CN108155838A - A kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop - Google Patents
A kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop Download PDFInfo
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- CN108155838A CN108155838A CN201611093295.7A CN201611093295A CN108155838A CN 108155838 A CN108155838 A CN 108155838A CN 201611093295 A CN201611093295 A CN 201611093295A CN 108155838 A CN108155838 A CN 108155838A
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P6/14—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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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop, include the following steps：1. carrying out differential to it again using mixed model flux observer estimation current motor rotor flux angle, current motor rotating speed is estimated；2. pair stator current vector carries out coordinate transform, exciting current electric current i is respectively obtainedd, torque current iq；3. with idWith zero as input, an excitation voltage u is obtained through exciting current controller operationd；With iqWith zero as input, a torque voltage u is obtained through torque current regulatorq；4. couple udWith uqVector modulation is carried out, carries out space vector modulation wave calculating, then permanent magnet synchronous motor is driven with triangle wave generation driving control signal；5. step 1~4 are repeated, until two current phasor stabilizations are in zero neighbouring and maintenance very short a period of time, then it is assumed that the rotating speed estimated at this time is exactly current motor speed, and using current rotating speed as rotating speed is started, is taken over seamlessly as to synchronous motor speed control.
Description
Technical field
The invention belongs to PMSM Speed technical fields more particularly to one kind to be sweared based on permanent magnet synchronous motor open loop
The rotating speed method for tracing of amount.
Background technology
In high-performance permanent magnet in motor vector control system, generally use speed closed loop control.Rotating speed generally passes through volume
Code device and being estimated according to mathematical model obtains, however, as encoder installation, safeguard, that cost etc. affects permanent magnetism is same
The simplicity of motor speed regulation system and the reliability of system are walked, there has been proposed open loop speed closed loop control schemes.Its
Key problem is the estimation to rotor speed information.There are many permanent magnet synchronous motor turn count algorithms, calculated as utilization is direct,
The means such as observer, adaptive, artificial intelligence, measurement motor side Current Voltage estimates spinner velocity information, so as to be turned
Fast closed-loop control.
However, before transducer drive motor operation, motor is likely to be in rotation status, has following two typical
Occasion：1. large-scale ventilation equipment because remaining air quantity may caused by motor rotate freely；2. the big load of rotary inertia encounters suddenly
After power failure, motor can rotate freely long time, at this time if the rotating speed of motor, otherwise frequency conversion must first be obtained by starting motor
Device can cause frequency converter overcurrent or overvoltage due to excessive speed discrepancy.This phenomenon in order to prevent, it is desirable that governing system, which has, to be turned
Function is restarted in speed tracking.
Have in engineering and current sync motor speed information is obtained using additional firmware rotating speed tracking chucking method：By hardware circuit
Synchronous motor three-phase voltage amplitude and frequency and direction are obtained, although such method tracking velocity is fast, hardware handles are passed through
More complicated processing, also needs software to coordinate, and finally can just obtain required rotary speed information, not only increase system hardware into
This, and the reliability of system is reduced, generally seldom use this scheme.
There is a method in which by detecting DC bus-bar voltage variation tendency or by detecting DC current, working as stator side
DC bus current is minimum when electric frequency is equal with motor rotor frequency.Although this thinking clear physics conception is clear and definite but realizes
Difficulty of getting up is larger, and scheme has the following problems：1. it is detected in general frequency-converter device without DC bus current, and direct current
It bus current minimum and is difficult to judge in dc-link capacitance variation tendency very short a period of time；2. if the stator magnet currently searched
Field frequencies range and motor actual speed gap are big, and when especially stator field frequency is opposite with motor actual speed direction, rotating speed is searched
The search time for seeking device can be long.
Invention content
In view of this, the present invention provides a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop, can be accurate
The current rotating speed size and Orientation of permanent magnet synchronous motor really is estimated, it is steady again so as to fulfill permanent magnet synchronous motor no current overshoot ground
It starts, and does not increase hardware cost.
