CN106411189A - Gyro permanent magnet synchronous motor sensorless control system - Google Patents
Gyro permanent magnet synchronous motor sensorless control system Download PDFInfo
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- CN106411189A CN106411189A CN201610972205.5A CN201610972205A CN106411189A CN 106411189 A CN106411189 A CN 106411189A CN 201610972205 A CN201610972205 A CN 201610972205A CN 106411189 A CN106411189 A CN 106411189A
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/005—Arrangements for controlling doubly fed motors
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a gyro permanent magnet synchronous motor sensorless control system which comprises a speed loop and a current loop. The speed loop comprises a phase locked loop II, a frequency division module, a back EMF zero crossing comparison circuit, and a back EMF extraction circuit. The current loop comprises a phase locked loop I, a sine wave current generator, a current controller, a linear power amplification circuit, and a current detection circuit. The back EMF extraction circuit generates an opposite potential extraction circuit. The back EMF zero crossing comparison circuit generates a zero crossing pulse signal. The frequency division module carries out frequency division to obtain a mechanical frequency square wave signal. The phase locked loop II generates sine wave current generator amplitude setting. The phase locked loop I generates sine wave current generator frequency setting. The sine wave current generator generates the setting sine current of the current loop. The current detection circuit collects a phase current signal. The current controller obtains an operation result, amplifies the operation result, and sends the result to an external gyro permanent magnet synchronous motor, and the motor driving control is completed.
Description
Technical field
The present invention relates to control system for permanent-magnet synchronous motor, particularly a kind of gyro permagnetic synchronous motor sensorless strategy
System.
Background technology
Three floating gyros pass through to substitute hysteresis machine using magneto in high precision, improve motor speed stability, reduce
Power of motor loss, improves Gyro Precision.Magneto generally requires a set of rotor-position sensor, and such as grating, rotation becomes
Deng, to realize commutation, but limited by motor down-lead and gyro spatial volume, gyro magneto cannot installation site sensing
Device, is therefore directed to gyro magneto both at home and abroad and typically adopts method for controlling position-less sensor.
Existing gyro magneto adopts brshless DC motor mostly, and its main cause is that drive control method is simple,
And the overwhelming majority takes PWM square wave and drives." the high accuracy fixed speed control of brushless DC gyro motor " (Chinese inertial technology
Report volume 11 in December, 2003 the 6th phase) a civilian PWM driving method employing three-phase tri-state for brushless DC gyro motor.
" research based on DSP and ML4428 brushless DC gyro motor phase-lock speed control " (Chinese inertial technology journal volume 13 the 4th
Phase in August, 2005) literary grace carries out PWM driving with the method for three-phase six-beat to brushless DC gyro motor.Due to gyro permanent magnetism
The stator of motor adopts iron-free core structure mostly, thus results in stator winding inductance very little, so being driven using PWM square wave
When Stator Current Harmonic can increase, this can cause torque ripple increase, thus being unfavorable for improving gyro magneto further
Speed stability.
For permagnetic synchronous motor sensorless strategy, the entitled permanent magnet synchronous electric of Chinese patent CN201010508205.2
The sensorless control system of machine proposes sliding mode observer method, and " the PMSM speed based on neutral net and position self adaptation are seen
The design of survey device " (Proceedings of the CSEE volume 12 in December, 2002 the 22nd phase) literary composition proposes neural network algorithm, " ash
Color predicted method PMSM sensorless control system " (Electric Machines and Control's volume 6 o. 11th in November, 2007), Chinese patent
CN201310289582.5 is entitled to propose extension karr based on the permagnetic synchronous motor vector control system without sensor of EKF
Graceful filter method, " the sensor-less operation researchs of two kinds of High Frequency Injections " (Proceedings of the CSEE the 25th phase of volume 5
In March, 2005) literary composition proposes High Frequency Injection.Although intelligent algorithm has certain general applicability, it is right
The arithmetic programming answered is typically complex, thus being difficult to through engineering approaches application；Compared with intelligent algorithm, High Frequency Injection is realized
Relatively easy, but it depends on the saliency of rotor, and the rotor of gyro permagnetic synchronous motor generally adopts hidden pole type
Structure and stator non iron-core, are difficult to be utilized in this way.Additionally, the PID control precision of routine is difficult to meet high accuracy top
The requirement of spiral shell property superregulated to motor speed, and have not yet to see the synchronous electricity of high-speed permanent magnetic for position-sensor-free
The high speed stability control method of machine.
