CN107046384A - A kind of durface mounted permanent magnet synchronous motor rotor position detection method - Google Patents
A kind of durface mounted permanent magnet synchronous motor rotor position detection method Download PDFInfo
- Publication number
- CN107046384A CN107046384A CN201710434828.1A CN201710434828A CN107046384A CN 107046384 A CN107046384 A CN 107046384A CN 201710434828 A CN201710434828 A CN 201710434828A CN 107046384 A CN107046384 A CN 107046384A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- rotor
- signal
- permanent magnet
- phases
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of durface mounted permanent magnet synchronous motor rotor position detection method, this method introduces the coordinate system of virtual rotation at a high speed, and inject high-frequency current signal in the d-axis of this coordinate system on the basis of traditional pulsating high frequency current injection.Then by modulating, filtering to high frequency voltage response signal, the first estimated location of rotor is drawn.Magnetic pole compensation finally is carried out to first estimated location, final rotor-position is obtained.Compared to traditional High Frequency Injection, PI controllers are eliminated, convergence time is shortened, simplify magnetic pole compensation process.
Description
Technical field
The present invention relates to turning under Motor Control Field, more particularly to a kind of durface mounted permanent magnet synchronous motor zero-speed and low speed
Sub- method for detecting position.
Background technology
Position sensorless detection methods under built-in type permagnetic synchronous motor zero-speed and low speed are based primarily upon the convex of motor
Polar effect, common are inductance measuring, harmonic components analytic approach and rotation High Frequency Injection.It is same for durface mounted permanent magnet
Motor is walked, its salient pole is not obvious, the position sensorless detection methods for the permagnetic synchronous motor of built-in type are no longer applicable.Mesh
Before untill, the method for detecting position of durface mounted permanent magnet synchronous motor zero-speed and low speed is mainly pulsating high frequency signal injection method and arteries and veins
Shake high frequency current injection.
Ji Hoon Jang,Jung IkHa.Analysis of permanent magnet machine for
sensorless control based on high frequency signal injection[J].IEEE
Transactions on Industry Applications,2004,40(6):1595-1604. propose to use pulsating high frequency
The method of voltage injection realizes the detection to the rotor-position of small salient-pole machine.Its cardinal principle is the synchronous rotary seat in estimation
Mark and high frequency sinusoidal voltage signal is injected in the d-axis of system, it is pulsating voltage signal to be changed to through CLARK contravariant in rest frame.So
LPF is carried out to the high-frequency current signal of quadrature axis afterwards, passes through rotor position estimate method or base based on tracking observer
In PLL rotor position estimate method, tracking of the estimated location to physical location is realized, and then draw the position of rotor.
Liu Ying, cycle, Feng Ying, the bright of Zhao Cheng are based on pulsating high frequency electric and inject SPMSM low speed position Sensorless Controls
[J] electrotechnics journals, 2012,7 (27):139-145. proposes a kind of low speed injected based on pulsating high frequency electric without position
Put the new method of sensor control.Its principle is the injection high frequency sinusoidal electric current on the synchronous rotating frame d-axis of estimation, is led to
The output of detection quadrature axis current ring pi regulator is crossed, the signal containing rotor position estimate error is obtained, and it is appropriate to this progress
Signal transacting obtain estimate rotor position angle, so as to realize position Sensorless Control.
The method that pulsating high frequency signal injection method and pulsating high frequency current injection are all based on position tracking, so needing
Carry out the judgement of the extreme for magnetic field, the position detected to correct.Saliency is generally basede on for the method that magnetic pole is detected, by secondary
The positive and negative pulse signal of injection or the judgement that magnetic pole is realized to the method that electric current is integrated.Electricity synchronous for durface mounted permanent magnet
Machine, its convex grey subset is smaller, higher to detecting system required precision, and detection difficulty is larger.
To sum up, the method that the method based on pulsating high frequency signal injection is also based on the injection of pulsating high frequency electric is all direct
High-frequency signal is injected in the d-axis of the reference synchronization coordinate system of motor, their corresponding voltage and current responses are then detected.This
Plant injecting strategy and require the actual reference synchronization coordinate system of the reference synchronization coordinate system real-time tracking of estimation, be i.e. tracking error restrains
To zero.But tracking error signal is the sinusoidal signal in cycle, final error convergence position may be zero, it is also possible to π.In order to
Distinguish final convergent angle, in addition it is also necessary to which the method such as secondary injection aids in realizing the judgement of rotor magnetic pole, eliminates convergent angle
It is uncertain..Secondary injection method is all based on greatly the difference of d-axis and quadrature axis inductance size to voltage pulse response amplitude and decay
The difference of time is so as to realize the judgement to rotor magnetic pole.For durface mounted permanent magnet synchronous motor, d-axis and quadrature axis inductance difference
Very little, the response to voltage pulse is also about the same, and detection difficulty applies in general to built-in type salient-pole machine than larger.Surface Mount
Formula permagnetic synchronous motor still lacks a kind of simple and reliable method for detecting position under the low speed.
