CN109327172A - Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection - Google Patents
Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection Download PDFInfo
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- CN109327172A CN109327172A CN201811252118.8A CN201811252118A CN109327172A CN 109327172 A CN109327172 A CN 109327172A CN 201811252118 A CN201811252118 A CN 201811252118A CN 109327172 A CN109327172 A CN 109327172A
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- 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
-
- 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
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection, the method for controlling permanent magnet synchronous motor based on pulsating high frequency signal injection does not use bandpass filter, operand can be greatly simplified, improve computational efficiency, the dynamic response of raising system reduces program complexity.In addition, the high fdrequency component containing rotor position information can be retained as far as possible without using bandpass filter.High-frequency resistance angle is introduced simultaneously, improves modulated signal, the stability of rotor position estimation system is not restricted the stability for guaranteeing rotor position estimation system by the parameter of electric machine and Injection Signal frequency.
Description
Technical field
The invention belongs to motor control technology fields, and in particular to a kind of permanent-magnet synchronous based on pulsating high frequency signal injection
Motor control method and control system.
Background technique
The advantages that permanent magnet synchronous motor is by efficient capacity usage ratio, excellent mechanical performance, is widely used in industry
Control field.Permanent magnet synchronous motor generallys use vector control mode, and which needs to constantly detect rotor position angle and is used for
Operation control, rotor position angle generally use mechanical position sensor to obtain, but the presence of mechanical pick-up device not only increases
The volume and cost of motor, also reduces the reliability of system.
There are commonly several calculations such as pulsating high frequency signal injection, sliding mode observer, back-emf integrator for position-sensor-free
Method, control operation when wherein pulsating high frequency signal injection is suitable for motor zero-speed and low speed, due in algorithm when high-speed cruising
Using compared with multi-filter, rotor-position and speed is caused to generate lag, dynamic response is slow, and real-time tracking is deteriorated.
But existing pulsating high frequency signal injection method filter is more, it is complicated to calculate, and is unfavorable for promoting the use of.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of permanent magnetism based on pulsating high frequency signal injection
Synchronous motor control method, pulsating high frequency signal injection method can quickly and accurately be detected in any initial position
The position angle of rotor, thus the bicyclic starting operation of the speed and current for completing permanent magnet synchronous motor.
The present invention is achieved by the following technical solutions:
A kind of method for controlling permanent magnet synchronous motor based on pulsating high frequency signal injection, including rotor-position detecting step,
It includes the following steps,
1) high-frequency voltage signal is injected on the d-axis of the two-phase rotating coordinate system of estimation, under high-frequency voltage signal excitation
High-frequency current is generated,
2) high-frequency current by coordinate transform and with modulated signal sin (ωhT) it is multiplied and obtains high-frequency current componentωh
For the phase of high-frequency voltage signal,
3) high-frequency current componentLow-pass filtered (LPF) and pi regulator obtain the rotational speed omega of motorr, wherein controlIt is zero, makes the estimated value of rotor-position0 is moved closer to the error delta θ of actual value, then integrated device can obtain rotor
Position angle estimated value
In the above-mentioned technical solutions, when for primary detection, further include the steps that carrying out the judgement of d-axis polarity, described is straight
The polar judgment step of axis is to be injected separately into contrary voltage pulse u on the d-axis of estimation againd, acquire respectively twice
Current peak, when voltage pulse is injected along practical d-axis positive direction, current-responsive that voltage pulse generates in the stator
The saturation of magnetic circuit can be deepened by being formed by magnetic field, and inductance becomes smaller, and current peak is larger；When voltage pulse is square along practical d-axis
When injecting to opposite direction, saturation of magnetic path can be made to reduce, inductance becomes larger or remains unchanged, and acquires current peak twice respectively
Value, and carry out multilevel iudge and go out actual d-axis direction, if actual d-axis positive direction, the initial position angle θ of rotor is constant,
If negative direction, then initial position angle θ=θ+π of rotor.
In the above-mentioned technical solutions, rotor position angle is extractedAfterwards, then on the d-axis of estimation it is injected separately into
Contrary voltage pulse ud, current peak twice is acquired respectively, and is carried out multilevel iudge and gone out actual d-axis direction, if
For actual d-axis positive direction, the initial position angle of rotorIt is constant, if negative direction, then the initial position angle of rotorComplete initial position of rotor detection.
In the above-mentioned technical solutions, the high-frequency voltage signal is high frequency sinusoidal signal, and frequency values require to be much larger than
The rated frequency of motor, and it is much smaller than the carrier frequency of inverter IGBT.
In the above-mentioned technical solutions, the frequency of the high-frequency voltage signal is greater than 2-3 times of Rated motor frequency, is less than
/ 10th of carrier frequency, the time of high-frequency voltage signal injection are 2000-5000 high frequency electric source frequency cycle.
It in the above-mentioned technical solutions, further include that the rotor angle detected participates in the real-time rotational speed omega of calculating motorrWith complete
The step of at rotational speed regulation, the rotational speed regulation step are real-time rotational speed omegarWith setting speedDeviation through speed PI
Adjuster obtains iqThe reference value of electric currentThe electric current i of motor is obtained by clarke, park transformation calculationsq、id, electric current iq、idIt is logical
Cross after low-pass filter filters out high-frequency current component, respectively with reference value0 value compares, and the deviation of generation is again through electric current
Pi regulator obtains the given value of voltageWithThe two generates voltage given value through park inverse transformation againWithWithAchieve the purpose that adjust motor speed by controlling the output of inverter for the control signal of three-phase inverter SVPWM.
