CN107134963A - The rotor-position method for tracing of permagnetic synchronous motor - Google Patents
The rotor-position method for tracing of permagnetic synchronous motor Download PDFInfo
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- CN107134963A CN107134963A CN201710423817.3A CN201710423817A CN107134963A CN 107134963 A CN107134963 A CN 107134963A CN 201710423817 A CN201710423817 A CN 201710423817A CN 107134963 A CN107134963 A CN 107134963A
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- rotor
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- synchronous motor
- permagnetic synchronous
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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
- 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
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Abstract
The invention discloses a kind of rotor-position method for tracing of permagnetic synchronous motor, it is related to the control method technical field of motor.Methods described comprises the following steps：Zero current control is carried out to permagnetic synchronous motor and obtains stator voltage and phase, rotating speed and position that low speed tracking, at a high speed tracking and linear switching obtain motor are then carried out to permagnetic synchronous motor.Methods described detection is accurate, can realize the position tracking compared with low speed, without additional hardware circuit, compared to Hardware Implementation, this method saves the hardware circuit of the frequency for detecting current of electric or counter electromotive force.
Description
Technical field
Chased after the present invention relates to the control method technical field of motor, more particularly to a kind of rotor-position of permagnetic synchronous motor
Track method.
Background technology
Rotating speed tracking function be used for permagnetic synchronous motor because inertia etc. be in running status when, without stopping motor from original
The situation of motor is started at the speed come.In some application scenarios, in order to which cost-effective or bad environments cause permanent magnet synchronous electric
Machine can not install encoder, and motor operation can only use open loop control mode.During such as electric motor starting, motor is in rotary state, nothing
Method obtains the rotating speed of motor, it is necessary to restart after rotating speed tracking by encoder.
The content of the invention
The technical problems to be solved by the invention are how to provide a kind of accurately to enter the position of permagnetic synchronous motor
The method that row is followed the trail of.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of rotor position of permagnetic synchronous motor
Put method for tracing, it is characterised in that comprise the following steps：To permagnetic synchronous motor carry out zero current control obtain stator voltage and
Phase, low speed tracking is then carried out to permagnetic synchronous motor, rotating speed and the position for obtaining motor is followed the trail of and linearly switch at a high speed.
Further technical scheme is：Under zero current control, electric current loop is given as zero, and given angle is zero：
If initial time motor produces stator current in rotation under back-emf effect；By the regulation of current closed-loop, stator
Electric current is reduced to zero, now stator voltageEqual and Phase synchronization, can obtain stator voltage width accordingly with counter electromotive force E amplitudes
Value and phase：
ByDetermine the direction of rotation of motor, the relation of voltage, magnetic linkage phasor diagram and rotation direction：(a) rotate forward, (b) reversion, accordingly
To the rotor anglec of rotation：
Wherein,WithThe respectively voltage of d axles and q axles；WithRespectivelyAxle andThe voltage of axle.
Further technical scheme is：When estimated speed be less than certain value, and when being not zero enter low speed track phase,
This stage current closed loop, electric current loop is given as zero,、Obtained through current closed-loop regulation output, obtain rotor
Position angle is,For the angle of estimation,The cycle is performed for program；Turn count is obtained by following formula：,For the speed of estimation,For the linkage coefficient of permagnetic synchronous motor.
Further technical scheme is：Enter high speed track phase, electricity when estimated speed is higher than default low speed value
Closed loop is flowed, electric current loop is given as zero,、Obtained through current closed-loop regulation output, obtained position angle is：
。
Further technical scheme is：Amplitude and phase, rotating speed, the rotation direction for the rotor voltage that location tracking is obtained are made
For the primary condition normally run, transition of the location tracking to normal operating condition is completed,Under linear rise to open loop mode
The output of Id closed loops regulation,Under linear rise to open loop mode the tracking speed VF than given voltage value.
It is using the beneficial effect produced by above-mentioned technical proposal：Methods described detection is accurate, can realize compared with low speed
Position tracking, without additional hardware circuit, compared to Hardware Implementation, this method is saved for detecting current of electric or anti-electricity
The hardware circuit of the frequency of kinetic potential.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the graph of a relation of voltage, magnetic linkage phasor diagram and rotation direction when rotor is rotated forward in methods described of the embodiment of the present invention；
Fig. 2 is the graph of a relation of voltage, magnetic linkage phasor diagram and rotation direction when rotor is inverted in methods described of the embodiment of the present invention；
Fig. 3 is zero current control block diagram in methods described of the embodiment of the present invention；
Fig. 4 is the flow chart of methods described of the embodiment of the present invention.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Overall, as shown in figure 4, the embodiment of the invention discloses a kind of rotor-position tracking side of permagnetic synchronous motor
Method, comprises the following steps：Zero current control is carried out to permagnetic synchronous motor and obtains stator voltage and phase, then to permanent-magnet synchronous
Motor carries out low speed tracking, follows the trail of and linearly switch at a high speed rotating speed and the position for obtaining motor.
