CN107404274A - A kind of method based on open-loop voltage detection PMSM rotor zero-bits - Google Patents
A kind of method based on open-loop voltage detection PMSM rotor zero-bits Download PDFInfo
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- CN107404274A CN107404274A CN201710694819.6A CN201710694819A CN107404274A CN 107404274 A CN107404274 A CN 107404274A CN 201710694819 A CN201710694819 A CN 201710694819A CN 107404274 A CN107404274 A CN 107404274A
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of method based on open-loop voltage detection PMSM rotor zero-bits, mainly solves the problem of existing PMSM rotors zero-bit acquisition methods computing present in prior art is more complicated, and operand is big, and theoretical property is strong.A kind of method based on open-loop voltage detection PMSM rotor zero-bits is by open-loop voltage, rotor-position sampled value, PMSM rotor zero adjustment values, records corresponding PMSM rotating speeds, and optimal PMSM rotor zero-bits are determined by least absolute value method.By such scheme, invention achieves independent of the parameter of electric machine.Whole detection process performs that the time is short, electric machine controller can the on-line automatic purpose for completing to calculate, there is very high practical value and promotional value.
Description
Technical field
The present invention relates to permagnetic synchronous motor (PMSM) control technology field, is to be related to one kind to be based on open loop specifically
The method of voltage detecting PMSM rotor zero-bits.
Background technology
Permagnetic synchronous motor (PMSM) is because with high efficiency, high power density, that control performance is good, starting characteristic is good etc. is excellent
Point, using very extensive；Electric machine controller to permagnetic synchronous motor when carrying out field-oriented vector control (FOC), if turned
The zero-bit of son forbidden to may result in it is unstable to magneto vector controlled, so wanting to be controlled PMSM must just obtain
Its rotor zero-bit.
, it is necessary to run complicated algorithm according to the parameter of electric machine when in general electric machine controller can not obtain PMSM rotor zero-bits
To determine motor zero-bit；Wherein its exemplary process has High Frequency Injection, because this method make use of rotor
Space-saliency effect, but it is often more complicated to the demodulating algorithm of high frequency electric response signal, and operand is big, and theoretical property is strong；
Also have in addition in document using model reference adaptive method, fuzzy control method, artificial neural network, design sliding mode observer
The methods of the initial position of rotor of permagnetic synchronous motor is estimated, but these methods are required for formula and the computing of complexity.
The content of the invention
It is existing to solve it is an object of the invention to provide a kind of method based on open-loop voltage detection PMSM rotor zero-bits
The problem of PMSM rotor zero-bit acquisition methods computings are more complicated, and operand is big, and theoretical property is strong.
In order to solve the above problems, the present invention provides following technical scheme：
The step of a kind of method based on open-loop voltage detection PMSM rotor zero-bits includes is as follows：
(a) the open-loop voltage U of D axles in PMSM vector controlleds is given respectivelyqWith the open-loop voltage U of Q axlesd；
(b) according to the U given in step (a)qAnd UdUnder state, PMSM rotor zero-bits are calculatedWherein i distinguishes
For 0,1,2...n-1；
(c) PMSM rotor positions are calculated according to step (b)ei=θi+pθm, p is PMSM number of pole-pairs in formula, θmFor rotor
Position sampled value；
(d) PMSM rotating speeds are calculated according to (c)
(e) PMSM rotor zero-bit is tried to achieve according to least absolute value method.
Specifically, step (e) comprises the following steps：
(e1) U when PMSM is rotated forward is givenqAnd Ud, repeat step (a) to (d), in PMSM stabilizations of speed, preserve PMSM
Rotational speed omegapi(i=0,1,2...n-1)；
(e2) U during PMSM reversions is givenqAnd Ud, repeat step (a) to (d), in PMSM stabilizations of speed, preserve PMSM
Rotational speed omegaNi(i=0,1,2...n-1)；
(e3) rotating speed and ω of calculation procedure (e1) and step (e2)di；
(e4) ω minimum in step (e3) is found outdiDraw PMSM rotor zero-bit.
Specifically, the detailed process of step (e3) is：Get rid of ωPiAnd ωNiIn close to zero numerical value and ωNiIt is negative
Numerical value, remaining numerical value make and, obtain ωdi=ωPi+ωNi。
Specifically, the detailed process of step (e4) is：Find ωdiThe minimum number of middle numerical value, is denoted as ωdk；PMSM rotor
Zero-bit isThat is θe=θk+pθm, it is correct PMSM rotor-positions.