In the above-mentioned technical solutions, the modulated signal sin (ωhT) it isWhereinThe respectively high-frequency resistance phase angle of d, q axis, Zdh、ZqhThe respectively high-frequency resistance of d, q axis, wherein
Zdh=Rs+jωhLd, Zqh=Rs+jωhLq,
A kind of Control System of AC Permanent Magnet Synchronous of the method for controlling permanent magnet synchronous motor, including rectifier bridge, inverter bridge, control
Making sheet, PWM drive module and detection protection circuit；The detection protection circuit includes signal acquisition unit, to institute
The output for the signal acquisition unit stated carries out marking the conditioning circuit changed, and the protection with the conditioning circuit output connection
Circuit, the signal acquisition unit include phase voltage acquisition unit and current acquisition unit, the protection circuit include or
Door, the output of described or door two input terminals conditioning circuit corresponding with phase voltage acquisition unit and current acquisition unit respectively
Connection, described or door output end are connected to the PWM drive module, and the conditioning circuit includes will acquire signal
The signal conditioning circuit and operational amplifier for 5V signal are arranged, the anode of the operational amplifier is through first resistor R1
It exports and connects with the signal conditioning circuit, cathode is connected with itself output end, and output end is connected to institute through the 4th resistance R4
State or door.
It in the above-mentioned technical solutions, further include input side D.C. contactor, three pairs of the input side D.C. contactor
In the corresponding input phase for concatenating the rectifier bridge in contact, the output end and input side D.C. contactor of the protection circuit
Control connection.
It in the above-mentioned technical solutions, further include the pre-charge circuit of overcurrent when preventing from charging to bus capacitor, it is described
Pre-charge circuit include that the charging resistor for being serially connected in cathode rectifier output end, DC transformating power and anti-overflow direct current connect
Tentaculum, wherein the input terminal of the DC transformating power is connected with the output of rectifier bridge, the anti-overflow direct current contact
The relay coil of device is serially connected in the outlet side of DC transformating power, and a pair of the anti-overflow anti-overflow D.C. contactor is often
Contact is opened to be arranged in parallel with the charging resistor.
It in the above-mentioned technical solutions, further include DC power supply, the DC power supply includes with three-phase input
U, V phase in power supply and the output end of the direct current redundant module and connects multiple straight as the direct current redundant module of input
Galvanic electricity source module, the DC power supplier be respectively the control panel, detection protection circuit and voltage detecting circuit and
The power supply of PWM drive module.
In the above-mentioned technical solutions, the control panel is DSP control panel, further includes communicating with the DSP control panel
Display device is connected, the CAN communication unit communicated with the control panel, the display device is LCD display device, with
The DSP control panel is communicated in a manner of RS232, further includes the storage chip communicated with the DSP control panel, described
DSP is connect by isolating chip and communication chip with the LCD display device, and the CAN communication unit is band isolation
CAN chip.
The advantages and benefits of the present invention are:
Pulsating high frequency signal injection method is based on the non-linear saturated characteristic of stator inductance, in the two-phase rotating coordinate system of estimation
D-axis on inject high-frequency voltage signal, pass through closed loop adjust control and combine d-axis walking direction, obtain correct rotor position
Angle setting degree, this method can quickly and accurately be detected without changing or adding hardware circuit in any initial position
The position angle of rotor, thus the bicyclic starting operation of the speed and current for completing permanent magnet synchronous motor.
Detailed description of the invention
Fig. 1 is the system control principle drawing of pulsating high frequency signal injection method.
Fig. 2 is control system for permanent-magnet synchronous motor structure chart.
Fig. 3 is direct current supply modular structure schematic diagram.
Fig. 4 is the power pack structural schematic diagram of direct current supply module.
Fig. 5 is that LCD shows storage organization schematic diagram.
Fig. 6 is isolated can communication unit structural schematic diagram.
Fig. 7 is the conditioning circuit partial schematic diagram of detection protection circuit.
Fig. 8 is the control section schematic diagram of detection protection circuit.
Fig. 9 is the motor control algorithms flow chart based on pulsating high frequency signal injection method.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, combined with specific embodiments below furtherly
Bright technical solution of the present invention.
Embodiment one
As shown, durface mounted permanent magnet synchronous motor uses id=0 control method, rotor position angle use pulsating high frequency
Voltage injection method is detected, and following steps are specifically included,
1) high-frequency voltage signal is injected on the d-axis of the two-phase rotating coordinate system of estimation, under high-frequency voltage signal excitation
High-frequency current is generated,
2) high-frequency current by coordinate transform and with modulated signal sin (ωhT) it is multiplied and obtains high-frequency current componentωh
For the phase of high-frequency voltage signal,
3) high-frequency current componentLow-pass filtered (LPF) and pi regulator obtain the rotational speed omega of motorr, wherein controlIt is zero, the error delta θ of the estimated value and actual value that make rotor-position moves closer to 0, then integrated device can obtain rotor
Position angle estimated value
Pulsating high frequency injecting principle
Pulsating high frequency signal injection method is that high frequency sinusoidal voltage letter is injected on the d-axis of the two-phase rotating coordinate system of estimation
Number, the magnetic field of a high frequency pulsating is thus generated, which can motivate motor to generate inductor saturation effect, so that Surface Mount
" saliency " is presented in formula permanent magnet synchronous motor, is responded by the high-frequency current that detection includes rotor position information, by this signal
Rotor-position and revolving speed just can be obtained after demodulation, to realize position Sensorless Control.