Rotor-position, which is followed the trail of, mainly will estimate the current speed of rotor and position angle.The estimation of position angle needs to use
To the speed estimated.The stage is controlled in zero current, the rotating speed of rotor is estimated.If rotating speed is relatively low, enters low speed and follow the trail of
In the stage, carry out the angle of estimation rotor.If rotating speed is higher, into high speed track phase, the angle of rotor is detected.Detect
Enter linear switch step into rear, be that motor normally prepare by startup.
Under zero current control, electric current loop is given as zero, and given angle gives zero：
If initial time motor produces stator current in rotation under back-emf effect；By the regulation of current closed-loop, stator
Electric current is reduced to zero, now stator voltageEqual and Phase synchronization, can obtain stator voltage width accordingly with counter electromotive force E amplitudes
Value and phase：
Wherein,WithThe respectively voltage of d axles and q axles；WithRespectivelyAxle andThe voltage of axle,WithBy
Voltage reconstruction module is obtained,、Entered Park inverse transformations to obtain.
ByThe direction of rotation of motor is can determine that, the relation of voltage, magnetic linkage phasor diagram and rotation direction is as shown in Figure 1-2：
The rotor anglec of rotation is can obtain accordingly：
Turn count can be obtained by following formula：
,For the angle of estimation,For the speed of estimation,For the linkage coefficient of permagnetic synchronous motor.
Location tracking one is divided into four-stage：Zero current stage, low speed track phase, high speed track phase is linearly cut
Change the stage, be finally transitioned into the normal operating condition of speed/torque control.
The zero current stage：Current control：Current closed-loop, electric current loop is given as zero.This stage is to realize zero electricity
Flow control scheme, finally gives rotor speed and angle.The stage continues 8 switch periods, it is necessary to explanation, the present embodiment
In be preferably 8 switch periods, but be not limited to 8 switch periods.
When the motor speed of estimation is relatively low, counter electromotive force is smaller, and the estimation of the rotor anglec of rotation is according to zero current control
Scheme easily produces larger error, so the calculating of rotor angle will take different schemes during low speed：By turning that estimation is obtained
Rotor speed is integrated to the time and obtained.
Low speed track phase:When estimated speed is less than certain value（/ 5th of this implementation selection rated speed, but not
It is limited to this velocity amplitude）When enter low speed track phase.Stage preferably lasts for 300ms, it is necessary to which explanation, the stage continues
Time is not restricted to 300ms, or other time.This stage current closed loop, electric current loop is given as zero,、Obtained through current closed-loop regulation output.Obtained position angle is
High speed track phase:When estimated speed is higher than certain threshold value（Default low speed value）Into high speed track phase, the rank
Section preferably lasts for 100ms, it is necessary to which explanation, the duration in the stage is not restricted to 100ms, or Qi Tashi
Between.Current closed-loop, electric current loop is given as zero。、Obtained through current closed-loop regulation output, obtained position angle
For：
；
Linear switch step:Amplitude and phase, rotating speed, the rotation direction for the stator voltage that location tracking is obtained are used as normal operation
Primary condition, complete transition of the location tracking to normal operating condition.The stage preferably lasts for 100ms, it is necessary to illustrate,
The duration in the stage is not restricted to 100ms, or other time.Id closed loops under linear rise to open loop mode
The output of regulation,Under linear rise to open loop mode the tracking speed VF than given voltage value.
Claims (5)
1. the rotor-position method for tracing of a kind of permagnetic synchronous motor, it is characterised in that comprise the following steps：To permanent magnet synchronous electric
Machine carries out zero current control and obtains stator voltage and phase, low speed tracking is then carried out to permagnetic synchronous motor, follow the trail of at a high speed and
Linear switching obtains rotating speed and the position of motor.
