CN111130410A - Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor - Google Patents
Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor Download PDFInfo
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- CN111130410A CN111130410A CN201811198533.XA CN201811198533A CN111130410A CN 111130410 A CN111130410 A CN 111130410A CN 201811198533 A CN201811198533 A CN 201811198533A CN 111130410 A CN111130410 A CN 111130410A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 121
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005070 sampling Methods 0.000 claims abstract description 37
- 238000005406 washing Methods 0.000 claims abstract description 11
- 238000013459 approach Methods 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 15
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- 230000000737 periodic effect Effects 0.000 claims description 6
- 238000002347 injection Methods 0.000 abstract description 22
- 239000007924 injection Substances 0.000 abstract description 22
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- 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
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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Abstract
The invention provides a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control device, a permanent magnet synchronous motor and a washing machine. The control method of the permanent magnet synchronous motor comprises the following steps: acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a permanent magnet synchronous motor control method, a permanent magnet synchronous motor control device, a permanent magnet synchronous motor and a washing machine.
Background
Because the permanent magnet synchronous motor has the characteristics of small volume, high efficiency, good reliability, strong adaptability to the environment and the like, the driving mode of the permanent magnet synchronous motor gradually replaces the traditional direct current driving mode and is widely applied to various high-performance driving systems. The high-performance control of the permanent magnet synchronous motor needs accurate rotor position and speed signals to realize magnetic field orientation and speed feedback, a control system in the related technology adopts a photoelectric encoder or a rotary transformer to realize the detection of the rotor position and speed, but a mechanical sensor has the problems of installation, cable connection, maintenance and the like, and the reliability of the system is reduced. Therefore, research and development of a reliable and low-cost sensorless control method is urgently needed.
The high-frequency signal injection method is a sensorless control method which is applied to zero-speed and low-speed operation at present, and the method realizes the estimation of the position of a magnetic pole of a rotor by rotating vector excitation and demodulating a current signal. The high-frequency signal injection method is a good method suitable for sensorless driving in low-speed and zero-speed operation, but in the related art, the high-frequency signal injection method is to inject a fixed-frequency high-frequency signal (as shown in fig. 1, a waveform diagram when a fixed-frequency sine wave T1' is injected), which has a problem that a high-frequency current generates noise, and therefore, the high-frequency signal injection method cannot be applied to some occasions with high requirements on noise.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, an aspect of the present invention is to provide a permanent magnet synchronous motor control method.
Another aspect of the present invention is to provide a permanent magnet synchronous motor control apparatus.
Yet another aspect of the present invention is to provide a permanent magnet synchronous motor.
Yet another aspect of the present invention is to provide a washing machine.
In view of the above, according to an aspect of the present invention, a method for controlling a permanent magnet synchronous motor is provided, including: acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor.
The control method of the permanent magnet synchronous motor provided by the invention obtains high-frequency voltage by utilizing sine waves with random periods, further obtains high-frequency current by sampling, further enables the high-frequency current to approach 0, obtains the rotor angular speed of the permanent magnet synchronous motor, and obtains the rotor position of the permanent magnet synchronous motor by deriving the rotor angular speed. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.
The control method of the permanent magnet synchronous motor according to the present invention may further include the following technical features:
in the above technical solution, preferably, the obtaining of the high-frequency voltage by using a sine wave with a random period and the sampling to obtain the high-frequency current specifically include: acquiring a random state number; when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current; and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
In the technical scheme, the random signal generator generates random state numbers '0' and '1', wherein the random state number '0' corresponds to a sine wave of a first period, and the random state number '1' corresponds to a sine wave of a second period. Furthermore, the first high-frequency current or the second high-frequency current is obtained through sampling, namely the position of the rotor of the permanent magnet synchronous motor is estimated based on sine wave voltage injection with random frequency (random period), and the noise problem caused by the high-frequency current is reduced.
