CN103986395A - Surface-mount permanent magnet synchronous motor rotor initial position detection method - Google Patents
Surface-mount permanent magnet synchronous motor rotor initial position detection method Download PDFInfo
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Abstract
The invention discloses a surface-mount permanent magnet synchronous motor rotor initial position detection method. The method includes the steps that a high-frequency voltage injection method is adopted for achieving d-axis positive direction judging by extracting d-axis positive direction information included in double injection signal frequency subharmonic in d-axis current responses on the basis of achieving the estimation of an initial position. According to the method, the action of injecting positive and negative pulses additionally and then comparing values of amplitude of the current response is not needed, estimation time is shortened, the estimation process is simplified, the requirement for the precision of current detection is lowered, in addition, tender moving of a rotor can be avoided, and application occasions are broadened.
Description
Technical field
The invention belongs to Motor Control Field, be specially a kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor.
Background technology
At present for initial position detection method for permanent magnet synchronous electric motor rotor, common take di/dt type and signal injection type as main.
Yuzawa T, Tanaka K, Moriyama R, et al.An efficient estimation method of sensorless initial rotor position for surface PM synchronous motor[C] //Electric Machines and Drives Conference, 2001.IEMDC2001.IEEE International.IEEE, 2001:44-49. utilize di/dt detection rotor position, the initial position of the rapid estimated rotor of method by binary search, but in identification process, need the rotor of fixed electrical machinery, and identification result is subject to the impact of slot effect,
Jia Hongping, He Yikang. the permanent-magnet synchronous motor rotor initial position based on high-frequency signal injection detects research [J]. Proceedings of the CSEE, 2007,27 (15): 15-20. utilizes high frequency signal injection to cause the variation of inductance, relation between the position of injecting according to the size of high-frequency resistance and signal obtains initial position of rotor, then the current response amplitude judgement d axle positive direction of the positive negative direction of d axle relatively; Liu Ying, cycle, Li Shuai, Deng. rotor magnetic steel surface-mount type permanent-magnetic synchronous motor rotor initial position detects [J]. Proceedings of the CSEE, 2011,31 (18): first 48-54. injects high frequency sine voltage signal at the d of estimated rotor synchronous rotating frame axle, by closed-loop adjustment, obtain the first estimated value of rotor-position, the difference judgement d axle positive direction of d axle equivalent time constant under recycling different magnetic poles.The above-mentioned method of injecting based on high-frequency signal is all divided into estimation procedure first location estimation and d axle positive direction two stages of judgement, in d axle positive direction deterministic process, all need inject the equal generating positive and negative voltage pulse of amplitude at d axle, utilize the diversity judgement d axle positive direction of current response, these class methods are higher to the requirement of current detection accuracy, and estimation procedure need to spend the regular hour, if simultaneously the amplitude of potential pulse size and duration are selected improperly may cause d axle positive direction to judge makeing mistakes.
Summary of the invention
The present invention is utilizing high frequency signal injection method to realize on the basis of first initial position estimation, by the d axle positive direction information comprising in two times of Injection Signal frequency subharmonic in the response of extraction d shaft current, carrying out d axle positive direction judges, without the extra positive negative pulse stuffing that injects, compare again the amplitude of current response, shortened estimated time, simplified estimation procedure, reduce the requirement to current detection accuracy, and can not cause the fine motion of rotor, widened application scenario.
For solving the problems of the technologies described above, the present invention proposes a kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor, the method is first obtained the first estimated value of rotor-position, judge again d axle positive direction, the first estimated value of rotor-position is added to the offset after the judgement of d axle positive direction is final initial position estimation value, wherein, the process of judgement d axle positive direction is as follows:
Detect the d shaft current response of estimated rotor synchronous rotating frame
it is first selected to the second harmonic component of d shaft current response through band pass filter
by second harmonic component
with cosine signal cos (2 ω
ht) multiply each other and modulate, obtaining DC component and frequency is 4 ω
halternating current component, ω wherein
hfor inject the angular frequency of high frequency voltage at d axle; Pass through low pass filter filtering alternating current component again, extract DC component, this DC component is the judgement information g (NS) of d axle positive direction, and as g (NS), to be greater than 0 expression d axle positive direction extremely reverse with magnetic pole N, and the offset after d axle positive direction judges is π; When g (NS) is less than 0 expression d axle positive direction and the magnetic pole N utmost point in the same way, the offset after the judgement of d axle positive direction is 0.
