CN109560729A - A method of improving permanent magnet synchronous motor initial position identification precision - Google Patents
A method of improving permanent magnet synchronous motor initial position identification precision Download PDFInfo
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- CN109560729A CN109560729A CN201811317262.5A CN201811317262A CN109560729A CN 109560729 A CN109560729 A CN 109560729A CN 201811317262 A CN201811317262 A CN 201811317262A CN 109560729 A CN109560729 A CN 109560729A
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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
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
-
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
-
- 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
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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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 methods for improving permanent magnet synchronous motor initial position identification precision, comprising the following steps: (1) three-phase permanent magnet synchronous motor driving structure wiring；(2) (A+, B-) voltage pulse is injected, line current is detected, until electric current I reaches setting electric current threshold value；(3) turn-on time Ton is recorded, voltage pulse is sent out with present on-time Ton, line current amplitude when record is connected；(4) tentatively judge initial position of rotor theta, when | i+ n| > | i‑ n| when invalid, The=theta+ π, when | i+ n| > | i‑ n| when establishment, The=theta finally judges initial position of rotor theta.A kind of method improving permanent magnet synchronous motor initial position identification precision provided by the invention, simply, easy, precision is high, (millisecond rank) can recognize within a very short time to rotor-position.
Description
Technical field
The present invention relates to motor control method technical field, especially a kind of raising permanent magnet synchronous motor initial position identification
The method of precision.
Background technique
The features such as permanent magnet synchronous motor has power factor high, and power density is big and overload capacity is strong, in household electrical appliance,
It is widely applied in electric vehicle driving and other industrial occasions.In PMSM Drive System, can to turn
It is the premise that can whether open loop smoothly start and realize torque capacity starting that sub- initial position, which carries out accurate recognition, is
One of research hotspot and difficulties of Motor Control Field.Domestic and foreign scholars recognize permanent magnet synchronous motor initial position and carry out
Numerous studies.Patent magnetic pole position of permanent magnet synchronous motor rotor presumption method (number of patent application: 201110382805.3) mentions
Another according to magnetic saturation effect principle out, to the motor injection a series of voltage pulse that amplitude is identical, direction is different, detection is simultaneously
Compare the size of response current integral to estimate initial position, the method simple possible, but precision is not high, if expected more quasi-
True initial position of rotor need to apply the voltage vector in multiple and different directions, if selection voltage magnitude is improper, pick out
Initial position error can be bigger；Permanent magnet synchronous motor rotor position detection method (patent Shen of the patent based on high frequency electrocardiography
Please number: 201510815690.0) be utilized in motor and inject specific high-frequency signal, with detect response current signal with true
The initial position of rotor, the algorithm is complex, and the identification time is long, and high to current sensor required precision, increases and is
System cost.
Summary of the invention
In order to solve the above technical problems, influence of the present invention from saliency to winding inductance, it then follows line inductance is in
On the basis of Sine distribution and a cycle change twice, a kind of raising permanent-magnetic synchronous motor rotor initial position identification is proposed
The method of precision.