Specifically, respectively according to the U given in step (e1) and step (e2)qAnd UdAnd the PMSM rotor-positions tried to achieve
θei, export PMSM sine voltage Ua, Ub, Uc；Calculation formula is as follows：
Compared with prior art, the invention has the advantages that：PMSM rotor zero testings of the invention and traditional
Method is compared, and algorithm is simple, it is only necessary to opened loop control, and calculating process is independent of the parameter of electric machine.Whole detection process performs
Time is short, and electric machine controller on-line automatic can be completed to calculate, it is not necessary to off-line analysis data.
Brief description of the drawings
Fig. 1 is the control block diagram of the present invention.
Fig. 2 is the flow chart of the present invention.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include but is not limited to
The following example.
As depicted in figs. 1 and 2, it is a kind of based on open-loop voltage detection PMSM rotor zero-bits method be by open-loop voltage,
Rotor-position sampled value, PMSM rotor zero adjustment values, corresponding PMSM rotating speeds are recorded, and determined by least absolute value method
Optimal PMSM rotor zero-bits；Detailed process is as follows：
Step 1：The open-loop voltage of D axles and Q axles in PMSM vector controlleds, U are set respectivelyq=C, Ud=0, C are a comparison
Small magnitude of voltage, it is constant, enables motor to be unlikely to turn too fast.
Step 2：PMSM rotor zero-bits are setCalculate PMSM rotor positionsei=θi+pθm, run vector control
Algorithm processedExport Ua、Ub、Uc。
Step 3：It is respectively 0,1,2...n-1 to make i, repeat step 2, and when motor speed is stable, program preserves PMSM rotating speeds
ωPi(i=0,1,2...n-1).
Step 4：The open-loop voltage of D axles and Q axles in PMSM vector controlleds, U are set respectivelyq=-C, Ud=0, C are a ratio
Less magnitude of voltage, it is constant, enables motor to be unlikely to turn too fast.
Step 5：It is respectively 0,1,2...n-1 to make i, repeat step 2, and when motor speed is stable, program preserves PMSM rotating speeds
ωNi(i=0,1,2...n-1).
Step 6：ω is got rid of in softwarePiAnd ωNiIn close to zero numerical value and ωNiFor negative numerical value, remaining number
Value is made and obtains ωdi=ωPi+ωNi；
Step 7：Find ωdiThe minimum number of middle numerical value, is denoted as ωdk；
Step 8：PMSM rotor zero-bit isThat is θe=θk+pθm, it is correct PMSM rotors position
Put.
It is that can obtain PMSM rotor zero-bit by above-mentioned steps 1 to step 8.
The general principle of the present invention：Its mechanical property is identical when reversion is rotated forward during permagnetic synchronous motor zero load, if motor
Zero-bit is correct, then gives Uq=C, Ud=0 and Uq=-C, UdWhen=0, its rotating speed should be big under the conditions of two kinds in theory
It is small equal, in opposite direction, and UqFor timing, motor is rotating forward.If zero-bit is incorrect, under these conditions, its positive Uq's
Rotating speed and negative UqRotating speed should be unequal.
The implementation condition of test case of the present invention is：U can be givenq、UdElectric machine controller, absolute position transducer feedback
Permagnetic synchronous motor, permagnetic synchronous motor rotating speed can be obtained.
Following table is the real data measured：It can show that PMSM rotor zero adjustments value is 5.654867 radians, actual PMSM
Rotor zero-bit is 5.75959 radians, and error is 0.10472 radian.Demonstrate validity of the present invention.If reducing step-length, that is, increase
Add n value, you can the precision of increase rotor zero adjustment value.
The present invention is to be based on opened loop control, independent of the parameter of electric machine, it is not necessary to which complex designing algorithm, program have performed one
Testing process, you can calculate PMSM rotor zero-bit.
According to above-described embodiment, the present invention can be realized well.What deserves to be explained is before based on said structure design
Put, to solve same technical problem, some made in the present invention are used without substantial change or polishing
Technical scheme essence still as the present invention, therefore it should also be as within the scope of the present invention.