The content of the invention
Detected for durface mounted permanent magnet synchronous motor without sensing station, pulsating voltage injection method and arteries and veins in current techniques
The method that the current injection method that shakes is all based on position tracking, this method convergence time is longer, while the judgement of the extreme for magnetic field method is complicated.Pin
To this problem, the present invention proposes a kind of durface mounted permanent magnet synchronous motor rotor position detection method, by being rotated at a high speed virtual
The d-axis injection high-frequency current signal of coordinate system, is detected by the voltage signal to output, directly obtains the first of rotor
Estimated location.Because the rotor position detecting method of the present invention can immediately arrive at the absolute position of rotor, therefore magnetic pole compensation side
Method is also relatively simple, it is only necessary to by compensating fixed magnetic pole deviation.
The technical solution adopted by the present invention is as follows：
A kind of durface mounted permanent magnet synchronous motor rotor position detection method, is comprised the steps of：
Step A), it is passed through electric current to coil of stator of motor A phases, B phases and carries out rotor initial alignment.Rotate and sit to virtual high speed
Mark system d*-q*D*Axle injects high-frequency current signal, and given speed reference signal ωref, synchronous rotating frame d-q d axles
Current reference signal idref, and detect the electric current formation current close-loop control system of motor A phases, B phases；
Step B), extract the voltage signal u of d, q axled、uq, then to ud、uqModulation, filtering, obtain the first of rotor
Secondary estimated location
Step C), it is rightTrailing edge detection, count, carry out magnetic pole compensation obtain final rotor-position
Described a kind of durface mounted permanent magnet synchronous motor rotor position detection method, based on virtual high speed rotating coordinate system
High frequency electric injects and current closed-loop principle is as follows：
Step is A.1), it is passed through electric current to coil of stator of motor A phases, B phases and carries out rotor initial alignment；
Step is A.2), set up rest frame alpha-beta, synchronous rotating frame d-q, virtual high speed rotating coordinate system d*-q*,
And set d*-q*Coordinate system speed is ω*, the angle of wherein d-q coordinate systems and alpha-beta coordinate system is θ, while θ is also rotor
Position, d*-q*The angle of coordinate system and alpha-beta coordinate system is θ*, wherein θ*=ω*T, t represent current time；
Step is A.3), to d*Axle injects high-frequency current signalWherein, ImFor the peak of Injection Current signal
Value, ωhFor the frequency of Injection Current signal；
Step is A.4), by coordinate transform d*-q*The Injection Current signal of coordinate systemD-q coordinate systems are transformed to, are obtained
idh、iqh；
Step is A.5), detection motor A phases, the electric current i of B phasesA、iB, CLARK conversion, PARK conversion are carried out to it, d-q is obtained
Electric current i under coordinate systemd、iq；
Step is A.6), give reference angular velocities ωref, the current reference signal i of q axles is adjusted to through PI_SPDqref, iqrefWith
iqError signal be adjusted to voltage u through PI_IQq, make the reference signal i of d shaft currentsdref=0, idrefWith idError signal warp
PI_ID is adjusted to voltage ud；
Step is A.7), to ud、uqCarry out PARK inverse transformations and obtain uα、uβ, power mould is then controlled by SVPWM modulation techniques
Six path switching signals of block are to drive durface mounted permanent magnet synchronous motor.
