CN108880378B - Permanent magnet synchronous motor starting control method based on assumed rotation coordinate method - Google Patents
Permanent magnet synchronous motor starting control method based on assumed rotation coordinate method Download PDFInfo
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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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- 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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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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- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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Abstract
The invention discloses a permanent magnet synchronous motor starting control method based on an assumed rotation coordinate method, which has the advantages that the counter electromotive force constant of a motor is still a design value at the moment when the internal temperature is not changed when the motor is just started and the internal temperature is not changed, the amplitude of a voltage vector is almost in direct proportion to the rotating speed of the motor during no-load starting, and the amplitude of a rotating speed estimation correction quantity limit in the assumed rotation coordinate method is adjusted by using the point, so that the non-speed smooth starting of the permanent magnet synchronous motor can be realized in the algorithm control of adopting a speed and current double closed loop without the switching process of two control algorithms; in addition, the speed control precision can be improved and the system performance can be improved by controlling the exciting current in the starting process, so that the phase current and the rotor position of the permanent magnet synchronous motor are ensured not to have any sudden change in the starting process, and the rotating speed is enabled not to have any jitter.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a speed and current double-closed-loop control method based on an assumed rotation coordinate method in a permanent magnet synchronous motor starting control process.
Background
The permanent magnet synchronous motor has the advantages of small volume, high power density, high efficiency, simple structure, low noise, fast dynamic response and the like, and has been widely applied to the fields of electric automobiles, air-conditioning compressors, elevators, oil pumping units and the like. In general, a permanent magnet motor is subjected to closed-loop control after obtaining a speed signal through encoder feedback. However, in many applications, such as fans, water pumps, air conditioning compressors, etc., the encoder not only increases the installation and maintenance costs, but also makes the driving system susceptible to external environment interference, and reduces the reliability of the system. In order to improve the operation efficiency, reduce the operation cost and enhance the reliability under special working conditions, a driving system adopting a position-sensor-free open-loop vector control mode is the main trend of the development of the permanent magnet motor control technology.
At present, the research of the speed-free control algorithm based on the permanent magnet synchronous motor mainly focuses on three main categories: (1) methods based on the characteristics of the machine body, such as saliency; (2) an estimation method based on the back electromotive force of the motor; (3) an estimation method based on a state observer, a sliding mode observer and a Kalman filter. The estimation method using the back electromotive force is simple to realize, and a direct calculation method, an assumed rotation coordinate method and the like exist; the permanent magnet synchronous motor vector control block diagram for carrying out rotation speed estimation by an assumed rotation coordinate method is shown in figure 1, a rotation speed estimation part in figure 1 is the core of a sensorless vector control system and consists of two parts, wherein the first part is calculated by the counter electromotive force of a motor, the second part is output by an adaptive PI controller, the two parts are added to obtain the estimated value of the synchronous rotation speed of the motor, the whole control system adopts a working mode of a speed and current double closed loop, the output of a speed loop is used as the given value of torque current, the given value of exciting current is zero, the output of two current loops is a voltage vector value, and a three-phase full-bridge driving signal is obtained by a space vector generator and is used for controlling a power device; this kind of method is very effective when the motor runs at high speed, but when the motor starts at low speed or zero speed, because the back electromotive force is too small, it will cause large error, and when it is serious, it will not rotate normally. The method for estimating the rotor position by using the salient pole effect of the motor, such as a high-frequency injection method, is generally used for low-speed or zero-speed starting, and is difficult to realize by using a digital controller due to higher injected high-frequency signals at high speed; in addition, the algorithm obtains position signals by using the asymmetry of the motor quadrature-direct axis inductance in principle, so the algorithm depends on motor structure parameters and has no universality. The estimation algorithm based on various observers has better robustness, is suitable for high and low speeds, but has large real-time calculation amount, high dependence degree on the performance of a microprocessor and dynamic response speed inferior to the former two.
