CN107947668A - A kind of method for being used to detect state before motor operation - Google Patents
A kind of method for being used to detect state before motor operation Download PDFInfo
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- CN107947668A CN107947668A CN201711418558.1A CN201711418558A CN107947668A CN 107947668 A CN107947668 A CN 107947668A CN 201711418558 A CN201711418558 A CN 201711418558A CN 107947668 A CN107947668 A CN 107947668A
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- current
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- state before
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Classifications
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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
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to permanent magnet synchronous motor Sensorless Control Technique field, especially a kind of method for being used to detect state before motor operation, three-phase current is obtained by current sensor including controller, the three-phase phase current that Clark becomes motor of changing commanders is converted into two-phase rest frame biphase current, then by Park converters by two-phase rest frame biphase currentThe electric current Id_fbk and Iq_fbk being converted under two-phase rotating coordinate system, D shaft current specified rate Id_Ref and Q shaft current specified rates Iq_Ref is adjusted by pi regulator, inverse Park conversion is used for the voltage Ualpha and the Ubeta Ud under two-phase rotating coordinate system and Uq being transformed under two-phase rest frame, SVPWM modulates the 6 road pwm signal control inverter of method output according to dSPACE of SVPWM, the pwm signal that inverter is exported according to SVPWM, DC power conversion into alternating current.A kind of method for being used to detect state before motor operation of the present invention, cost is low, dependable performance, implementation method are simple, and high current is not produced in detection process.
Description
Technical field
The present invention relates to machine testing equipment technical field, especially a kind of method for being used to detecting state before motor operation.
Background technology
At present, the algorithm of DC brushless motor and the widely used position-sensor-free of permanent magnet synchronous motor realizes rotor-position
Detection.In general, normal starting process includes positioning, open loop operation, the closed loop of position-sensor-free generation position signal
Operation.Before electric motor starting operation, motor is respectively static, rotate forward, rotate backward there may be three kinds of states.Work as electricity
When machine is static, motor is started according to normal mode；Position fixing process is can be omitted when motor rotates forward, is directly entered open loop fortune
Row order section；When motor rotates backward, it is necessary to before normal starting mode, increase the deboost phase, allow motor be changed into static after again
Started according to normal mode.Therefore, the state detected before electric motor starting is particularly significant.
The content of the invention
In order to overcome the shortcomings of that existing motor can not determine original position of electric motor's rotator before activation, the present invention provides
A kind of method for being used to detect state before motor operation, including controller pass through current sensor and obtain three-phase current, and Clark becomes
The three-phase phase current of motor of changing commanders is converted into two-phase rest frame biphase current, then by Park converters by two
Phase rest frame biphase currentThe electric current Id_fbk and Iq_fbk being converted under two-phase rotating coordinate system, pass through PI
Adjuster adjusts D shaft current specified rate Id_Ref and Q shaft current specified rate Iq_Ref, and inverse Park conversion, which is used for two-phase to rotate, sits
The voltage Ualpha and Ubeta, SVPWM that Ud and Uq under mark system are transformed under two-phase rest frame are modulated according to space voltage
The 6 road pwm signal control inverter of method output of Vector Pulse Width Modulation, the pwm signal that inverter is exported according to SVPWM, straight
Galvanic electricity is transformed into alternating current.
The technical solution adopted by the present invention to solve the technical problems is：A kind of side for being used to detect state before motor operation
Method, it is characterized in that, the method comprises the following steps：
The first step：Controller obtains three-phase current by current sensor；
Second step：The three-phase phase current that Clark becomes motor of changing commanders is converted into two-phase rest frame biphase current, then
By Park converters by two-phase rest frame biphase currentThe electric current Id_ being converted under two-phase rotating coordinate system
Fbk and Iq_fbk；
3rd step：D shaft current specified rate Id_Ref and Q shaft current specified rates Iq_Ref is adjusted by pi regulator；
4th step：Electricity Ud under two-phase rotating coordinate system and Uq being transformed under two-phase rest frame is converted by inverse Park
Press Ualpha and Ubeta；
5th step：Control method output 6 road pwm signal control inversion of the SVPWM modulation according to dSPACE of SVPWM
Device, the pwm signal that inverter is exported according to SVPWM, DC power conversion into alternating current；
6th step：According to Id_Ref=0, Iq_Ref=0,Motor is started, 500mS is waited, easy to two PI electric current loops
Feedback quantity can follow specified rate；
7th step：According to formula,
By arctan function, we can obtain the angle of rotor, then, according toCalculate electricity
Angular speed,。
Further, includingFor the sampling period, that is, calculate twiceInterval time.
Further, including work asWhen motor it is static, whenWhen motor rotate forward, when
When motor rotate backward.Value is cut down for angular rate.
The invention has the advantages that a kind of method for being used to detect state before motor operation of the present invention, obtains motor
State before operation, then uses different startup methods according to the state before motor operation.When motor is static, directly according to just
Normal mode starts；Position fixing process is can be omitted when motor rotates forward, is directly entered the open loop operation stage；When motor reversely turns
When dynamic, it is necessary to before normal starting mode, increase the deboost phase, allow motor to be started after being changed into static according still further to normal mode.Adopt
Electric motor starting success rate can be greatly improved with the method for the present invention, and high current is not produced in detection process, does not increase permanent magnetism
The hardware of synchronous motor controller, only by special software control algorithm, obtains the original state of permanent magnet synchronous motor, solves
The certainly starting problem of permanent magnet synchronous motor position Sensorless Control, low with cost, dependable performance, implementation method is simple,
Not the advantages that high current is not produced in detection process.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the present invention.