Permanent magnet synchronous motor mathematical model under d-q rotating coordinate system are as follows:
U in formulad,uq----stator d-axis, quadrature-axis voltage；
id,iq----stator d-axis, quadrature axis current；
Ld,Lq----stator d-axis, axis inductor；
ψf----rotor flux；
ωe----electrical angular speed；
P---- differential operator.
RsMotor phase resistance
What it is due to high-frequency voltage signal injection is the two-phase rotating coordinate system estimatedWith reality
Relationship between d-q coordinate system are as follows:
In formula----estimation stator d-axis, quadrature axis high frequency voltage；
----estimation stator d-axis, quadrature axis high-frequency current；
Wherein Δ θ is rotor position error angle:
In formula----rotor-position actual value and estimated value；
Assuming that injecting high-frequency voltage signal in the two-phase rotating coordinate system of estimation are as follows:
In formula----the high frequency voltage injected in the d axis of estimation, q axis；
uh,ωhThe amplitude and phase of the high frequency voltage of ----injection.
Under pulsating high-frequency signal injection, rotor is remain stationary, negligible resistance pressure drop, can be obtained according to formula (1) to (4)
Current-responsive under the two-phase rotating coordinate system of estimation are as follows:
L in formuladh,LqhD-axis, axis inductor under ----high-frequency signal injection；
Current estimation value in formula (5)Contain rotor position estimate error delta θ in amplitude, which is crossed into band logical filter
Wave device (BPF) filters out carrier frequency signaling and fundamental frequency signal, by the signal directly with modulated signal sin (ωhT) it is multiplied,
It is obtained after low-pass filtered again (LPF):
After f (Δ θ) is using pi regulator, controlIt is zero, makes the estimated value of rotor-position and the error delta θ of actual value
0 is moved closer to, then integrated device can obtain the position angle estimated value of rotor
Wherein, when for primary detection, further include the steps that carrying out the judgement of d-axis polarity.When for primary detection, then directly
It connects to integrate f (Δ θ) and initial position angle of rotor estimated value can be obtainedSince the estimated value may be with physical location one
It causes, it is also possible to phase difference of pi rad, so must judge that the specific method is as follows to the positive direction of practical d-axis:
The identical width voltage pulse u of positive and negative direction is injected on the d-axis under the two-phase rotating coordinate system of estimationd, work as voltage
When pulse is injected along practical d-axis positive direction, the current-responsive that voltage pulse generates in the stator, which is formed by magnetic field, to be deepened
The saturation of magnetic circuit, inductance become smaller, and current peak is larger；When voltage pulse is injected along practical d-axis positive direction opposite direction, meeting
Reduce saturation of magnetic path, inductance becomes larger or remains unchanged, and current peak is smaller.Therefore can be sentenced according to current peak size
Disconnected actual d-axis positive direction out.If actual d-axis positive direction, the initial position angle θ of rotor is constant, if negative direction, then
Initial position angle θ=θ+π of rotor.
Specifically, rotor position angle is extractedAfterwards, then on the d-axis of estimation it is injected separately intoIt is contrary
Voltage pulse ud, current peak twice is acquired respectively, and carry out multilevel iudge and go out actual d-axis direction, if actual
D-axis positive direction, the initial position angle of rotorIt is constant, if negative direction, then the initial position angle of rotorIt completes to turn
Sub- initial position detection.
It should be noted that the high-frequency voltage signal is high frequency sinusoidal signal, frequency values require to be much larger than motor
Rated frequency, and be much smaller than the carrier frequency of inverter IGBT, the frequency of high-frequency voltage signal as mentioned is greater than motor volume
2-3 times for determining frequency, less than 1/10th of carrier frequency, the time of high-frequency voltage signal injection is 2000-5000 high frequency
Power frequency cycle.Wherein, high frequency sinusoidal voltage signal is generated by inverter, and above-mentioned inspection can be realized using frequency appropriate
It surveys, if Rated motor frequency is 200Hz, carrier frequency 10kHz, high frequency voltage frequency is selected as 500Hz-1000Hz and all may be used
With.Wherein, 500Hz frequency is used when test, therefore injection length is 4s-10s.
Usual motor is all to detect rotor-position by estimation winding back emf without sensing algorithm, so working as motor
When remaining static, winding back emf 0 just can not detect motor rotor position, and motor just can not start, and this method energy
Winding back emf is not enough depended on, is injected by external signal, the real-time detection of motor rotor position is completed.Pulsating high-frequency electrical pressure injection
Entering method is that high frequency voltage letter is injected on the d-axis of the two-phase rotating coordinate system of estimation based on the non-linear saturated characteristic of stator inductance
Number, pass through closed loop and adjust and control and combine d-axis walking direction, obtain correct rotor position angle, this method without changing or
Hardware circuit is added, the position angle of rotor can be quickly and accurately detected in any initial position, to complete
The bicyclic starting operation of the speed and current of permanent magnet synchronous motor.