A kind of described durface mounted permanent magnet synchronous motor rotor position detection method, the first estimated location of rotor's
Estimation procedure is as follows：
Step is B.1), by coordinate transform by ud、uqIt is transformed into d*-q*In coordinate system, obtain
Step is B.2),Sin (ω are multiplied by respectivelyht)sin(2ω*t)、-sin(ωht)sin(2ω*T) and carry out
LPF, is obtained
Step is B.3), willNegate tangent, obtain the first estimated location of rotor
A kind of described durface mounted permanent magnet synchronous motor rotor position detection method, rotor magnetic pole compensation method is as follows：
Step is C.1), it is rightTrailing edge counted, number of times is n；
Step is C.2), the position that calculating obtains rotor is
The beneficial effect that the present invention is brought may be embodied in following aspect：
(1) present invention extracts voltage sound by injecting high-frequency current signal in the coordinate system that rotate to virtual high speed, then
The first estimated location of rotor can be directly calculated after induction signal, LPF, without PI regulations, convergence time is reduced；
(2) absolute position that the first estimate that the present invention is drawn is, and then enormously simplify the compensation method of magnetic pole, i.e.,
Counted by the trailing edge to first estimated location, magnetic pole compensation value is drawn, then by simply calculating rotor most
Final position is put；
(3) rotor position detecting method of the invention is not only applicable to durface mounted permanent magnet synchronous motor, and can also answer
For various other motors.In theory, as long as the convex grey subset of motor is not 1, the detection to motor rotor position is can be achieved with, greatly
The big application for having expanded the present invention.
Brief description of the drawings
Fig. 1 is durface mounted permanent magnet synchronous motor rotor position detection process theory diagram；
Fig. 2 is rest frame, synchronous rotating frame, the relativeness schematic diagram of virtual high speed rotating coordinate system；
Fig. 3 is rotor position estimate process schematic；
Fig. 4 is magnetic pole compensation principle schematic.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
As shown in figure 1, a kind of durface mounted permanent magnet synchronous motor rotor position detection method that the present invention is provided, is specifically included
Following steps：
Step 1), as shown in Fig. 2 setting up rest frame alpha-beta, synchronous rotating frame d-q, virtual high speed rotational coordinates
It is d*-q*, and set d*-q*Coordinate system speed is ω*, the angle of wherein d-q coordinate systems and alpha-beta coordinate system is θ, while θ
Also it is the position of rotor, d*-q*The angle of coordinate system and alpha-beta coordinate system is θ*, wherein θ*=ω*T, t represent current time；
Step 2), it is passed through electric current to coil of stator of motor A phases, B phases and carries out rotor initial alignment；
Step 3), to d*Axle injects high-frequency current signalWherein, ImFor the peak of Injection Current signal
Value, ωhFor the frequency of Injection Current signal, through coordinate transform T-1(△ θ) is transformed into d-q coordinate systems and obtains idh、iqh, wherein：
Step 4), give reference angular velocities ωref, the current reference signal i of q axles is adjusted to through PI_SPDqref, iqrefWith iq
Error signal be adjusted to voltage u through PI_IQq, make the reference signal i of d shaft currentsdref=0, idrefWith idError signal warp
PI_ID is adjusted to voltage ud；
Step 5), to ud、uqCarry out PARK inverse transformations and obtain uα、uβ, power model is then controlled by SVPWM modulation techniques
Six path switching signals to drive durface mounted permanent magnet synchronous motor；
Step 6), detection motor A phases, the electric current i of B phasesA、iB, CLARK is carried out to it and converts the electricity obtained under alpha-beta coordinate system
Flow iα、iβ；Then to iα、iβPARK conversion is carried out, the electric current i under d-q coordinate systems is obtainedd、iq；
Step 7), by id、iqWith idref、iqrefThe reference input of axle is compared, and forms current closed-loop；
Step 8), as shown in figure 3, the voltage signal u by extracting d, q axled、uq, and through coordinate transform to d*-q*Coordinate
System obtainsSin (ω are multiplied by respectivelyht)sin(2ω*t)、-sin(ωht)sin(2ω*T), and carry out low
Pass filter is obtainedThen it is negated tangent, obtains the first estimated location of rotor-position
Step 9), it is rightTrailing edge count, number of times is n, and the position of final rotor is
A kind of principle of durface mounted permanent magnet synchronous motor method for detecting position of the present invention is as follows：
The mathematical modeling of surface-mounted permanent magnet machine can be expressed as under synchronous rotating frame：
In formula, ud、uqRespectively component of the stator voltage in d-q axles；id、iqRespectively stator current d-q axles point
Amount；R is the resistance of stator；Ld、LqRespectively component of the stator current in d-q axles；ωrFor the angular rate of motor, when motor is
During a pair of pole, electrical angle is equal with mechanical angle；ψfFor the magnetic linkage of permanent magnet；P is differential operator.