Embodiment
If Fig. 1 is the structure diagram of the present invention, a kind of method for being used to detect state before motor operation, the method
Comprise the following steps：
The first step：Controller obtains three-phase current by current sensor；
Second step：The three-phase phase current that Clark becomes motor of changing commanders is converted into two-phase rest frame biphase current, then
By Park converters by two-phase rest frame biphase currentThe electric current Id_ being converted under two-phase rotating coordinate system
Fbk and Iq_fbk；
3rd step：D shaft current specified rate Id_Ref and Q shaft current specified rates Iq_Ref is adjusted by pi regulator；
4th step：Electricity Ud under two-phase rotating coordinate system and Uq being transformed under two-phase rest frame is converted by inverse Park
Press Ualpha and Ubeta；
5th step：Control method output 6 road pwm signal control inversion of the SVPWM modulation according to dSPACE of SVPWM
Device, the pwm signal that inverter is exported according to SVPWM, DC power conversion into alternating current；
6th step：According to Id_Ref=0, Iq_Ref=0,Motor is started, 500mS or so is waited, easy to two PI electricity
The feedback quantity of stream ring can follow specified rate；
7th step：According to formula,
By arctan function, we can obtain the angle of rotor, then, according toCalculate electricity
Angular speed,。
Specific embodiment 1：When takingWhen, whenWhen, it is believed that motor remains static；WhenWhen, it is believed that motor rotates forward；When, it is believed that motor rotates backward, and then obtains motor
State before operation, then uses different startup methods according to the state before motor operation.
It is described above to be merely exemplary for the purpose of the present invention, and it is nonrestrictive, and those of ordinary skill in the art understand,
In the case where not departing from the spirit and scope that appended claims are limited, many modifications, change or equivalent can be made, but all
It will fall within the scope of protection of the present invention.
Claims (3)
1. a kind of method for being used to detect state before motor operation, it is characterized in that, the method comprises the following steps：
The first step：Controller obtains three-phase current by current sensor；
Second step：The three-phase phase current that Clark becomes motor of changing commanders is converted into two-phase rest frame biphase current, then
By Park converters by two-phase rest frame biphase currentThe electric current Id_ being converted under two-phase rotating coordinate system
Fbk and Iq_fbk；
3rd step：D shaft current specified rate Id_Ref and Q shaft current specified rates Iq_Ref is adjusted by pi regulator；
4th step：Electricity Ud under two-phase rotating coordinate system and Uq being transformed under two-phase rest frame is converted by inverse Park
Press Ualpha and Ubeta；
5th step：Control method output 6 road pwm signal control inversion of the SVPWM modulation according to dSPACE of SVPWM
Device, the pwm signal that inverter is exported according to SVPWM, DC power conversion into alternating current；
6th step：According to Id_Ref=0, Iq_Ref=0,Motor is started, waits 500mS.
7th step：According to formula,
By arctan function, we can obtain the angle of rotor, then, according toCalculate electricity
Angular speed,。
2. a kind of method for being used to detect state before motor operation according to claim 1, it is characterized in that, it is describedFor the sampling period, that is, calculate twiceInterval time.
3. a kind of method for being used to detect state before motor operation according to claim 1, it is characterized in that, it is described to work asWhen motor it is static, whenWhen motor rotate forward, whenWhen motor rotate backward.
Value is cut down for angular rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418558.1A CN107947668A (en) | 2017-12-25 | 2017-12-25 | A kind of method for being used to detect state before motor operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711418558.1A CN107947668A (en) | 2017-12-25 | 2017-12-25 | A kind of method for being used to detect state before motor operation |
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| Publication Number | Publication Date |
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| CN107947668A true CN107947668A (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711418558.1A Pending CN107947668A (en) | 2017-12-25 | 2017-12-25 | A kind of method for being used to detect state before motor operation |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450305A (en) * | 2018-12-27 | 2019-03-08 | 峰岹科技（深圳）有限公司 | Ceiling-fan motor control method, device and ceiling fan based on noninductive FOC |
| CN111600517A (en) * | 2020-06-12 | 2020-08-28 | 雷勃电气(常州)有限公司 | Method for detecting state of motor before operation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010259323A (en) * | 2009-04-21 | 2010-11-11 | Schneider Toshiba Inverter Europe Sas | Method for determining position of flux vector of motor |
| CN104022711A (en) * | 2014-06-06 | 2014-09-03 | 南京航空航天大学 | Method for detecting initial position of surface PM 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 |
-
2017
- 2017-12-25 CN CN201711418558.1A patent/CN107947668A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010259323A (en) * | 2009-04-21 | 2010-11-11 | Schneider Toshiba Inverter Europe Sas | Method for determining position of flux vector of motor |
| CN104022711A (en) * | 2014-06-06 | 2014-09-03 | 南京航空航天大学 | Method for detecting initial position of surface PM 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109450305A (en) * | 2018-12-27 | 2019-03-08 | 峰岹科技（深圳）有限公司 | Ceiling-fan motor control method, device and ceiling fan based on noninductive FOC |
| CN111600517A (en) * | 2020-06-12 | 2020-08-28 | 雷勃电气(常州)有限公司 | Method for detecting state of motor before operation |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20190719 Address after: 314000 Jiaxing Science Industrial Park, Xiuzhou District, Jiaxing City, Zhejiang Province, Canada Applicant after: Leibo Electric (Jiaxing) Co., Ltd. Address before: 213000 No. 1 Xinheng Road, Xinbei District, Changzhou City, Jiangsu Province, Xinhua Village, Chunjiang Town Applicant before: Regal-Beloit (Changzhou) Co., Ltd. |
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Application publication date: 20180420 |
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