The technical scheme is that：A kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop, feature
It is, includes the following steps：
(1) when permanent magnet synchronous motor is restarted, mixed model flux observer estimation current motor rotor flux angle is utilized
Degree carries out differential to magnetic linkage angle, estimates current motor rotating speed；
(2) coordinate transform is carried out to the stator current vector of permanent magnet synchronous motor, respectively obtains exciting current electric current id, turn
Square electric current iq；
(3) with exciting current idWith zero as input, an excitation voltage u is obtained through exciting current controller operationd；With
Torque current iqWith zero as input, a torque voltage u is obtained through torque current regulatorq；
(4) to excitation voltage udWith torque voltage uqVector modulation is carried out, carries out space vector modulation wave calculating, then with three
Angle Bobbi relatively generates driving control signal driving permanent magnet synchronous motor；
(5) step (1)~(4) are repeated, until two current phasor stabilizations nearby and maintain very short a period of time zero,
The rotating speed for then thinking to estimate at this time is exactly current motor speed, and using current rotating speed as start rotating speed, take over seamlessly for
To synchronous motor speed control.
Preferably, rotor mixed model flux observer includes rotor flux voltage model and rotor in the step (1)
Magnetic linkage current model estimates magnetic linkage angle when high speed using rotor flux voltage model, when low speed uses rotor flux electric current
Model estimates magnetic linkage angle.
Preferably, shown in the rotor flux voltage model equation below：
Wherein,It is two-phase static coordinate lower rotor part magnetic linkage in α axis and the component of β axis directions, usα, usβ, isα,
isβRespectively stator voltage vector and stator current vector are in α axis and the component of β axis directions, R, LsσRespectively stator resistance and
Leakage inductance；For the rotor flux angle estimated.
Preferably, shown in rotor flux current model (ignoring the influence of the magnetic field settling time) equation below：
WhereinIt is stator magnetic linkage under two cordic phase rotators in the component of d-q axis directions, isd, isq, ifdRespectively
D-q axis components and the equivalent exciting current of rotor permanent magnet under the rotating coordinate system of stator current；Alpha-beta two can be obtained through anti-Park transformation
The stator magnetic linkage that current model is observed under phase rest frame.
Preferably, the input of mixed model flux observer is threephase stator voltage, electric current, equivalent encourages in the step (1)
Magnetoelectricity stream and rotor flux angle, export as rotor flux.It, can be if the output of current model and voltage model is individually considered
Mixing flux observer regards dual input as, and the system singly exported then estimates that magnetic linkage angle implementation method is as follows：
Wherein：
WhereinThe respectively output magnetic linkage of current model and conventional voltage model；Gi(s), Gu(s) respectively
For closed loop transfer function,；It can be seen that Gi(s) it is a low-pass filter, Gu(s) it is high-pass filter.Rational configuration
Kp、KISeamlessly transitting between 2 kinds of models can be realized in value；Due to the introducing of feedback channel, not only solve in conventional voltage model
Pure integrator drift problem, and when speed is zero, counter electromotive force zero,Also asking for initial value for integral is solved
Topic.If λ1, λ2For Gi(s), Gu(s) 2 poles, then have λ1+λ2=Kp, λ1·λ2=KI。
Preferably, stator current vector coordinate transform formula is as follows in the step (2)：
Wherein id、iqThe exciting current and torque current respectively fed back,For the rotor flux angle estimated, ia、ib
Respectively two-phase stator current, ic=-ia-ib。
Preferably, exciting current controller and torque current regulator are electric voltage feed forward offset-type electricity in the step (3)
Throttle regulator, implementation method are as follows：
Wherein,It is given for exciting current and torque current；For exciting current and torque current feedback；Kpd、
KIdFor exciting current pi regulator ratio, integral coefficient；Kpd、KIdFor torque current pi regulator ratio, integral coefficient；u′d、
u′qFor electric voltage feed forward decoupling amount, final excitation voltage and torque voltage are formed with electric current loop pi regulator output quantity respectively, to carry
The dynamic response of high system realizes the full decoupled of system voltage, and formula is as follows：
Preferably, space vector modulation wave computational methods are in the step (4)：It is synthesized by excitation voltage and torque voltage
Voltage vector magnitude, the rotor flux angle estimated by magnetic linkage mixed model obtain voltage with level angle under rotating coordinate system
Vector sends out wave angle degree, is obtained by PWM Algorithm；Step (4) the intermediate cam wave is generated by the counter of DSP.
Compared with prior art, the present invention has the advantages that：
1. in turn count estimation process of the present invention, reasonable given voltage vector, to motor substantially without impact, current-responsive
Soon, it can synchronize in a short period of time and estimate motor speed size and direction.
