detail below
Process, specifically includes following step:
The first step:
See table 1, define six kinds of direct current supply modes of permagnetic synchronous motor: U_VW power supply mode
I (the first power supply mode), UV_W supplier of electricity formula II (the second power supply mode), V_WU power supply mode
III (the 3rd power supply mode), VW_U supplier of electricity formula IV (the 4th power supply mode), W_UV power supply mode V (
Five power supply modes) and WU_V power supply mode VI (the 6th power supply mode).
Table 1
| Power supply mode | I | II | III | IV | V | VI |
| Iu | Is | 0.5Is | -0.5Is | -Is | -0.5Is | 0.5Is |
| Iv | -0.5Is | 0.5Is | Is | 0.5Is | -0.5Is | -Is |
| Iw | -0.5Is | -Is | -0.5Is | 0.5Is | Is | 0.5Is |
The feature of above-mentioned six kinds of direct current supply modes is: wherein the size of a phase current values is remaining biphase current
Value sum and other biphase current described identical, but the sense of current of a described wherein phase current with described other
Biphase current in opposite direction, can use PWM voltage regulating mode to make the three-phase current under above-mentioned six kinds of power supply modes
Constant.
The electrical current of described U_VW conduction mode I is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described UV_W conduction mode II is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described V_WU conduction mode III is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described VW_U conduction mode IV is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described W_UV conduction mode V is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described WU_V conduction mode VI is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvFor the direct current applied on V phase winding
Current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Forward electromagnetic torque more than the setting current value of load torque.
Second step:
Due to an electrical angle in the rotor electricity cycle the most corresponding with the Arbitrary Relative position of stator, if will turn
Sub-N pole axis line align with stator U phase winding axis and U phase winding forward current weaken air-gap field time rotor
Position is defined as reference position, and defines this reference position corresponding to 0 degree of electrical angle (it is of course also possible to adopt
Use other definition mode), then in rotor rotation process, between rotor N pole axis line and described reference position
Angle be then actual rotor position, this actual rotor position corresponding to electricity the cycle in an electrical angle.
Based on above-mentioned definition mode, the torque-output characteristics under six kinds of direct current supply modes shown in Figure 3
Figure, for the threephase stator winding of permagnetic synchronous motor, under each direct current supply mode, stator winding produces
Magnetic field and the rotor field produced electromagnetic torque of effect the difference along with rotor-position is changed, at figure
In 3, curve I is the torque-output characteristics curve formed under U_VW supplier of electricity formula I, and curve II is
The torque-output characteristics curve formed under UV_W supplier of electricity formula II, curve III is at V_WU supplier of electricity
The torque-output characteristics curve formed under formula III, curve IV is the torque formed under VW_U supplier of electricity formula IV
Output characteristic curve, curve V is the torque-output characteristics curve formed for V time in W_UV power supply mode, bent
Line VI is the torque-output characteristics curve formed for VI time in WU_V power supply mode.
Each curve from Fig. 3 is it can be seen that every kind of direct current supply mode all can not be fully solved motor from quiet
The problem only persistently accelerated, reason is as follows: assume that T2 is load torque, for every kind of direct current supply mode,
Only at a narrow range (such as the section β under U_VW supplier of electricity formula I1～β2In), motor produces
Transient electromagnetic torque T1 is more than load torque T2, and motor can start in described narrow range and accelerate, but
In this narrow range, motor possibly cannot accelerate to the initial velocity needed for follow-up variable frequency regulating speed control, institute
With, in order to enable motor persistently to accelerate, need motor in subsequent one or multiple region can provide relatively
Big forward electromagnetic torque (more than load torque).By realizing the concrete mode that this purpose is used: take
The joining of adjacent torque-output characteristics curve is as transfer point (the figure midpoint β of different direct current supply modes1、
β2、β3、β4、β5、β6), the torque-output characteristics that just available different sections as shown in Figure 4 are corresponding
Curve synoptic diagram, the corresponding relation between six sections and six kinds of direct current supply modes is as shown in table 2, wherein,
Each section length is π/3.
It should be noted that setting value I increased in every kind of direct current supply modeSAmplitude, can improve wink
Time electromagnetic torque amplitude meet include transfer point the forward transient electromagnetic torque T1 of each section big
In the requirement of load torque T2, therefore, I can be determined according to the amplitude of required electromagnetic torqueSAmplitude.