In summary, although numerous expert scholars have proposed a large number of sensorless control algorithms, each algorithm has certain limitations. The problem with combining two or more control strategies to achieve open-loop vector control over a full speed range is how to achieve smooth switching between algorithms. In practical product application, a common method is to drive a motor to a certain speed through open-loop control, and then obtain speed and position signals by adopting a back electromotive force estimation method. However, it is considered how to realize smooth torque transition when the two control modes are switched, and abrupt change of the speed control cannot occur. The invention adopts a hypothetical rotation coordinate method in a full speed range, adopts special treatment on the starting process and the operation in a low-speed area, saves the switching problem of two control algorithms, enables a motor to be started smoothly, and adopts a control strategy of speed and current double closed loops in the whole process.
Disclosure of Invention
The invention aims to solve the technical problem of providing a permanent magnet synchronous motor starting control method based on an assumed rotation coordinate method, which can realize smooth starting of a motor without a switching process of a control algorithm.
The technical scheme adopted by the invention for solving the technical problems is as follows: a permanent magnet synchronous motor starting control method based on an assumed rotation coordinate method specifically comprises the following steps:
s1, initializing parameters, and setting a control parameter initial gear switching speed omega0First gear shift speed omega1Second gear shift speed omega2Speed of three-gear shift omega3Start-up speed omegas0sStopping speed omegas0eOutput amplitude limiting value A of self-adaptive error PI loop0And a preset exciting current amount isd0And its ratio k to the rated current;
s2, after receiving the starting command, giving a speed omegasSet to start-up speed ωs0s*，
S3, according to the given speed omegasSubsequent permanent magnetThe speed curve of the synchronous motor executes an acceleration process;
s4, according to the given speed omegasSetting exciting current isd*；
S5, performing speed and current double closed loop operation according to the speed feedback value and the current feedback value to obtain a dq-axis output voltage vector usd、usq；
S6, calculating a limiter A according to a speed estimation correction quantity limiter adjusting method;
s7, calculating the speed estimator omega according to the assumed rotation coordinate method according to the amplitude limiting value A obtained in the step S6s；
S8, estimating quantity omega according to the speed of the step S7sJudging whether the acceleration process is still in the process of acceleration, and if so, giving a speed omegasSet as the velocity estimator ωsJumping to step S3 to continue the loop; if not, the whole starting process is ended, and the operation control process is entered.
Preferably, the method for adjusting the rotation speed estimation correction amount limit value in step S6 is embodied in such a way that the execution period T of each control algorithm issIn the following steps, a loop is executed:
a1, judging whether the acceleration is in the process of starting acceleration, if so, entering a step a2, and if not, jumping to a step a 7;
a2, calculating to obtain the motor speed omega estimated by the voltage vector amplitudee'，
Wherein psirIs a permanent magnet flux linkage;
a3, according to the set second gear switching speed omega2And third gear shift speed omega3When given a speed ωsLess than ω2Then step a4 is executed; when given speed ωsω is not less than ω2And is less than or equal to omega3Then step a5 is executed; when given speed ωsGreater than ω3Then step a6 is executed;
a4, setting a given rotation speed omegasAnd the estimated rotation speed ω calculated in step a2e' carrying out PI RegulationThe error amplitude limit value A is obtained, and A is kep·(ωs*-ωe')+kei·∫(ωs*-ωe') dt; wherein k isep、keiRespectively the proportional coefficient and the integral coefficient of the PI regulator, updating the calculation result to the amplitude limiter, and then jumping to the step a 7;
a5, according to A ═ kep·(ωs*-ωe')+kei·∫(ωs*-ωe') dt the last calculation obtained AeValue, by A ═ Ae+(A0-Ae)×(ωs*-ω2)/(ω3-ω2) Obtaining an actual amplitude limiting value A, updating a calculation result to an amplitude limiter, and jumping to the step a 7;
a6 changing A to A0The amplitude limiter no longer performs amplitude adjustment, and then jumps to step a 7;
a7, finishing the adjustment of the rotation speed estimation correction amount.
Preferably, the period T is executeds＝166us。
Preferably, in step S4, the setting of the excitation current is specifically:
preferably, the starting speed ωs0s*＝0.05ωrateStopping speed omegas0e*＝0.4ωrateFirst gear shift speed ω0＝0.1ωrateFirst gear shift speed omega1＝0.2ωrateSecond gear shift speed omega2＝0.25ωrateThird gear shift speed omega3＝0.3ωrate，ωrateK is 0.1 for rated speed, and the adaptive error PI loop outputs a limiting value A030-50% of rated speed.
