CN105932913B - Electric excitation synchronous motor rotor-position whole process sensorless detection method based on exciting current pulsation response - Google Patents
Electric excitation synchronous motor rotor-position whole process sensorless detection method based on exciting current pulsation response Download PDFInfo
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- CN105932913B CN105932913B CN201610503940.1A CN201610503940A CN105932913B CN 105932913 B CN105932913 B CN 105932913B CN 201610503940 A CN201610503940 A CN 201610503940A CN 105932913 B CN105932913 B CN 105932913B
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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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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Based on the electric excitation synchronous motor rotor-position whole process sensorless detection method of exciting current pulsation response, belong to Motor Control Field, the present invention is solves the problems, such as that inject high-frequency signal by stator side is restricted in the control method of converter plant.The method of the present invention includes the following steps：Step 1：Using the trigger policy of excitation bridge circuit, exciting current is made to be superimposed the fluctuating signal of a fixed frequency on the basis of DC component；The fixed frequency of fluctuating signal is fh；Step 2：Three phase back-emf line voltages of motor are acquired, and it is f to extract wherein frequencyhFluctuating signal；Step 3：Extraction frequency is fhFluctuating signal three-phase high-frequency signal induced electromotive force envelope eAB_h、eBC_hAnd eCA_h；Step 4：Three envelops extracted according to step 3 calculate the rotor mechanical angle of synchronous motor.
Description
Technical field
The invention belongs to Motor Control Fields.
Background technology
In recent years, power transmission system continues to develop so that synchronous motor is more widely used.Compared to different
Walk motor, many advantages such as synchronous motor has power factor high and can adjust, frequency inverter capacity is small, control accuracy is high.So
And synchronous motor is unlike other motors, on startup the phase allow for detecting the rotor-position of motor in real time, and with
This is foundation to control the operation of synchronous motor.But traditional mechanical position sensor is cumbersome for installation, accuracy of detection is by ring
Border is affected and functional reliability is relatively low.Therefore, researcher has been devoted to the rotor position detecting method of no sensor.
At present, the synchronous motor rotor position detection method based on high frequency electrocardiography continues to develop.Such method utilizes
The body construction of synchronous motor realizes the rotor-position of synchronous motor with reference to the electromagnetic relationship in operational process as sensor
Detection.The high frequency electrocardiography method of electric excitation synchronous motor includes stator signal injection and gyrator channel injects two classes, stator
Signal method for implanting is divided into as one way signal injection and three-phase signal injection.Electric excitation synchronous motor is frequently used in mesohigh field
It closes, frequency-conversion drive apparatus is generally using power semiconductor --- the thyristor with larger capacity, due to the half of thyristor
Characteristic is controlled, conventional high frequency electrocardiography method can not be realized, therefore inject high-frequency signal just in converter plant by stator side
It is restricted in control method.
Fig. 1 is a kind of topological structure of rotor-side high-frequency signal generation device.The topology is in the structure of excitation system
A Buck circuit in parallel carries out copped wave using IGBT to excitation voltage, and exciting current is made to include one with chopping frequency with frequency
High-frequency signal.But this high-frequency signal generation device needs to add an IGBT and one up to reducing in original excitation system
A diode is not particularly suited for the excitation system of High-power Synchronous Motor.It is this for low power excitation system
Topological structure can not only increase the electrical cost of system, while can also increase the power consumption of system.In addition increased semiconductor devices
The reliability of system can be reduced, especially when the multiple IGBT connection in series-parallel of needs are in use, the control that can also bring excitation system comes one
The new problem of series.It is therefore proposed that it is a kind of need not change synchronous motor control speed control system structure without sensorless rotor position
Detection method has very important significance.
Invention content
The invention aims to solve to be received in the control method of converter plant by stator side injection high-frequency signal
The problem of limitation, provides a kind of electric excitation synchronous motor rotor-position whole process based on exciting current pulsation response without sensor
Detection method.
Electric excitation synchronous motor rotor-position whole process of the present invention based on exciting current pulsation response is examined without sensor
Survey method, this method include the following steps：
Step 1：Using the trigger policy of excitation bridge circuit, exciting current is made to be superimposed one on the basis of DC component
The fluctuating signal of a fixed frequency；The fixed frequency of fluctuating signal is fh；
Step 2：Three phase back-emf line voltages of motor are acquired, and it is f to extract wherein frequencyhFluctuating signal；
Step 3：Extraction frequency is fhFluctuating signal three-phase high-frequency signal induced electromotive force envelope eAB_h、eBC_h
And eCA_h；
Step 4：Three envelops extracted according to step 3 calculate the rotor mechanical angle of synchronous motor.