Table 2
See Fig. 4, within the whole electricity cycle, according to the section at rotor-position place, choose corresponding with section
Direct current supply mode is that three-phase windings is powered, and controls motor at transfer point (figure midpoint β1、β2、β3、β4、
β5、β6) it is switched to lower a kind of power supply mode.Such as, in rotor rotation process, when rotor-position is at section
β1To β2Time interior, using U_VW supplier of electricity formula I is that three-phase windings applies unidirectional current, when rotor-position exists
Section β2To β3Time interior, using UV_W supplier of electricity formula II is three-phase windings applying unidirectional current, wherein,
Transfer point β2Change direct current supply mode, the like.Based on this, as long as according to rotor-position place section
Apply the power supply mode corresponding with section for three-phase windings, motor just can be made all to produce within the whole electricity cycle and be more than
The forward electromagnetic torque of load torque, thus realize motor and ceaselessly accelerate to rotate.
See Fig. 4 to understand, within an electric cycle, no matter stationary rotor position which, stationary rotor position
A section in six sections that table 2 is pointed out will be fallen into, available position sensor detection stationary rotor
The electrical angle position that position is corresponding, and determine this electrical angle position which section in the whole electricity cycle, with
Convenient is that three-phase windings is powered by the direct current supply mode that this section is corresponding.Assume that stationary rotor position falls into district
Section β1～β2Between, now, select this conducting U_VW power supply mode I corresponding to section be three-phase around
Group applies unidirectional current, owing to the transient electromagnetic torque T1 produced at this section motor is more than load torque T2, institute
Can be with 0 speed heavy-load start accelerating, before not carrying out motor control mode conversion, when rotor turns with motor
Move transfer point (such as β2、β3... etc.) time, be converted to lower a kind of power supply mode at transfer point, due to
The electromagnetic torque T1 that other section motor produces is still above load torque T2, so motor can continue to add
Speed, until accelerating to the initial velocity needed for frequency speed-regulating controling mode.
3rd step:
When carrying out the conversion of motor control mode, set the table of the three-phase alternating current being applied on three-phase windings
Reaching formula is:
Wherein, IuFor the AC current values applied on U phase winding, IvFor the exchange applied on V phase winding
Current value, IwFor the AC current values applied on W phase winding, IsTurn for the electromagnetism for making motor produce
Square is more than the setting value of load torque, and p is rotor magnetic pole logarithm, t express time, and n is rotor rotating speed,
θ is JIAOSHEN amount.
See table 3, in three-phase alternating current, when t=0 and JIAOSHEN amount θ take different value, corresponding six
Big phase current be six characteristic points of reference 1., 2., 3., 4., 5., 6., it is characterized by: a wherein phase
The size of current value be remaining biphase current value sum and other biphase current described identical, but described wherein one
The sense of current of phase current is in opposite direction with other biphase current described.
Table 3
See Fig. 5, be the torque that maximum phase current is reference that 6 characteristic points are corresponding respectively in an electric cycle
Output characteristics figure.When JIAOSHEN amount θ takes different value, different torque-output characteristics curves will be formed, it may be assumed that
On three-phase windings apply θ=0 time alternating current time, formed torque-output characteristics curve 1.；
Three-phase windings appliesTime alternating current time, formed torque-output characteristics curve 2.；
Three-phase windings appliesTime alternating current time, formed torque-output characteristics curve 3.；
On three-phase windings apply θ=π time alternating current time, formed torque-output characteristics curve 4.；
Three-phase windings appliesTime alternating current time, formed torque-output characteristics curve 5.；
Three-phase windings appliesTime alternating current time, formed torque-output characteristics curve 6..
In setting value IsTime identical, Fig. 3 Yu Fig. 5 compared and understands:
Torque-output characteristics curve in Fig. 5 1. with torque-output characteristics curve I (the corresponding U_V in Fig. 3
W supplier of electricity formula I) corresponding；
Torque-output characteristics curve in Fig. 5 2. with torque-output characteristics curve II (the corresponding UV_ in Fig. 3
W supplier of electricity formula II) corresponding；
Torque-output characteristics curve in Fig. 5 3. with torque-output characteristics curve III (the corresponding V_WU in Fig. 3
Supplier of electricity formula III) corresponding；
Torque-output characteristics curve in Fig. 5 4. with torque-output characteristics curve IV (the corresponding VW_U in Fig. 3
Supplier of electricity formula IV) corresponding；
Torque-output characteristics curve in Fig. 5 5. with torque-output characteristics curve V (the corresponding W_UV in Fig. 3
Power supply mode V) corresponding；
Torque-output characteristics curve in Fig. 5 6. with torque-output characteristics curve VI (the corresponding WU in Fig. 3
_ V power supply mode VI) corresponding.