2. the present invention estimates spinner velocity using Current Voltage mixing flux estimate algorithm model, low speed current-mode
Type, at a high speed with voltage model, and two models can smooth transition, estimated speed range is wide, highly practical.
3. the present invention improves the reliability of system, makes system in cost without additionally increasing rotating speed tracking hardware cost
With in reliability have apparent advantage.
Description of the drawings
Fig. 1 is the rotating speed tracking system architecture figure of the present invention.
Fig. 2 is the mixed model flux observer structure chart of the present invention.
Fig. 3 is the phase current waveform when motor speed tracking of the present invention is restarted.
Fig. 4 is the phase current waveform when motor reverse speed tracking of the present invention is restarted.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the present invention will be further described.
Fig. 1 is a kind of structural frames of one embodiment of the rotating speed tracking based on permanent magnet synchronous motor open loop of the present invention
Figure, as shown in Figure 1, the rotating speed Tracing Control system of permanent magnet synchronous motor open loop of the present invention includes：Stator current Clarke
With Parker's coordinate transformation module, torque current ring adjuster, exciting current ring adjuster, speed ring pi regulator, state conversion
Switch 1 and 2, rotating speed exciting current relationship module, mixing flux linkage model observer, angle derivative module, low-pass filtering module, with
And PWM Algorithm module.When systems are functioning properly, using velocity close-loop control, state modular converter is by 2 ends and torque
Current regulator is connected, and normal velocity close-loop control is carried out to motor；When motor is in free rotation state, system needs pair
The rotating speed of motor is tracked when restarting, state switch 2 by 1 end withEnd is connected, and state switch 1 will
1 end withEnd is connected, and system is in torque operational mode, carries out turn count to motor at this time.
The present invention provides a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop, include the following steps：
(1) when permanent magnet synchronous motor is restarted, mixed model flux observer estimation current motor rotor flux angle is utilized
Degree carries out differential to magnetic linkage angle, estimates current motor rotating speed；
As shown in Fig. 2, rotor mixed model flux observer includes rotor flux voltage model and rotor magnetic in this step
Chain current model estimates magnetic linkage angle when high speed using rotor flux voltage model, when low speed uses rotor flux current-mode
Type estimates magnetic linkage angle.
Wherein, shown in rotor flux voltage model equation below：
In above formula,It is two-phase static coordinate lower rotor part magnetic linkage in α axis and the component of β axis directions, usα, usβ,
isα, isβRespectively stator voltage vector and stator current vector are in α axis and the component of β axis directions, R, LsσRespectively stator resistance
And leakage inductance；For the rotor flux angle estimated.
Wherein, shown in rotor flux current model (ignoring the influence of magnetic field settling time) equation below：
In above formula,It is stator magnetic linkage under two cordic phase rotators in the component of d-q axis directions, isd, isq, ifdPoint
It Wei not d-q axis components and the equivalent exciting current of rotor permanent magnet under the rotating coordinate system of stator current；It can be obtained through anti-Park transformation
The stator magnetic linkage that current model is observed under alpha-beta two-phase stationary coordinate system.
As shown in Fig. 2, in this step the input of rotor mixed model flux observer be threephase stator voltage, it is electric current, equivalent
Exciting current and rotor flux angle, export as rotor flux；It, can be with if the output of current model and voltage model is individually considered
Mixing flux observer is regarded as dual input, the system singly exported, then estimates that magnetic linkage angle implementation method is as follows：
Wherein：
WhereinThe respectively output magnetic linkage of current model and conventional voltage model；Gi(s), Gu(s) divide
It Wei not closed loop transfer function,；It can be seen that Gi(s) it is a low-pass filter, Gu(s) it is high-pass filter.Reasonably match
Put Kp、KISeamlessly transitting between 2 kinds of models can be realized in value；Due to the introducing of feedback channel, conventional voltage model is not only solved
In pure integrator drift problem, and when speed is zero, counter electromotive force zero,Also asking for initial value for integral is solved
Topic.If λ1, λ2For Gi(s), Gu(s) 2 poles, then have λ1+λ2=Kp, λ1·λ2=KI。
(2) coordinate transform is carried out to the stator current vector of permanent magnet synchronous motor, respectively obtains exciting current electric current id, turn