The technical solution of the present invention is as follows: a kind of method for improving permanent magnet synchronous motor initial position identification precision, including with
Lower step:
(1) three-phase permanent magnet synchronous motor driving structure wiring, three-phase permanent magnet synchronous motor driving structure include switching tube
VT1, switching tube VT2, switching tube VT3, switching tube VT4, switching tube VT5, switching tube VT6, diode VDl, diode VD2, two
Pole pipe VD3, diode VD4, diode VD5, diode VD6, inductance LA, inductance LB, inductance LC, wherein the switching tube VT1,
Switching tube VT2 series connection, the switching tube VT3, switching tube VT4 series connection, the switching tube VT5, switching tube VT6 series connection, power supply point
Not with the switching tube VT1 and switching tube VT2, the switching tube VT3 and switching tube VT4, the switching tube VT5 and switching tube
VT6 is in parallel, the inductance LA, inductance LB, one end of inductance LC are parallel with one another, the inductance LA, inductance LB, inductance LC
The other end is connect with one end of one end of the switching tube VT1, one end of the switching tube VT3, the switching tube VT5 respectively；
Setting three-phase permanent magnet synchronous motor is separately connected three bridge arms A, B, C of inverter bridge；A phase bridge arm upper switch pipe is open-minded
It is defined as A+, detection gained current amplitude is I (a+)；A phase bridge arm lower switch pipe, which is opened, is defined as A-, detection gained current amplitude
For I (a-)；B phase bridge arm upper switch pipe, which is opened, is defined as B+, and detection gained current amplitude is I (b+)；B phase bridge arm lower switch pipe is opened
Logical to be defined as B-, detection gained current amplitude is I (b-)；C phase bridge arm upper switch pipe, which is opened, is defined as C+, detection gained electric current width
Value is I (c+)；C phase bridge arm lower switch pipe, which is opened, is defined as C-, and detection gained current amplitude is I (c-)；A phase and B phase connect respectively
Two current detection sensors are connect, B phase lags 120 ° of A phase, and C phase lags 120 ° of B phase, and switching tube turn-on time is Ton, switching tube
The disconnected time is Toff；
(2) it sets system detection current value threshold and turn-on time Ton, C phase is hanging, be connected according to (A+, B-), detection is rung
It answers current value I (a+), increases turn-on time Ton, until response current I (a+) reaches setting electric current threshold value；
(3) with current turn-on time Ton, according to (A+, B-), (A-, B+), (B+, C-), (C+, B-), (C+, A-),
(A-, C+), sequence are successively connected two-by-two, and in addition one is mutually hanging, send out voltage pulse with present on-time Ton, wherein insertion is closed
Section time Toff, line current amplitude when record is connected；
(4) since line inductance and A phase response current/B phase response current/C phase response current linearly close in a certain range
System can tentatively judge initial position of rotor theta, when rotor-position theta is located at 0~60 ° or 180~240 ° by calculating
When, rotor specific location theta is determined by comparing the value of I (c+), I (c-)；When rotor-position theta is located at 60~120 °
Or at 240~300 °, rotor specific location theta is determined by comparing the value of I (b+), I (b-)；As rotor-position theta
When positioned at 120~180 ° or 300~360 °, rotor specific location theta is determined by comparing the value of I (a+), I (a-).
Preferably, step (3) the current in middle wire amplitude recording method are as follows: when electric current in a certain range, line inductance can
Approximate representation are as follows:Lbc=L0-L2Cos (2theta),
Wherein, LabFor AB line inductance, LbcFor BC line inductance, LacFor AC line inductance, L0For self-induction component caused by fundamental wave, L2It is secondary humorous
Self-induction component caused by wave, theta are rotor position angle；It is respectively I (a+), I by the maximum current value of microprocessor detection
(a-), I (b+), I (b-), I (c+), I (c-).
Preferably, the microprocessor can carry out multiple cycle detection I (a+), I (a-), I (b+), I (b-), I (c+),
I (c-), then the average value of obtaining current maximum value.
Preferably, calculation method in the step (4) are as follows: assuming that A phase reversal amplitude difference is Δ Ia, i.e. Δ Ia=
I(a+)-I(a-)；B phase reversal amplitude difference is Δ Ib, i.e. Δ Ib=I (b+)-I (b-)；C phase reversal amplitude difference
It is current peak for Δ Ic, i.e. Δ Ic=I (c+)-I (c-), Imax, I0 is current average, and Ia is A phase current instantaneous value, Ib
For B phase current instantaneous value, Ic is C phase current instantaneous value；A phase response current is in a linear relationship with line inductance in a certain range,
To have: Similarly: Ib=I0- (Imax-I0) * cos (2*
Theta), It can obtain:
Δ Ib=I (b+)-I (b-)=- (Imax-I0) * Cos (2*theta)；
It can be obtained by above three formula:
Or
Rotor position angle can be obtained by above two formula tangent of negatingOr
Compared with prior art, the invention has the following beneficial effects:
(1) the method for the invention saves cost, is achieved with synchronous electric motor rotor absolute position without position sensor
Information；
(2) present invention can enable synchronous motor open loop realize torque capacity starting in the case where band heavy duty,
Also it can solve the starting problem of the closed-loop vector control to synchronous motor with incremental encoder；
(3) present invention obtains that initial position of rotor information approach is simple, and easy, precision is high, can (millisecond within a very short time
Rank) rotor-position is recognized.
Detailed description of the invention
Fig. 1 is three-phase permanent magnet synchronous motor driving structure circuit diagram of the invention.