See Fig. 5 to understand, Fig. 5 there are in every curve a torque capacity angle, be respectively as follows:α、α+π、At torque capacity Angle Position, motor output
Forward electromagnetic torque T1 is maximum and is more than load torque T2.
In embodiments of the present invention, select to change motor power supply mode, i.e. from perseverance at torque capacity angular position
Determine direct current and be converted to the three-phase alternating current that initial value is certain characteristic point.This conversion regime is not only easy to realize, and
And motor enters average electromagnetic torque maximum after frequency control, meet load request (wanting more than load torque
Ask) and follow-up variable frequency regulating speed control electric machine rotation can be kept steady.
See table 4, for the corresponding relation between section, torque capacity angle and supply current.The embodiment of the present invention
Carrying out motor control mode conversion at torque capacity angular position, turning if carrying out motor control mode at α
Change, then IuBy Constant Direct Current IsIt is transferred to exchange instantaneous peak value Is(the alternating current initial value applied on U phase winding),
IvBy Constant Direct Current-0.5IsIt is transferred to exchange instantaneous value-0.5Is(at the beginning of the alternating current applied on V phase winding
Value), IwBy Constant Direct Current-0.5IsIt is transferred to exchange instantaneous value-0.5Is(the alternating current applied on W phase winding
Initial value), it is seen then that it is applied to the electric current on three-phase windings when the mode of being powered is changed and does not suddenly change and wink
Time electromagnetic torque the most do not undergo mutation, it is achieved that control mode conversion smooth transition.
It addition, similar with torque capacity angle α, enter at (if power factor (PF) is 1) place, other angle of torsion position
During the conversion of row motor control mode, the rotation process of motor equally can seamlessly transit, not repeat them here.
Table 4
If carrying out motor control mode conversion, (direct current output control mode is converted to variable frequency regulating speed control side
Formula) time, need the speed of rotor to reach minimum speed n required by variable frequency regulating speed control mode, now,
The time lengthening that motor accelerates can be made, i.e. make the motor one or more sections under direct current supply mode enter
Row persistently accelerates, after accelerating to n, in the position, torque capacity angle of rotor-position place section or next section
Put place, the most replaceable motor power supply mode and control model.The most just the smooth start of motor is achieved, with
After carry out variable-frequency constant torque output and control, thus motor is entered normal speed governing operation shape by starting process
State.
In order to more easily understand the embodiment of the present invention, illustrate in detail below:
As a example by a permagnetic synchronous motor used in electric motor coach trailer system.See table 2 and Fig. 4,
One electric cycle is divided into 6 sections, a length of π/3 of each section, and each section supplies corresponding to a kind of direct current
Electrically, motor is at electromagnetic torque T1 produced by each section as shown in Figure 4.Available setting value IS
Size control the amplitude of electromagnetic torque T1 of each direct current supply mode, be allowed to be positioned at load torque T2
On, in order to rotor can drag load and rotate.
With rotor original position (stationary rotor position) β at β1～β2As a example by this section, i.e.
