CN106100499A - Three-phase electricity excitation biconvex electrode electric machine position-sensor-free method based on line magnetic linkage - Google Patents
Three-phase electricity excitation biconvex electrode electric machine position-sensor-free method based on line magnetic linkage Download PDFInfo
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- CN106100499A CN106100499A CN201610543168.6A CN201610543168A CN106100499A CN 106100499 A CN106100499 A CN 106100499A CN 201610543168 A CN201610543168 A CN 201610543168A CN 106100499 A CN106100499 A CN 106100499A
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/086—Commutation
- H02P25/089—Sensorless control
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Abstract
The invention discloses a kind of three-phase electricity excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, three phase terminals voltage and phase current is detected in real time when motor runs, with the terminal voltage of reverse-conducting phase deduct the terminal voltage of non-conduction phase obtain biphase between line voltage, obtaining line electromotive force after deducting corresponding resistance drop again, the difference then carrying out magnetic linkage calculates.First line electromotive force can be integrated, obtain the difference of the magnetic linkage containing DC component, then eliminate its DC component by single order high pass filter and i.e. can obtain the difference of this biphase true magnetic linkage；Line electromotive force directly can also be carried out degree of depth low-pass filtering, be exaggerated the difference of the true magnetic linkage of certain multiple.The difference utilizing magnetic linkage is obtained commutation point information indirectly by just becoming negative zero crossing.Instant invention overcomes back-emf zero passage method in the application of this type of motor, to there is zero crossing affected bigger drawback by armature-reaction, it is adaptable to middle/high speed heavy-load runs occasion.
Description
Technical field
The present invention relates to Motor Control Field, particularly relate to a kind of three-phase electricity excitation biconvex electrode electric machine based on line magnetic linkage without
Position sensor control method.
Background technology
Electric excitation biconvex electrode electric machine is a kind of novel magnetic resistance class motor, and rotor is salient-pole structure, on its rotor without around
Group, simple in construction, reliability is high, and air-gap flux flexible adjustment, before there is wide application in the field such as aviation, new forms of energy
Scape.But this motor changes to realize electronics as generally using position sensor to detect positional information accurately during motor running
Phase, this sensor additionally increased reduces system reliability, adds cost, limit the range of application of motor, therefore grind
Study carefully DSEM position-sensor-free running technology significant.
The fewest to the research of electric excitation biconvex electrode electric machine position-sensor-free technology, the method used is big
Position-sensor-free skill all referring to BLDC and SRM.Especially for high speed position-sensor-free technology, current research is the most
Number is the detection realizing commutation point by extracting the eigenvalue of theoretical commutation position terminal voltage, phase voltage or line voltage.Week
Xing Wei etc. disclosed " a kind of electric excitation biconvex electrode electric machine position-sensorless control method based on line voltage detecting " (China, publication number:
104393802A) principle that patent increases in the sudden change of commutation moment according to line voltage difference realizes commutation.The method is based entirely on electricity
Mechanism thinks that linear inductance model is analyzed, and whether commutation threshold value must be discussed by the influence value of armature-reaction.Zhang Haibos etc. are open
" a kind of high speed position-sensor-free running technology for three-phase electricity excitation biconvex electrode electric machine " (China, publication number:
103595320A) patent reconstructs back-emf zero crossing carry out commutation by three phase terminals voltage is carried out coordinate transform, the method
Only slightly filtering the terminal voltage gathered, during heavy duty, the back-emf zero crossing position of reconstruct is easily affected by current chopping.
What these methods above-mentioned were extracted is all the characteristic information of voltage, rarely has by extracting double salient-pole electric machine magnetic linkage feature
The position-sensor-free method of amount.
Summary of the invention
The technical problem to be solved is for defect involved in background technology, it is provided that a kind of based on line
The three-phase electricity excitation biconvex electrode electric machine method for controlling position-less sensor of magnetic linkage, armature-reaction exchange when reducing motor run with load
The impact of phase point position detection so that can accurately commutation, stably fortune under electric excitation biconvex electrode electric machine position-sensor-free situation
OK.
The present invention solves above-mentioned technical problem by the following technical solutions:
Three-phase electricity excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, described three-phase electricity excitation is double
The three-phase of salient-pole machine is respectively A phase, B phase and C phase；
When A phase and C are conducted, between detection C phase and B phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then when the difference of the magnetic linkage gone out between C phase and B phase is zero by three-phase electricity excitation biconvex electrode electric machine commutation to B phase
It is conducted with A；
When B phase and A are conducted, between detection A phase and C phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then by three-phase electricity excitation biconvex electrode electric machine commutation to C phase and B when the difference of the magnetic linkage between A phase and C phase is zero
It is conducted；
When C phase and B are conducted, between detection B phase and A phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then by three-phase electricity excitation biconvex electrode electric machine commutation to A phase and C when the difference of the magnetic linkage between B phase and A phase is zero
It is conducted.