Further priority scheme, in surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor of the present invention, the step of obtaining the first estimated value of rotor-position is as follows:
Step 1, at the d of estimated rotor synchronous rotating frame axle, inject high frequency cosine voltage U
hmcos (ω
ht), wherein, U
hmfor inject the amplitude of high frequency voltage at d axle, t represents current time;
Step 2, the voltage signal injecting on estimated rotor synchronous rotating frame is carried out to Parker inverse transformation, obtain the voltage signal u under the static α β of two-phase coordinate system
αand u
β, then adopt space vector pulse width modulation SVPWM to obtain six path switching signals of three-phase inverter, the mounted permagnetic synchronous motor SPMSM of table-drive;
Any biphase current in step 3, detection motor three phase winding A/B/C, first carries out Clarke conversion and obtains the current signal i under the static α β of two-phase coordinate system
αand i
β, then obtain the d shaft current response signal under estimated rotor synchronous rotating frame through Park Transformation
with q shaft current response signal
Step 4, by the q shaft current response signal of estimated rotor synchronous rotating frame
through band pass filter, selecting frequency is ω
halternating current component be the first harmonic component of q shaft current response, then with sinusoidal signal sin (ω
ht) multiply each other and modulate, obtaining DC component and frequency is 2 ω
halternating current component, finally by crossing low pass filter filtering alternating current component, extract DC component, obtain estimated position deviation signal;
Step 5, structure position deviation closed loop, the input using estimated position deviation signal as pi regulator, estimated rotor angular speed
for the output of adjuster, to estimated rotor angular speed
integration obtains the rotor-position of estimating, repeating step 1-5, until the rotor-position of estimating converges to a steady state value, is the first estimated value of initial position of rotor.
The present invention compared with prior art has following significant advantage: in (1) the present invention, judge that in d axle positive direction process, the voltage of injection is always cosine high-frequency signal, without injecting positive negative pulse stuffing voltage, simplified estimation procedure; (2) by extracting the d axle positive direction information comprising in two times of Injection Signal frequency subharmonic in the response of d shaft current, judge, without the extra positive negative pulse stuffing that injects, compare again the amplitude of current response, shorten estimated time, reduced the requirement to current detection accuracy; (3) avoid the small inertia machinery jitter problem that may cause in generating positive and negative voltage pulse injection process, can be used on the occasion that electric machine rotation inertia is little, initial position estimation process rotor positional jitter is had to strict demand.
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail;
Accompanying drawing explanation
Fig. 1 is the theory diagram of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process;
Fig. 2 is two-phase rest frame, actual two-phase synchronous rotating frame and the relativeness schematic diagram of estimating two-phase synchronous rotating frame;
Fig. 3 is the signal extraction of first initial position estimation and the theory diagram of modulated process;
Fig. 4 is the signal extraction of d axle positive direction judgement and the theory diagram of modulated process;
Fig. 5 (a) is that motor actual rotor position is the oscillogram of corresponding g (NS) in 1rad situation;
Fig. 5 (b) is that motor actual rotor position is 1rad, the simulation waveform of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process;
Fig. 5 (c) is that motor actual rotor position is the oscillogram of corresponding g (NS) in 3rad situation;
Fig. 5 (d) is that motor actual rotor position is 3rad, the simulation waveform of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process;
Fig. 6 (a) for motor actual rotor position is
rad, the experimental waveform of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process;
Fig. 6 (b) is that motor actual rotor position is π rad, the experimental waveform of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process.