Compared with the prior art, the method has the advantages that the counter electromotive force constant of the motor is still a design value when the motor is just started and the internal temperature is not changed, the amplitude of the voltage vector is almost in direct proportion to the rotating speed of the motor during no-load starting, and the rotating speed estimation correction quantity amplitude limit value in the assumed rotating coordinate method is adjusted by using the constant value, so that the non-speed smooth starting of the permanent magnet synchronous motor can be realized in the algorithm control of adopting a speed and current double closed loop without the switching process of two control algorithms; in addition, the speed control precision can be improved and the system performance can be improved by controlling the exciting current in the starting process, so that the phase current and the rotor position of the permanent magnet synchronous motor are ensured not to have any sudden change in the starting process, and the rotating speed is enabled not to have any jitter.
Drawings
Fig. 1 is a prior art vector control block diagram of a permanent magnet synchronous motor for speed estimation by a hypothetical rotation coordinate method.
FIG. 2 is a block diagram of the vector control of the PMSM for estimating the rotation speed based on the hypothetical rotation coordinate method according to the present invention.
Fig. 3 is a speed curve diagram of the permanent magnet synchronous motor of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The preferred embodiment is a permanent magnet synchronous motor starting control method based on an assumed rotation coordinate method, which specifically comprises the following steps:
s1, initializing parameters, and setting a control parameter initial gear switching speed omega0First gear shift speed omega1Second gear shift speed omega2Speed of three-gear shift omega3Start-up speed omegas0sStopping speed omegas0eOutput amplitude limiting value A of self-adaptive error PI loop0And a preset exciting current amount isd0And its ratio k to the rated current;
s2, after receiving the starting command, giving a speed omegasSet to start-up speed ωs0s*，
S3, according to the given speed omegasSubsequently, executing an acceleration process according to the speed curve of the permanent magnet synchronous motor shown in the figure (3);
s4, according to the given speed omegasSetting exciting current isd*；
S5, speed and current are carried out according to the speed feedback value and the current feedback valueObtaining the output voltage vector u of dq axis by double closed-loop operationsd、usq；
S6, calculating a limiter A according to a speed estimation correction quantity limiter adjusting method;
s7, calculating the speed estimator omega according to the assumed rotation coordinate method according to the amplitude limiting value A obtained in the step S6s；
S8, estimating quantity omega according to the speed of the step S7sJudging whether the acceleration process is still in the process of acceleration, and if so, giving a speed omegasSet as the velocity estimator ωsJumping to step S3 to continue the loop; if not, the whole starting process is ended, and the operation control process is entered. Wherein when ω iss＜ω3In the acceleration process.
Here, the starting speed ωs0s*＝0.05ωrateStopping speed omegas0e*＝0.4ωrateFirst gear shift speed ω0＝0.1ωrateFirst gear shift speed omega1＝0.2ωrateSecond gear shift speed omega2＝0.25ωrateThird gear shift speed omega3＝0.3ωrate，ωrateK is 0.1 for rated speed, and the adaptive error PI loop outputs a limiting value A030-50% of rated speed; the calculation control adopts HPF algorithm.
Fig. 1 shows a block diagram of vector control of a permanent magnet synchronous motor for estimating a rotation speed by an assumed rotation coordinate method. The rotation speed estimation part in the figure is the core of a sensorless vector control system and consists of two parts, wherein the first part is calculated by the back electromotive force of the motor, the second part is output by an adaptive PI controller, and the two parts are added to obtain an estimation value of the synchronous rotation speed of the motor. The whole control system adopts a speed and current double closed loop working mode, wherein the output of a speed loop is used as a given value of torque current, the given value of exciting current is zero, the output of two current loops is a voltage vector value, and a driving signal of a three-phase full bridge is obtained after passing through a space vector generator and is used for controlling a power device.
Δ u in FIG. 1sd、ΔusqRespectively representing dead zone compensation voltage, using excitationCurrent isdControl method of 0.