Further as present invention three-phase electricity based on line magnetic linkage excitation biconvex electrode electric machine method for controlling position-less sensor
Prioritization scheme, detect biphase between the specifically comprising the following steps that of difference of magnetic linkage without DC component
Step is A.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase of negative sense conducting phase simultaneously
Electric current；
Step is A.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain this biphase between line electricity
Pressure, then deduct negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is A.3), the line electromotive force between biphase is integrated, obtain biphase between containing DC component magnetic linkage it
Difference；
Step is A.4), use high pass filter that the difference of magnetic linkage containing DC component between biphase is carried out high-pass filtering,
Obtain biphase between the difference of magnetic linkage without DC component.
Further as present invention three-phase electricity based on line magnetic linkage excitation biconvex electrode electric machine method for controlling position-less sensor
Prioritization scheme, step is A.4) described in high pass filter be single order high pass filter, cut-off frequency less than motor run frequency
/ 10th of rate, so can reduce the phase place leading infection that high pass filter brings.
Further as present invention three-phase electricity based on line magnetic linkage excitation biconvex electrode electric machine method for controlling position-less sensor
Prioritization scheme, detect biphase between the specifically comprising the following steps that of difference of magnetic linkage without DC component
Step is B.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase of negative sense conducting phase simultaneously
Electric current；
Step is B.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain biphase between line voltage,
Deduct again negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is B.3), use low pass filter the line electromotive force between biphase is carried out degree of depth low-pass filtering, it is thus achieved that biphase it
Between the difference of the magnetic linkage without DC component that is exaggerated；
Step is B.4), using the difference of the magnetic linkage without DC component that is exaggerated between biphase as between biphase without direct current
The difference of the magnetic linkage of component returns.
Further as present invention three-phase electricity based on line magnetic linkage excitation biconvex electrode electric machine method for controlling position-less sensor
Prioritization scheme, step is B.3) described in low pass filter be low-pass first order filter, cut-off frequency less than motor run frequency
/ 10th of rate, so can increase the lagging phase that low pass filter produces, approach 90 ° of phases that pure integral element is brought
Move.
The present invention uses above technical scheme compared with prior art, has following technical effect that
1. what the present invention proposed both can be realized by analog circuit without location method, it is possible to real by digital control algorithm
Existing, it is achieved mode flexible and convenient；
2. affected little by armature-reaction, it is adaptable to wide load running occasion；
3. inverter chopping way is flexible and changeable, does not affect the accuracy of commutation point detection.
Accompanying drawing explanation
Fig. 1 is the structural representation of the electric excitation biconvex electrode electric machine of 12/8 electrode structure；
Fig. 2 is the circuit diagram of the control system that embodiment of the present invention motor uses；
Fig. 3 is the schematic flow sheet of the present invention；
Fig. 4 is the schematic flow sheet in the present invention without position algorithm；
The motor lines magnetic linkage that Fig. 5 provides for the present invention is with the curve chart of change in location.
Detailed description of the invention
Below in conjunction with the accompanying drawings technical scheme is described in further detail:
The invention discloses a kind of three-phase electricity excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage,
The three-phase of described three-phase electricity excitation biconvex electrode electric machine is respectively A phase, B phase and C phase；
When A phase and C are conducted, between detection C phase and B phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then when the difference of the magnetic linkage gone out between C phase and B phase is zero by three-phase electricity excitation biconvex electrode electric machine commutation to B phase
It is conducted with A；
When B phase and A are conducted, between detection A phase and C phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then by three-phase electricity excitation biconvex electrode electric machine commutation to C phase and B when the difference of the magnetic linkage between A phase and C phase is zero
It is conducted；
When C phase and B are conducted, between detection B phase and A phase, do not contain the difference of magnetic linkage of DC component, it is judged that its whether by
Just becoming negative, the most then by three-phase electricity excitation biconvex electrode electric machine commutation to A phase and C when the difference of the magnetic linkage between B phase and A phase is zero
It is conducted.
Detect biphase between the specifically comprising the following steps that of difference of magnetic linkage without DC component
Step is A.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase of negative sense conducting phase simultaneously
Electric current；
Step is A.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain this biphase between line electricity
Pressure, then deduct negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is A.3), the line electromotive force between biphase is integrated, obtain biphase between containing DC component magnetic linkage it
Difference；
Step is A.4), use high pass filter that the difference of magnetic linkage containing DC component between biphase is carried out high-pass filtering,
Obtain biphase between the difference of magnetic linkage without DC component.