Fig. 2 is the principle of the present invention flow chart.
Fig. 3 is that permanent magnet synchronous motor initial position of the invention recognizes current waveform.
Fig. 4 is permanent magnet synchronous motor initial position discrimination method comparative pattern of the invention.
Specific embodiment
With reference to the accompanying drawing and specific embodiment, the present invention will be further described.
As shown in Figures 1 to 4, a method of improving permanent magnet synchronous motor initial position identification precision, including following step
It is rapid:
(1) by three-phase permanent magnet synchronous motor driving structure wiring, three-phase permanent magnet synchronous motor driving structure includes switching tube
VT1, switching tube VT2, switching tube VT3, switching tube VT4, switching tube VT5, switching tube VT6, diode VDl, diode VD2, two
Pole pipe VD3, diode VD4, diode VD5, diode VD6, inductance LA, inductance LB, inductance LC；Wherein switching tube VT1, switch
Pipe VT2 series connection, switching tube VT3, switching tube VT4 series connection, switching tube VT5, switching tube VT6 series connection, power supply respectively with switching tube VT1
And switching tube VT2, switching tube VT3 and switching tube VT4, switching tube VT5 and switching tube VT6 are in parallel, inductance LA, inductance LB, inductance
One end of LC is parallel with one another, inductance LA, inductance LB, inductance LC the other end respectively with one end of switching tube VT1, switching tube VT3
One end, switching tube VT5 one end connection.
A, B, C three-phase meet three inverter bridge legs, A phase bridge arm upper switch pipe VT respectively1It opens and is defined as A+, detection gained electricity
Stream amplitude is I (a+)；A phase bridge arm lower switch pipe VT2It opens and is defined as A-, detection gained current amplitude is I (a-)；B phase bridge arm
Upper switch pipe VT3It opens and is defined as B+, detection gained current amplitude is I (b+)；B phase bridge arm lower switch pipe VT4It opens and is defined as
B-, detection gained current amplitude is I (b-)；C phase bridge arm upper switch pipe VT5It opens and is defined as C+, detection gained current amplitude is I
(c+)；C phase bridge arm lower switch pipe VT6It opens and is defined as C-, detection gained current amplitude is I (c-)；Using A phase as benchmark zero phase
B phase lags 120 ° of A phase, and C phase lags 120 ° of B phase, and switching tube turn-on time is Ton, and switching tube breaks the time as Toff.
(2) it sets system detection current value threshold and turn-on time Ton, C phase is hanging, be connected according to (A+, B-), detection is rung
It answers current value I (a+), increases turn-on time Ton, until response current I (a+) reaches setting electric current threshold value.
(3) with current turn-on time Ton, according to (A+, B-), (A-, B+), (B+, C-), (C+, B-), (C+, A-),
(A-, C+), sequence are successively connected two-by-two, and in addition one is mutually hanging, wherein section time Toff is closed in insertion；During this period, when electric current exists
In a certain range, line inductance can approximate representation are as follows:Lbc=L0-L2Cos (2theta),Wherein, LabFor AB line inductance, LbcFor BC line inductance, LacFor AC line inductance, L0For fundamental wave
Caused self-induction component, L2For self-induction component caused by second harmonic, theta is rotor position angle；It is examined respectively by microprocessor
The maximum current value of survey is I (a+), I (a-), I (b+), I (b-), and I (c+), I (c-) can be in order to improve current sample precision
It is repeatedly recycled, then the average value of obtaining current maximum value.
(4) assume that A phase reversal amplitude difference is Δ Ia, i.e. Δ Ia=I (a+)-I (a-)；B phase reversal amplitude
Difference is Δ Ib, i.e. Δ Ib=I (b+)-I (b-)；C phase reversal amplitude difference be Δ Ic, i.e. Δ Ic=I (c+)-I (c-),
Imax is current peak, and I0 is current average, and Ia is A phase current instantaneous value, and Ib is B phase current instantaneous value, and Ic is C phase current
Instantaneous value；A phase response current is in a linear relationship with line inductance in a certain range, to have:Similarly: It can obtain:
Δ Ib=I (b+)-I (b-)=- (Imax-I0) * cos (2*theta)；
It can be obtained by above three formula:
Or
Rotor position angle can be obtained by above two formula tangent of negatingOr
When rotor-position theta is located at 0~60 ° or 180~240 °, by comparing (c+), I (c-), value determine
Rotor specific location theta；When rotor-position theta is located at 60~120 ° or 240~300 °, by comparing I (b+), I
(b-) value determines rotor specific location theta；When rotor-position theta is located at 120~180 ° or 300~360 °, lead to
Cross compare (a+), the value of I (a-) determines rotor specific location theta.