In virtual high speed rotating coordinate system d*-q*D*Axle injects high-frequency current signalDue to ωh's
Frequency is higher, so the impedance of motor coil can be approximated to be the induction reactance of stator coil self-induction.When motor is in the static and slow-speed of revolution
When, ignore the item relevant with rotating speed, obtain the high frequency model of magneto：
In formula (3), udh、uqhThe respectively high frequency voltage of d, q axle；idh、iqhThe respectively high frequency electric of d, q axle；Ldh、Lqh
The respectively high-frequency inductor of d, q axle；Zdh、ZqhThe respectively high-frequency resistance of d, q axle；ωhFor High frequency injection signals.
In d*-q*High-frequency current signal is injected in coordinate system, the response of its high frequency voltage is：
OrderThen Zdh=Z+ △ Z, Zqh=Z- △ Z.Formula (4) is represented by：
In d*Axle injects high-frequency current signalWherein Im、ωhThe respectively amplitude and frequency of Injection Signal
Rate, high frequency voltage, which is responded, is：
Due to △ θ=θ-ω*T, brings formula (6) into, and rightSin (ω are multiplied by respectivelyht)sin(2ω*t)、-sin
(ωht)sin(2ω*T), then LPF is obtained：
It is rightTangent of negating obtains first estimated location
Formula (8), which can be seen that this method, can directly obtain the absolute position of rotor, make to turn into by periodically compensating
May.Because the cycle of arctan function is π, and a cycle of motor position is 2 π.Such as Fig. 4, obtainingAfterwards,
By detecting its trailing edge, the number n of final rotor-position and first estimated location phase difference of pi is obtained, is then compensated, finally
Rotor final position is calculated, i.e.,
Claims (4)
1. a kind of durface mounted permanent magnet synchronous motor rotor position detection method, it is characterised in that comprise the steps of：
Step A), it is passed through electric current to coil of stator of motor A phases, B phases and carries out rotor initial alignment, to virtual high speed rotating coordinate system
d*-q*D*Axle injects high-frequency current signal, and given speed reference signal ωref, synchronous rotating frame d-q d shaft currents
Reference signal idref, and detect the electric current formation current close-loop control system of motor A phases, B phases；
Step B), extract the voltage signal u of d, q axled、uq, then to ud、uqModulation, filtering, draw the first estimation of rotor
Position
Step C), it is rightTrailing edge detection, count, carry out magnetic pole compensation obtain final rotor-position
2. a kind of durface mounted permanent magnet synchronous motor rotor position detection method according to claim 1, it is characterised in that base
It is as follows in the high frequency electric injection of virtual high speed rotating coordinate system and current closed-loop principle：
Step is A.1), it is passed through electric current to coil of stator of motor A phases, B phases and carries out rotor initial alignment；
Step is A.2), set up rest frame alpha-beta, synchronous rotating frame d-q, virtual high speed rotating coordinate system d*-q*, and set
Determine d*-q*Coordinate system speed is ω*, the angle of wherein d-q coordinate systems and alpha-beta coordinate system is θ, while θ is also the position of rotor
Put, d*-q*The angle of coordinate system and alpha-beta coordinate system is θ*, wherein θ*=ω*T, t represent current time；
Step is A.3), to d*Axle injects high-frequency current signalWherein, ImFor the peak value of Injection Current signal,
ωhFor the frequency of Injection Current signal；
Step is A.4), by coordinate transform d*-q*The Injection Current signal of coordinate systemD-q coordinate systems are transformed to, i is obtaineddh、
iqh；
Step is A.5), detection motor A phases, the electric current i of B phasesA、iB, CLARK conversion, PARK conversion are carried out to it, d-q coordinates are obtained
Electric current i under systemd、iq；
Step is A.6), give reference angular velocities ωref, the current reference signal i of q axles is adjusted to through PI_SPDqref, iqrefWith iq's
Error signal is adjusted to voltage u through PI_IQq, make the reference signal i of d shaft currentsdref=0, idrefWith idError signal through PI_
ID is adjusted to voltage ud；
Step is A.7), to ud、uqCarry out PARK inverse transformations and obtain uα、uβ, then control the six of power model by SVPWM modulation techniques
Path switching signal is to drive durface mounted permanent magnet synchronous motor.