2. the rotor-position method for tracing of permagnetic synchronous motor as claimed in claim 1, it is characterised in that：Zero current is controlled
Under, electric current loop is given as zero, and given angle is zero：
If initial time motor produces stator current in rotation under back-emf effect；By the regulation of current closed-loop, stator
Electric current is reduced to zero, now stator voltageEqual and Phase synchronization, can obtain stator voltage width accordingly with counter electromotive force E amplitudes
Value and phase：
ByDetermine the direction of rotation of motor, the relation of voltage, magnetic linkage phasor diagram and rotation direction：(a) rotate forward, (b) reversion, accordingly
To the rotor anglec of rotation：
Wherein,WithThe respectively voltage of d axles and q axles；WithRespectivelyAxle andThe voltage of axle.
3. the rotor-position method for tracing of permagnetic synchronous motor as claimed in claim 1, it is characterised in that：When estimated speed is low
Enter low speed track phase in certain value, and when being not zero, this stage current closed loop, electric current loop is given as zero,、Obtained through current closed-loop regulation output, the position angle for obtaining rotor is,For the angle of estimation,Held for program
Line period；Turn count is obtained by following formula：,For the speed of estimation,For the linkage coefficient of permagnetic synchronous motor.
4. the rotor-position method for tracing of permagnetic synchronous motor as claimed in claim 1, it is characterised in that：When estimated speed is high
Enter high speed track phase when default low speed value, current closed-loop, electric current loop is given as zero,、Through electric current
Closed loop regulation output is obtained, and obtained position angle is：
。
5. the rotor-position method for tracing of permagnetic synchronous motor as claimed in claim 1, it is characterised in that：Location tracking is obtained
To rotor voltage amplitude and phase, rotating speed, rotation direction as the primary condition normally run, complete location tracking to normal fortune
The transition of row state,The output that Id closed loops are adjusted under linear rise to open loop mode,Should under linear rise to open loop mode
Follow the trail of speed VF than given voltage value.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546909A (en) * | 2018-10-19 | 2019-03-29 | 苏州伟创电气设备技术有限公司 | A kind of AC permanent magnet synchronous motor revolving speed tracking starting method |
| CN109889116A (en) * | 2019-03-12 | 2019-06-14 | 深圳市知行智驱技术有限公司 | The revolving speed follow-up mechanism and its method of double winding electric hydraulic power-assisted steering motor |
| CN110417318A (en) * | 2019-06-25 | 2019-11-05 | 苏州伟创电气设备技术有限公司 | The guard method of AC permanent magnet synchronous motor and device |
| CN110429887A (en) * | 2019-08-09 | 2019-11-08 | 大连海事大学 | A kind of the Position Tracking Control device and control method of permasyn morot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109546909A (en) * | 2018-10-19 | 2019-03-29 | 苏州伟创电气设备技术有限公司 | A kind of AC permanent magnet synchronous motor revolving speed tracking starting method |
| CN109889116A (en) * | 2019-03-12 | 2019-06-14 | 深圳市知行智驱技术有限公司 | The revolving speed follow-up mechanism and its method of double winding electric hydraulic power-assisted steering motor |
| CN109889116B (en) * | 2019-03-12 | 2021-06-15 | 深圳市知行智驱技术有限公司 | Rotating speed tracking device and method of double-winding electric hydraulic power steering motor |
| CN110417318A (en) * | 2019-06-25 | 2019-11-05 | 苏州伟创电气设备技术有限公司 | The guard method of AC permanent magnet synchronous motor and device |
| CN110417318B (en) * | 2019-06-25 | 2021-09-10 | 苏州伟创电气科技股份有限公司 | Protection method and device for alternating current permanent magnet synchronous motor |
| CN110429887A (en) * | 2019-08-09 | 2019-11-08 | 大连海事大学 | A kind of the Position Tracking Control device and control method of permasyn morot |
| CN110429887B (en) * | 2019-08-09 | 2021-01-15 | 大连海事大学 | Position tracking controller and control method of permanent magnet synchronous motor |
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| CN107134963B (en) | 2018-09-07 |
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Address after: 1305, block B, Rongchao Binhai building, 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen gaodewei Technology Co., Ltd. Address before: 518100, Guangdong, Baoan District, Fuyong Shenzhen Street (Fu Garden Road West), Heng Heng Industrial Plant No. 6, a floor of C, fourth C Patentee before: Shenzhen gaodewei Technology Co., Ltd. |
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Effective date of registration: 20200803 Address after: Room 1303, block B, Rongchao Binhai building, No. 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN HUAHAI LIANNET TECHNOLOGY Co.,Ltd. Address before: 1305, block B, Rongchao Binhai building, 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GOLWAY TECHNOLOGY Co.,Ltd. |
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