CN106253764A - The novel sensor signal processing method of polyphase machine rotor magnetic pole position detection - Google Patents
The novel sensor signal processing method of polyphase machine rotor magnetic pole position detection Download PDFInfo
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- CN106253764A CN106253764A CN201610741700.5A CN201610741700A CN106253764A CN 106253764 A CN106253764 A CN 106253764A CN 201610741700 A CN201610741700 A CN 201610741700A CN 106253764 A CN106253764 A CN 106253764A
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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
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of novel sensor signal processing method of polyphase machine rotor magnetic pole position detection, the step of the method is as follows: be fixed on the armature spindle of permagnetic synchronous motor by incremental optical-electricity encoder, it is allowed to rotate with rotor coaxial, if encoder resolution is r, encoder is after quadruple, encoder will produce four times of pulses, i.e. 4r pulse for one week.The present invention is for detecting the rotor magnetic pole position of permagnetic synchronous motor, it is adaptable under some specific condition, rotating speed is low, the rotor magnetic pole position detection of the permagnetic synchronous motor symmetrically or non-symmetrically of the number of phases many (such as three-phase, six phases, ten two-phases, 15 equal).The novel sensor of the present invention uses photoelectric encoder to combine corresponding hardware circuit, the software algorithm not exclusively relying on single-chip microcomputer realizes, avoid and cause sensor signal mistake or loss, so that electric machine control system is not normally functioning owing to processor crashes.
Description
Technical field: the present invention relates to motor control and sensor field, in particular, relate to a kind of magneto
The sensor technology of rotor magnetic pole position detection, especially for how symmetrical and asymmetric motor.
Background technology: in permagnetic synchronous motor and permanent-magnet brushless DC electric machine, be according to the position of magnetic pole of rotor respectively
Phase coil flows through electric current to produce desired moment, it is therefore desirable to a position detecting device provides rotor-position for driver
Signal.
Utilizing position sensor to carry out position detection is the most direct, most efficient method.Current position sensor has three
Kind: Hall element, rotary transformer and photoelectric encoder.It is to install three by the conventional method one of Hall element detection
The amount of offsetting from each other is the Hall element of 120 ° of electrical angles, and this installation method will provide three square waves offsetting from each other 120 ° bent
Line.When detecting with rotary transformer, its output signal is analog quantity, need to coordinate with digital converter of rotary transformer and could change
Become digital quantity.Both sensor detecting methods are typically necessary software control auxiliary and complete rotor magnetic pole position detection and system
Control.This method usually because the deadlock of processor (such as SCM, DSP etc.) causes sensor signal mistake or loss so that
Obtain electric machine control system to be not normally functioning.Another kind is that installation site encoder determines rotor to obtain on rotor axis of electric
Angle position signal, position sensor the earliest is magneto-electric, not only heaviness but also complicated, is eliminated, the position of current photo-electric
Sensor and electromagnetic position sensor are widely used in brushless direct current motor.Incremental optical-electricity encoder rotates at code-disc
During will produce tri-pulse signals of A, B, Z.Wherein, A, B two group pulse signal in orthogonal output and frequency identical, by judge
The phase place of A, B pulse, it can be determined that motor forward and backward running status.Z pulse is synchronizing signal, and it produces position and fixes and often
One circle produces one, and Z signal can be used to eliminate the cumulative error that location counter is caused by disturbing pulse or pulse-losing.
The method for detecting position of position-sensor-free is the problem that present people make earnest efforts research, but at permagnetic synchronous motor
When being in static or motor just to electricity, the stator winding of motor there is no can reflect the signal of rotor-position, therefore can not use
Initial alignment in permagnetic synchronous motor.The position detection method of position-sensor-free there is also computationally intensive, reliability is the highest, deposit
In shortcomings such as software delays.The incremental optical-electricity encoder using band framing signal U, V and W signal combines principle of vector control can
So that permanent-magnetic synchronous motor rotor initial position is detected.