In any of the above solutions, preferably, the first high-frequency voltage is
Wherein,
representing a first high-frequency voltage, Vc0The amplitude, theta, of the sine wave representing the first period0An angle value representing a sine wave of a first period; the second high-frequency voltage is
Wherein,
representing a second high-frequency voltage, Vc1Amplitude of sine wave, theta, representing the second period1An angle value representing a sine wave of a second period; vc0、Vc1The first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0First frequency Vc1Second frequency.
In the technical scheme, the angle value of the sine wave of the first period is theta0，θ0The period of 0 DEG to 360 DEG is a first period, the high-frequency voltage of the sine wave output of the first period is a first high-frequency voltage, and the angle value of the sine wave of the second period is theta1，θ1The period of 0 DEG to 360 DEG is a second period, the high frequency voltage outputted by the sine wave of the second period is a second high frequency voltage,the first high-frequency voltage and the second high-frequency voltage can be accurately obtained.
In any of the above technical solutions, before obtaining the rotor angular velocity of the permanent magnet synchronous motor according to the high-frequency current and further obtaining the rotor position of the permanent magnet synchronous motor, the method further includes: demodulating the first high-frequency current according to a first preset formula, or demodulating the second high-frequency current according to a second preset formula; wherein the first predetermined formula is
Representing the demodulated first high frequency current,
representing the first high-frequency current, theta, before demodulation0An angle value representing a sine wave of a first period; the second predetermined formula is
Representing the demodulated second high frequency current,
representing the second high-frequency current, theta, before demodulation1Representing the angular value of the sine wave of the second period.
In the technical scheme, before the rotor position of the permanent magnet synchronous motor is obtained according to the sampled high-frequency current, the high-frequency current is demodulated, and then an accurate current value is obtained. Specifically, the random state number "0" is multiplied by the demodulation signal sin θ at the corresponding frequency0The random state number "1" is multiplied by the demodulated signal sin θ at the corresponding frequency1。
In any one of the above technical solutions, preferably, the obtaining an angular velocity of a rotor of the permanent magnet synchronous motor according to the high-frequency current, and further obtaining a position of the rotor of the permanent magnet synchronous motor specifically includes: enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
In the technical scheme, a phase-locked loop (a feedback control circuit for locking a phase) enables demodulated high-frequency current to approach 0 ampere through a PI regulator, so that the angular speed of a rotor is obtained, the angular speed of the rotor is derived to obtain the position of the rotor, and the accurate and low-cost estimation of the position of the rotor is realized.
According to another aspect of the present invention, there is provided a permanent magnet synchronous motor control device including: a memory for storing a computer program; a processor for executing a computer program to: acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor.
The permanent magnet synchronous motor control device provided by the invention obtains high-frequency voltage by utilizing sine waves with random periods, further obtains high-frequency current by sampling, further enables the high-frequency current to approach 0, obtains the rotor angular speed of the permanent magnet synchronous motor, and obtains the rotor position of the permanent magnet synchronous motor by deriving the rotor angular speed. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.
According to the permanent magnet synchronous motor control device of the present invention, the following technical features may be provided:
in the foregoing technical solution, preferably, the processor is specifically configured to execute a computer program to: acquiring a random state number; when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current; and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
In the technical scheme, the random signal generator generates random state numbers '0' and '1', wherein the random state number '0' corresponds to a sine wave of a first period, and the random state number '1' corresponds to a sine wave of a second period. Furthermore, the first high-frequency current or the second high-frequency current is obtained through sampling, namely the position of the rotor of the permanent magnet synchronous motor is estimated based on sine wave voltage injection with random frequency (random period), and the noise problem caused by the high-frequency current is reduced.
In any of the above solutions, preferably, the first high-frequency voltage is
Wherein,
representing a first high-frequency voltage, Vc0The amplitude, theta, of the sine wave representing the first period0An angle value representing a sine wave of a first period; the second high-frequency voltage is
Wherein,
representing a second high-frequency voltage, Vc1Amplitude of sine wave, theta, representing the second period1An angle value representing a sine wave of a second period; vc0、Vc1The first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0First frequency Vc1Second frequency.