Advantages of the present invention：
1st, no sensor continuous detecting method of the present invention can not additionally install mechanical sensor under the premise of,
It realizes that electric excitation synchronous motor zero-speed and the rotor-position in low speed period detect in real time, improves the startup effect of motor, carry
The high startup success rate of system greatly improves the reliability of system.
2nd, no sensor continuous detecting method of the present invention need not increase additional hardware device, compared to other without biography
Sensor detection method, which has, interferes small, at low cost advantage.
Description of the drawings
Fig. 1 is the topology diagram that excitation system high-frequency signal occurs；
Fig. 2 is electric excitation synchronous motor model equivalent circuit diagram；
Fig. 3 is the high-frequency induction signal of counter electromotive force and its envelope waveform；
Fig. 4 is excitation system topology diagram；
Fig. 5 is the excitation current waveform figure with fluctuating signal；
Fig. 6 is three phase back-emf line voltage oscillograms；
Fig. 7 is three-phase 300Hz fluctuating signal oscillograms；
Fig. 8 is three envelops after Fig. 7 signals are calibrated；
Fig. 9 is the rotor mechanical angle schematic diagram after correction；
Figure 10 is without sensor the present invention is based on the electric excitation synchronous motor rotor-position whole process of exciting current pulsation response
The flow chart of detection method.
Specific embodiment
Specific embodiment one：Illustrate present embodiment with reference to Fig. 1 to Figure 10, excitation is based on described in present embodiment
The electric excitation synchronous motor rotor-position whole process sensorless detection method of pulsation of current response, this method include the following steps：
Step 1：Using the trigger policy of appropriate excitation bridge circuit, make exciting current on the basis of DC component
The fluctuating signal of a fixed frequency is superimposed, the fixed frequency of fluctuating signal is fh。
Exciting current expression formula is at this time：
Wherein IfFor exciting current ifVirtual value；IhAmplitude for exciting current radio-frequency component；ω k are high for exciting current
The angular frequency of frequency ingredient；Phase for exciting current radio-frequency component.
Step 2：Three phase back-emf line voltages of motor are acquired, and it is f to extract wherein frequencyhFluctuating signal.
Fig. 2 is electric excitation synchronous motor model equivalent circuit diagram.We provide, when Exciting Windings for Transverse Differential Protection and A phase windings axis are pressed from both sides
When angle is 0 °, the mechanical angle of electric excitation synchronous motor rotor is 0 °.
As shown in Figure 2, the three phase back-emf line voltage high frequency signal induced electromotive forces and exciting current of synchronous motor
ifRelationship is：
LMThe maximum mutual inductance between electric machine rotor, θ are the rotor mechanical angle of synchronous motor.
The expression formula of exciting current is substituted into above formula, the available three-phase induction electromotive force generated by exciting current, i.e.,
The frequency of required extraction is f in the stephHigh-frequency signal, expression formula is：
Wherein ωmFor the mechanical angular frequency of synchronous motor, θ=ωmt。
Due to excitation system generate dither tone frequencies be much larger than synchronous motor rotational frequency, above formula can be reduced to as
Lower expression formula：
Step 3：Extract the envelope e of three-phase high-frequency signal induced electromotive forceAB_h、eBC_hAnd eCA_h。
Due in above formulaFor high frequency item, and not comprising our required rotor position informations, therefore
We ignore this.Remaining part is uAB_h,uBC_hAnd uCA_hEnvelope, expression formula is as follows：
Wherein
Fig. 3 is uAB_hWith eAB_hWaveform.It can be seen from the figure that eAB_hIt may be considered u completelyAB_hEnvelope.
Step 4：According to the expression formula of three envelops, the rotor mechanical angle of synchronous motor can be calculated, is calculated
Formula is：
A specific embodiment is given below.
Fig. 4 is the topological structure of excitation system.Illustrate with reference to Fig. 4, the electric excitation synchronous motor based on excitation voltage pulsation
Rotor-position is realized without sensor continuous detecting method by following steps：
Step 1：It is 60 ° to control excitation system rectifier bridge Trigger Angle, can generate a 300Hz on exciting current at this time
Fluctuating signal.
Step 2：Acquire three phase back-emf line voltages, the fluctuating signal that extraction frequency is 300Hz.
Step 3：It extracts the envelope of three-phase 300Hz fluctuating signals and AD samplings is carried out to envelope.
Step 4：The three-phase envelope value sampled using AD, using the rotor-position calculation formula in invention content into
Row calculates, and can obtain real-time rotor position angle.
Fig. 5 is the excitation current waveform with 300Hz fluctuating signals that excitation system generates.Three when Fig. 6 is motor operation
Phase back-emf line voltage waveform.Fig. 7 is the 300Hz fluctuating signals extracted in three phase back-emf line voltages.Fig. 8 is sampled for AD
Three obtained envelops.Fig. 9 is the rotor position angle detected using this method.