Multiphase permanent magnet synchronous motor has developed the structure of three-phase permanent-magnetic synchronous motors, is applied to space flight, aviation, boats and ships more
The field such as being electric-only propulsion, it has many advantages for common three-phase permanent-magnetic synchronous motors, as increased along with the number of phases, and electricity
The stream minimum number of times of harmonic wave increases, and harmonic amplitude reduces, and improves system stability, reduces torque pulsation, improves motor work
Efficiency, reduces rotor harmonic loss simultaneously, the faults such as phase shortage the most once occurs, and system still can continue to run with.This is specially
Phase winding on its stator of the multiphase permanent magnet synchronous motor that profit relates to is asymmetrically distributed in position, a kind of typical case
It is: the three-phase windings independent by several sets constitutes mal-distribution that these a few set three-phase windings are symmetrical respectively, and position phase
The certain electric angle of difference, its rotor of the motor of this structure is asymmetric in magnetic, electricity structure, and therefore rotor magnetic pole position is not easy
It is determined.
Summary of the invention:
Goal of the invention: the present invention provides the novel sensor signal processing side that a kind of polyphase machine rotor magnetic pole position detects
Method, its objective is to solve the problem existing for conventional equipment.
Technical scheme:
A kind of novel sensor signal processing method of polyphase machine rotor magnetic pole position detection, it is characterised in that: the party
The step of method is as follows:
Incremental optical-electricity encoder is fixed on the armature spindle of permagnetic synchronous motor, is allowed to rotate with rotor coaxial, if
Encoder resolution is r, and encoder is after quadruple, and encoder will produce four times of pulses, i.e. 4r pulse for one week.Due to p pair
The electric angle of pole motor is 360 ° of p, and therefore, when asymmetric polyphase machine difference minimum angles θ, encoder circles
Motor can be divided into N equal portions, formula obtain:
The umber of pulse that each equal portions are corresponding with rotor-position is n, can be calculated by formula below:
It is to say, often produce n pulse, once, umber of pulse can be obtained by rolling counters forward in motor commutation, and will
The umber of pulse obtained gives memory element, then is called the data letter corresponding with rotor-position prestored by memory element
Breath output, to commutating circuit, provides correct commutation information for motor.
In this method, memory element uses parallel I/O mode, and wherein input figure place is by encoder resolution, also phase
When the maximum number of pulses in counting determines, output figure place is determined by the number of phases of motor, and a wherein input of memorizer is kept for
The rotating of motor controls.
Advantage and effect: at the novel sensor signal that the detection of a kind of polyphase machine rotor magnetic pole position is provided of the present invention
Reason method, for the problem of above-mentioned existence, in conjunction with the construction features of asymmetric polyphase machine, the present invention is used for detecting permanent-magnet synchronous
The rotor magnetic pole position of motor, it is adaptable under some specific condition, rotating speed is low, the number of phases many (as three-phase, six phases, ten two-phases, 15
Equal) permagnetic synchronous motor symmetrically or non-symmetrically rotor magnetic pole position detection.The novel sensor of the present invention uses light
Photoelectric coder combines corresponding hardware circuit, not exclusively rely on the software algorithm of single-chip microcomputer to realize, it is to avoid owing to processor is dead
Machine causes sensor signal mistake or loss, so that electric machine control system is not normally functioning.
The present invention specifically has the beneficial effect that: first, and on population structure, the novel sensor of the present invention uses hardware
Circuit is built, and processor is served only for realizing simply controlling function.Use this structure, be aided with the Z pulsed reset of photoelectric encoder
Bit function, even if processor crashes, detecting system still can keep relative stability operations, is unlikely to sensor signal mistake occur
The phenomenon missed or lose.Secondly, for magnetic and the electricity asymmetric polyphase machine of structure, pulse counting method is used, it is only necessary to
Carry out reasonable computation in early stage, calculate the umber of pulse corresponding to each phase, the algorithm of complexity can be simplified, and ensure servo system
The stability of system and positioning precision, this method has great meaning in the application of the servosystem the highest for required precision
Justice.
Accompanying drawing illustrates:
Fig. 1 is the overall structure flow chart of the present invention.
Fig. 2 is double three-phase permanent-magnetic synchronous motor winding construction.