In the technical scheme, the angle value of the sine wave of the first period is theta0，θ0The period of 0 DEG to 360 DEG is a first period, the high-frequency voltage of the sine wave output of the first period is a first high-frequency voltage, and the angle value of the sine wave of the second period is theta1，θ1Has a period of 0 DEG to 360 DEG ofThe high-frequency voltage output by the sine wave of the second period is the second high-frequency voltage, and the first high-frequency voltage and the second high-frequency voltage can be accurately obtained.
In any of the above technical solutions, preferably, the processor is further configured to execute the computer program to: demodulating the first high-frequency current according to a first preset formula, or demodulating the second high-frequency current according to a second preset formula; wherein the first predetermined formula is
Representing the demodulated first high frequency current,
representing the first high-frequency current, theta, before demodulation0An angle value representing a sine wave of a first period; the second predetermined formula is
Representing the demodulated second high frequency current,
representing the second high-frequency current, theta, before demodulation1Representing the angular value of the sine wave of the second period.
In the technical scheme, before the rotor position of the permanent magnet synchronous motor is obtained according to the sampled high-frequency current, the high-frequency current is demodulated, and then an accurate current value is obtained. Specifically, the random state number "0" is multiplied by the demodulation signal sin θ at the corresponding frequency0The random state number "1" is multiplied by the demodulated signal sin θ at the corresponding frequency1。
In any of the above technical solutions, preferably, the processor is specifically configured to execute a computer program to: enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
In the technical scheme, the phase-locked loop enables the demodulated high-frequency current to approach 0 ampere through the PI regulator, so that the angular speed of the rotor is obtained, the angular speed of the rotor is derived to obtain the position of the rotor, and the accurate and low-cost estimation of the position of the rotor is realized.
According to another aspect of the present invention, a permanent magnet synchronous motor is provided, which includes the permanent magnet synchronous motor control device of any one of the above technical solutions.
The permanent magnet synchronous motor provided by the invention comprises the permanent magnet synchronous motor control device of any technical scheme, so that the permanent magnet synchronous motor comprises all the beneficial effects of the permanent magnet synchronous motor control device of any technical scheme.
According to another aspect of the present invention, there is provided a washing machine including the permanent magnet synchronous motor control device of any one of the above technical solutions; and/or the permanent magnet synchronous motor of any technical scheme.
The washing machine provided by the invention comprises the permanent magnet synchronous motor control device of any technical scheme; and/or the permanent magnet synchronous motor of any one of the above technical schemes, so that the washing machine comprises all the beneficial effects of the permanent magnet synchronous motor control device and/or the permanent magnet synchronous motor of any one of the above technical schemes.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a waveform diagram illustrating injection of a fixed frequency sine wave in the related art;
fig. 2 shows a flow diagram of a permanent magnet synchronous motor control method of an embodiment of the invention;
fig. 3 shows a flow chart diagram of a permanent magnet synchronous motor control method of another embodiment of the present invention;
FIG. 4 illustrates a waveform diagram of an injected random frequency sine wave of one embodiment of the present invention;
fig. 5 shows a schematic block diagram of a permanent magnet synchronous motor control apparatus of an embodiment of the present invention;
fig. 6 shows a schematic block diagram of a permanent magnet synchronous motor control system of a specific embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In an embodiment of the first aspect of the present invention, a method for controlling a permanent magnet synchronous motor is provided, and fig. 2 shows a schematic flow chart of the method for controlling a permanent magnet synchronous motor according to an embodiment of the present invention. Wherein, the method comprises the following steps:
and 204, acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current, and further acquiring the rotor position of the permanent magnet synchronous motor.
The control method of the permanent magnet synchronous motor provided by the invention obtains high-frequency voltage by utilizing sine waves with random periods, further obtains high-frequency current by sampling, further enables the high-frequency current to approach 0, obtains the rotor angular speed of the permanent magnet synchronous motor, and obtains the rotor position of the permanent magnet synchronous motor by deriving the rotor angular speed. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.
