CN105515471A - Detection device and detection method for detecting rotor position of permanent magnet synchronous motor - Google Patents
Detection device and detection method for detecting rotor position of permanent magnet synchronous motor Download PDFInfo
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- CN105515471A CN105515471A CN201510875764.XA CN201510875764A CN105515471A CN 105515471 A CN105515471 A CN 105515471A CN 201510875764 A CN201510875764 A CN 201510875764A CN 105515471 A CN105515471 A CN 105515471A
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- synchronous motor
- permagnetic synchronous
- magnet synchronous
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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Abstract
The invention provides a detection device and a detection method for detecting the rotor position of a permanent magnet synchronous motor. The device comprises a DC voltage source, a three-phase full-bridge inverter, a high-resistance resistor and a permanent magnet synchronous motor. The DC voltage source is used for powering up the three-phase full-bridge inverter. The three-phase full-bridge inverter is connected with the permanent magnet synchronous motor. The neutral point of the DC voltage source is grounded. The neutral point of the permanent magnet synchronous motor is grounded by the high-resistance resistor. The method comprises the steps of detecting a voltage applied across the two ends of the high-resistance resistor, adopting the detected voltage as the voltage applied to the neutral point of the permanent magnet synchronous motor, determining the terminal voltage of the permanent magnet synchronous motor, subjecting the terminal voltage by the voltage applied to the neutral point of the permanent magnet synchronous motor to obtain a phase voltage, calculating the three-phase opposite potential of the permanent magnet synchronous motor based on the phase voltage and the three-phase phase current of the permanent magnet synchronous motor measured by a current sensor, calculating the angular velocity of the permanent magnet synchronous motor based on the three-phase opposite potential and the back electromotive force coefficient of the permanent magnet synchronous motor, and integrating the angular velocity to obtain the rotor position of the motor. According to the technical scheme of the invention, the problem that the rotor position of the motor can not be accurately detected in real time during the closed-loop control process of the permanent magnet synchronous motor can be solved.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor, particularly relate to a kind of checkout gear and detection method of permanent-magnet synchronous motor rotor position, belong to permagnetic synchronous motor control field.
Background technology
Permagnetic synchronous motor has that structure is simple, power density is high, control the plurality of advantages such as simple.In recent years, permagnetic synchronous motor obtains increasingly extensive application in the industrial circles such as high-performance governing system and servo-control system.
In permagnetic synchronous motor closed-loop control, the detection of rotor-position has important impact for the stable operation of motor.If rotor-position detects inaccurate, PMSM Speed low precision, servo effect will be caused bad, permagnetic synchronous motor time serious, can be made normally not run.Particularly for the permagnetic synchronous motor vector control be most widely used, the key factor of motor rotor position information impact vector control effects especially.At present, known prior art, one is adopt the various transducer such as Hall element, photoelectric encoder to detect motor rotor position, but this method hardware cost is high, and can reduce electric machine control system reliability; Another kind method utilizes electric moter voltage, current signal, and by various observer method observation motor rotor position, but this algorithm is often very complicated, is difficult to practical application.
Therefore, the rotor-position Detection results of prior art and actual value difference are comparatively large, are difficult to meet permagnetic synchronous motor closed-loop control requirement.How accurately to detect permanent-magnet synchronous motor rotor position in real time, be that prior art has problem to be solved.
Summary of the invention
Technical problem: the object of the invention is the problem being difficult to accurately detect in real time to solve motor rotor position in permagnetic synchronous motor closed-loop control, and propose a kind of checkout gear and detection method of permanent-magnet synchronous motor rotor position.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A checkout gear for permanent-magnet synchronous motor rotor position, for detecting the rotor-position of permagnetic synchronous motor; Described device comprises direct voltage source, three-phase full-bridge inverter and high resistance measurement, and wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.
Three-phase full-bridge inverter described above is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.
High resistance measurement described above refers to that resistance value is greater than the resistance device of 100M Ω.
For achieving the above object, another technical scheme that the present invention adopts is:
A detection method for the checkout gear of permanent-magnet synchronous motor rotor position, comprises the steps:
(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;
(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;
(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation;
(4) permagnetic synchronous motor angular speed is calculated;
(5) permanent-magnet synchronous motor rotor position is calculated.