Embodiment two
It wherein, further include that the rotor angle detected participates in the real-time rotational speed omega of calculating motorrTo complete rotational speed regulation
Step, the rotational speed regulation step are real-time rotational speed omegarWith setting speedDeviation obtain i through speed pi regulatorq
The reference value of electric currentThe electric current i of motor is obtained by clarke, park transformation calculationsq、id, electric current iq、idPass through low-pass filter
After filtering out high-frequency current component, respectively with reference value0 value compares, and the deviation of generation is obtained through electric current pi regulator again
The given value of voltageWithThe two generates voltage given value through park inverse transformation againWithWithFor three-phase inversion
The control signal of device SVPWM achievees the purpose that adjust motor speed by controlling the output of inverter.
According to the control method based on pulsating high frequency signal injection, the present invention utilizes DSP, as DSP28335 is controlled
Plate has carried out software programming, realizes above-mentioned control algolithm and has carried out motor test, test result shows pulsating high frequency voltage
Injection method is applicable not only to embedded actuator, is also applied for surface-mount type motor, while this method can be detected efficiently and accurately
The position angle of rotor completes the revolving speed double -loop control of permanent magnet synchronous motor.
Embodiment three
The modulated signal is sin (ωhT), it isWhereinRespectively d, q axis
High-frequency resistance phase angle, Zdh、ZqhThe respectively high-frequency resistance of d, q axis, j are imaginary unit, wherein
Zdh=Rs+jωhLd, Zqh=Rs+jωhLq,
In order to guarantee the stability of rotor position estimation system, improve modulated signal, rotor position estimation system it is steady
It is qualitative not restricted by the parameter of electric machine and Injection Signal frequency.High-frequency current componentExtraction, usually use bandpass filtering
Device obtains after being filtered to the iq electric current after coordinate transform.Bandpass filter is directly eliminated in application process of the present invention, is sat
Mark transformed iq electric current directly and modulated signalIt is multiplied.It, can be significantly simple without using bandpass filter
Change operand, improve computational efficiency, improve the dynamic response of system, reduces program complexity.In addition, not using bandpass filter
The high fdrequency component containing rotor position information can be retained as far as possible.High-frequency resistance angle is introduced simultaneously, improves modulated signal, rotor
The stability of position estimation system is not restricted by the parameter of electric machine and Injection Signal frequency guarantees the steady of rotor position estimation system
It is qualitative.
Example IV
Fig. 9 is the motor control algorithms flow chart based on pulsating high frequency signal injection method, and control algolithm, which is adopted, to be shown a C language
It is run in DSP control panel 6, (a) is main program flow chart in Fig. 9, (b) is timer interrupt sub routine flow chart, timer
Interruption subroutine executes in main program, main to complete pulsating high frequency signal injection method, speed and current double-loop control scheduling algorithm, tool
Body embodiment is as follows:
Main program specific embodiment is as follows:
(I) start
Program starts, from main program entrance, S1；
(II) it initializes
The initialization of DSP is carried out, DSP peripheral clock, house dog, I/O port (input and output) and interrupt vector table are completed
Initial work, S2；
(III) configuration register
Configure timer, PWM register, SCI register and interrupt register, and enabled related interrupts function, S3；
(IV) initializers parameter
The relevant parameters such as initialization timer, PWM duty cycle, delay time, RS232 communication software, S4；
(V) circulation waits
Into major cycle, waiting timer, which interrupts, to be occurred, S5；
(VI) it executes interrupt routine and returns
Timer interrupt sub routine is executed, returns to main program after the completion, circulation waits, S6.
Timer interrupt sub routine specific embodiment is as follows:
(I) it interrupts and starts
Interruption occurs, into timer interrupt program, S7；
(II) whether primary detection
Judge that motor rotor position is primary detection, if so, carrying out the initial detecting of motor rotor position first, otherwise
Execute pulsating high frequency signal injection control algolithm, S8；
(III) initial position detection
The high frequency voltage that certain time is injected first on the d-axis of estimation, extracts rotor position angleAgain to estimation
D-axis on be injected separately intoEtc. contrary voltage pulse ud, current peak twice is acquired respectively, and is carried out
Multilevel iudge goes out actual d-axis direction, if actual d-axis positive direction, the initial position angle of rotorIt is constant, if losing side
To the then initial position angle of rotorComplete initial position of rotor detection, S9；
(IV) high frequency injection control
After completing initial position detection, motor normally starts, and injects high frequency voltage on the d-axis of estimation, extracts height
Frequency current componentWith sin (ωhT) rotational speed omega of motor is obtained after being multiplied after low-pass filtering and pi regulatorr, ωr
The estimated value of rotor position angle is obtained after integralComplete the real-time detection of rotor-position, S10；
(V) parametric filtering
The parameters such as collected electric current, voltage are subjected to low-pass filtering, high fdrequency component and carrier signal is filtered out, obtains motor
Fundamental frequency signal, S11；
(VI) speed and current controls
Motor speed ring is completed according to parametric filtering value, the PI of electric current loop is controlled to adjust, progress park inverse transformation, calculating electricity
Press reference value, S12；
(VII) PWM Algorithm
The voltage reference value of output is adjusted according to speed and current, executes PWM Algorithm, calculates duty ratio and exports PWM
Signal, control three phase inverter bridge driving motor operation, S13；
(VIII) it interrupts and completes to return to main program
Motor operation control algolithm is completed, interrupts and completes to return to main program, S14.