In an embodiment of the present invention, preferably, in step 202, acquiring a high-frequency voltage by using a sine wave with a random period, and sampling to obtain a high-frequency current, specifically including: acquiring a random state number; when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current; and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
In this embodiment, the random signal generator generates random state numbers "0" and "1", the random state number "0" corresponding to a sine wave of a first period, and the random state number "1" corresponding to a sine wave of a second period. Furthermore, the first high-frequency current or the second high-frequency current is obtained through sampling, namely the position of the rotor of the permanent magnet synchronous motor is estimated based on sine wave voltage injection with random frequency (random period), and the noise problem caused by the high-frequency current is reduced.
In one embodiment of the present invention, preferably, the first high-frequency voltage is
Wherein,
representing a first high-frequency voltage, Vc0The amplitude, theta, of the sine wave representing the first period0An angle value representing a sine wave of a first period; the second high-frequency voltage is
Wherein,
to representSecond high frequency voltage, Vc1Amplitude of sine wave, theta, representing the second period1An angle value representing a sine wave of a second period; vc0、Vc1The first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0First frequency Vc1Second frequency.
In this embodiment, the first periodic sine wave has an angle value of θ0，θ0The period of 0 DEG to 360 DEG is a first period, the high-frequency voltage of the sine wave output of the first period is a first high-frequency voltage, and the angle value of the sine wave of the second period is theta1，θ1The period of 0 ° to 360 ° is the second period, and the high-frequency voltage output by the sine wave of the second period is the second high-frequency voltage, and the first high-frequency voltage and the second high-frequency voltage can be accurately obtained.
In an embodiment of the present invention, preferably, in step 204, obtaining an angular speed of a rotor of the permanent magnet synchronous motor according to the high-frequency current, and further obtaining a position of the rotor of the permanent magnet synchronous motor, specifically include: enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
In the technical scheme, a phase-locked loop (a feedback control circuit for locking a phase) enables demodulated high-frequency current to approach 0 ampere through a PI regulator, so that the angular speed of a rotor is obtained, the angular speed of the rotor is derived to obtain the position of the rotor, and the accurate and low-cost estimation of the position of the rotor is realized.
Fig. 3 shows a flow chart of a permanent magnet synchronous motor control method according to an embodiment of the present invention. Wherein, the method comprises the following steps:
and step 306, acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current, and further acquiring the rotor position of the permanent magnet synchronous motor.
In the embodiment, before the rotor position of the permanent magnet synchronous motor is obtained according to the sampled high-frequency current, the high-frequency current is demodulated, and then an accurate current value is obtained. Specifically, the random state number "0" is multiplied by the demodulation signal sin θ at the corresponding frequency0The random state number "1" is multiplied by the demodulated signal sin θ at the corresponding frequency1。
In an embodiment of the present invention, preferably, in step 302, acquiring a high-frequency voltage by using a sine wave with a random period, and sampling to obtain a high-frequency current, specifically including: acquiring a random state number; when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current; and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
In an embodiment of the present invention, preferably, in step 306, acquiring an angular speed of a rotor of the permanent magnet synchronous motor according to the high-frequency current, and further acquiring a position of the rotor of the permanent magnet synchronous motor, specifically include: enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
The invention provides a permanent magnet synchronous motor control method of a drum washing machine, which carries out rotor position estimation of a permanent magnet synchronous motor through random frequency sine wave voltage injection. The random signal generator generates random state numbers "0" and "1", and as shown in fig. 4, the random state number "0" corresponds to the generation of the sine wave T1 of the first period, and the random state number "1" corresponds to the generation of the sine wave T2 of the second period. And presetting a fixed frequency counter, wherein the frequency of the fixed frequency counter is consistent with the current sampling frequency and is used for counting the sine wave period. Collecting the Q-axis current of the permanent magnet synchronous motor, multiplying the random state number '0' by the demodulation signal sin theta under the corresponding frequency0The random state number "1" is multiplied by the demodulated signal sin θ at the corresponding frequency1. The phase-locked loop enables the demodulated high-frequency current to approach 0 ampere through the PI regulator, the rotor angular speed is obtained, and the rotor angular speed is derived to obtain the rotor position. The method specifically comprises the following steps:
in step S1, the random signal generator generates random state numbers "0" and "1", and executes step S2 when the random state number is "0", and executes step S3 when the random state number is "1".