Content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of gyro permagnetic synchronous motor
Sensorless control system, complicated for existing permagnetic synchronous motor sensorless strategy method, motor speed stability is not
High shortcoming, by the double-closed-loop control being constituted using speed closed loop and current closed-loop, is carried out to back-emf zero-crossing pulse signal
The frequency that frequency multiplication produces sine-wave current generator gives, will be electric as sine with the speed discrepancy of reference rotation velocity for motor actual speed
Stream amplitude gives, and carries out PGC demodulation to sinusoidal current and opposite potential signal, to realize gyro permanent magnet synchronous electric engine efficiency
The square-wave signal representing motor speed is carried out Frequency Locking with given square-wave signal, thus it is high to realize motor by bigization simultaneously
Speed stability.
The technical solution of the present invention is：A kind of gyro sensor-free control system of permanent magnet synchronous motor, including speed
Ring, electric current loop, speed ring includes phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential extraction circuit, electricity
Stream ring includes phaselocked loop I, sine-wave current generator, current controller, power linear amplifying circuit, current detection circuit, its
In
Opposite potential extracts circuit, obtains contrary electricity after the terminal voltage signal receiving outside gyro permagnetic synchronous motor output
Gesture signal, and opposite potential signal is delivered to opposite potential Zero-cross comparator circuit, wherein, opposite potential extracts the construction base of circuit
Terminal voltage equation in outside gyro permagnetic synchronous motor；
Opposite potential Zero-cross comparator circuit, carries out Zero-cross comparator to opposite potential signal and obtains zero-crossing pulse signal, and will
Zero-crossing pulse signal delivers to the phaselocked loop I in electric current loop, the frequency division module in speed ring respectively；
Frequency division module, carries out frequency dividing after receiving zero-crossing pulse signal and obtains mechanical frequency square-wave signal and deliver to phaselocked loop
Ⅱ；
Phaselocked loop II, obtains given square wave from outside, then mechanical frequency square-wave signal is carried out with given square-wave signal
Phase demodulation, LPF, obtain representing gyro permagnetic synchronous motor actual speed and gyro permagnetic synchronous motor reference rotation velocity difference
Digital quantity, and the digital quantity representing speed discrepancy is delivered to the sine-wave current generator in electric current loop, as sinusoidal current amplitude
Given；The frequency of described given square-wave signal is equal to the corresponding mechanical frequency of gyro permagnetic synchronous motor reference rotation velocity；
Phaselocked loop I, carries out frequency multiplication generation frequency and gives and deliver to sine-wave current generator to zero-crossing pulse signal；Simultaneously
Frequency is given, zero-crossing pulse signal enters horizontal lock, so that the phase alignment of given sinusoidal current and opposite potential signal；Its
In, frequency gives and the frequency of zero-crossing pulse signal is equal to outside gyro permanent-magnetic synchronous motor rotor 0 to 360 degree electrical angle
Isodisperse；
Sine-wave current generator, receives frequency produces sinusoidal table addressing using counter after giving, and is sought according to sine table
Location is searched sine table and is obtained the corresponding sine value in outside gyro permagnetic synchronous motor current rotor position, then by current sinusoidal value
The product giving with sinusoidal current amplitude delivers to D/A converter；Described counter is cyclic counter, and maximum count value is equal to
Outside gyro permanent-magnetic synchronous motor rotor 0 to 360 spends the isodisperse of electrical angle；Described sine table includes 0 to the 360 all angles of degree
Spend corresponding sine value；
D/A converter, carries out digital-to-analogue conversion to sinusoidal current value, obtains sinusoidal current waveform and delivers to current controller；
Current detection circuit, the phase current signal of collection outside gyro permagnetic synchronous motor output simultaneously delivers to current control
Device；
Current controller, carries out proportional integral computing to phase current signal, given sinusoidal current ripple, the operation result obtaining
Deliver to power linear amplifying circuit；
Power linear amplifying circuit, carries out to current controller operation result delivering to outside gyro permanent magnetism after power amplification together
Step motor, completes drive and control of electric machine.
Described phaselocked loop I includes multiplier unit, phase locking unit；Multiplier unit, carries out frequency multiplication product to zero-crossing pulse signal
Raw frequency Setting signal delivers to sine-wave current generator, and phase locking unit is locked to frequency Setting signal and zero-crossing pulse signal
Phase, so that the phase alignment of sinusoidal current and opposite potential signal.