Embodiment five
Can be achieved the permanent magnet synchronous motor of the invention of above-mentioned vacant method control system include three-phase alternating-current supply 1,
Rectifier bridge 2, inverter bridge 3, control panel 6, PWM drive module 7, the bus being arranged between two output ends of rectifier bridge electricity
Hold 5, circuit 8 and permanent magnet synchronous motor 4 are protected in detection；The detection protection circuit plate include signal acquisition unit, to
The output of the signal acquisition unit is carried out to mark the conditioning circuit changed, and connected with the conditioning circuit output
Circuit is protected, the signal acquisition unit includes phase voltage acquisition unit and current acquisition unit, the protection circuit packet
It includes or door, described or door two input terminals conditioning circuit corresponding with phase voltage acquisition unit and current acquisition unit respectively
Output connection, described or door output end are connected to the PWM drive module.
Wherein, the conditioning circuit includes arranging acquisition signal for the signal conditioning circuit of 5V signal, Yi Jiyun
Amplifier 26 is calculated, the anode of the operational amplifier is exported through first resistor R1 and the signal conditioning circuit to be connected, and is born
Pole is connected with itself output end, and output end is connected to described or door 27 through the 4th resistance R4.
Its specific connection relationship is as follows:
The signal Input of signal conditioning circuit output is connect with resistance R1, R2, and the other end of resistance R2 is connect with GND, electricity
The other end of resistance R1 is connect with the anode of resistance R3, capacitor C1 and operational amplifier 26.Resistance R3, capacitor C1 the other end with
GND connection.The negative terminal of operational amplifier 26 is connect with itself output end, the output end and resistance R4, capacitor of operational amplifier 26
The anode connection of C2, the cathode of diode D7, diode D8.The other end of capacitor C2, the anode of diode D7 are connect with GND,
The cathode of diode D8 is connect with 3.3V.Diode D7 and D8 are constituted there are two being arranged in the output end of the operational amplifier
Amplitude limiter circuit, when be greater than 3.3+ diode conduction voltage drop when top diode D8 conducting, diode D7 is led when less than 0
Following diode current flow, can be effectively controlled the voltage entered or door when logical pressure drop.
Due to first passing through signal conditioning circuit, the signals such as electric current, DC voltage are arranged into the signal for 5V, therefore detect electricity
Road is acquired using unified form, and the electric machine phase current and DC voltage of acquisition have carried out marking change, acquisition signal warp
It is directly entered after filtering or door.Specifically, the output electric current Iout and resistance R5 of the corresponding conditioning circuit of current acquisition unit connect
It connects, the other end of resistance R5 is connect with 1 end of capacitor C3 or door 27.The output of the corresponding conditioning circuit of phase voltage acquisition unit
Electric current Vdout is connect with resistance R6, and the other end of resistance R6 is connect with 2 ends of capacitor C4 or door 27.Or the output end of door 27 with
The anode and PWM drive module 7 of light emitting diode D9 connects, and the cathode of light emitting diode D9 is connected to ground
The present invention directly controls PWM drive module after carrying out signal arrangement using hardware circuit after acquisition, effectively improves control
The robustness of system, meanwhile, signal is carried out to mark change processing, integrated circuit control is clear.
For the input that rectifier bridge side is effectively truncated, control system of the invention further includes input side D.C. contactor, described
Input side D.C. contactor the corresponding input phase for concatenating the rectifier bridge in three pairs of contacts 12 on, the protection circuit
Output end connect with input side D.C. contactor 30.That is, the inverted device 28 of output of the protection circuit meets triode T1
Base stage, the relay coil of the input side D.C. contactor is serially connected on the collector of triode and another termination 24V,
The emitter of the triode is grounded.Wherein input side contactor 12 is directly controlled by detection protection circuit 8, detection protection electricity
Road 8 judges whether overcurrent, over-voltage, if breaking down, protection signal is input in PWM drive module 7, is believed by output protection
Number directly block the output of PWM drive module 7, and alarmed by light emitting diode D9, then by phase inverter drag down level make after
Electric apparatus coil is enabled, to disconnect input side contactor 12, completes hardware protection function.DSP control panel 6 receives protection letter simultaneously
After number, pwm signal is blocked, shuts down procedure operation, completes system software protection.The function of fuse 17 is then direct current in order to prevent
Busbar short-circuit protects three-phase inverter.Braking resistor, braking contactor is replaced to be protected using fuse in main circuit, directly
Connecing fusing mechanism and carrying out protection is also to reduce control, improves control stability.