Fig. 3 is double three-phase permanent-magnetic synchronous motor phasor relation time diagram.Wherein on the basis of A phase phase place, X=A+
30 °, B=A+120 °, Y=B+30 °, C=B+120 °, Z=C+30 °
Fig. 4 is double three-phase permanent-magnetic synchronous motor commutation information table.
Fig. 5 is ten five-phase PMSM winding constructions.
Fig. 6 is ten five-phase induction motor phasor relation sequential charts.Wherein every difference 24 °.
Detailed description of the invention: the present invention is described further below in conjunction with the accompanying drawings:
As it is shown in figure 1, the present invention provides the novel sensor signal processing that a kind of polyphase machine rotor magnetic pole position detects
Method, the step of the method is as follows:
Incremental optical-electricity encoder is fixed on the armature spindle of permagnetic synchronous motor, is allowed to rotate with rotor coaxial, if
Encoder resolution is r (r typically has 1000 lines, 2000 lines, 1024 lines, 2048 lines etc.), encoder after quadruple, encoder
Four times of pulses, i.e. 4r pulse within one week, will be produced.Owing to p is 360 ° of p to the electric angle of pole motor, therefore, when asymmetric many
During phase motor difference minimum angles θ, encoder circles and motor can be divided into N equal portions, formula obtains:
The umber of pulse that each equal portions are corresponding with rotor-position is n, can be calculated by formula below:
It is to say, often produce n pulse, once, umber of pulse can be obtained by rolling counters forward in motor commutation, and will
The umber of pulse obtained gives memory element, then is called the data letter corresponding with rotor-position prestored by memory element
Breath output, to commutating circuit, provides correct commutation information for motor.
In this method, memory element uses parallel I/O mode, and wherein input figure place is by encoder resolution, also phase
When the maximum number of pulses in counting determines, output figure place is determined by the number of phases of motor, and a wherein input of memorizer is kept for
The rotating of motor controls.
Embodiment 1: as a example by the asymmetric six phase permanent-magnet synchronous motor of 48 groove 44 poles, as shown in Figure 2, on stator six
Phase winding, according to mal-distribution mode, is overlapped independent three-phase windings by two and constitutes, and this two sets three-phase windings is symmetrical point respectively
Cloth (space differs 120 °), and 30 ° of electric angles of alternate position spike, six phase windings (the most double three-phases of referred to as 30 ° phase shifts double " Y "
Winding, 10 two-phase winding etc.).The incremental optical-electricity encoder selecting resolution to be 2000 lines, rotates with rotor coaxial.In order to
Determine the initial position of rotor of permagnetic synchronous motor, need to select band framing signal U, V and the incremental optical-electricity encoder of W signal
Detect in conjunction with principle of vector control initial position of rotor.After encoder installs, encoder U signal and Z trigger signal
Position is fixing, and A phase winding axis also exists corresponding relation, but motor rotor position is random.With Z pulse as multiple
The important prerequisite of digit pulse is: Z signal and A phase axis are to overlap, and owing to alignment error may cause misaligned, can assist
Software returns to zero.
Six phases (30 ° of phase shifts double " Y " windings, referred to collectively below as double three-phase permanent-magnetic synchronous motor) permanent-magnet synchronous for 44 poles
For motor, p=22, the electric angle of a circumference is 22 × 360 °=7920 ° electric angles, as shown in accompanying drawing 2, this motor
Each difference minimum angles is 30 °, and therefore, encoder circles and motor can be divided into N equal portions, formula obtain:
That is, encoder circles and the double three-phase machine of 44 poles can be divided into 264 equal portions, revolves with the encoder of rotor coaxial
Circle and will produce 264 commutation signals.