β1≤β≤β2, β1≤β≤β2Belong to the section that U_VW power supply mode I is corresponding, first, use U
_ VW power supply mode I provides unidirectional current to three-phase stator winding, i.e. application PWM voltage regulating mode makes applying
Current constant on three-phase windings.At β1～β2Section, permagnetic synchronous motor shown in Figure 6
Starting current change schematic diagram, the three-phase dc electric current under U_VW power supply mode I is respectively Iu=IS、
IV=-0.5IS, IW=-0.5IS, the permanent magnet synchronous electric shown in Figure 7 for electromagnetic torque T1 of motor generation
The starting torque change schematic diagram of machine.At β1～β2Section, under the effect of U_VW power supply mode I
Rotor starts to drag load and rotates and accelerate；When rotor turns to β2During position, be converted to use UV_
W supplier of electricity Formula II provides constant dc, the UV_W of rotor entrance afterwards to power to threephase stator winding
The section β that mode II is corresponding2～β3, at this β2～β3The DC current applied for three-phase windings in section
For Iu=0.5IS, IV=0.5IS, IW=-IS, at this β2～β3Electromagnetic torque produced by section motor makes
Rotor continues to accelerate；When rotor turns to these section torque capacity Angle Position α+π/3, if it is determined that
This position carries out motor control mode conversion, then change the power supply mode of stator, i.e. to threephase stator winding
Apply that there is specific initial value (IU=0.5IS, IV=0.5IS, IW=-IS), synchronize three-phase symmetrical hand over
Stream electric current, this three-phase symmetrical alternating current is:
WithWherein, p is rotor magnetic pole logarithm, t express time (from the beginning of 0),
N is rotor rotating speed, IuFor the AC current values applied on U phase winding, IvFor on V phase winding
The AC current values applied, IwFor the AC current values applied on W phase winding, IsFor setting value.Due to
The initial value of three-phase alternating current is IU0=0.5IS, IV0=0.5IS, IW0=-IS, each phase current instantaneous value and confession
DC current amplitude before electrically changing is the most identical with direction, it will be seen in fig. 7 that the transient state of motor turns
Square is continuous, does not the most suddenly change.Followed by the three-phase alternating current after conversion, motor is used normal arrow
Amount controls, to realize the variable-frequency constant torque output control of motor, so that motor just enters from starting process
Normal speed governing operation state.
It is understood that when original position β of rotor is at other section, it is possible to use above-mentioned same
Control principle, does not repeats them here.
Embodiment three
See Fig. 8, for the structural representation of launcher of the permagnetic synchronous motor that the embodiment of the present invention three provides
Figure, including:
Unidirectional current applies sub-device 1, applies unidirectional current, in institute for the three-phase windings for permagnetic synchronous motor
State and under galvanic effect, make permagnetic synchronous motor all produce when stator and rotor are in Arbitrary Relative position
Forward electromagnetic torque more than load torque, in order to the forward electromagnetic torque of described generation makes rotor open from static
Begin to rotate and persistently accelerate；
Control mode changes sub-device 2, when rotor turns to the rotor-position of motor control mode conversion,
The direct current of permagnetic synchronous motor is exported control mode and is converted to variable frequency regulating speed control mode, and be described three-phase
Winding applies three-phase alternating current, and makes the electric current being applied on described three-phase windings at control mode switching instant
Instantaneous value Transient Electromagnetic torque that is equal and that make permagnetic synchronous motor produce is equal.
It addition, said apparatus also includes:
The sub-device of section partition, for being bisected into different with rotor for the stator relatively electric cycles that position is formed
Six sections, the one in the most corresponding six kinds of direct current supply modes of described six sections, wherein, using
When the three-phase windings that direct current supply mode is described permagnetic synchronous motor that each section is corresponding applies unidirectional current,
Described permagnetic synchronous motor produced transient electromagnetic when stator and rotor relative position are in this section turns
Square is all higher than under other direct current supply mode produced transient electromagnetic torque；
Described six kinds of direct current supply modes are respectively as follows: the first power supply mode, the second power supply mode, the 3rd power supply
Mode, the 4th power supply mode, the 5th power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvFor the direct current applied on V phase winding
Current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Forward electromagnetic torque more than the setting current value of load torque.
Preferably, described unidirectional current applies sub-device 1, specifically includes:
Power supply mode determines unit, a kind of direct current supply that the section at place is corresponding in time determining stationary rotor
Mode；Unidirectional current applying unit, is permanent magnet synchronous electric for using the described this direct current supply mode determined
The three-phase windings of machine applies DC current.
Additionally, said apparatus also includes:
The true stator apparatus of dislocation, for determining the section carrying out motor control mode conversion, and will determine
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion；Conversion is initial
The true stator apparatus of electric current, the three-phase alternating current after determining using the three-phase dc current value before conversion as conversion
The initial instantaneous value of electric current；Wherein, when in described section, torque capacity Angle Position is for using three-phase alternating-current powered
Rotor that be reference as phase current maximum amplitude, that maximum can be produced corresponding to average forward electromagnetic torque value
Position.