Square electric current iq；
Stator current vector coordinate transform formula is as follows in this step：
Wherein id、iqThe exciting current and torque current respectively fed back,For the rotor flux angle estimated, ia、ib
Respectively two-phase stator current, ic=-ia-ib。
(3) with exciting current idWith zero as input, an excitation voltage u is obtained through exciting current controller operationd；With
Torque current iqWith zero as input, a torque voltage u is obtained through torque current regulatorq；
Exciting current controller and torque current regulator are electric voltage feed forward offset-type current regulator in this step, are realized
Method is as follows：
Wherein,It is given for exciting current and torque current；For exciting current and torque current feedback；Kpd、
KIdFor exciting current pi regulator ratio, integral coefficient；Kpd、KIdFor torque current pi regulator ratio, integral coefficient；u′d、
u′qFor electric voltage feed forward decoupling amount, final excitation voltage and torque voltage are formed with electric current loop pi regulator output quantity respectively, to carry
The dynamic response of high system realizes the full decoupled of system voltage, and formula is as follows：
(4) to excitation voltage udWith torque voltage uqVector modulation is carried out, carries out space vector modulation wave calculating, then with three
Angle Bobbi relatively generates driving control signal driving permanent magnet synchronous motor；
Space vector modulation wave computational methods are in this step：By excitation voltage and torque voltage synthesized voltage vector width
Value, the rotor flux angle estimated by magnetic linkage mixed model obtain voltage vector hair wave angle with level angle under rotating coordinate system
Degree, obtains by PWM Algorithm；Step (4) the intermediate cam wave is generated by the counter of DSP.
(5) step (1)~(4) are repeated, until two current phasor stabilizations nearby and maintain very short a period of time zero,
The rotating speed for then thinking to estimate at this time is exactly current motor speedAnd the rotating speed of estimation is obtained more by low-pass filter
Add stable rotating speedAnd using current rotating speed as rotating speed is started, state switch 2 is by 2 ends and torque current regulator
It is connected, 2 ends are connected by state switch 1 with rotating speed exciting current relationship module, take over seamlessly to be closed to synchronous motor speed
Ring controls.
Test platform of the present invention have it is a set of to dragging unit, by permanent magnet synchronous motor and asynchronous machine and two frequency converter groups
It is permanent magnet synchronous motor into, experimental prototype, the parameter of electric machine such as following table：
Certain rotating speed is dragged to using by synchronous motor, then blocks frequency converter output, motor is in and rotates freely shape
At this moment state restarts the tracking of frequency converter rotating speed, estimate the actual speed of current motor, then turn current rotating speed as startup
Speed, smooth conversion are the speed closed loop control to synchronous motor.When Fig. 3 gives high speed, when motor speed tracking is restarted
Certain phase current waveform, motor acceleration time are 1.5s, and deceleration time 3s, horizontal axis is time shaft (0.2 second/lattice), and the longitudinal axis is electricity
Flow amplitude (5 peaces/lattice), maximum impact electric current first dash current of frequency converter (open) very little, less than rated current 25%,
During turn count time about 0.15s. and turn count, current of electric control response is very fast, can quickly estimate motor
Current rotating speed.
Under equal conditions, with asynchronous machine by the high speed of motor drag to negative direction, then motor is allowed to rotate freely, motor is anti-
Restart to rotating speed tracking, Fig. 4 is certain phase current waveform at this time, and as seen from the figure, current of electric impact very little, electric current is rung
Should be fast, after tracking rotating speed, motor speed lowers according to deceleration time, then changes direction and the rotation side of frequency converter setting
To identical, the rotating speed of setting is accelerated to according still further to the acceleration time.It is smoothly opened it can thus be seen that the present invention suggests plans to have
Dynamic process and good rapidity, energy fast track meet the requirement of corresponding occasion to motor speed size and Orientation.
The above embodiments are merely a preferred embodiment of the present invention, it is impossible to the interest field of the present invention is limited with this, because
This, modification, equivalent variations, improvement for being made according to scope of the present invention patent etc. are still within the scope of the present invention.