By encoder that resolution is 2000 lines as a example by detecting double three-phase permanent-magnetic synchronous motor, 2000 line encoder warps
After quadruplicated frequency circuit frequency multiplication, 8000 pulses, therefore, the every extremely every phase of the double three-phase machine of 44 poles and rotor-position within one week, will be produced
Corresponding umber of pulse n:
(or 31, adjust with specific reference to precision) the individual pulse that i.e., often produces about 30, motor commutation once, commutation signal root
12 binary sequence codes produced according to the rule shown in accompanying drawing 4, as commutation signal, this 12 commutation signals and generation
Umber of pulse correspond to store in memory, wait to be called, say, that with rotor coaxial rotate encoder rotate a circle
The commutation signal of 264 different sequences will be produced, enumerator when often counting about 30 umber of pulses, then from memory calls phase
The commutation sequence signal (such as accompanying drawing 4) closed, and export the commutation sequence signal of correspondence to commutation circuit, thus realize permanent-magnet synchronous
The commutation of motor.Concrete implementing procedure is as it is shown in figure 1, detection process is: photoelectric encoder is same with permanent-magnetic synchronous motor rotor
Axle rotates, and encoder generation pulse is after quadruplicated frequency circuit frequency multiplication, by rolling counters forward pulse number, further according to umber of pulse
Call 12 commutation status informations (as shown in Figure 4) of the double three-phase permanent-magnetic synchronous motor prestored in memory,
This commutation information is corresponding with respective pulses number, and tabling look-up to call by memorizer obtains, and calls prestore and rotor-position
Corresponding data message exports to commutating circuit, provides correct commutation information for motor.The wherein input figure place of memorizer
Relevant with the maximum number of pulses of input, output figure place is relevant with number of motor phases.
For example 1, for the photoelectric encoder memorizer that resolution is 2000 lines, after quadruple, at most produce 8000
Pulse, due to 213=8192, therefore the memorizer of input mode in parallel at least needs 13 parallel-by-bit I/O mouths.Output figure place and electricity
The machine number of phases is relevant, the most at least needs 6 parallel-by-bit output I/0 mouths, exports six bits, for motor commutation.
Embodiment 2: as a example by ten five-phase PMSMs of 48 groove 44 poles, as it is shown in figure 5, p=22, the electricity of a circumference
Air horn degree is 22 × 360 °=7920 ° electric angles, and between each phase of motor, difference angle is 24 °, and therefore, encoder circles can
Motor to be divided into N equal portions, formula obtain:
That is, encoder circles and the double three-phase machine of 44 poles can be divided into 330 equal portions, revolves with the encoder of rotor coaxial
Circle and will produce 330 commutation signals.
By encoder that resolution is 2000 lines as a example by detecting double three-phase permanent-magnetic synchronous motor, 2000 line encoder warps
After quadruplicated frequency circuit frequency multiplication, 8000 pulses, therefore, the every extremely every phase of the double three-phase machine of 44 poles and rotor-position within one week, will be produced
Corresponding umber of pulse n:
(or 25, adjust with specific reference to precision) the individual pulse that i.e., often produces about 24, motor commutation once, commutation signal root
30 binary sequence codes produced according to the rule shown in accompanying drawing 6, wherein high level binary number " 1 " represents, low level is used
Binary number " 0 " represents, does not draw in figure.Detection process is: photoelectric encoder rotates coaxially with permanent-magnetic synchronous motor rotor,
Encoder generation pulse, after quadruplicated frequency circuit frequency multiplication, by rolling counters forward pulse number, is called pre-further according to umber of pulse
30 commutation status informations (as shown in Figure 6) of ten five-phase induction motors being first stored in memorizer, this commutation information is with corresponding
Umber of pulse is corresponding, and tabling look-up to call by memorizer obtains, and calls the data message corresponding with rotor-position prestored
Export to commutating circuit, provide correct commutation information for motor.For the encoder that resolution is 2000 lines, memorizer
Input figure place be still 13 parallel-by-bits input, identical with example 1, output figure place relevant with number of motor phases, be 15 parallel-by-bits export
I/O mouth.
Claims (2)
1. the novel sensor signal processing method of a polyphase machine rotor magnetic pole position detection, it is characterised in that: the method
Step as follows:
Incremental optical-electricity encoder is fixed on the armature spindle of permagnetic synchronous motor, is allowed to rotate with rotor coaxial, if coding
Device resolution is r, and encoder is after quadruple, and encoder will produce four times of pulses, i.e. 4r pulse for one week.Owing to p is to extremely electricity
The electric angle of machine is 360 ° of p, and therefore, when asymmetric polyphase machine difference minimum angles θ, encoder circles permissible
Motor is divided into N equal portions, formula obtains:
The umber of pulse that each equal portions are corresponding with rotor-position is n, can be calculated by formula below:
It is to say, often produce n pulse, once, umber of pulse can be obtained by rolling counters forward in motor commutation, and will obtain
Umber of pulse give memory element, then called the data message corresponding with rotor-position prestored by memory element defeated
Go out to commutating circuit, provide correct commutation information for motor.