Preferably, the true stator apparatus of described dislocation, specifically include:
Resting position judging unit, for judging whether stationary rotor position exceedes the torque capacity of place section
Angle Position；First dislocation determines unit, for judging that obtain turns at described resting position judging unit
When sub-resting position is not less than the torque capacity Angle Position of place section, by location, described stationary rotor position
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion；Second translation bit
Put and determine unit, for judging that the stationary rotor position obtained exceedes place at described resting position judging unit
During the torque capacity Angle Position of section, turn to next district of place, described stationary rotor position section at rotor
Duan Hou, is that described three-phase windings applies unidirectional current by the direct current supply mode that next section is corresponding, and by next
The torque capacity angular position of conducting section is defined as carrying out the rotor-position of motor control mode conversion.
Preferably, the true stator apparatus of described dislocation, specifically include:
Unidirectional current continues to unit, for when the rotating speed of described rotor is not up to reference rotation velocity, at rotor
In one or more sections that resting position place section is follow-up, according to the direct current supply side that each section is corresponding
Formula is that described three-phase windings applies unidirectional current, and described reference rotation velocity is required by described variable frequency regulating speed control mode
Minimum speed；3rd dislocation determines unit, is used for when the rotating speed of rotor reaches described reference rotation velocity,
It is defined as carrying out motor control by the torque capacity angular position of next section of rotor place, position section at that time
The rotor-position that mode processed is changed.
Preferably, utilize the variable-frequency speed-regulating controller of motor, be respectively adopted corresponding with section at six sections
A kind of power supply mode is that the three-phase windings of permagnetic synchronous motor applies constant DC current.
The launcher of the permagnetic synchronous motor that the embodiment of the present invention provides, is applied to three-phase windings by control
On galvanic amplitude and direction, make motor all can produce when stator and rotor are in Arbitrary Relative position
More than the forward electromagnetic torque of load torque, so that rotor all can drag load when any initial position
Rotate from static beginning and persistently accelerate, turn when rotor turns to the rotor-position of motor control mode conversion
It is changed to variable frequency regulating speed control mode, and applies three-phase alternating current for three-phase windings, and change wink in control mode
The current instantaneous value that chien shih is applied on described three-phase windings is equal and the transient state that makes permagnetic synchronous motor produce
Electromagnetic torque is equal, makes that the current instantaneous value on the forward and backward three-phase windings of conversion seamlessly transits, electromagnetic torque does not has
There is convex change, thus realize the purpose of motor belt motor heavy duty smooth starting.
As seen through the above description of the embodiments, those skilled in the art is it can be understood that to upper
State all or part of step in embodiment method and can add the mode of required general hardware platform by software
Realize.Based on such understanding, prior art is made tribute by technical scheme the most in other words
The part offered can embody with the form of software product, and this software product can be stored in storage medium
In, such as ROM/RAM, magnetic disc, CD etc., instruct with so that electric machine controller (can be including some
Processor) perform each embodiment of the present invention or the method described in some part of embodiment.
It should be noted that each embodiment uses the mode gone forward one by one to describe in this specification, each enforcement
What example stressed is all the difference with other embodiments, and between each embodiment, identical similar portion is mutual
See mutually.For method disclosed in embodiment, due to its with embodiment disclosed in system corresponding,
So describe is fairly simple, relevant part sees components of system as directed and illustrates.
Also, it should be noted in this article, the relational terms of such as first and second or the like is used merely to
One entity or operation are separated with another entity or operating space, and not necessarily requires or imply this
Relation or the order of any this reality is there is between a little entities or operation.And, term " includes ",
" comprise " or its any other variant is intended to comprising of nonexcludability, so that include a series of
The process of key element, method, article or equipment not only include those key elements, but also include the most clearly arranging
Other key elements gone out, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Including process, method, article or the equipment of described key element there is also other identical element.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses this
Invention.Multiple amendment to these embodiments will be apparent for those skilled in the art
, generic principles defined herein can without departing from the spirit or scope of the present invention,
Other embodiments realizes.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and
It is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (12)
1. the starting method of a permagnetic synchronous motor, it is characterised in that including:
The electric cycles that different with rotor for stator relatively positions are formed are bisected into six sections, described six
One in section respectively corresponding six kinds of direct current supply modes, wherein, is using corresponding straight of each section
When stream power supply mode is the three-phase windings applying unidirectional current of described permagnetic synchronous motor, described permanent magnet synchronous electric
It is straight that machine produced transient electromagnetic torque when stator and rotor relative position are in this section is all higher than other
Produced transient electromagnetic torque under stream power supply mode；
A kind of direct current supply mode that when determining stationary rotor, the section at place is corresponding, and use and described determine
The three-phase windings that this direct current supply mode is permagnetic synchronous motor apply DC current, at described direct current
Permagnetic synchronous motor is made all to produce when stator is in Arbitrary Relative position with rotor more than negative under the effect of electricity
The forward electromagnetic torque of set torque, in order to the forward electromagnetic torque of described generation makes rotor turn from static beginning
Move and persistently accelerate；
When rotor turns to the rotor-position of motor control mode conversion, by defeated for the direct current of permagnetic synchronous motor
Go out control mode and be converted to variable frequency regulating speed control mode, and be that described three-phase windings applies three-phase alternating current,
And make the current instantaneous value being applied on described three-phase windings equal at control mode switching instant and make permanent magnetism
The Transient Electromagnetic torque that synchronous motor produces is equal.