Claims (8)
1. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop, which is characterized in that include the following steps：
(1) when permanent magnet synchronous motor is restarted, current motor rotor flux angle is estimated using mixed model flux observer, it is right
Magnetic linkage angle carries out differential, estimates current motor rotating speed；
(2) coordinate transform is carried out to the stator current vector of permanent magnet synchronous motor, respectively obtains exciting current electric current id, torque electricity
Flow iq；
(3) with exciting current idWith zero as input, an excitation voltage u is obtained through exciting current controller operationd；With torque
Electric current iqWith zero as input, a torque voltage u is obtained through torque current regulatorq；
(4) to excitation voltage udWith torque voltage uqCarry out Vector modulation, carry out space vector modulation wave calculating, then with triangular wave
Compare generation driving control signal driving permanent magnet synchronous motor；
(5) step (1)~(4) are repeated, until two current phasor stabilizations near zero and maintain very short a period of time, then to recognize
Rotating speed to estimate at this time is exactly current motor speed, and using current rotating speed as rotating speed is started, is taken over seamlessly as to same
Walk motor speed control.
2. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 1, feature exist
In, rotor mixed model flux observer includes rotor flux voltage model and rotor flux current model in the step (1),
Magnetic linkage angle is estimated using rotor flux voltage model when high speed, when low speed is using rotor flux current model estimation magnetic linkage angle
Degree.
3. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 2, feature exist
In shown in the rotor flux voltage model equation below：
Wherein,It is two-phase static coordinate lower rotor part magnetic linkage in α axis and the component of β axis directions, usα, usβ, isα, isβPoint
Not Wei stator voltage vector and stator current vector in α axis and the component of β axis directions, R, LsσRespectively stator resistance and leakage inductance；For the rotor flux angle estimated.
4. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 2, feature exist
In shown in rotor flux current model (ignoring the influence of the magnetic field settling time) equation below：
WhereinIt is stator magnetic linkage under two cordic phase rotators in the component of d-q axis directions, isd, isq, ifdRespectively stator
D-q axis components and the equivalent exciting current of rotor permanent magnet under the rotating coordinate system of electric current；It is quiet that alpha-beta two-phase can be obtained through anti-Park transformation
The stator magnetic linkage that only current model is observed under coordinate system.
5. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 1, feature exist
In the input of mixed model flux observer is threephase stator voltage, electric current, equivalent exciting current and rotor in the step (1)
Magnetic linkage angle is exported as rotor flux；It, can be mixing flux observation if the output of current model and voltage model is individually considered
The system that device is regarded dual input as, singly exported then estimates that magnetic linkage angle implementation method is as follows：
Wherein：
WhereinThe respectively output magnetic linkage of current model and conventional voltage model；Gi(s), Gu(s) it is respectively to close
Ring transmission function；It can be seen that Gi(s) it is a low-pass filter, Gu(s) it is high-pass filter.Rational configuration Kp、KI
Seamlessly transitting between 2 kinds of models can be realized in value；Due to the introducing of feedback channel, pure product in conventional voltage model is not only solved
Divide drifting problem, and when speed is zero, counter electromotive force zero,Also initial value for integral is solved the problems, such as.If
λ1, λ2For Gi(s), Gu(s) 2 poles, then have λ1+λ2=Kp, λ1·λ2=KI。
6. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 1, feature exist
In stator current vector coordinate transform formula is as follows in the step (2)：
Wherein id、iqThe exciting current and torque current respectively fed back,For the rotor flux angle estimated, ia、ibRespectively
For two-phase stator current, ic=-ia-ib。
7. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 1, feature exist
In exciting current controller and torque current regulator are electric voltage feed forward offset-type current regulator in the step (3), are realized
Method is as follows：
Wherein,It is given for exciting current and torque current；For exciting current and torque current feedback；Kpd、KIdTo encourage
Magnetoelectricity stream pi regulator ratio, integral coefficient；Kpd、KIdFor torque current pi regulator ratio, integral coefficient；u′d、u′qFor electricity
Feedforward Decoupling amount is pressed, final excitation voltage and torque voltage are formed with electric current loop pi regulator output quantity respectively, to improve system
Dynamic response, realize the full decoupled of system voltage, formula is as follows：
8. a kind of rotating speed method for tracing based on permanent magnet synchronous motor open loop according to claim 1, feature exist
In space vector modulation wave computational methods are in the step (4)：By excitation voltage and torque voltage synthesized voltage vector width
Value, the rotor flux angle estimated by magnetic linkage mixed model obtain voltage vector hair wave angle with level angle under rotating coordinate system
Degree, obtains by PWM Algorithm；Step (4) the intermediate cam wave is generated by the counter of DSP.
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| CN117559849A (en) * | 2024-01-11 | 2024-02-13 | 天津飞旋科技股份有限公司 | Permanent magnet synchronous motor open-loop stable starting method, device, equipment and storage medium |
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