In step described above (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative; When being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
Whether the method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process described above is: detect three-phase full-bridge inverter power tube and all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
The method calculating three-phase opposite potential in step described above (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i
a, i
b, i
c, then the three-phase phase voltage u in integrating step (2)
a, u
b, u
c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e
a, e
b, e
c:
Wherein, R
a, R
b, R
cbe respectively permagnetic synchronous motor three-phase phase resistance, L
a, L
b, L
cbe respectively permagnetic synchronous motor three-phase phase inductance.
The method that step described above (4) calculates permagnetic synchronous motor angular speed adopts described permagnetic synchronous motor A, B, C three-phase opposite potential e
a, e
b, e
c, and permagnetic synchronous motor back emf coefficient K
e, utilize following formula to calculate permagnetic synchronous motor angular velocity omega:
The method that step described above (5) calculates permanent-magnet synchronous motor rotor position obtains motor rotor position θ to permagnetic synchronous motor angular speed integration:
θ＝∫ωdt。
Beneficial effect: advantage of the present invention and beneficial effect mainly:
1, of the present invention for detecting permanent-magnet synchronous motor rotor position device, structure is simple, and accuracy of detection is high, and real-time is good.
2, the detection method of permanent-magnet synchronous motor rotor position of the present invention, the required parameter of electric machine is few, and amount of calculation is little, solves the problem that motor rotor position in permagnetic synchronous motor closed-loop control is difficult to accurately detect in real time.
Accompanying drawing explanation
Fig. 1 is the structure of the detecting device block diagram of permanent-magnet synchronous motor rotor position.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in further detail.Should be appreciated that specific embodiment described herein only for explaining the present invention, being not intended to limit the present invention.
As shown in Figure 1, the checkout gear of a kind of permanent-magnet synchronous motor rotor position of the present invention, comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, for detecting the opposite potential of permagnetic synchronous motor, wherein, direct voltage source connects three-phase full-bridge inverter, for three-phase full-bridge inverter provides power supply, and the neutral earthing of described direct voltage source; Described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection, wherein, described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.
Based on above-described checkout gear, the detection method of the checkout gear of a kind of permanent-magnet synchronous motor rotor position of the present invention, comprises the steps:
(1) permagnetic synchronous motor neutral point voltage is determined
By direct voltage source neutral earthing, by permagnetic synchronous motor neutral point by high resistance measurement ground connection, detect the voltage obtaining high resistance measurement two ends, using the voltage at described high resistance measurement two ends as permagnetic synchronous motor neutral point voltage;
(2) permagnetic synchronous motor A, B, C three phase terminals voltage and phase voltage is determined
The determination of permanent magnet synchronous electric set end voltage, three-phase full-bridge inverter turn on process and afterflow process two kinds of situations can be divided to consider respectively, whether three-phase full-bridge inverter is in turn on process or afterflow process and all turns off judge by detecting three-phase full-bridge inverter power tube: when three-phase full-bridge inverter power tube is not whole shutoff, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
At three-phase full-bridge inverter turn on process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
In three-phase full-bridge inverter afterflow process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of fly-wheel diode: because afterflow process three-phase full-bridge inverter power tube all turns off, permagnetic synchronous motor A, B, the fly-wheel diode afterflow of C respectively by respective connected three-phase full-bridge inverter brachium pontis is uniquely opened, if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative.
Above-mentioned permanent magnet synchronous electric set end voltage is deducted above-mentioned permagnetic synchronous motor neutral point voltage, obtains permagnetic synchronous motor phase voltage.
(3) permagnetic synchronous motor A, B, C three-phase opposite potential is calculated
Adopt above-mentioned permagnetic synchronous motor A, B, C three-phase phase voltage u
a, u
b, u
cand A, B, C three-phase phase current i obtained is detected by current sensor
a, i
b, i
c, according to permagnetic synchronous motor phase voltage equilibrium equation, calculate A, B, C three-phase opposite potential e
a, e
b, e
c:
Wherein, R
a, R
b, R
cbe respectively the phase resistance of permagnetic synchronous motor A, B, C three-phase, L
a, L
b, L
cbe respectively the phase inductance of permagnetic synchronous motor A, B, C three-phase.