Specific such as to scheme, U, V, W of three-phase alternating-current supply 1 are connect with 1,3,5 contacts of input contactor 12 respectively, and input connects
2,4,6 contacts of tentaculum 12 are connect with 1,2,3 ends of diode rectifier bridge 2 respectively, 5 ends of diode rectifier bridge 2 and bus electricity
Hold the 2 ends connection of the 5, cathode of DC transformating power 16 and three phase inverter bridge 3.One end of fuse 17 connects, fuse 17
The other end connect with 1 end of three phase inverter bridge 3.3,4,5 ends of three phase inverter bridge 3 A, B, C with permanent magnet synchronous motor 4 respectively
It is connected.
Or the output end of door 27 is connected with the input terminal of phase inverter 28, the output end of phase inverter 28 is connect with resistance R7.
The other end of resistance R7 is connect with the base stage of triode T1, and the emitter of triode T1 is connect with AGND.The current collection of triode T1
Pole is connect with the anode of sustained diode 10, relay coil Ts, and cathode, the relay coil Ts of sustained diode 10 are another
End is connect with+24V.
When the controlled stopping of PWM drive module, after controlling the inverted device of signal input side D.C. contactor coil is led
Logical, the electric current for completing front end disconnects, and realizes whole control.
It on the basis of the above embodiments, further include the pre-charge circuit of overcurrent when preventing from charging to bus capacitor,
The pre-charge circuit includes that the charging resistor that cathode rectifier output end is arranged in, DC transformating power and anti-overflow are straight
Flow contactor, wherein the input terminal of the DC transformating power is connected with the output of rectifier bridge, the anti-overflow direct current
The relay coil of contactor is serially connected in the outlet side of DC transformating power, and the one of the anti-overflow anti-overflow D.C. contactor
Normally opened contact and the charging resistor are arranged in parallel.Wherein, the output of the DC transformating power is 24V direct current,
The anti-overflow D.C. contactor is 24V D.C. contactor.
Wherein, the output of the DC transformating power is 24V direct current, and the anti-overflow D.C. contactor is 24V
Anti-overflow D.C. contactor.The DC voltage of rectifier bridge output of the invention is the input voltage of DC transformating power, and direct current becomes
It changing power supply and is equivalent to voltage dropping power supply, carried out charging initial stage to bus capacitor, the input terminal voltage of DC transformating power is smaller,
When bus capacitor tends to saturation, the input terminal voltage of DC transformating power is incrementally increased, only the direct current when rectifier bridge output
When voltage reaches 480V or so, the output voltage of DC transformating power can be only achieved 24V, and only 24V voltage could allow anti-mistake
It flows D.C. contactor to be attracted, charging resistor is shorted.When three-phase is electrically disconnected or rectifier bridge failure, the direct current of rectifier bridge output
Pressure constantly decline, when being lower than 480V, DC transformating power can not export 24V direct current, and anti-overflow D.C. contactor just disconnects,
Charging resistor is connected in series in circuit again, and the electric discharge safety of bus capacitor is effectively ensured, and whole process is controlled without external signal,
It is simple and reliable, depend entirely on bus capacitor and whether reach relevant voltage value, control stablize it is high, with being connected in parallel on bus capacitor two sides
DC voltage source control contactor instead of original dsp control signal, as long as the DC voltage of diode rectifier output
Reach certain value, can automatic pick, charging resistor is shorted, without DSP control.
The invention also includes the DC power supplies of input termination alternating current, and the DC power supply includes with three-phase
U, V phase in input power and the output end of the direct current redundant module 18 and connects as the direct current redundant module of input
Multiple DC power suppliers, the DC power supplier are respectively the control panel, detection protection circuit and voltage detecting
Circuit and the power supply of PWM drive module.Using Redundancy power supply, enhances the redundant ability of system control electricity, guarantee direct current
Stablize supply, reduces system phase shortage and cause to control electrically disconnected probability.
Specifically as shown, DC power supply 9 is that DSP control panel 6 and LCD display input 10 provide power supply, wherein directly
Galvanic electricity source 9 provides 24V direct current using direct current redundant module first, and wherein the straight of bright latitude power supply can be selected in direct current redundant module 18
Redundancy mould DR-RDN20 is flowed, which uses Redundancy Design, and using U, V phase in three-phase input power supply as input, U, V are mutual
To be spare, generation+24V direct current can guarantee that control electricity is normal to greatest extent.Pass through the DC power supply mould of Jin Shengyang company again
Block (model IB2405LS-1W, WRA2415S-3W and K7803-500R2) respectively by 24V be converted to for+5V, ± 15V with
And+3.3V, specific connection type are as follows:
+ 24 signals of direct current redundant module 18 respectively with the anode of capacitor DVC1, DVC2 and the first DC Module 18
Vin is connected, and the cathode of capacitor DVC1, DVC2 are connected with the GND of GND, the first DC Module 18 ,+5V signal, capacitor DVC3
Anode, DVR1 one end connect with the Vout of the first DC Module 18, the cathode of capacitor DVC3 and the other end of DVR1 and
The 0V connection of one DC Module 18.