Embodiment
As shown in Figure 1, the invention provides a kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor, specifically comprise the following steps:
Step 1, set up coordinate system graph of a relation, as shown in Figure 2, d-q is actual synchronization rotating coordinate system,
for estimated rotor synchronous rotating frame, alpha-beta is actual two-phase rest frame, and definition Estimated Position Error
wherein, θ is actual rotor initial position,
for location estimation value,
initial value be 0;
Step 2, at estimated rotor synchronous rotary
the d axle of coordinate system injects high frequency cosine voltage
q axle is to determining voltage signal,
wherein, U
hmfor inject the amplitude of high frequency voltage at d axle, t represents current time;
Step 3, the voltage signal injecting on estimated rotor synchronous rotating frame is carried out to Parker inverse transformation, obtain the voltage signal u under the static alpha-beta coordinate system of actual two-phase
αand u
β, then adopt space vector pulse width modulation SVPWM to obtain six path switching signals, control three-phase full-bridge inverter, to injecting voltage signal in permanent-magnetic synchronous motor stator winding;
Any biphase current in step 4, detection motor three phase winding A/B/C, first carries out Clarke conversion and obtains the current signal i under the static alpha-beta coordinate system of actual two-phase
αand i
β, then obtain estimated rotor synchronous rotary through Park Transformation
d shaft current response signal under coordinate system
with q shaft current response signal
Step 5, as shown in Figure 3, by estimated rotor synchronous rotary
the q shaft current response signal of coordinate system
through band pass filter, selecting frequency is ω
halternating current component be the first harmonic component of q shaft current response
again with sinusoidal signal sin (ω
ht) multiply each other and modulate, obtaining DC component and frequency is 2 ω
halternating current component, finally by crossing low pass filter filtering alternating current component, extract DC component, obtain estimated position deviation signal f (Δ θ);
Step 6, as shown in Figure 3, PI is proportional and integral controller, I is integral controller, builds position deviation closed loop, the input using estimated position deviation signal f (Δ θ) as pi regulator, estimated rotor angular speed
for the output of adjuster, to estimated rotor angular speed
integration obtains the rotor-position of estimating, repeating step 2-6, until the rotor-position of estimating converges to a steady state value, is the first estimated value of initial position of rotor
Step 7, as shown in Figure 4, judgement d axle positive direction, detects the d shaft current response of estimated rotor synchronous rotating frame
it is first selected to the second harmonic component of d shaft current response through band pass filter
by second harmonic component
with cosine signal cos (2 ω
ht) multiply each other and modulate, obtaining DC component and frequency is 4 ω
halternating current component, ω wherein
hfor inject the angular frequency of high frequency voltage at d axle; Pass through low pass filter filtering alternating current component again, extract DC component, this DC component is the judgement information g (NS) of d axle positive direction, and as g (NS), to be greater than 0 expression d axle positive direction extremely reverse with magnetic pole N, the offset θ after d axle positive direction judges
c=π,
for final initial position estimation value; When g (NS) is less than 0 expression d axle positive direction and the magnetic pole N utmost point in the same way, the offset after the judgement of d axle positive direction is θ
c=0,
Theory analysis to judgement d axle positive direction is as follows, and when the d direction of principal axis estimating injects pulsating high frequency voltage, because the meeting generation under the effect of current response of d axle magnetic field is saturated, when d axial flow is crossed forward current, inductance reduces, and when d axial flow is crossed negative current, inductance increases; Q axle magnetic field is all the time in linear zone, and q axle inductance remains unchanged.Definition d axle inductance is L
d, q axle inductance is L
q, L
dsize with d shaft current i
d(t) change, and L
qconstant magnitude.Defined function h (t)=L
q/ L
d(i
d(t)), cycle T=2 π/ω of h (t)
h, its available Fourier series is expressed as
In formula:
According to the satisfied rule of h (t), and ignore three times and three above harmonic components, h (t) can further be organized into
in formula:
Although d axle inductance is with curent change, its value is approximate to be equated with q axle inductance, so their ratio h (t) fluctuates near 1, thereby obtains λ
0>0;
Under the effect of high frequency voltage, if ignore stator resistance, the impedance of d axle is pure perception, current response i
d(t) take the composition of same frequency as main, thereby
i in formula
dmbe the amplitude of d shaft current, because d axle produces saturatedly under forward current effect, inductance reduces, and therefore hands over, the ratio h (t) of d axle inductance is with d shaft current i
d(t) increase and increasing, thus λ can be obtained
1>0.