The novel sensor signal processing method of polyphase machine rotor magnetic pole position the most according to claim 1 detection, its
It is characterised by: in this method, memory element uses parallel I/O mode, and wherein input figure place is by encoder resolution, also phase
When the maximum number of pulses in counting determines, output figure place is determined by the number of phases of motor, and a wherein input of memorizer is kept for
The rotating of motor controls.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270945A (en) * | 2017-05-10 | 2017-10-20 | 上海钧嵌传感技术有限公司 | A kind of automatic code sensor to pole |
| CN108540025A (en) * | 2018-04-24 | 2018-09-14 | 覃世英 | 12 phase brushless DC motor emulation modes of one kind and system |
| CN108693436A (en) * | 2017-04-11 | 2018-10-23 | 郑州宇通客车股份有限公司 | Permanent magnet synchronous motor power line wiring phase sequence detecting method and detecting system |
| CN109327167A (en) * | 2017-07-31 | 2019-02-12 | 杭州海康威视数字技术股份有限公司 | A kind of motor apparatus and method of motor control, controller |
| CN110518856A (en) * | 2019-08-09 | 2019-11-29 | 深圳市海浦蒙特科技有限公司 | Motor position antidote, door motor control method and system and elevator |
| CN110595507A (en) * | 2019-09-19 | 2019-12-20 | 重庆华渝电气集团有限公司 | Multifunctional speed testing method |
| CN110601605A (en) * | 2019-08-13 | 2019-12-20 | 合肥格易集成电路有限公司 | Method, device and system for controlling motor |
| CN111537005A (en) * | 2020-05-09 | 2020-08-14 | 浙江众邦机电科技有限公司 | Method for processing signal loss of incremental photoelectric encoder |
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| CN101046395A (en) * | 2006-03-28 | 2007-10-03 | 台达电子工业股份有限公司 | Line-saving optical coder with servo motor recognizing information |
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| CN101046395A (en) * | 2006-03-28 | 2007-10-03 | 台达电子工业股份有限公司 | Line-saving optical coder with servo motor recognizing information |
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Non-Patent Citations (1)
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693436A (en) * | 2017-04-11 | 2018-10-23 | 郑州宇通客车股份有限公司 | Permanent magnet synchronous motor power line wiring phase sequence detecting method and detecting system |
| CN107270945A (en) * | 2017-05-10 | 2017-10-20 | 上海钧嵌传感技术有限公司 | A kind of automatic code sensor to pole |
| CN109327167A (en) * | 2017-07-31 | 2019-02-12 | 杭州海康威视数字技术股份有限公司 | A kind of motor apparatus and method of motor control, controller |
| CN109327167B (en) * | 2017-07-31 | 2020-06-05 | 杭州海康威视数字技术股份有限公司 | Motor equipment, motor control method and controller |
| CN108540025A (en) * | 2018-04-24 | 2018-09-14 | 覃世英 | 12 phase brushless DC motor emulation modes of one kind and system |
| CN110518856A (en) * | 2019-08-09 | 2019-11-29 | 深圳市海浦蒙特科技有限公司 | Motor position antidote, door motor control method and system and elevator |
| CN110601605A (en) * | 2019-08-13 | 2019-12-20 | 合肥格易集成电路有限公司 | Method, device and system for controlling motor |
| CN110595507A (en) * | 2019-09-19 | 2019-12-20 | 重庆华渝电气集团有限公司 | Multifunctional speed testing method |
| CN111537005A (en) * | 2020-05-09 | 2020-08-14 | 浙江众邦机电科技有限公司 | Method for processing signal loss of incremental photoelectric encoder |
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Application publication date: 20161221 |