Claims (5)
1. based on the electric excitation synchronous motor rotor-position whole process sensorless detection method of exciting current pulsation response, feature
It is, this method includes the following steps：
Step 1：Using the trigger policy of excitation bridge circuit, exciting current is made to be superimposed one on the basis of DC component admittedly
Determine the fluctuating signal of frequency；The fixed frequency of fluctuating signal is fh=300Hz；
Step 2：Three phase back-emf line voltages of motor are acquired, and it is f to extract wherein frequencyhFluctuating signal；
Step 3：Extraction frequency is fhFluctuating signal three-phase high-frequency signal induced electromotive force envelope eAB_h、eBC_hWith
eCA_h；
Step 4：Three envelops extracted according to step 3 calculate the rotor mechanical angle of synchronous motor.
2. the electric excitation synchronous motor rotor-position whole process according to claim 1 based on exciting current pulsation response is without sensing
Device detection method, which is characterized in that exciting current expression formula is in step 1：
Wherein：IfFor exciting current ifVirtual value；IhAmplitude for exciting current radio-frequency component；ωkFor exciting current high frequency into
The angular frequency divided；Phase for exciting current radio-frequency component.
3. the electric excitation synchronous motor rotor-position whole process according to claim 2 based on exciting current pulsation response is without sensing
Device detection method, which is characterized in that three phase back-emf line voltages of motor are acquired in step 2, and extracts wherein frequency and is
fhThe process of fluctuating signal be：
Benchmark is set first：When Exciting Windings for Transverse Differential Protection and A phase windings axis angle are 0 °, the mechanical angle of electric excitation synchronous motor rotor
Spend is 0 °；
Three phase back-emf line voltage high frequency signal induced electromotive forces of synchronous motor and exciting current ifRelationship is：
Wherein：LMThe maximum mutual inductance between electric machine rotor, θ are the rotor mechanical angle of synchronous motor；
The formula (1) of exciting current is substituted into formula (2), obtains the three-phase induction electromotive force generated by exciting current, i.e., should
The frequency of required extraction is f in stephHigh-frequency signal, expression formula is：
Wherein ωmFor the mechanical angular frequency of synchronous motor, θ=ωmt；
Since the dither tone frequencies that excitation system generates are much larger than the rotational frequency of synchronous motor, formula (3) is reduced to：
Frequency to extract is fhFluctuating signal.
4. the electric excitation synchronous motor rotor-position whole process according to claim 3 based on exciting current pulsation response is without sensing
Device detection method, which is characterized in that envelope e in step 3AB_h、eBC_hAnd eCA_hExtraction process be：
Due in formula (4)For high frequency item, and not comprising rotor position information, therefore ignore this, remaining portion
It is u to divideAB_h,uBC_hAnd uCA_hEnvelope, expression formula is as follows：
Wherein
5. the electric excitation synchronous motor rotor-position whole process according to claim 4 based on exciting current pulsation response is without sensing
Device detection method, which is characterized in that formula (6) is pressed in step 4
Calculate the rotor mechanical angle θ of synchronous motor.
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| CN101699757A (en) * | 2009-10-28 | 2010-04-28 | 南京航空航天大学 | Method suitable for low-speed switched reluctance motor without position sensor |
| CN102638207A (en) * | 2011-02-09 | 2012-08-15 | 台达电子工业股份有限公司 | Motor control method and system and digital signal processor in motor control method and system |
| EP3035522A1 (en) * | 2014-12-17 | 2016-06-22 | Robert Bosch Gmbh | Brushless direct current motor and driving apparatus thereof |
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- 2016-06-30 CN CN201610503940.1A patent/CN105932913B/en active Active
Patent Citations (4)
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|---|---|---|---|---|
| CN101699757A (en) * | 2009-10-28 | 2010-04-28 | 南京航空航天大学 | Method suitable for low-speed switched reluctance motor without position sensor |
| CN102638207A (en) * | 2011-02-09 | 2012-08-15 | 台达电子工业股份有限公司 | Motor control method and system and digital signal processor in motor control method and system |
| CN102638207B (en) * | 2011-02-09 | 2014-08-27 | 台达电子工业股份有限公司 | Motor control method and system and digital signal processor in motor control method and system |
| EP3035522A1 (en) * | 2014-12-17 | 2016-06-22 | Robert Bosch Gmbh | Brushless direct current motor and driving apparatus thereof |
Non-Patent Citations (2)
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| "高频注入电压预估同步电机转子位置检测方法";金光哲;《中国电机工程学报》;20140325;第1376-1383页 * |
| 周长城."基于信号注入的同步电机转子位置检测技术研究".《中国优秀硕士学位论文全文数据库•工程科技Ⅱ辑》.2014,8-58页. * |
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