High pass filter preferentially uses single order high pass filter, and cut-off frequency is less than 1/10th of motor running frequency,
So can reduce the phase place leading infection that high pass filter brings.
Detect biphase between the difference of magnetic linkage without DC component also can also use following steps:
Step is B.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase of negative sense conducting phase simultaneously
Electric current；
Step is B.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain biphase between line voltage,
Deduct again negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is B.3), use low pass filter the line electromotive force between biphase is carried out degree of depth low-pass filtering, it is thus achieved that biphase it
Between the difference of the magnetic linkage without DC component that is exaggerated；
Step is B.4), using the difference of the magnetic linkage without DC component that is exaggerated between biphase as between biphase without direct current
The difference of the magnetic linkage of component returns.
Low pass filter preferentially uses low-pass first order filter, and cut-off frequency is less than 1/10th of motor running frequency,
So can increase the lagging phase that low pass filter produces, approach 90 ° of phase shifts that pure integral element is brought.
Illustrate as a example by the electric excitation biconvex electrode electric machine of 12/8 electrode structure as shown in Figure 1 below, its control system
Hardware configuration as in figure 2 it is shown, include three-phase full-bridge inverter, terminal voltage sampling modulate circuit, phase current sampling modulate circuit,
Control circuit and three-phase electricity excitation biconvex electrode electric machine, wherein, Udc is DC bus-bar voltage, and Un is that motor three-phase windings is neutral
Point voltage, S1～S6 be power MOSFET, D1～D6 be anti-paralleled diode, Ra、Rb、RcIt is respectively motor three-phase windings resistance,
La、Lb、LcIt is respectively motor A, B, C three-phase windings self-induction, UA、UB、UCIt is respectively motor three phase terminals voltage, IA、IB、ICIt is respectively
Motor three-phase phase current.
Being embodied as step as shown in Figure 3 and Figure 4, wherein, "-" is subtraction, and " * " is multiplying, and " ∫ " is integration
Computing, " HPF " is single order high-pass filtering, and " LPF " is single order high-pass filtering.
Motor is operated under doublebeat pattern, and each conducting state all exists forward conduction phase, negative sense turns on non-conduction
Phase, it is assumed that current conducting is A phase and C phase mutually, i.e. A phase winding flows through positive current, and C phase winding flows through negative current, the most non-leads
Logical is B phase mutually.
1), detection C phase terminal voltage and B phase terminal voltage, respectively UC、UB；
2), owing to B phase does not turns on, the most only detection C phase current, is designated as IC；
3), U is usedCDeduct UBObtain line voltage U biphase for CBCB, then deduct the resistance drop R on C phase windingC*ICObtain CB two
The line electromotive force E of phaseCB；
4), to ECBBeing integrated, obtain the difference of magnetic linkage between the C phase containing certain DC component and B phase, this direct current divides
Measure relevant with the position of integration start time motor；
5), that the difference of the magnetic linkage between the C phase containing DC component and B phase is straight to eliminate it by single order high pass filter
Flow component, obtains the difference of magnetic linkage between the C phase without DC component and B phase；Owing to the introducing of high pass filter can bring phase place
Advanced impact, therefore its cut-off frequency should be of a sufficiently low, when cut-off frequency be electric machine frequency 15/for the moment, phase place
Advanced only 3.9 electrical angles；
6), it is judged that whether the difference of the magnetic linkage between C phase and B phase is by just becoming negative, if it is, the magnetic between C phase and B phase
When the difference of chain is zero, three-phase electricity excitation biconvex electrode electric machine commutation is conducted to B phase and A, otherwise then proceeds as described above.
When B phase is conducted with B with A phase, C phase, algorithm is similar.
It is first-order low-pass ripple link, such as formula (1) institute owing to an integral element is multiplied with single order high-pass filtering link
Show:
Therefore 4) integrator in, 5) can be replaced by a low-pass first order filter completely with single order high pass filter
Generation.Shown in the transmission function such as formula (2) of low-pass first order filter, it is exaggerated 1/RC times compared to formula (1).This is equivalent to signal
Amplitude carried out the amplification of certain multiple, add signal to noise ratio, be conducive to improve algorithm capacity of resisting disturbance.
Fig. 5 is three-phase electricity excitation biconvex electrode electric machine line magnetic linkage simulation waveform figure, it is seen that the negative sense zero crossing of line magnetic linkage is just
Overlap with the theoretical commutation position of motor, demonstrate the correctness of this method.