Described phaselocked loop II includes phase demodulation unit, low-pass filter unit；Phase demodulation unit, obtains given square wave from outside,
Then phase demodulation is carried out to mechanical frequency square-wave signal and given square-wave signal, the data-signal that phase demodulation is obtained delivers to LPF
Unit carries out LPF, obtains representing gyro permagnetic synchronous motor actual speed and gyro permagnetic synchronous motor reference rotation velocity is poor
Digital quantity, and the digital quantity representing speed discrepancy is delivered to the sine-wave current generator in electric current loop, as sinusoidal current width
Value is given.
Present invention advantage compared with prior art is：
(1) control system of the present invention is passed through the motor speed control technology based on phaselocked loop, linear drive technology, is based on
The rotor position estimate method of phaselocked loop is combined, and solves the high rotating speed of high speed gyro permagnetic synchronous motor position-sensor-free
A stability control difficult problem, greatly reduces the torque ripple of motor, compared with traditional control method, makes gyro permanent magnet synchronous electric
The speed stability of machine improves an order of magnitude；
(2) control system of the present invention is right by being carried out the phase place of stator phase currents and opposite potential using electric current phaselocked loop
Together, compared with prior art there is the maximized advantage of gyro permagnetic synchronous motor operating efficiency.
Brief description
Fig. 1 is a kind of present invention gyro sensor-free control system of permanent magnet synchronous motor structure composition figure；
Fig. 2 is that in control system of the present invention, phaselocked loop I forms；
Fig. 3 is that in control system of the present invention, phaselocked loop II forms.
Specific embodiment
The present invention is directed to the deficiencies in the prior art, proposes a kind of gyro sensor-free control system of permanent magnet synchronous motor, with
Prior art is compared present system gyro machine and is adopted permagnetic synchronous motor, and permagnetic synchronous motor is with brshless DC motor not
With part be permagnetic synchronous motor unloaded counter potential waveform be sine wave, according to motor operation principle, permagnetic synchronous motor
Optimal drive mode be sine wave drive.In commercial Application, the implementation of permagnetic synchronous motor sine wave drive is most absolutely
Number employs the digital methods such as space vector pulse width modulation or sinusoidal pulse width modulation, and the method advantage is that control realization is simple, lacks
Point is to produce current harmonics, thus leading to torque ripple, affects speed stability, thus is difficult to meet gyro this high-accuracy
The instrument requirement high to speed stability, therefore present system adopt sine wave Linear Driving scheme.Have not yet to see
For the high speed stability control method of the high-speed permanent magnetic synchronous motor of position-sensor-free, so present system proposes
Based on the gyro permagnetic synchronous motor sensorless strategy method of all-digital phase-locked loop, below in conjunction with the accompanying drawings present system is entered
Row describes in detail.
It is illustrated in figure 1 gyro sensor-free control system of permanent magnet synchronous motor structure composition figure of the present invention, system of the present invention
System includes speed ring, electric current loop, and speed ring includes phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential carry
Sense circuit, electric current loop includes phaselocked loop I, sine-wave current generator, current controller, power linear amplifying circuit, electric current inspection
Slowdown monitoring circuit.
Opposite potential extracts circuit, receives the terminal voltage signal of gyro permagnetic synchronous motor output, gyro permanent magnet synchronous electric
The terminal voltage signal of machine output extracts circuit through opposite potential and obtains opposite potential signal, opposite potential Zero-cross comparator circuit pair
Opposite potential signal carries out Zero-cross comparator and obtains zero-crossing pulse signal, and zero-crossing pulse signal delivers to the phaselocked loop in electric current loop respectively
Ith, the frequency division module in speed ring, wherein, opposite potential extracts the terminal voltage constructing based on gyro permagnetic synchronous motor of circuit
Equation.
Frequency division module, carries out frequency dividing after receiving zero-crossing pulse signal and obtains mechanical frequency square-wave signal and deliver to phaselocked loop
Ⅱ；Phaselocked loop II, obtains given square wave from outside, then mechanical frequency square-wave signal and given square-wave signal are carried out phase demodulation,
LPF, obtains representing the numeral of gyro permagnetic synchronous motor actual speed and gyro permagnetic synchronous motor reference rotation velocity difference
Amount, and the digital quantity representing speed discrepancy is delivered to the sine-wave current generator in electric current loop, give as sinusoidal current amplitude；
Wherein, the frequency of given square-wave signal is equal to the corresponding mechanical frequency of gyro permagnetic synchronous motor reference rotation velocity.