+ 24 signals of direct current redundant module 18 respectively with the anode of capacitor DVC4, DVC5 and the second DC Module 19
Vin is connected, and the cathode of capacitor DVC4, DVC5 are connected with the GND of GND, the second DC Module 19 ,+15V signal, capacitor
The anode of DVC6, DVC7 are connect with the V+ of the second DC Module 19, the cathode of capacitor DVC6, DVC7 and the second DC Module 19
0V connection.Capacitor DVC8, VC9 anode connect with the 0V of the second DC Module 19, -15V signal, capacitor DVC8, DVC9 bear
Pole is connect with the V- of DC Module 19.
+ 24 signals of direct current redundant module 18 respectively with the anode of capacitor DVC10, DVC11 and third DC Module 20
Vin be connected, the cathode of capacitor DVC10, DVC11 are connected with the GND of GND, third DC Module 20 ,+3.3V signal, electricity
The anode for holding DVC12 is connect with the Vout of third DC Module 20, and the cathode of capacitor DVC12 is connect with GND.
The control panel is DSP control panel, further includes and the DSP control panel communication connection display device.Specifically
Ground, the display device are LCD display device, are communicated in a manner of RS232 with the DSP control panel, further include and institute
The storage chip for the DSP control panel communication stated, the DSP are connect by communication chip with the LCD display device.
It wherein, further include the storage chip communicated with the DSP control panel, the DSP passes through communication chip and institute
The LCD display device connection stated, while to prevent from interfering, signal is isolated using IS07221 isolating chip, is further mentioned
High anti-interference, storage unit using AT2404 chip storage electric machine control system major parameter.Increase isolating chip, mentions
Height communication anti-interference ability and stability.
Specific connection is as follows:
The end A0, A1, A2, VSS and WP of storage chip 22 is connect with GND, and the end VCC is connect with+5V, the end SCL, SDA point
It is not connected with GPIO33, GPIO32 of DSP control panel 6.GPIO14, GPIO13 of DSP control panel 6 respectively with isolating chip 23
INA, OUTA be connected, VCCA, GNDA of isolating chip 23 are connect with+3.3V and GND respectively, the OUTB of isolating chip 23,
INB is connected with the end SCITX, SCIRX of communication chip 24 respectively, VCCB, GNDB of isolating chip 23 respectively with+3.3V and
DGND connection.The end Tx+, Tx-, Rx+, Rx- of communication chip 24 is connected with 2,3,4,6 ends of LCD display input 10 respectively.
Described simultaneously further includes the CAN communication unit communicated with the control panel, and the CAN communication unit is band
The CAN chip of isolation.CAN communication unit uses the CAN chip (model ISO1050) with isolation to be communicated, and not only improves
Anti-interference, and additional other isolating chips are not necessarily to, connection type is as follows:
CAN communication terminal is connect with CANH, CANL of CAN communication chip 25 (model ISO1050) respectively, CAN communication
VCCB, GNDB of chip 25 are connect with+5V power supply, DGND respectively.VCCA, GNDA of CAN communication chip 25 respectively with+3.3V,
GND connection.TX, RX of CAN communication chip 25 are connect with GPIO31, GPIO30 of DSP control panel 6 respectively.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (12)
1. a kind of method for controlling permanent magnet synchronous motor based on pulsating high frequency signal injection, it is characterised in that: including rotor-position
Detecting step comprising following steps,
1) high-frequency voltage signal is injected on the d-axis of the two-phase rotating coordinate system of estimation, is generated under high-frequency voltage signal excitation
High-frequency current,
2) high-frequency current by coordinate transform and with modulated signal sin (ωhT) it is multiplied and obtains high-frequency current componentωhFor height
The phase of frequency voltage signal,
3) high-frequency current componentLow-pass filtered (LPF) and pi regulator obtain the rotational speed omega of motorr, wherein controlFor
Zero, make the estimated value of rotor-position0 is moved closer to the error delta θ of actual value, then integrated device can obtain the position of rotor
Angle setting estimated value
2. method for controlling permanent magnet synchronous motor as described in claim 1, it is characterised in that: when for primary detection, further include
The step of d-axis polarity judges is carried out, the polar judgment step of the d-axis is again the side of being injected separately on the d-axis of estimation
To opposite voltage pulse ud, current peak twice is acquired respectively, when voltage pulse is injected along practical d-axis positive direction,
The current-responsive that voltage pulse generates in the stator, which is formed by magnetic field, can deepen the saturation of magnetic circuit, and inductance becomes smaller, current peak
It is larger；When voltage pulse is injected along practical d-axis positive direction opposite direction, saturation of magnetic path can be made to reduce, inductance become larger or
Person remains unchanged, and acquires current peak twice respectively, and carries out multilevel iudge and go out actual d-axis direction, if actual straight
The initial position angle θ of axis positive direction, rotor is constant, if negative direction, then initial position angle θ=θ+π of rotor.
3. method for controlling permanent magnet synchronous motor as claimed in claim 2, it is characterised in that: extract rotor position angleAfterwards, then
It is injected separately on the d-axis of estimationContrary voltage pulse ud, current peak twice is acquired respectively, and
It is compared and judges actual d-axis direction, if actual d-axis positive direction, the initial position angle of rotorIt is constant, if
Negative direction, the then initial position angle of rotorComplete initial position of rotor detection.