Position-sensor-free method provided by the present invention make use of motor lines magnetic linkage negative sense zero crossing to overlap with commutation point
Rule, principle is simple, and embodiment simplicity is easily achieved.For the voltage parameter of motor, magnetic linkage amount typically will not
Sudden change, even if magnetic linkage curve is the most smoother in the case of heavy duty copped wave, and its zero crossing is high-visible, beneficially commutation
The accurate judgement of point.
It is understood that unless otherwise defined, all terms used herein (include skill to those skilled in the art of the present technique
Art term and scientific terminology) have with the those of ordinary skill in art of the present invention be commonly understood by identical meaning.Also
It should be understood that those terms defined in such as general dictionary should be understood that have with in the context of prior art
The consistent meaning of meaning, and unless defined as here, will not explain by idealization or the most formal implication.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not limited to this
Bright, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the present invention
Protection domain within.
Claims (5)
1. three-phase electricity excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, described three-phase electricity excitation biconvex
The three-phase of pole motor is respectively A phase, B phase and C phase, it is characterised in that:
When A phase and C are conducted, do not contain the difference of the magnetic linkage of DC component between detection C phase and B phase, it is judged that whether it is by just becoming
Negative, the most then when the difference of the magnetic linkage gone out between C phase and B phase is zero by three-phase electricity excitation biconvex electrode electric machine commutation to B phase and A phase
Conducting；
When B phase and A are conducted, do not contain the difference of the magnetic linkage of DC component between detection A phase and C phase, it is judged that whether it is by just becoming
Negative, the most then when the difference of the magnetic linkage between A phase and C phase is zero, three-phase electricity excitation biconvex electrode electric machine commutation is led to C phase with B phase
Logical；
When C phase and B are conducted, do not contain the difference of the magnetic linkage of DC component between detection B phase and A phase, it is judged that whether it is by just becoming
Negative, the most then when the difference of the magnetic linkage between B phase and A phase is zero, three-phase electricity excitation biconvex electrode electric machine commutation is led to A phase with C phase
Logical.
Three-phase electricity excitation biconvex electrode electric machine position Sensorless Control side based on line magnetic linkage the most according to claim 1
Method, it is characterised in that detect biphase between the specifically comprising the following steps that of difference of magnetic linkage without DC component
Step is A.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase current of negative sense conducting phase simultaneously；
Step is A.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain this biphase between line voltage, then
Deduct negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is A.3), the line electromotive force between biphase is integrated, obtain biphase between the difference of magnetic linkage containing DC component；
Step is A.4), use high pass filter that the difference of magnetic linkage containing DC component between biphase is carried out high-pass filtering, it is thus achieved that
The difference of the magnetic linkage of DC component is not contained between biphase.
Three-phase electricity excitation biconvex electrode electric machine position Sensorless Control side based on line magnetic linkage the most according to claim 2
Method, it is characterised in that step is A.4) described in high pass filter be single order high pass filter, cut-off frequency less than motor run
/ 10th of frequency.
Three-phase electricity excitation biconvex electrode electric machine position Sensorless Control side based on line magnetic linkage the most according to claim 1
Method, it is characterised in that detect biphase between the specifically comprising the following steps that of difference of magnetic linkage without DC component
Step is B.1), obtain negative sense conducting phase terminal voltage and non-conduction phase terminal voltage, obtain the phase current of negative sense conducting phase simultaneously；
Step is B.2), negative sense is turned on phase terminal voltage and non-conduction phase terminal voltage subtract each other obtain biphase between line voltage, then subtract
Go negative sense conducting mutually in internal resistance pressure drop obtain biphase between line electromotive force；
Step is B.3), use low pass filter that the line electromotive force between biphase is carried out degree of depth low-pass filtering, it is thus achieved that quilt between biphase
The difference of the magnetic linkage without DC component amplified；
Step is B.4), using the difference of the magnetic linkage without DC component that is exaggerated between biphase as between biphase without DC component
Magnetic linkage difference return.
Three-phase electricity excitation biconvex electrode electric machine position Sensorless Control side based on line magnetic linkage the most according to claim 4
Method, it is characterised in that step is B.3) described in low pass filter be low-pass first order filter, cut-off frequency less than motor run
/ 10th of frequency.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106887988A (en) * | 2017-04-06 | 2017-06-23 | 南京航空航天大学 | The compensation method of three-phase electric excitation biconvex electrode electric machine high speed position detection error |
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| CN106887988B (en) * | 2017-04-06 | 2019-01-29 | 南京航空航天大学 | The compensation method of three-phase electric excitation biconvex electrode electric machine high speed position detection error |
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| CN106100499B (en) | 2018-08-28 |
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