Phaselocked loop I, carries out frequency multiplication generation frequency and gives and deliver to sine-wave current generator to zero-crossing pulse signal；Simultaneously
Frequency is given and zero-crossing pulse signal enters horizontal lock, so that the phase alignment of given sinusoidal current and opposite potential signal,
So that the efficiency of gyro permagnetic synchronous motor to be driven is maximum.
Sine-wave current generator, receives frequency gives and produces sinusoidal table addressing after counter, and sinusoidal table addressing is sent
The corresponding sine value in current rotor position is found out, the product that sine value is given with sinusoidal current amplitude delivers to DA after entering sine table
Converter；Wherein, the maximum count value of counter is equal to the isodisperse that electrical angle spent by rotor 0 to 360, and sine table includes all 0
To the corresponding sine value of 360 degree of electrical angles.
D/A converter, carries out digital-to-analogue conversion to given sinusoidal current value, obtains given sinusoidal current waveform and delivers to electric current
Controller.
Current detection circuit, the phase current signal of collection outside gyro permagnetic synchronous motor output simultaneously delivers to current control
Device.
Current controller, carries out proportional integral computing to phase current signal, given sinusoidal current ripple, the operation result obtaining
Deliver to power linear amplifying circuit.
Power linear amplifying circuit, carries out to current controller operation result delivering to outside gyro permanent magnetism after power amplification together
Step motor, completes drive and control of electric machine.
It is illustrated in figure 2 phaselocked loop I composition, phaselocked loop I includes multiplier unit, phase locking unit；Multiplier unit, to zero passage arteries and veins
Rush signal to carry out frequency multiplication and produce frequency give and delivering to sine-wave current generator, phase locking unit is given to frequency and zero-crossing pulse
Signal enters horizontal lock, so that the phase alignment of given sinusoidal current and opposite potential signal, so that gyro to be driven
The efficiency of permagnetic synchronous motor is maximum.
Accompanying drawing 3 show phaselocked loop II composition, and phaselocked loop II includes phase demodulation unit, low-pass filter unit；Phase demodulation unit, from
Outside acquisition gives square wave, then carries out phase demodulation to mechanical frequency square-wave signal and given square-wave signal, the number that phase demodulation is obtained
It is believed that number delivering to low-pass filter unit to carry out LPF, obtain representing gyro permagnetic synchronous motor actual speed and gyro permanent magnetism
The digital quantity of synchronous motor reference rotation velocity difference, and the digital quantity representing speed discrepancy is delivered to the sine-wave current generation in electric current loop
Device, gives as sinusoidal current amplitude.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (3)
1. a kind of gyro sensor-free control system of permanent magnet synchronous motor is it is characterised in that include speed ring, electric current loop, speed ring
Including phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential extract circuit, electric current loop include phaselocked loop I,
Sine-wave current generator, current controller, power linear amplifying circuit, current detection circuit, wherein
Opposite potential extracts circuit, obtains opposite potential letter after the terminal voltage signal receiving outside gyro permagnetic synchronous motor output
Number, and opposite potential signal is delivered to opposite potential Zero-cross comparator circuit, wherein, opposite potential extracts the construction of circuit based on outer
The terminal voltage equation of portion's gyro permagnetic synchronous motor；
Opposite potential Zero-cross comparator circuit, carries out Zero-cross comparator to opposite potential signal and obtains zero-crossing pulse signal, and by zero passage
Pulse signal delivers to the phaselocked loop I in electric current loop, the frequency division module in speed ring respectively；
Frequency division module, carries out frequency dividing after receiving zero-crossing pulse signal and obtains mechanical frequency square-wave signal and deliver to phaselocked loop II；
Phaselocked loop II, obtains given square wave from outside, then mechanical frequency square-wave signal and given square-wave signal are carried out phase demodulation,
LPF, obtains representing the numeral of gyro permagnetic synchronous motor actual speed and gyro permagnetic synchronous motor reference rotation velocity difference
Amount, and the digital quantity representing speed discrepancy is delivered to the sine-wave current generator in electric current loop, give as sinusoidal current amplitude；
The frequency of described given square-wave signal is equal to the corresponding mechanical frequency of gyro permagnetic synchronous motor reference rotation velocity；
Phaselocked loop I, carries out frequency multiplication generation frequency and gives and deliver to sine-wave current generator to zero-crossing pulse signal；Simultaneously to frequency
Rate gives, zero-crossing pulse signal enters horizontal lock, so that the phase alignment of given sinusoidal current and opposite potential signal；Wherein,
Frequency give with the frequency of zero-crossing pulse signal be equal to outside gyro permanent-magnetic synchronous motor rotor 0 to 360 spend electrical angle etc.