4. method for controlling permanent magnet synchronous motor as described in claim 1, it is characterised in that: the high-frequency voltage signal is height
Frequency sinusoidal signal, frequency values require the rated frequency for being much larger than motor, and are much smaller than the carrier frequency of inverter IGBT.
5. method for controlling permanent magnet synchronous motor as claimed in claim 4, it is characterised in that: the frequency of the high-frequency voltage signal
Rate is greater than 2-3 times of Rated motor frequency, and less than 1/10th of carrier frequency, the time of high-frequency voltage signal injection is
2000-5000 high frequency electric source frequency cycle.
6. method for controlling permanent magnet synchronous motor as described in claim 1, it is characterised in that: further include the rotor angle detected
Participate in calculating the real-time rotational speed omega of motorrWith the step of completing rotational speed regulation, the rotational speed regulation step is real-time rotational speed omegar
With setting speedDeviation obtain i through speed pi regulatorqThe reference value of electric currentBy clarke, park transformation calculations
Obtain the electric current i of motorq、id, electric current iq、idAfter filtering out high-frequency current component by low-pass filter, respectively with reference value0
Value compares, and the deviation of generation obtains the given value of voltage through electric current pi regulator againWithThe two is again through park inversion
It changes and generates voltage given valueWith WithFor the control signal of three-phase inverter SVPWM, pass through the defeated of control inverter
Out, achieve the purpose that adjust motor speed.
7. method for controlling permanent magnet synchronous motor as described in claim 1, it is characterised in that: the modulated signal sin (ωht)
ForWhereinThe respectively high-frequency resistance phase angle of d, q axis, Zdh、ZqhThe respectively height of d, q axis
Frequency impedance, wherein
Zdh=Rs+jωhLd, Zqh=Rs+jωhLq,
8. a kind of magneto control to realize such as the described in any item method for controlling permanent magnet synchronous motor of claim 1-7
System, which is characterized in that including rectifier bridge, inverter bridge, control panel, PWM drive module and detection protection circuit；Described
Detection protection circuit includes signal acquisition unit, carries out marking the conditioning changed electricity to the output to the signal acquisition unit
Road, and the protection circuit with the conditioning circuit output connection, the signal acquisition unit include that phase voltage acquisition is single
Member and current acquisition unit, the protection circuit includes or door, described or door two input terminals are acquired with phase voltage respectively
The output of unit conditioning circuit corresponding with current acquisition unit connects, and described or door output end is connected to the PWM
Drive module, the conditioning circuit include putting arranging acquisition signal for the signal conditioning circuit of 5V signal and operation
Big device, the anode of the operational amplifier is exported through first resistor R1 and the signal conditioning circuit to be connected, cathode with from
Body output end is connected, and output end is connected to described or door through the 4th resistance R4.
9. the control system of permanent magnet synchronous motor as claimed in claim 8, it is characterised in that: further include the contact of input side direct current
Device, three pairs of contacts of the input side D.C. contactor correspond in the input phase for concatenating the rectifier bridge, the guarantor
Output end and input side the D.C. contactor control of protection circuit connect.
10. the control system of permanent magnet synchronous motor as claimed in claim 8, it is characterised in that: further include preventing to bus electricity
The pre-charge circuit of overcurrent when capacity charge, the pre-charge circuit include the charging for being serially connected in cathode rectifier output end
Resistance, DC transformating power and anti-overflow D.C. contactor, wherein the input terminal and rectifier bridge of the DC transformating power
Output be connected, the relay coil of the anti-overflow D.C. contactor is serially connected in the outlet side of DC transformating power, institute
A pair of of the normally opened contact for the anti-overflow anti-overflow D.C. contactor stated is arranged in parallel with the charging resistor.
11. a kind of control system of permanent magnet synchronous motor according to claim 8, it is characterised in that: further include that direct current supplies
Power supply, the DC power supply include the direct current redundant module with U, V phase in three-phase input power supply as input, with
The output end of the direct current redundant module and the multiple DC power suppliers connect, the DC power supplier are respectively described
Control panel, detection protection circuit and voltage detecting circuit and PWM drive module power supply.
12. a kind of control system of permanent magnet synchronous motor according to claim 8, it is characterised in that: the control panel
It further include with the DSP control panel communication connection display device, the CAN communicated with the control panel is logical for DSP control panel
Unit is interrogated, the display device is LCD display device, communicates in a manner of RS232 with the DSP control panel, further includes
The storage chip communicated with the DSP control panel, the DSP pass through isolating chip and communication chip and the LCD
Display device connection, the CAN communication unit are the CAN chip with isolation.
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| CN201811252118.8A CN109327172A (en) | 2018-10-25 | 2018-10-25 | Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection |
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| CN201811252118.8A CN109327172A (en) | 2018-10-25 | 2018-10-25 | Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection |
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| CN110995092A (en) * | 2019-11-01 | 2020-04-10 | 东南大学 | Magnetic pole judgment method applied to PMSM (permanent magnet synchronous motor) position sensorless control |
| CN112977173A (en) * | 2021-04-30 | 2021-06-18 | 重庆长安新能源汽车科技有限公司 | Electric automobile and power battery pulse heating system and heating method thereof |
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Application publication date: 20190212 |