3. a kind of durface mounted permanent magnet synchronous motor rotor position detection method according to claim 1, it is characterised in that turn
Sub first estimated locationEstimation procedure it is as follows：
Step is B.1), by coordinate transform by ud、uqIt is transformed into d*-q*In coordinate system, obtain
Step is B.2),Sin (ω are multiplied by respectivelyht)sin(2ω*t)、-sin(ωht)sin(2ω*t) and carry out low pass filtered
Ripple, is obtained
Step is B.3), willNegate tangent, obtain the first estimated location of rotor
4. a kind of durface mounted permanent magnet synchronous motor rotor position detection method according to claim 1, it is characterised in that turn
Sub- magnetic pole compensation method is as follows：
Step is C.1), it is rightTrailing edge counted, number of times is n；
Step is C.2), the position that calculating obtains rotor is
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434828.1A CN107046384B (en) | 2017-06-10 | 2017-06-10 | A kind of durface mounted permanent magnet synchronous motor rotor position detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434828.1A CN107046384B (en) | 2017-06-10 | 2017-06-10 | A kind of durface mounted permanent magnet synchronous motor rotor position detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107046384A true CN107046384A (en) | 2017-08-15 |
| CN107046384B CN107046384B (en) | 2018-06-29 |
Family
ID=59546290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710434828.1A Active CN107046384B (en) | 2017-06-10 | 2017-06-10 | A kind of durface mounted permanent magnet synchronous motor rotor position detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107046384B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508522A (en) * | 2017-08-29 | 2017-12-22 | 合肥巨动力***有限公司 | A kind of permanent-magnetic synchronous motor rotor initial position measuring method |
| CN107834929A (en) * | 2017-11-24 | 2018-03-23 | 上海电机学院 | A kind of low-speed region rotor position estimate method based on pulsating high frequency electrocardiography |
| CN109194226A (en) * | 2018-09-29 | 2019-01-11 | 深圳市汇川技术股份有限公司 | Parameter of electric machine on-line identification method, system, electric machine controller and storage medium |
| CN110112978A (en) * | 2019-05-07 | 2019-08-09 | 浙江工业大学 | A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation |
| CN111654220A (en) * | 2020-06-24 | 2020-09-11 | 江苏建筑职业技术学院 | Interpolation type permanent magnet synchronous motor rotor position information extraction method |
| CN112087175A (en) * | 2020-08-31 | 2020-12-15 | 东南大学 | Speed identification method for permanent magnet synchronous motor |
| CN112117943A (en) * | 2020-09-18 | 2020-12-22 | 湘潭大学 | Novel IPMSM high-frequency square wave injection position-sensorless control |
| CN113364381A (en) * | 2021-05-24 | 2021-09-07 | 西安理工大学 | Surface-mounted permanent magnet synchronous motor sensorless segmented delay compensation strategy |
| CN113972874A (en) * | 2021-09-28 | 2022-01-25 | 江苏大学 | Position error compensation method for permanent magnet synchronous motor without position sensor control |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014007852A (en) * | 2012-06-25 | 2014-01-16 | Nissan Motor Co Ltd | Motor |
| CN103986395A (en) * | 2014-05-07 | 2014-08-13 | 南京航空航天大学 | Surface-mount permanent magnet synchronous motor rotor initial position detection method |
| CN104022710A (en) * | 2014-05-28 | 2014-09-03 | 南京航空航天大学 | Method of detecting initial position of surface-mounted permanent magnet synchronous motor rotor |
| CN104660140A (en) * | 2015-01-16 | 2015-05-27 | 南京航空航天大学 | Permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection |
| CN105450127A (en) * | 2015-11-23 | 2016-03-30 | 南京航空航天大学 | PMSM (permanent magnet synchronous motor) rotor position detection method based on high frequency signal injection |
-
2017
- 2017-06-10 CN CN201710434828.1A patent/CN107046384B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014007852A (en) * | 2012-06-25 | 2014-01-16 | Nissan Motor Co Ltd | Motor |
| CN103986395A (en) * | 2014-05-07 | 2014-08-13 | 南京航空航天大学 | Surface-mount permanent magnet synchronous motor rotor initial position detection method |
| CN104022710A (en) * | 2014-05-28 | 2014-09-03 | 南京航空航天大学 | Method of detecting initial position of surface-mounted permanent magnet synchronous motor rotor |
| CN104660140A (en) * | 2015-01-16 | 2015-05-27 | 南京航空航天大学 | Permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection |
| CN105450127A (en) * | 2015-11-23 | 2016-03-30 | 南京航空航天大学 | PMSM (permanent magnet synchronous motor) rotor position detection method based on high frequency signal injection |
Non-Patent Citations (1)
| Title |
|---|
| 刘颖 等: "转子磁钢表贴式永磁同步电机转子初始位置检测", 《中国电机工程学报》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107508522A (en) * | 2017-08-29 | 2017-12-22 | 合肥巨动力***有限公司 | A kind of permanent-magnetic synchronous motor rotor initial position measuring method |