In the following, the control principle is briefly introduced, and equation (1) is a motor voltage equation in a synchronous rotation coordinate:
in formula (1) isd、isq、usd、usqCurrent and voltage vectors, respectively, of dq axis, R is the phase resistance, Ld、LqAre dq-axis inductances, omega, respectivelysIs the synchronous speed, p is the differential operator,. phirIs a permanent magnet flux linkage, Δ θsIs the angle between the synchronous rotating coordinate system and the rotor shaft (the rotor shaft is positive when advancing the synchronous rotating coordinate along the steering). In the ideal case,. DELTA.theta.sWhen the estimated rotor position is aligned with the actual rotor axis at 0, equation (1) may be changed to equation (2).
Obtaining an estimate of speed ω 'from equation's：
Wherein, in actual operation Δ θsSince the estimated velocity value is not zero, there is a certain deviation, which needs to be corrected, and the error is expressed by the following equation for the d-axis voltage vector:
Δusd＝ωs·ψr·sin(Δθs) (4)
when Δ θsSmaller, sin (Δ θ)s)≈ΔθsFrom this, Δ u is knownsdAnd Δ θsProportional to the voltage error DeltausdThe correction amount by which the speed estimate can be obtained by performing the adaptive PI adjustment is as follows:
Δωs＝kωp·Δusd+kωi·∫Δusddt (5)
wherein k isωp、kωiProportional and integral coefficients of the PI regulator, respectively, with correction quantity Δ ωsAdjusting the estimated rotational speed may converge the position deviation. The voltage deviation in equation (5) is as follows:
Δusd＝Eref-Efb＝-ωs·Lq·isq+(R+Ld·p)·isd-usd* (6)
wherein u issdIs the output value of the d-axis current loop, and finally the speed estimated value omega can be obtainedsThe following were used:
ωs＝ω's+sign(ωs)·Δωs (7)
because the assumed rotation coordinate method is established based on the motor back electromotive force model, when the motor is started and runs at low speed, the back electromotive force is small, the operation error is large, and the condition that the motor shakes or even cannot rotate occurs. Therefore, the conventional method is to start the motor by a speed open loop, such as an I/F flow frequency method, and the like, and switch into a speed closed loop after the rotating speed of the motor reaches a certain degree.
Compared with fig. 2 and fig. 1, the dynamic adjustment control of the speed estimation correction limiter is added in the lower dotted line frame of fig. 2, which is the main invention point of the present invention, and the speed estimation correction limiter adjusting method is used in the starting acceleration process of the permanent magnet motor.
Fig. 1 amplitude limit value a ═ a0Is a preset constant, generally 30% -50% of rated speed, and when the motor runs at low speed, the constant can reach several times of the given speedAnd even larger. During the motor start-up, since the electrical angle inside the control system is greatly different from the actual electrical angle of the motor, Δ ω calculated by equation (5)sWill vary greatly and the velocity estimate ω calculated according to equation (7)sCan also vary greatly and can cause the motor to runaway or fail to start. Because the whole control process adopts a speed and current double closed loop control mode, the output u is controlledsdAnd usqIs comparable to the true value. So long as Δ ω is controlledsThe output quantity of the control algorithm is used for finishing the smooth starting of the permanent magnet motor, the starting effect of an open-loop I/F method is achieved under the condition of low-speed closed-loop control, the switching process of two control strategies is omitted, and the speed regulation of the motor in a full-speed range is realized by using one control algorithm. Considering that the internal temperature of the motor has not changed immediately after the motor is started, the back electromotive force constant of the motor is still a design value at this time, the amplitude of the voltage vector is almost proportional to the rotation speed of the motor during no-load starting, and this point can be used to adjust the limit value of the estimated rotation speed correction amount in the assumed rotation coordinate method, and the specific implementation method of the adjustment of the limit value of the estimated rotation speed correction amount in this section is described as follows:
the following steps are executed once in a loop for each control algorithm execution period, defined herein as TsE.g. Ts＝166us。
a1, judging whether the acceleration is in the process of starting acceleration, if so, entering a step a2, and if not, jumping to a step a 7;
a2, obtaining the motor speed estimated by the voltage vector amplitude according to the formula (9);
a3, according to the set switching speed omega2And switching speed omega3When given a speed ωsLess than ω2Then step a4 is executed; when given speed ωsω is not less than ω2And is less than or equal to omega3Then step a5 is executed; when given speed ωsGreater than ω3Then step a6 is executed;
a4, setting a given rotation speed omegasAnd the estimated rotation speed ω calculated in step a2e' carrying out the PI regulator to obtain the error margin value a in fig. 2:
A＝kep·(ωs*-ωe')+kei·∫(ωs*-ωe')dt (10)
wherein k isep、keiRespectively, the proportional and integral coefficients of the PI regulator, update the limiter in fig. 2 with the calculation result, and then jump to step a 7;
a5, A calculated from the last equation (10)eObtaining an actual clipping value a by equation (11), updating the clipping unit in fig. 2 with the calculation result, and then jumping to step a 7;
A＝Ae+(A0-Ae)×(ωs*-ω2)/(ω3-ω2) (11)
a6 changing A to A0The amplitude limiter no longer performs amplitude adjustment, and then jumps to step a 7;
a7, finishing the adjustment of the rotation speed estimation correction amount. Wherein when ω iss*＜ω3During start-up acceleration.