Method the most according to claim 1, it is characterised in that described six kinds of direct current supply modes are divided
Be not: the first power supply mode, the second power supply mode, the 3rd power supply mode, the 4th power supply mode, the 5th
Power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvStraight for apply on V phase winding
Stream current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Raw forward electromagnetic torque is more than the setting current value of load torque.
Method the most according to claim 1, it is characterised in that described method also includes:
Determine the section carrying out motor control mode conversion, and the torque capacity angular position of section will be determined
It is defined as carrying out the rotor-position of motor control mode conversion, and determines with the three-phase dc electric current before changing
The initial instantaneous value of the three-phase alternating current after being worth as conversion；
Wherein, described torque capacity Angle Position when being and use three-phase alternating-current powered by phase current maximum amplitude is
Reference, position that maximum average rotor corresponding to forward electromagnetic torque value can be produced.
Method the most according to claim 3, it is characterised in that described determine carry out motor controlling party
The section of formula conversion, and be defined as carrying out motor control mode by the torque capacity angular position determining section
The rotor-position of conversion, specifically includes:
Judge whether stationary rotor position exceedes the torque capacity Angle Position of place section；
If it is not, then the torque capacity angular position of place, described stationary rotor position section is defined as into
The rotor-position of row motor control mode conversion；
If it is, after rotor turns to next section of place, described stationary rotor position section, press
The direct current supply mode that next section is corresponding is that described three-phase windings applies unidirectional current, and next is turned on district
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion.
Method the most according to claim 3, it is characterised in that described determine carry out motor controlling party
The section of formula conversion, and be defined as carrying out motor control mode by the torque capacity angular position determining section
The rotor-position of conversion, specifically includes:
If the rotating speed of described rotor is not up to reference rotation velocity, then follow-up at place, stationary rotor position section
One or more sections in, be that described three-phase windings is executed according to the direct current supply mode that each section is corresponding
Adding unidirectional current, described reference rotation velocity is the minimum speed required by described variable frequency regulating speed control mode；
When the rotating speed of rotor reaches described reference rotation velocity, by next district of rotor place, position section at that time
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion.
6. according to the method described in any one of claim 1 to 5, it is characterised in that utilize the frequency conversion of motor
Speed setting controller, being respectively adopted a kind of power supply mode corresponding with section at six sections is permanent magnet synchronous electric
The three-phase windings of machine applies constant DC current.
7. the launcher of a permagnetic synchronous motor, it is characterised in that including:
The sub-device of section partition, for dividing different with rotor for the stator relatively electric cycles that position is formed equally
It is six sections, the one in the most corresponding six kinds of direct current supply modes of described six sections, wherein,
The three-phase windings that direct current supply mode is described permagnetic synchronous motor that each section is corresponding is used to apply direct current
During electricity, described permagnetic synchronous motor is produced instantaneous when stator and rotor relative position are in this section
Electromagnetic torque is all higher than under other direct current supply mode produced transient electromagnetic torque；
Unidirectional current applies sub-device, and a kind of direct current that the section at place is corresponding in time determining stationary rotor supplies
Electrically, and use the described three-phase windings that this direct current supply mode is permagnetic synchronous motor determined to execute
Add DC current, make permagnetic synchronous motor be in arbitrarily at stator and rotor under described galvanic effect
Relatively all produce the forward electromagnetic torque more than load torque during position, in order to the forward electromagnetism of described generation
Torque makes rotor rotate from static beginning and persistently accelerate；
Control mode changes sub-device, when rotor turns to the rotor-position of motor control mode conversion,
The direct current of permagnetic synchronous motor is exported control mode and is converted to variable frequency regulating speed control mode, and be described three
Phase winding applies three-phase alternating current, and makes to be applied on described three-phase windings at control mode switching instant
Current instantaneous value Transient Electromagnetic torque that is equal and that make permagnetic synchronous motor produce is equal.