an angle relevant to pole orientation, when judging that d axle positive direction and the magnetic pole N utmost point are in the same way,
when judging that d axle positive direction and magnetic pole N are extremely oppositely,
According to correlation analysis, derive with theoretical, consider the saturation characteristic of d axle inductance, the d shaft current response of estimation is:
After first initial position estimation finishes, Δ θ=0 or Δ θ=π, so cos (2 Δ θ)=1, thus obtain:
If can judge by certain mode
symbol, just can judge d axle positive direction, the second harmonic component of the d shaft current of Selectivity Estimating response here
modulate judgement d axle positive direction, by second harmonic component and cosine signal cos (2 ω
ht) multiply each other and modulate, that is:
The signal obtaining comprises DC component and frequency is 4 ω
halternating current component, finally by crossing low pass filter (LPF) filtering alternating current component, extract DC component, obtain d axle positive direction judgement information g (NS):
Hence one can see that, utilizes the symbol of g (NS) can judge d axle positive direction, when g (NS) is greater than 0,
for negative,
g (NS) is less than 0 expression
for just,
As shown in Fig. 5 (a) and Fig. 5 (b), corresponding actual rotor initial position is 1rad, and d axle positive direction judgement information g (NS) is less than 0, represents d axle positive direction and the magnetic pole N utmost point in the same way, without to first estimated position
carry out angle compensation, θ
c=0, final initial position estimation value is
as shown in Fig. 5 (c), Fig. 5 (d), corresponding actual rotor initial position is 3rad, and d axle positive direction judgement information g (NS) is greater than 0, represents that d axle positive direction and magnetic pole N are extremely reverse, need be to first estimated position
compensation π radian, θ
c=π, final initial position estimation value is
As shown in Fig. 6 (a), corresponding actual rotor initial position is
rad, d axle positive direction judgement information g (NS) is less than 0, represents d axle positive direction and the magnetic pole N utmost point in the same way, without to first estimated position
carry out angle compensation, θ
c=0, final initial position estimation value is
actual rotor initial position as corresponding in Fig. 6 (b) is π rad, and d axle positive direction judgement information g (NS) is greater than 0, represents that d axle positive direction and magnetic pole N are extremely reverse, need be to first estimated position
compensation π radian, θ
c=π, final initial position estimation value is
Claims (2)
1. a surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor, the method is first obtained the first estimated value of rotor-position, judge again d axle positive direction, the first estimated value of rotor-position is added to the offset after the judgement of d axle positive direction is final initial position estimation value, it is characterized in that, the process of judgement d axle positive direction is as follows:
Detect the d shaft current response of estimated rotor synchronous rotating frame
it is first selected to the second harmonic component of d shaft current response through band pass filter
by second harmonic component
with cosine signal cos (2 ω
ht) multiply each other and modulate, obtaining DC component and frequency is 4 ω
halternating current component, ω wherein
hfor inject the angular frequency of high frequency voltage at d axle; Pass through low pass filter filtering alternating current component again, extract DC component, this DC component is the judgement information g (NS) of d axle positive direction, and as g (NS), to be greater than 0 expression d axle positive direction extremely reverse with magnetic pole N, and the offset after d axle positive direction judges is π; When g (NS) is less than 0 expression d axle positive direction and the magnetic pole N utmost point in the same way, the offset after the judgement of d axle positive direction is 0.
2. surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor according to claim 1, is characterized in that, the step of obtaining the first estimated value of rotor-position is as follows:
Step 1, at the d of estimated rotor synchronous rotating frame axle, inject high frequency cosine voltage U
hmcos (ω
ht), wherein, U
hmfor inject the amplitude of high frequency voltage at d axle, t represents current time;
Step 2, the voltage signal injecting on estimated rotor synchronous rotating frame is carried out to Parker inverse transformation, obtain the voltage signal u under the static alpha-beta coordinate system of two-phase
αand u
β, then adopt space vector pulse width modulation SVPWM to obtain six path switching signals of three-phase inverter, the mounted permagnetic synchronous motor SPMSM of table-drive;
Any biphase current in step 3, detection motor three phase winding A/B/C, first carries out Clarke conversion and obtains the current signal i under the static alpha-beta coordinate system of two-phase
αand i
β, then obtain the d shaft current response signal under estimated rotor synchronous rotating frame through Park Transformation
with q shaft current response signal
Step 4, by the q shaft current response signal of estimated rotor synchronous rotating frame
through band pass filter, selecting frequency is ω
halternating current component be the first harmonic component of q shaft current response, then with sinusoidal signal sin (ω
ht) multiply each other and modulate, obtaining DC component and frequency is 2 ω
halternating current component, finally by crossing low pass filter filtering alternating current component, extract DC component, obtain estimated position deviation signal;
Step 5, structure position deviation closed loop, the input using estimated position deviation signal as pi regulator, estimated rotor angular speed
for the output of pi regulator, to estimated rotor angular speed
integration obtains the rotor-position of estimating, repeating step 1-5, until the rotor-position of estimating converges to a steady state value, is the first estimated value of initial position of rotor.
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