After the amplitude limiting value is adjusted through the steps, even if the difference between the control electrical angle and the actual electrical angle is large during the starting process, the delta omega calculated by the formula (5) can be usedsEffective amplitude limiting is carried out, and starting failure, runaway faults and the like caused by deviation of the speed estimation value from the actual value are prevented. Compared with the method adopting the I/F flow frequency method, the starting method has smaller starting current and no switching problem of two algorithms, and the system is still in a speed and current double closed loop control mode essentially.
Comparing fig. 2 and fig. 1, the pair excitation current i is added in the upper dotted line frame of fig. 2sdControl of.
Compared with the method for controlling the motor by adopting the I/F flow frequency method in an open loop mode, the double closed loop provided by the patent assumes that the starting current of the rotating coordinate method is close to the actual working condition, and for the load characteristics of a fan, a water pump and the like,when the motor works in a low-speed state, the current of the motor is very small and is close to zero, so that great difficulty is brought to dead zone compensation, and even a wrong compensation effect can occur. When the motor operates in a low-speed region, the error voltage caused by the dead-zone effect occupies a large part of the output voltage, and the motor speed is estimated by a given output voltage amount in the assumed rotation coordinate method, so that the dead-zone effect in the low-speed region cannot ignore the speed estimation error. The excitation current component i is set here during the start-up processsdAnd increasing the output current quantity of the motor, and further performing dead zone compensation according to the zero crossing point of the three-phase current. The specific operation is as follows: when given speed ωsLess than ω0When the current is measured, a rated current k times as large as the exciting current is preset and is denoted as isd0A first step of; when given speed ωsGreater than ω0And is less than omega1The actual field current is adjusted according to the following equation.
isd*＝isd0*-isd0*(ωs*-ω0)/(ω1-ω0) (12)
When given speed ωsGreater than ω1The actual excitation current is zero.
In summary, the excitation current control can be expressed by equation (13).
Since the rotation coordinate method is assumed to be essentially a control method based on back electromotive force, the speed estimation obtained by the algorithm is inaccurate at zero or low speed, although by the excitation current isdThe control can improve the control performance of the algorithm at low speed, but the starting speed can be set for a zero speed or low speed region, and a speed curve diagram of the permanent magnet synchronous motor is shown in fig. 3.
In the embodiment, the rated rotation speed of the motor is 3600rpm, the rated current is 20A, the rated voltage is 157V, the rated frequency is 180Hz, and the speed regulation range of the motor is 1800-5400 rpm.
The invention has the beneficial effects that: in the starting process of the non-speed permanent magnet synchronous motor, speed and current double closed-loop control is adopted, the switching process of two control algorithms is not adopted, and the smooth starting of the motor can be realized only by adjusting the output amplitude limiting value of the speed estimation correction. In addition, the speed control precision can be improved and the system performance can be improved by controlling the exciting current in the starting process, so that the phase current and the rotor position of the permanent magnet synchronous motor are ensured not to have any sudden change in the starting process, and the rotating speed is enabled not to have any jitter.