(4) permagnetic synchronous motor angular speed is calculated
Adopt above-mentioned permagnetic synchronous motor A, B, C three-phase opposite potential e
a, e
b, e
c, and permagnetic synchronous motor back emf coefficient K
e, calculate permagnetic synchronous motor angular velocity omega:
(5) permanent-magnet synchronous motor rotor position is calculated
Motor rotor position θ is obtained to permagnetic synchronous motor angular speed integration:
θ＝∫ωdt。
These are only embodiments of the present invention, it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (9)
1. a checkout gear for permanent-magnet synchronous motor rotor position, for detecting the rotor-position of permagnetic synchronous motor; It is characterized in that: comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.
2. the checkout gear of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 1, it is characterized in that: described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.
3. the checkout gear of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 1, is characterized in that: described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.
4., based on the detection method of the checkout gear of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 1, it is characterized in that comprising the steps:
(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;
(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;
(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation;
(4) permagnetic synchronous motor angular speed is calculated;
(5) permanent-magnet synchronous motor rotor position is calculated.
5. the detection method of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 4, it is characterized in that: in described step (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative, when being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
6. the detection method of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 5, it is characterized in that: the described method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process is: detect three-phase full-bridge inverter power tube and whether all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
7. the detection method of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 4, is characterized in that: the method calculating three-phase opposite potential in described step (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i
a, i
b, i
c, then the three-phase phase voltage u in integrating step (2)
a, u
b, u
c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e
a, e
b, e
c:
Wherein, R
a, R
b, R
cbe respectively permagnetic synchronous motor three-phase phase resistance, L
a, L
b, L
cbe respectively permagnetic synchronous motor three-phase phase inductance.
8. the detection method of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 4, is characterized in that: the method that described step (4) calculates permagnetic synchronous motor angular speed adopts described permagnetic synchronous motor A, B, C three-phase opposite potential e
a, e
b, e
c, and permagnetic synchronous motor back emf coefficient K
e, utilize following formula to calculate permagnetic synchronous motor angular velocity omega:
9. the detection method of a kind of permanent-magnet synchronous motor rotor position as claimed in claim 4, it is characterized in that: the method that described step (5) calculates permanent-magnet synchronous motor rotor position obtains motor rotor position θ to permagnetic synchronous motor angular speed integration:
θ＝∫ωdt。
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| CN201510875764.XA CN105515471B (en) | 2015-12-02 | 2015-12-02 | A kind of detection device and detection method of permanent-magnet synchronous motor rotor position |
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| CN105515471B CN105515471B (en) | 2018-10-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114039513A (en) * | 2021-11-11 | 2022-02-11 | 江苏科技大学 | Method and system for judging forward wind and backward wind of fan |
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|---|---|---|---|---|
| US20100079093A1 (en) * | 2006-10-19 | 2010-04-01 | Mitsubishi Electric Corporation | Electric power converter |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Starting method and system for air conditioner permanent magnetic synchronization fan motor |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
| US20150155805A1 (en) * | 2012-04-12 | 2015-06-04 | Hitachi, Ltd. | Electric Motor Drive Device |
-
2015
- 2015-12-02 CN CN201510875764.XA patent/CN105515471B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100079093A1 (en) * | 2006-10-19 | 2010-04-01 | Mitsubishi Electric Corporation | Electric power converter |
| US20150155805A1 (en) * | 2012-04-12 | 2015-06-04 | Hitachi, Ltd. | Electric Motor Drive Device |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Starting method and system for air conditioner permanent magnetic synchronization fan motor |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114039513A (en) * | 2021-11-11 | 2022-02-11 | 江苏科技大学 | Method and system for judging forward wind and backward wind of fan |
| CN114039513B (en) * | 2021-11-11 | 2023-12-19 | 江苏科技大学 | Judgment method and judgment system for forward and reverse wind of fan |
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Address after: 226602 No. 88 Hainan Road, Haian Town, Haian City, Nantong City, Jiangsu Province Patentee after: Haian Shenling Electrical Appliance Manufacturing Co., Ltd. Address before: 226600 Haian, Jiangsu province Haian Zhenhai Road, No. 88, South Road, No. Patentee before: Haian Shenling Electrical Appliance Manufacturing Co., Ltd. |
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