Device the most according to claim 7, it is characterised in that described six kinds of direct current supply modes are divided
Be not: the first power supply mode, the second power supply mode, the 3rd power supply mode, the 4th power supply mode, the 5th
Power supply mode and the 6th power supply mode；
The electrical current of described first power supply mode is: Iu=Is, Iv=-0.5Is, Iw=-0.5Is；
The electrical current of described second power supply mode is: Iu=0.5Is, Iv=0.5Is, Iw=-Is；
The electrical current of described 3rd power supply mode is: Iu=-0.5Is, Iv=Is, Iw=-0.5Is；
The electrical current of described 4th power supply mode is: Iu=-Is, Iv=0.5Is, Iw=0.5Is；
The electrical current of described 5th power supply mode is: Iu=-0.5Is, Iv=-0.5Is, Iw=Is；
The electrical current of described 6th power supply mode is: Iu=0.5Is, Iv=-Is, Iw=0.5Is；
Wherein, IuFor the DC current values applied on U phase winding, IvStraight for apply on V phase winding
Stream current value, IwFor the DC current values applied on W phase winding, IsFor being used for making permagnetic synchronous motor produce
Raw forward electromagnetic torque is more than the setting current value of load torque.
Device the most according to claim 7, it is characterised in that described device also includes:
The true stator apparatus of dislocation, for determining the section carrying out motor control mode conversion, and will really
The torque capacity angular position determining section is defined as carrying out the rotor-position of motor control mode conversion；
The conversion true stator apparatus of initial current, for determining using the three-phase dc current value before conversion as turning
The initial instantaneous value of the three-phase alternating current after changing；
Wherein, described torque capacity Angle Position when being and use three-phase alternating-current powered by phase current maximum amplitude is
Reference, position that maximum average rotor corresponding to forward electromagnetic torque value can be produced.
Device the most according to claim 9, it is characterised in that the true stator apparatus of described dislocation,
Specifically include:
Resting position judging unit, for judging whether stationary rotor position exceedes the maximum of place section and turn
Square Angle Position；
First dislocation determines unit, for the rotor judging to obtain at described resting position judging unit
When resting position is not less than the torque capacity Angle Position of place section, by location, described stationary rotor position
The torque capacity angular position of section is defined as carrying out the rotor-position of motor control mode conversion；
Second dislocation determines unit, for the rotor judging to obtain at described resting position judging unit
When resting position exceedes the torque capacity Angle Position of place section, turn to described stationary rotor position at rotor
After putting next section of place section, it is described three-phase windings by the direct current supply mode that next section is corresponding
Apply unidirectional current, and be defined as carrying out motor controlling party by the torque capacity angular position of next conducting section
The rotor-position of formula conversion.
11. devices according to claim 9, it is characterised in that the true stator apparatus of described dislocation,
Specifically include:
Unidirectional current continues to unit, for when the rotating speed of described rotor is not up to reference rotation velocity, is turning
In one or more sections that sub-resting position place section is follow-up, the direct current corresponding according to each section supplies
Being electrically that described three-phase windings applies unidirectional current, described reference rotation velocity is described variable frequency regulating speed control mode
Required minimum speed；
3rd dislocation determines unit, for when the rotating speed of rotor reaches described reference rotation velocity, will turn
The son torque capacity angular position of next section of place, position section at that time is defined as carrying out motor controlling party
The rotor-position of formula conversion.
12. according to the device described in any one of claim 7 to 11, it is characterised in that utilize the change of motor
Frequently speed setting controller, being respectively adopted a kind of power supply mode corresponding with section at six sections is permanent-magnet synchronous
The three-phase windings of motor applies constant DC current.
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| CN1934778A (en) * | 2004-03-18 | 2007-03-21 | 罗伯特·博世有限公司 | Method for starting a sensorless, electronically commutatable direct current motor |
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