Test platform of the present invention have it is a set of to unit is dragged, by permanent magnet synchronous motor and asynchronous machine and two frequency converter groups
At experimental prototype is permanent magnet synchronous motor, and the parameter of electric machine is as follows:
Attached drawing 3 is the current-responsive waveform of the discrimination method on this test platform, there it can be seen that appointing during conducting
The meaning moment is connected two-by-two, and the time is very short, can guarantee that motor shaft is motionless in this way, to ensure that identification precision；In order to make essence
Du Genggao has carried out two-wheeled current sample, then is averaged and carries out calculating initial position angle.
Attached drawing 4 is the comparison of two kinds of discrimination method test results on this test platform, it can be seen that side of the present invention
Method precision relatively before voltage pulse injection, the method for comparing response current size wants high, 5 ° of left sides of the method for the present invention worst error
The right side, and voltage pulse method worst error reaches 13 ° or so.
The above embodiments are merely a preferred embodiment of the present invention, and cannot limit interest field of the invention with this, because
This is still within the scope of the present invention according to modification, equivalent variations, improvement etc. made by scope of the present invention patent.
The above embodiments are merely a preferred embodiment of the present invention, and cannot limit interest field of the invention with this, because
This is still within the scope of the present invention according to modification, equivalent variations, improvement etc. made by scope of the present invention patent.
Claims (4)
1. a kind of method for improving permanent magnet synchronous motor initial position identification precision, which comprises the following steps:
(1) three-phase permanent magnet synchronous motor driving structure wiring, three-phase permanent magnet synchronous motor driving structure include switching tube VT1, open
Close pipe VT2, switching tube VT3, switching tube VT4, switching tube VT5, switching tube VT6, diode VD1, diode VD2, diode
VD3, diode VD4, diode VD5, diode VD6, inductance LA, inductance LB, inductance LC, wherein the switching tube VT1, switch
Pipe VT2 series connection, the switching tube VT3, switching tube VT4 series connection, the switching tube VT5, switching tube VT6 series connection, power supply respectively with
The switching tube VT1 and switching tube VT2, the switching tube VT3 and switching tube VT4, the switching tube VT5 and switching tube VT6 are simultaneously
Connection, the inductance LA, inductance LB, one end of inductance LC are parallel with one another, the inductance LA, inductance LB, inductance LC it is another
End is connect with one end of one end of the switching tube VT1, one end of the switching tube VT3, the switching tube VT5 respectively；
Setting three-phase permanent magnet synchronous motor is separately connected three bridge arms A, B, C of inverter bridge；A phase bridge arm upper switch pipe opens definition
For A+, detection gained current amplitude is I (a+)；A phase bridge arm lower switch pipe, which is opened, is defined as A-, and detection gained current amplitude is I
(a-)；B phase bridge arm upper switch pipe, which is opened, is defined as B+, and detection gained current amplitude is I (b+)；B phase bridge arm lower switch pipe is open-minded
It is defined as B-, detection gained current amplitude is I (b-)；C phase bridge arm upper switch pipe, which is opened, is defined as C+, detection gained current amplitude
For I (c+)；C phase bridge arm lower switch pipe, which is opened, is defined as C-, and detection gained current amplitude is I (c-)；A phase is separately connected with B phase
Two current detection sensors, B phase lag 120 ° of A phase, and C phase lags 120 ° of B phase, and switching tube turn-on time is Ton, and switching tube is disconnected
Time is Toff；
(2) it sets system detection current value threshold and turn-on time Ton, C phase is hanging, be connected according to (A+, B-), detection response electricity
Flow valuve I (a+) increases turn-on time Ton, until response current I (a+) reaches setting electric current threshold value；
(3) with current turn-on time Ton, according to (A+, B-), (A-, B+), (B+, C-), (C+, B-), (C+, A-), (A-, C
+), sequence is successively connected two-by-two, and in addition one is mutually hanging, voltage pulse is sent out with present on-time Ton, wherein the section time is closed in insertion
Toff, line current amplitude when record is connected；
(4) due to line inductance and A phase response current/B phase response current/C phase response current linear relationship in a certain range, lead to
Calculating is crossed, can tentatively judge initial position of rotor theta, when rotor-position theta is located at 0~60 ° or 180~240 °, is led to
Cross compare I (c+), the value of I (c-) determines rotor specific location theta；When rotor-position theta is located at 60~120 ° or 240
At~300 °, rotor specific location theta is determined by comparing the value of I (b+), I (b-)；When rotor-position theta is located at
At 120~180 ° or 300~360 °, rotor specific location theta is determined by comparing the value of I (a+), I (a-).