Fraction；
Sine-wave current generator, receives frequency produces sinusoidal table addressing using counter after giving, and is looked into according to sinusoidal table addressing
Look for sine table to obtain the corresponding sine value in outside gyro permagnetic synchronous motor current rotor position, then by current sinusoidal value with just
The product that string current amplitude gives delivers to D/A converter；Described counter is cyclic counter, and maximum count value is equal to outside
Gyro permanent-magnetic synchronous motor rotor 0 to 360 spends the isodisperse of electrical angle；It is angled right that described sine table includes 0 to 360 degree institute
The sine value answered；
D/A converter, carries out digital-to-analogue conversion to sinusoidal current value, obtains sinusoidal current waveform and delivers to current controller；
Current detection circuit, the phase current signal of collection outside gyro permagnetic synchronous motor output simultaneously delivers to current controller；
Current controller, carries out proportional integral computing to phase current signal, given sinusoidal current ripple, the operation result obtaining is delivered to
Power linear amplifying circuit；
Power linear amplifying circuit, carries out delivering to outside gyro permanent magnet synchronous electric after power amplification to current controller operation result
Machine, completes drive and control of electric machine.
2. a kind of gyro sensor-free control system of permanent magnet synchronous motor according to claim 1 it is characterised in that：Described
Phaselocked loop I include multiplier unit, phase locking unit；Multiplier unit, carries out frequency multiplication and produces the given letter of frequency to zero-crossing pulse signal
Number deliver to sine-wave current generator, phase locking unit enters horizontal lock to frequency Setting signal and zero-crossing pulse signal, so that just
String electric current and the phase alignment of opposite potential signal.
3. a kind of gyro sensor-free control system of permanent magnet synchronous motor according to claim 1 it is characterised in that：Described
Phaselocked loop II include phase demodulation unit, low-pass filter unit；Phase demodulation unit, obtains given square wave from outside, then to machinery frequency
Rate square-wave signal and given square-wave signal carry out phase demodulation, and the data-signal that phase demodulation is obtained is delivered to low-pass filter unit and carried out low pass
Filtering, obtains representing the digital quantity of gyro permagnetic synchronous motor actual speed and gyro permagnetic synchronous motor reference rotation velocity difference, and
The digital quantity representing speed discrepancy is delivered to the sine-wave current generator in electric current loop, give as sinusoidal current amplitude.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108540034A (en) * | 2018-05-15 | 2018-09-14 | 北京控制工程研究所 | A kind of permanent magnet synchronous motor sensorless strategy phase compensating method and device |
| CN109412474A (en) * | 2018-12-12 | 2019-03-01 | 上海航天控制技术研究所 | A kind of control method of brushless direct current motor sine torque output |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| CN115016114A (en) * | 2021-03-03 | 2022-09-06 | 中国科学院苏州纳米技术与纳米仿生研究所 | Laser scanning system and method |
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| JPH08223970A (en) * | 1995-02-16 | 1996-08-30 | Sony Corp | Motor drive |
| CN103997270A (en) * | 2014-06-09 | 2014-08-20 | 浙江理工大学 | Sensorless vector control device and method for non-salient pole type permanent magnet synchronous motor |
| CN105071736A (en) * | 2015-08-11 | 2015-11-18 | 泰州职业技术学院 | Method for detecting position of sensorless rotor of PMSM for blower fan |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108540034A (en) * | 2018-05-15 | 2018-09-14 | 北京控制工程研究所 | A kind of permanent magnet synchronous motor sensorless strategy phase compensating method and device |
| CN109412474A (en) * | 2018-12-12 | 2019-03-01 | 上海航天控制技术研究所 | A kind of control method of brushless direct current motor sine torque output |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| CN115016114A (en) * | 2021-03-03 | 2022-09-06 | 中国科学院苏州纳米技术与纳米仿生研究所 | Laser scanning system and method |
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| CN106411189B (en) | 2018-11-23 |
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