Claims (5)
1. it is a kind of based on open-loop voltage detection PMSM rotor zero-bits method, it is characterised in that including the step of it is as follows：
(a) the open-loop voltage U of D axles in PMSM vector controlleds is given respectivelyqWith the open-loop voltage U of Q axlesd；
(b) according to the U given in step (a)qAnd UdUnder state, PMSM rotor zero-bits are calculatedWherein i is respectively 0,
1,2 ... n-1；
(c) PMSM rotor positions are calculated according to step (b)ei=θi+pθm, p is PMSM number of pole-pairs in formula, θmFor rotor-position
Sampled value；
(d) PMSM rotating speeds are calculated according to (c)
(e) PMSM rotor zero-bit is tried to achieve according to least absolute value method.
A kind of 2. method based on open-loop voltage detection PMSM rotor zero-bits according to claim 1, it is characterised in that
Step (e) comprises the following steps：
(e1) U when PMSM is rotated forward is givenqAnd Ud, repeat step (a) to (d), in PMSM stabilizations of speed, preserve PMSM rotating speeds
ωPi(i=0,1,2...n-1)；
(e2) U during PMSM reversions is givenqAnd Ud, repeat step (a) to (d), in PMSM stabilizations of speed, preserve PMSM rotating speeds
ωNi(i=0,1,2...n-1)；
(e3) rotating speed and ω of calculation procedure (e1) and step (e2)di；
(e4) ω minimum in step (e3) is found outdiDraw PMSM rotor zero-bit.
A kind of 3. method based on open-loop voltage detection PMSM rotor zero-bits according to claim 2, it is characterised in that step
Suddenly the detailed process of (e3) is：Get rid of ωPiAnd ωNiIn close to zero numerical value and ωNiFor negative numerical value, remaining numerical value
Make and obtain ωdi=ωPi+ωNi。
A kind of 4. method based on open-loop voltage detection PMSM rotor zero-bits according to claim 2, it is characterised in that step
Suddenly the detailed process of (e4) is：Find ωdiThe minimum number of middle numerical value, is denoted as ωdk；PMSM rotor zero-bit is
That is θe=θk+pθm, it is correct PMSM rotor-positions.
A kind of 5. method based on open-loop voltage detection PMSM rotor zero-bits according to claim 2, it is characterised in that point
Not according to the U given in step (e1) and step (e2)qAnd UdAnd the PMSM rotor positions tried to achieveei, export PMSM sine wave
Voltage Ua, Ub, Uc；Calculation formula is as follows：
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109873589A (en) * | 2019-04-17 | 2019-06-11 | 电子科技大学 | A kind of permanent-magnetic synchronous motor rotor zero testing method |
| CN112087176A (en) * | 2020-09-01 | 2020-12-15 | 深圳熙斯特新能源技术有限公司 | Motor rotor reference zero offset correction method and system |
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| CN102401626A (en) * | 2011-11-20 | 2012-04-04 | 中国科学院光电技术研究所 | Estimating method of installment deviation of rotor-position sensor of permanent magnet synchronous motor |
| US20120217912A1 (en) * | 2011-02-28 | 2012-08-30 | Long Wu | Method and system for calibrating rotor position offset of an electric motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN106130415A (en) * | 2016-03-31 | 2016-11-16 | 法乐第(北京)网络科技有限公司 | For demarcating the method for motor and controlling device |
| CN106374791A (en) * | 2015-07-23 | 2017-02-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Zero adjustment method and device for incremental encoder servo motor |
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| US20120217912A1 (en) * | 2011-02-28 | 2012-08-30 | Long Wu | Method and system for calibrating rotor position offset of an electric motor |
| CN102401626A (en) * | 2011-11-20 | 2012-04-04 | 中国科学院光电技术研究所 | Estimating method of installment deviation of rotor-position sensor of permanent magnet synchronous motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN106374791A (en) * | 2015-07-23 | 2017-02-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Zero adjustment method and device for incremental encoder servo motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109873589A (en) * | 2019-04-17 | 2019-06-11 | 电子科技大学 | A kind of permanent-magnetic synchronous motor rotor zero testing method |
| CN112087176A (en) * | 2020-09-01 | 2020-12-15 | 深圳熙斯特新能源技术有限公司 | Motor rotor reference zero offset correction method and system |
| CN112087176B (en) * | 2020-09-01 | 2023-03-10 | 深圳熙斯特新能源技术有限公司 | Motor rotor reference zero offset correction method and system |
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