2. a kind of method for improving permanent magnet synchronous motor initial position identification precision according to claim 1, feature exist
In step (3) the current in middle wire amplitude recording method are as follows: when electric current in a certain range, line inductance can approximate representation are as follows:Lbc=L0-L2Cos (2theta),Wherein, Lab
For AB line inductance, LbcFor BC line inductance, LacFor AC line inductance, L0For self-induction component caused by fundamental wave, L2Cause for second harmonic
Self-induction component, theta is rotor position angle；It is respectively I (a+), I (a-), I (b by the maximum current value of microprocessor detection
+), I (b-), I (c+), I (c-).
3. a kind of method for improving permanent magnet synchronous motor initial position identification precision according to claim 2, feature exist
In the microprocessor can carry out multiple cycle detection I (a+), I (a-), I (b+), I (b-), I (c+), I (c-), then take electricity
Flow the average value of maximum value.
4. a kind of method for improving permanent magnet synchronous motor initial position identification precision according to claim 1, feature exist
In calculation method in the step (4) are as follows: assuming that A phase reversal amplitude difference is Δ Ia, i.e. Δ Ia=I (a+)-I (a-)；
B phase reversal amplitude difference is Δ Ib, i.e. Δ Ib=I (b+)-I (b-)；C phase reversal amplitude difference is Δ Ic, i.e. Δ
Ic=I (c+)-I (c-), Imax are current peak, and IO is current average, and Ia is A phase current instantaneous value, and Ib is B phase current wink
Duration, Ic are C phase current instantaneous value；A phase response current is in a linear relationship with line inductance in a certain range, to have: Similarly: lb=I0- (Imax-I0) * cos (2*theta), It can obtain:
Δ Ib=I (b+)-I (b-)=- (Imax-I0) * cos (2*theta)；
It can be obtained by above three formula:
Or
Rotor position angle can be obtained by above two formula tangent of negatingOr
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110855192A (en) * | 2019-11-15 | 2020-02-28 | 青岛斑科变频技术有限公司 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor and frequency converter |
| CN112737462A (en) * | 2020-12-30 | 2021-04-30 | 杭州士兰微电子股份有限公司 | Method and device for identifying initial state of permanent magnet synchronous motor |
| CN112865645A (en) * | 2021-01-23 | 2021-05-28 | 深圳市圳远电气有限公司 | Method for detecting initial position of permanent magnet synchronous motor |
| CN114221592A (en) * | 2021-12-17 | 2022-03-22 | 南京达风数控技术有限公司 | Servo motor magnetic pole initial position identification method |
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| CN110855192A (en) * | 2019-11-15 | 2020-02-28 | 青岛斑科变频技术有限公司 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor and frequency converter |
| CN112737462A (en) * | 2020-12-30 | 2021-04-30 | 杭州士兰微电子股份有限公司 | Method and device for identifying initial state of permanent magnet synchronous motor |
| CN112737462B (en) * | 2020-12-30 | 2023-03-24 | 杭州士兰微电子股份有限公司 | Method and device for identifying initial state of permanent magnet synchronous motor |
| CN112865645A (en) * | 2021-01-23 | 2021-05-28 | 深圳市圳远电气有限公司 | Method for detecting initial position of permanent magnet synchronous motor |
| CN114221592A (en) * | 2021-12-17 | 2022-03-22 | 南京达风数控技术有限公司 | Servo motor magnetic pole initial position identification method |
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