Claims (4)
1. A permanent magnet synchronous motor starting control method based on an assumed rotation coordinate method is characterized by comprising the following steps:
initializing S1 parameter, setting control parameter initial gear switching speed omega0First gear shift speed omega1Second gear shift speed omega2Speed of three-gear shift omega3Start-up speed omegas0sStopping speed omegas0eOutput amplitude limiting value A of self-adaptive error PI loop0And a preset exciting current amount isd0And its ratio k to the rated current;
s2 setting speed omega after receiving start commandsSet to start-up speed ωs0s*，
S3 according to given speed omegasSubsequently executing an acceleration process according to a speed curve of the permanent magnet synchronous motor;
s4 according to given speed omegasSetting exciting current isd*；
S5, according to the speed feedback value and the current feedback value, speed and current double closed loop operation is carried out to obtain the output voltage vector u of the dq axissd、usq；
S6, calculating a limiter A according to a speed estimation correction quantity limiter adjusting method;
s7 calculating speed estimator omega according to assumed rotation coordinate method based on amplitude limiting value A obtained in step S6s；
S8 speed estimator ω according to step S7sJudging whether the acceleration process is still in the process of acceleration, and if so, giving the speedDegree omegasSet as the velocity estimator ωsJumping to step S3 to continue the loop; if not, ending the whole starting process and entering an operation control process;
the method for adjusting the rotation speed estimation correction amount limiter in step S6 specifically includes: in the execution period T of each control algorithmsWherein the following steps are performed for one cycle,
a1, judging whether the acceleration is in the process of starting acceleration, if so, entering a step a2, and if not, jumping to a step a 7;
a2, calculating to obtain the motor speed omega estimated by the voltage vector amplitudee'，
Wherein psirIs a permanent magnet flux linkage;
a3, according to the set second gear switching speed omega2And third gear shift speed omega3When given a speed ωsLess than ω2Then step a4 is executed; when given speed ωsω is not less than ω2And is less than or equal to omega3Then step a5 is executed; when given speed ωsGreater than ω3Then step a6 is executed;
a4, setting a given rotation speed omegasAnd the estimated rotation speed ω calculated in step a2e' carry out PI regulator to obtain error amplitude limit value A, whereep·(ωs*-ωe')+kei·∫(ωs*-ωe') dt; wherein k isep、keiRespectively the proportional coefficient and the integral coefficient of the PI regulator, updating the calculation result to the amplitude limiter, and then jumping to the step a 7;
a5, according to A ═ kep·(ωs*-ωe')+kei·∫(ωs*-ωe') dt the last calculation obtained AeValue, by A ═ Ae+(A0-Ae)×(ωs*-ω2)/(ω3-ω2) Obtaining an actual amplitude limiting value A, updating a calculation result to an amplitude limiter, and jumping to the step a 7;
a6 changing A to A0The amplitude limiter no longer performs amplitude adjustment, and then jumps to step a 7;
a7, finishing the adjustment of the rotation speed estimation correction amount.
2. The method for controlling the starting of the permanent magnet synchronous motor based on the assumed rotation coordinate method according to claim 1, wherein: execution cycle Ts＝166us。
3. The method for controlling the starting of the permanent magnet synchronous motor based on the assumed rotation coordinate method according to claim 1, wherein: in step S4, the setting of the excitation current is specifically:
4. the method for controlling the starting of the permanent magnet synchronous motor based on the assumed rotation coordinate method according to claim 1, wherein: starting speed omegas0s*＝0.05ωrateStopping speed omegas0e*＝0.4ωrateFirst gear shift speed ω0＝0.1ωrateFirst gear shift speed omega1＝0.2ωrateSecond gear shift speed omega2＝0.25ωrateThird gear shift speed omega3＝0.3ωrate，ωrateK is 0.1 for rated speed, and the adaptive error PI loop outputs a limiting value A030-50% of rated speed.
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| CN109921710A (en) * | 2019-02-26 | 2019-06-21 | 常州信息职业技术学院 | A kind of permanent magnet synchronous motor rotor position detection method |
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