| CN107508522B (en) * | 2017-08-29 | 2020-05-22 | 合肥巨一动力***有限公司 | Method for measuring initial position of rotor of permanent magnet synchronous motor |
| CN107834929A (en) * | 2017-11-24 | 2018-03-23 | 上海电机学院 | A kind of low-speed region rotor position estimate method based on pulsating high frequency electrocardiography |
| CN109194226A (en) * | 2018-09-29 | 2019-01-11 | 深圳市汇川技术股份有限公司 | Parameter of electric machine on-line identification method, system, electric machine controller and storage medium |
| CN110112978A (en) * | 2019-05-07 | 2019-08-09 | 浙江工业大学 | A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation |
| CN111654220A (en) * | 2020-06-24 | 2020-09-11 | 江苏建筑职业技术学院 | Interpolation type permanent magnet synchronous motor rotor position information extraction method |
| CN112087175A (en) * | 2020-08-31 | 2020-12-15 | 东南大学 | Speed identification method for permanent magnet synchronous motor |
| CN112117943A (en) * | 2020-09-18 | 2020-12-22 | 湘潭大学 | Novel IPMSM high-frequency square wave injection position-sensorless control |
| CN112117943B (en) * | 2020-09-18 | 2022-03-25 | 湘潭大学 | Novel IPMSM high-frequency square wave injection position-sensorless control |
| CN113364381A (en) * | 2021-05-24 | 2021-09-07 | 西安理工大学 | Surface-mounted permanent magnet synchronous motor sensorless segmented delay compensation strategy |
| CN113972874A (en) * | 2021-09-28 | 2022-01-25 | 江苏大学 | Position error compensation method for permanent magnet synchronous motor without position sensor control |
| CN113972874B (en) * | 2021-09-28 | 2023-11-10 | 江苏大学 | Position error compensation method for permanent magnet synchronous motor without position sensor control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107046384B (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107046384B (en) | A kind of durface mounted permanent magnet synchronous motor rotor position detection method | |
| CN107171608B (en) | A kind of permanent magnet synchronous motor without sensor initial position detection method | |
| CN110429886B (en) | Permanent magnet synchronous motor low-speed domain rotor position identification method | |
| CN108111065A (en) | A kind of six phase permanent-magnet synchronous motor sensorless control system and method based on pulsating high frequency signal injection | |
| CN104901600B (en) | The method for controlling position-less sensor of wide speed range interior permanent-magnet synchronous motor | |
| CN110198150A (en) | A kind of permanent magnet synchronous motor multi-parameter on-line identification method | |
| CN106788071A (en) | A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy | |
| CN104393811B (en) | A kind of method for improving permanent-magnet synchronous motor rotor position accuracy of detection | |
| CN103036499B (en) | Detection method of permanent magnet motor rotor position | |
| CN102843091B (en) | A kind of determination methods of permanent-magnetic synchronous motor rotor initial position | |
| CN103986393A (en) | Method for detecting initial position of rotor of permanent magnet synchronous motor | |
| CN103701395B (en) | A kind of rotor initial position method of estimation based on positive and negative sequence harmonic injection | |
| CN102208894B (en) | Rotating speed evaluation method used for speed-sensorless induction motor vector controlling | |
| CN105227010B (en) | A kind of permagnetic synchronous motor position-sensor-free position detection error harmonic pulse removing method | |
| CN107302328B (en) | The control method of permanent magnet synchronous motor position-sensor-free based on low frequency voltage injection method | |
| CN102545740A (en) | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor | |
| CN106208872B (en) | PMSM high frequency voltage Square wave injection method for estimating rotating speed based on immune algorithm | |
| CN106026831B (en) | A kind of Current Decoupling method under position Sensorless Control | |
| CN106655942A (en) | Sensorless control method of permanent magnet synchronous motor | |
| CN110071674A (en) | A kind of position-sensor-free permanent magnet synchronous motor maximum torque per ampere control method | |
| CN105811831A (en) | Tracking method of rotor position of salient pole permanent magnet synchronous motor in motion state | |
| CN108847800A (en) | Durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method | |
| CN104022710A (en) | Method of detecting initial position of surface-mounted permanent magnet synchronous motor rotor | |
| CN109802618A (en) | Permanent-magnetic synchronous motor rotor initial position discrimination method based on reactive filter | |
| CN110112973A (en) | Permanent magnet synchronous motor inductance parameters discrimination method based on the injection of high-frequency rotating voltage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |