CN108667357A - Control method, control system and the computer equipment of permanent magnet synchronous motor - Google Patents
Control method, control system and the computer equipment of permanent magnet synchronous motor Download PDFInfo
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- CN108667357A CN108667357A CN201810418805.6A CN201810418805A CN108667357A CN 108667357 A CN108667357 A CN 108667357A CN 201810418805 A CN201810418805 A CN 201810418805A CN 108667357 A CN108667357 A CN 108667357A
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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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
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Abstract
The present invention relates to the control systems of a kind of control method of permanent magnet synchronous motor and permanent magnet synchronous motor, wherein position sensor is set on permanent magnet synchronous motor, the method includes：Apply first voltage in the stator side of permanent magnet synchronous motor, and obtains the first feedback angle of position sensor measurement；Apply second voltage in the stator side of permanent magnet synchronous motor, and obtains the second feedback angle of position sensor measurement；The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；Wherein, first voltage is identical with second voltage size, and direction is opposite.The control method of above-mentioned permanent magnet synchronous motor can effectively eliminate the evaluated error of the electrical initial angle of position sensor and permanent magnet synchronous motor, promote the measurement accuracy of electrical initial angle.
Description
Technical field
The present invention relates to Motor Control Fields, more particularly to the control method and control system of permanent magnet synchronous motor.
Background technology
Permanent magnet synchronous motor has the characteristics that efficient, power density is big, is the mainstream driving motor in electric vehicle field,
But the high quality control of permanent magnet synchronous motor needs accurately to detect the location information of rotor.Currently, permanent magnet synchronous motor turns
The acquisition modes of sub- location information are broadly divided into two kinds of position sensor and position-sensor-free.The rotor of position sensor
Method for detecting position usually requires to install rotary transformer or the position sensor of incremental encoder one kind additional；Position-sensor-free
Rotor position detecting method is then mainly assessed by model.For vehicle-mounted synchronous motor, in order to ensure its reliability,
The problems such as realizability and control accuracy, the location information of the method detection rotor of generally use loading position sensor.
In the practical application of the permanent magnet synchronous motor of loading position sensor, the initial position and permanent magnetism of position sensor
The electrical initial position of synchronous motor is simultaneously misaligned, and there are certain deviations, i.e., there is an electrical initial angle between the two,
This electrical initial angle needs on-line measurement and calibration.Magnetic orientation would generally be used when measuring and demarcating electrical initial angle
Method, this method can load the voltage of a known direction and size in the stator side of motor, make stator generate one it is fixed
To stationary magnetic field, the stationary magnetic field of this magnetic field and rotor interacts, forces rotor to go to two magnetic fields and connect being aligned
Position and stop, to determine electrical initial angle.
However, in some cases, will appear rotor using traditional magnetic positioning method and go to the stopping of stator neighbouring position
Situation is inaccurate so as to cause the electrical initial angle that determines of method of traditional magnetic orientation.
Invention content
Based on this, it is necessary to there are problems that error for traditional magnetic positioning method, provide one kind can accurately measure and
The control method of the permanent magnet synchronous motor of the electrical initial angle of calibration.
A kind of control method of permanent magnet synchronous motor, wherein position sensor, the side are set on permanent magnet synchronous motor
Method includes：
Apply first voltage in the stator side of permanent magnet synchronous motor, and obtains the first feedback angle of position sensor measurement；
Apply second voltage in the stator side of permanent magnet synchronous motor, and obtains the second feedback angle of position sensor measurement；
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
The control method of above-mentioned permanent magnet synchronous motor, by applying size phase in the stator side of permanent magnet synchronous motor respectively
Two voltages same, direction is opposite obtain the first feedback angle and the second feedback angle with particular kind of relationship, then, according to this
Derive the electrical initial angle of position sensor and permanent magnet synchronous motor in two feedback angles with particular kind of relationship.By above-mentioned
The electrical initial angle that method measures can effectively eliminate angle evaluated error, promote measurement accuracy.
Apply first voltage in the stator side of permanent magnet synchronous motor in one of the embodiments, and obtains position sensing
The first feedback angle that device measures, including：In the case where two-phase rotates dq coordinate systems, apply the first electricity in the stator side of permanent magnet synchronous motor
Pressure, so that the rotor of permanent magnet synchronous motor rotates and generates the first feedback angle γ；It measures the first feedback angle γ and obtains first instead
Present angle γ, wherein the first feedback angle γ meets following relational expression：δ=γ+θ0, wherein δ is to apply the to permanent magnet synchronous motor
The first angle formed between stator winding axis alpha axis and rotor windings axis d axis after one voltage；θ0For position sensor and forever
The electrical initial angle of magnetic-synchro motor.
Apply second voltage in the stator side of permanent magnet synchronous motor in one of the embodiments, and obtains position sensing
The second feedback angle that device measures, including：In the case where two-phase rotates dq coordinate systems, apply the second electricity in the stator side of permanent magnet synchronous motor
Pressure, so that the rotor of permanent magnet synchronous motor rotates and generates the second feedback angle γ*；Measure the second feedback angle γ*And it is anti-to obtain second
Present angle γ*, wherein the second feedback angle γ*Meet following relational expression：δ*=γ*+θ0, wherein δ*It is to apply to permanent magnet synchronous motor
The second angle formed between stator winding axis alpha axis and rotor windings axis d axis after second voltage；θ0For position sensor with
The electrical initial angle of permanent magnet synchronous motor.
First angle δ and the second angle δ in one of the embodiments,*Stator winding relative to permanent magnet synchronous motor
Axis alpha axial symmetry, then the first angle δ and the second angle δ*Meet following relational expression：δ=- δ*。
Position sensor and permanent-magnet synchronous are determined according to the first feedback angle and the second feedback angle in one of the embodiments,
The electrical initial angle of motor, including：According to first feedback angle γ determine the first feedback angle γ and the first angle δ and electrically initially
Angle theta0Between relationship；According to the second feedback angle γ*Determine the second feedback angle γ*With the second angle δ*With electrical initial angle theta0
Between relationship；Determine the first angle δ and the second angle δ*Symmetric relation so that electrical initial angle theta0Meet following relationship
Formula：
The first electric current generated in one of the embodiments, when the stator side of permanent magnet synchronous motor applies first voltage
Amplitude and the amplitude of the second electric current that is generated when the stator side of permanent magnet synchronous motor applies second voltage be no more than forever
The load current value of magnetic-synchro motor.
A kind of control system of permanent magnet synchronous motor, the system comprises：Master controller, permanent magnet synchronous motor and power supply mould
Block, is arranged position sensor on permanent magnet synchronous motor, master controller respectively with permanent magnet synchronous motor, position sensor and power supply
Module is connected,
Power module applies first voltage or second voltage for the stator side in permanent magnet synchronous motor；
Position sensor is applied with permanent magnet synchronous motor at the generated after first voltage first feedback angle or right for measuring
Permanent magnet synchronous motor is applied with the second feedback angle generated after second voltage；
Master controller, the first feedback angle for obtaining position sensor measurement and the second feedback angle, and it is anti-according to first
Feedback angle and the second feedback angle determine the electrical initial angle of position sensor and permanent magnet synchronous motor；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
Master controller includes memory module in one of the embodiments, memory module for storage location sensor with
The electrical initial angle of permanent magnet synchronous motor.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device realizes following steps when executing the computer program：
The stator side that power module is controlled in permanent magnet synchronous motor applies first voltage, and obtains position sensor measurement
First feedback angle；
The stator side that power module is controlled in permanent magnet synchronous motor applies second voltage, and obtains position sensor measurement
Second feedback angle；
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：
The stator side that power module is controlled in permanent magnet synchronous motor applies first voltage, and obtains position sensor measurement
First feedback angle；
The stator side that power module is controlled in permanent magnet synchronous motor applies second voltage, and obtains position sensor measurement
Second feedback angle；
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
Description of the drawings
Fig. 1 is the flow diagram of the control method of permanent magnet synchronous motor in one embodiment；
Fig. 2 is the coordinate system schematic diagram that permanent-magnetic synchronous motor stator side applies first voltage in one embodiment；
Fig. 3 is the coordinate system schematic diagram that permanent-magnetic synchronous motor stator side applies second voltage in one embodiment；
Fig. 4 is the structural schematic diagram of the control system of permanent magnet synchronous motor in one embodiment；
Fig. 5 is the structural schematic diagram of the control system of permanent magnet synchronous motor in another embodiment.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited by following public specific embodiment.
In one embodiment, as shown in Figure 1, providing a kind of control method of permanent magnet synchronous motor, wherein permanent magnetism is same
Position sensor is set on step motor, the permanent magnet synchronous motor and position sensor are connected by signal wire with controller,
It is applied to illustrate for the controller in this way, includes the following steps：
Step 102, apply first voltage in the stator side of permanent magnet synchronous motor, and obtain the first of position sensor measurement
Feed back angle.
Wherein, permanent magnet synchronous motor refers to the synchronous motor that synchronous rotary magnetic field is generated by permanent magnet and excitation, and permanent magnetism is same
The rotor of step motor equipped with permanent-magnet steel and generates rotating excitation field；The stator of permanent magnet synchronous motor is equipped with three-phase symmetric winding, and
By armature-reaction under rotating excitation field effect, three-phase symmetrical electric current is incuded.Further, position is installed on permanent magnet synchronous motor
Sensor is set, position sensor can measure the position signal of permanent-magnetic synchronous motor rotor.Specifically, when permanent magnet synchronous motor is transported
When row, the rotor of permanent magnet synchronous motor will produce a corner, and position sensor can determine this corner.
In the present embodiment, position sensor is mounted on permanent magnet synchronous motor first, keeps position sensor accurate
The true rotation angle for determining permanent-magnetic synchronous motor rotor；Then controller is determining for permanent magnet synchronous motor by power module
Sub- side applies a first voltage, so that the stator of permanent magnet synchronous motor is generated an excitation field, in the work of this excitation field
Under, the rotor of permanent magnet synchronous motor can rotate and stop on certain position, at this point, position sensor can determine
The angle of rotor rotation, i.e., the first feedback angle；Finally, controller by the signal wire between position sensor get this
One feedback angle.
Step 104, apply second voltage in the stator side of permanent magnet synchronous motor, and obtain the second of position sensor measurement
Feed back angle.
Specifically, after step 102, controller applies again by the stator side that power module is permanent magnet synchronous motor
One second voltage, second voltage is identical as the size of first voltage and direction is opposite；Likewise, determining in permanent magnet synchronous motor
After sub- side is applied with second voltage, the rotor of permanent magnet synchronous motor can rotate and stop on certain position again, at this point,
Position sensor can determine rotor rotation angle, i.e., second feedback angle, and then controller by with position sensor it
Between signal wire get this second feedback angle.
Step 106, the electrical of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle
Initial angle.
Specifically, when position sensor is mounted on permanent magnet synchronous motor, the rotor of permanent magnet synchronous motor is relative to fixed
Son can be there are one the angle of deviation, this can lead to the initial position of position sensor and the initial position of permanent magnet synchronous motor, and there are one
Electrical initial angle, the i.e. rotation of the rotor rotation angle of position sensor measurement and the rotor of permanent magnet synchronous motor relative to stator
Gyration is simultaneously unequal, and there are an angle of deviation between two angles, this angle of deviation is exactly electrical initial angle.
In the present embodiment, controller applies the first electricity by the stator side that power module is permanent magnet synchronous motor first
Pressure, and measure the rotation angle of permanent-magnetic synchronous motor rotor at this time, i.e., the first feedback angle；Then again by power module be permanent magnetism
The stator side of synchronous motor applies second voltage, and measures the rotation angle of permanent-magnetic synchronous motor rotor at this time, i.e., the second feedback
Angle.Known to first voltage and the second voltage size same direction on the contrary, i.e. the rotor of permanent magnet synchronous motor twice is relative to stator
Rotation angle be and rotation of the rotor of permanent magnet synchronous motor relative to stator twice relative to stator winding axisymmetrical
Angle differs the differential seat angle of an electrical initial angle, then further, Ke Yitong with the first feedback angle or the second feedback angle
The first feedback angle and the second feedback angle is crossed to derive and calculate the size of the electrical initial angle.
The control method of above-mentioned permanent magnet synchronous motor, by applying size phase in the stator side of permanent magnet synchronous motor respectively
Two voltages same, direction is opposite obtain the first feedback angle and the second feedback angle with particular kind of relationship, then, according to this
Derive the electrical initial angle of position sensor and permanent magnet synchronous motor in two feedback angles with particular kind of relationship.By above-mentioned
The electrical initial angle that method measures can effectively eliminate angle evaluated error, promote measurement accuracy.
In a specific embodiment, the parameter of permanent magnet synchronous motor is：Rated power 100W, rated voltage 48V, volume
Constant current 2.5A, rated speed 3000rpm, nominal torque 0.32Nm, peak torque 0.95Nm, back-emf 8.2V/1000rpm,
Torque coefficient 0.128Nm/A, rotor inertia 0.051*10-4Kg*m2, winding resistance 2.2 Ω, winding inductance 3mH, weight
0.47Kg。
In this embodiment, the three-phase system parameter of above-mentioned permanent magnet synchronous motor can be converted to binary system ginseng of equal value
Number, and a two-phase rotation dq coordinate system is established based on this, wherein the stator side that d axis represents permanent magnet synchronous motor is not applied
Rotor windings axis when making alive, the axis and permanent-magnetic synchronous motor stator winding axis α overlapping of axles, also referred to as rotor is vertical
Axis or d-axis；Q axis represents the direction at a distance of 90 ° of space angles, the also referred to as quadrature axis or horizontal axis of rotor with the longitudinal axis.
Specifically, as shown in Fig. 2, in the case where two-phase rotates dq coordinate systems, it is permanent magnet synchronous electric that controller, which controls power module,
The stator side of machine applies a first voltage Us(0, U) makes the stator of permanent magnet synchronous motor generate an excitation field, at this
Under the action of excitation field, the rotor of permanent magnet synchronous motor rotates and stops on certain position, and position sensor measures
Go out the angle of rotor rotation, i.e., the first feedback angle γ, and then controller is got by the signal wire between position sensor
First feedback angle γ.Wherein, the position of d ' axis is position that rotor stops operating in Fig. 2, from figure 2 it can be seen that
One feedback angle γ meets following relational expression：δ=γ+θ0, wherein δ is to apply first voltage U to permanent magnet synchronous motorsAfter (0, U)
The first angle formed between stator winding axis alpha axis and rotor windings axis d ' axis；θ0For position sensor and permanent-magnet synchronous
The electrical initial angle of motor.
Further, as shown in figure 3, controller controls the stator side that power module is permanent magnet synchronous motor again applies one
A second voltageAs shown in figure 3, second voltageWith first voltage UsThe size of (0, U) is identical and square
To opposite.Likewise, the stator side in permanent magnet synchronous motor is applied with second voltageAfterwards, turn of permanent magnet synchronous motor
Son can rotate and stop on certain position again, at this point, position sensor can determine the angle of rotor rotation, i.e.,
Second feedback angle γ*, and then controller gets second feedback angle γ by the signal wire between position sensor*.Its
In, the position of d ' axis is the position that rotor stops operating in Fig. 3, from figure 3, it can be seen that the second feedback angle γ*Meet such as
Lower relational expression：δ*=γ*+θ0, wherein δ*It is to stator winding axis alpha axis and rotor after permanent magnet synchronous motor application second voltage
The second angle formed between winding axis d ' axis；θ0For the electrical initial angle of position sensor and permanent magnet synchronous motor.
Further, due to first voltage Us(0, U) and second voltageThe size same direction is on the contrary, then first
Angle δ and the second angle δ*Relative to the stator winding axis alpha axial symmetry of permanent magnet synchronous motor, the i.e. folders of the first angle δ and second
Angle δ*Meet following relational expression：δ=- δ*.According to above three relational expression, following relational expression can be finally derived：Wherein, the first feedback angle γ and the second feedback angle γ*It can be determined by position sensor come then
The electrical initial angle theta of position sensor and permanent magnet synchronous motor0It can also be obtained by calculation.
In the present embodiment, it should be noted that apply first voltage U in the stator side of permanent magnet synchronous motorsWhen (0, U)
Generate the first electric current amplitude and permanent magnet synchronous motor stator side apply second voltageWhen generate
The load current value of permanent magnet synchronous motor is not to be exceeded in the amplitude of two electric currents.
The control method of above-mentioned permanent magnet synchronous motor further illustrates position by rotating the mathematical model of dq coordinate systems
The assay method of the electrical initial angle of sensor and permanent magnet synchronous motor is set, this method is opposite by applying the size same direction
Two voltages get two rotor rotation angles with particular kind of relationship, and further derive and be calculated and is electrical initial
The size of angle, this method is not necessarily to rely on the parameter of permanent magnet synchronous motor itself, simple and practicable, and precision is very high, has very high
Practicability.
In one embodiment, as shown in figure 4, providing a kind of control system 400 of permanent magnet synchronous motor, the system packet
It includes：Position sensor is arranged on permanent magnet synchronous motor in master controller 410, permanent magnet synchronous motor 420 and power module 430
421, master controller is connected with permanent magnet synchronous motor 420, position sensor 421 and power module 430 respectively, wherein：
Power module 430 applies first voltage or second voltage for the stator side in permanent magnet synchronous motor 420；
Position sensor 421 is applied with permanent magnet synchronous motor 420 generated after first voltage first feedback for measuring
Angle is applied with permanent magnet synchronous motor 420 at the second feedback angle generated after second voltage；
Master controller 410, the first feedback angle for obtaining the measurement of position sensor 421 and the second feedback angle, and according to
First feedback angle and the second feedback angle determine the electrical initial angle of position sensor 421 and permanent magnet synchronous motor 420；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
In one embodiment, master controller 410 further includes memory module 411, and memory module 411 is passed for storage location
The electrical initial angle of sensor and permanent magnet synchronous motor, so that controller 410 carries out the feedback angle that position sensor 421 measures
Deviation is eliminated, and rotation angle of the rotor relative to stator of accurate permanent magnet synchronous motor 420 is got with this.
The specific restriction of control system about permanent magnet synchronous motor may refer to above for permanent magnet synchronous motor
The restriction of control method, details are not described herein.Modules in the control system of above-mentioned permanent magnet synchronous motor can whole or portion
Divide and is realized by software, hardware and combinations thereof.
In one embodiment, a kind of computer equipment is provided, which can be an independent control
Device.The computer equipment includes processor, memory, data-interface, display screen and the input unit connected by system bus.
Wherein, the processor of the computer equipment is for providing calculating and control ability.The memory of the computer equipment includes non-easy
The property lost storage medium, built-in storage.The non-volatile memory medium is stored with operating system and computer program.The built-in storage
Operation for operating system and computer program in non-volatile memory medium provides environment.The computer program is by processor
To realize a kind of control method of permanent magnet synchronous motor when execution.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor realize following steps when executing computer program：
The stator side that power module is controlled in permanent magnet synchronous motor applies first voltage, and obtains position sensor measurement
First feedback angle；
The stator side that power module is controlled in permanent magnet synchronous motor applies second voltage, and obtains position sensor measurement
Second feedback angle；
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
In one embodiment, following steps are also realized when processor executes computer program：
Apply first voltage in the stator side of permanent magnet synchronous motor, and obtain the first feedback angle of position sensor measurement,
Including：In the case where two-phase rotates dq coordinate systems, apply first voltage in the stator side of permanent magnet synchronous motor, so that permanent magnet synchronous motor
Rotor rotate and generate the first feedback angle γ；It measures the first feedback angle γ and obtains the first feedback angle γ, wherein the first feedback
Angle γ meets following relational expression：δ=γ+θ0, wherein δ is to stator winding axis alpha after permanent magnet synchronous motor application first voltage
The first angle formed between axis and rotor windings axis d axis；θ0For the electrical initial of position sensor and permanent magnet synchronous motor
Angle.
In one embodiment, following steps are also realized when processor executes computer program：
Apply second voltage in the stator side of permanent magnet synchronous motor, and obtain the second feedback angle of position sensor measurement,
Including：In the case where two-phase rotates dq coordinate systems, apply second voltage in the stator side of permanent magnet synchronous motor, so that permanent magnet synchronous motor
Rotor rotate and generate the second feedback angle γ*；Measure the second feedback angle γ*And obtain the second feedback angle γ*, wherein second is anti-
Present angle γ*Meet following relational expression：δ*=γ*+θ0, wherein δ*It is to stator winding after permanent magnet synchronous motor application second voltage
The second angle formed between axis alpha axis and rotor windings axis d axis；θ0For the electrical of position sensor and permanent magnet synchronous motor
Initial angle.
In one embodiment, following steps are also realized when processor executes computer program：
First angle δ and the second angle δ*Relative to the stator winding axis alpha axial symmetry of permanent magnet synchronous motor, then first press from both sides
Angle δ and the second angle δ*Meet following relational expression：δ=- δ*。
In one embodiment, following steps are also realized when processor executes computer program：
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle,
Including：The first feedback angle γ and the first angle δ and electrical initial angle theta are determined according to the first feedback angle γ0Between relationship；Root
According to the second feedback angle γ*Determine the second feedback angle γ*With the second angle δ*With electrical initial angle theta0Between relationship；Determine
One angle δ and the second angle δ*Symmetric relation so that electrical initial angle theta0Meet following relational expression：
In one embodiment, following steps are also realized when processor executes computer program：
The amplitude of the first electric current that is generated when the stator side of permanent magnet synchronous motor applies first voltage and same in permanent magnetism
The stator side of step motor applies the amplitude of the second electric current generated when second voltage no more than the specified electricity of permanent magnet synchronous motor
Flow valuve.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：
The stator side that power module is controlled in permanent magnet synchronous motor applies first voltage, and obtains position sensor measurement
First feedback angle；
The stator side that power module is controlled in permanent magnet synchronous motor applies second voltage, and obtains position sensor measurement
Second feedback angle；
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle；
Wherein, first voltage is identical with second voltage size, and direction is opposite.
In one embodiment, following steps are also realized when computer program is executed by processor：
Apply first voltage in the stator side of permanent magnet synchronous motor, and obtain the first feedback angle of position sensor measurement,
Including：In the case where two-phase rotates dq coordinate systems, apply first voltage in the stator side of permanent magnet synchronous motor, so that permanent magnet synchronous motor
Rotor rotate and generate the first feedback angle γ；It measures the first feedback angle γ and obtains the first feedback angle γ, wherein the first feedback
Angle γ meets following relational expression：δ=γ+θ0, wherein δ is to stator winding axis alpha after permanent magnet synchronous motor application first voltage
The first angle formed between axis and rotor windings axis d axis；θ0For the electrical initial of position sensor and permanent magnet synchronous motor
Angle.
In one embodiment, following steps are also realized when computer program is executed by processor：
Apply second voltage in the stator side of permanent magnet synchronous motor, and obtain the second feedback angle of position sensor measurement,
Including：In the case where two-phase rotates dq coordinate systems, apply second voltage in the stator side of permanent magnet synchronous motor, so that permanent magnet synchronous motor
Rotor rotate and generate the second feedback angle γ*；Measure the second feedback angle γ*And obtain the second feedback angle γ*, wherein second is anti-
Present angle γ*Meet following relational expression：δ*=γ*+θ0, wherein δ*It is to stator winding after permanent magnet synchronous motor application second voltage
The second angle formed between axis alpha axis and rotor windings axis d axis；θ0For the electrical of position sensor and permanent magnet synchronous motor
Initial angle.
In one embodiment, following steps are also realized when computer program is executed by processor：
First angle δ and the second angle δ*Relative to the stator winding axis alpha axial symmetry of permanent magnet synchronous motor, then first press from both sides
Angle δ and the second angle δ*Meet following relational expression：δ=- δ*。
In one embodiment, following steps are also realized when computer program is executed by processor：
The electrical initial angle of position sensor and permanent magnet synchronous motor is determined according to the first feedback angle and the second feedback angle,
Including：The first feedback angle γ and the first angle δ and electrical initial angle theta are determined according to the first feedback angle γ0Between relationship；Root
According to the second feedback angle γ*Determine the second feedback angle γ*With the second angle δ*With electrical initial angle theta0Between relationship；Determine
One angle δ and the second angle δ*Symmetric relation so that electrical initial angle theta0Meet following relational expression：
In one embodiment, following steps are also realized when computer program is executed by processor：
The amplitude of the first electric current that is generated when the stator side of permanent magnet synchronous motor applies first voltage and same in permanent magnetism
The stator side of step motor applies the amplitude of the second electric current generated when second voltage no more than the specified electricity of permanent magnet synchronous motor
Flow valuve.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein,
Any reference to memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of control method of permanent magnet synchronous motor, position sensor is set on the permanent magnet synchronous motor, feature exists
In, the method includes：
Apply first voltage in the stator side of the permanent magnet synchronous motor, and obtains the first feedback that the position sensor measures
Angle；
Apply second voltage in the stator side of the permanent magnet synchronous motor, and obtains the second feedback that the position sensor measures
Angle；
Angle is fed back according to described first and second feedback angle determines the position sensor and the permanent magnet synchronous motor
Electrical initial angle；
Wherein, the first voltage is identical with the second voltage size, and direction is opposite.
2. the control method of permanent magnet synchronous motor according to claim 1, which is characterized in that described in the permanent-magnet synchronous
The stator side of motor applies first voltage, and obtains the first feedback angle that the position sensor measures, including：
In the case where two-phase rotates dq coordinate systems, apply first voltage in the stator side of the permanent magnet synchronous motor, so that the permanent magnetism
The rotor of synchronous motor rotates and generates the first feedback angle γ；
It measures the first feedback angle γ and obtains the first feedback angle γ, wherein the first feedback angle γ meets following relationship
Formula：
δ=γ+θ0, wherein δ is to stator winding axis alpha axis and rotor windings axis after permanent magnet synchronous motor application first voltage
The first angle formed between d axis；θ0For the electrical initial angle of the position sensor and the permanent magnet synchronous motor.
3. the control method of permanent magnet synchronous motor according to claim 2, which is characterized in that described in the permanent-magnet synchronous
The stator side of motor applies second voltage, and obtains the second feedback angle that the position sensor measures, including：
In the case where two-phase rotates dq coordinate systems, apply second voltage in the stator side of the permanent magnet synchronous motor, so that the permanent magnetism
The rotor of synchronous motor rotates and generates the second feedback angle γ*；
Measure the second feedback angle γ*And obtain the second feedback angle γ*, wherein the second feedback angle γ*Meet following relationship
Formula：
δ*=γ*+θ0, wherein δ*It is to stator winding axis alpha axis and rotor windings axis after permanent magnet synchronous motor application second voltage
The second angle formed between line d axis；θ0For the electrical initial angle of the position sensor and the permanent magnet synchronous motor.
4. the control method of permanent magnet synchronous motor according to claim 3, which is characterized in that the first angle δ and institute
State the second angle δ*Relative to the stator winding axis alpha axial symmetry of the permanent magnet synchronous motor, then the first angle δ and described
Second angle δ*Meet following relational expression：
δ=- δ*。
5. the control method of permanent magnet synchronous motor according to claim 4, which is characterized in that described anti-according to described first
Feedback angle and second feedback angle determine the electrical initial angle of the position sensor and the permanent magnet synchronous motor, including：
Angle γ, which is fed back, according to described first determines first feedback angle γ and the first angle δ and the electrical initial angle
θ0Between relationship；
Angle γ is fed back according to described second*Determine the second feedback angle γ*With the second angle δ*With the electrical initial folder
Angle θ0Between relationship；
Determine the first angle δ and the second angle δ*Symmetric relation so that the electrical initial angle theta0Meet as follows
Relational expression：
6. according to the control method of claim 1-5 any one of them permanent magnet synchronous motors, which is characterized in that described described
The stator side of permanent magnet synchronous motor applies the amplitude of the first electric current generated when first voltage and in the permanent magnet synchronous motor
Stator side apply the rated current that the amplitude of the second electric current generated when second voltage is no more than the permanent magnet synchronous motor
Value.
7. a kind of control system of permanent magnet synchronous motor is applied to claim 1-6 any one of them permanent magnet synchronous motors
Control method, which is characterized in that the system comprises：Master controller, permanent magnet synchronous motor and power module, the permanent-magnet synchronous
Position sensor is set on motor, the master controller respectively with the permanent magnet synchronous motor, the position sensor and institute
Power module is stated to be connected,
Power module applies first voltage or second voltage for the stator side in the permanent magnet synchronous motor；
Position sensor is applied with the permanent magnet synchronous motor at the generated after the first voltage first feedback angle for measuring
Or the second feedback angle generated after the second voltage is applied with to the permanent magnet synchronous motor；
Master controller, for obtaining the first feedback angle and second feedback angle that the position sensor measures, and according to institute
It states the first feedback angle and second feedback angle and determines the electrical initial folder of the position sensor and the permanent magnet synchronous motor
Angle；
Wherein, the first voltage is identical with the second voltage size, and direction is opposite.
8. the control system of permanent magnet synchronous motor according to claim 7, which is characterized in that the master controller includes depositing
Module is stored up, the memory module is used to store the electrical initial angle of the position sensor and the permanent magnet synchronous motor.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 1 to 6 the method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method according to any one of claims 1 to 6 is realized when being executed by processor.
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| CN112414287A (en) * | 2020-11-09 | 2021-02-26 | 北京理工大学 | Permanent magnet synchronous motor position calibration method without current sensor |
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