Step S2, presetting a first period sine wave T1, generating an angle signal theta0，θ0The period of 0-360 degrees is the first period, and a corresponding sine and cosine signal sin theta is generated0、cosθ0. The first high-frequency voltage is output as follows:
wherein, Vc0An amplitude representing a first cycle of the sine wave;
sampling to obtain a first high-frequency current, and demodulating and calculating the first high-frequency current as follows:
step S4 is executed.
Step S3, presetting a sine wave T2 with a second period, and generating an angle signal theta1，θ1The period of 0-360 degrees is the second period, and a corresponding sine and cosine signal sin theta is generated1、cosθ1. The second high-frequency voltage is output as follows:
wherein, Vc1An amplitude of the sine wave representing the second period;
sampling to obtain a second high-frequency current, and demodulating and calculating the second high-frequency current as follows:
step S4 is executed.
And step S4, the phase-locked loop enables the first high-frequency current or the second high-frequency current to approach 0 through the PI regulator, so as to obtain the angular speed of the rotor, and the angular speed of the rotor is derived to obtain the position of the rotor.
And V isc0、Vc1The first frequency corresponding to the first period and the second frequency corresponding to the second period satisfy the following relationship: vc0First frequency Vc1Second frequency.
In an embodiment of the second aspect of the present invention, a permanent magnet synchronous motor control device is provided, and fig. 5 shows a schematic block diagram of a permanent magnet synchronous motor control device 50 according to an embodiment of the present invention. Wherein the device 50 comprises:
a memory 502 for storing a computer program;
a processor 504 for executing a computer program to: acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor.
The permanent magnet synchronous motor control device 50 provided by the invention obtains high-frequency voltage by utilizing sine waves with random periods, further obtains high-frequency current by sampling, further enables the high-frequency current to approach 0, obtains the rotor angular speed of the permanent magnet synchronous motor, and obtains the rotor position of the permanent magnet synchronous motor by deriving the rotor angular speed. By adopting the technical scheme of the invention, the position of the rotor of the permanent magnet synchronous motor is estimated based on the sine wave voltage injection with random frequency (random period), on one hand, a reliable and low-cost sensorless rotor position estimation method is provided, on the other hand, the problem of high-frequency injection noise is effectively solved, and the method is suitable for occasions with higher requirements on noise.
In one embodiment of the present invention, the processor 504 is preferably specifically configured to execute a computer program to: acquiring a random state number; when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current; and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
In this embodiment, the random signal generator generates random state numbers "0" and "1", the random state number "0" corresponding to a sine wave of a first period, and the random state number "1" corresponding to a sine wave of a second period. Furthermore, the first high-frequency current or the second high-frequency current is obtained through sampling, namely the position of the rotor of the permanent magnet synchronous motor is estimated based on sine wave voltage injection with random frequency (random period), and the noise problem caused by the high-frequency current is reduced.
In one embodiment of the present invention, preferably, the first high-frequency voltage is
Wherein,
representing a first high-frequency voltage, Vc0The amplitude, theta, of the sine wave representing the first period0Sine representing the first periodThe angle value of the wave; the second high-frequency voltage is
Wherein,
representing a second high-frequency voltage, Vc1Amplitude of sine wave, theta, representing the second period1An angle value representing a sine wave of a second period; vc0、Vc1The first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0First frequency Vc1Second frequency.
In this embodiment, the first periodic sine wave has an angle value of θ0，θ0The period of 0 DEG to 360 DEG is a first period, the high-frequency voltage of the sine wave output of the first period is a first high-frequency voltage, and the angle value of the sine wave of the second period is theta1，θ1The period of 0 ° to 360 ° is the second period, and the high-frequency voltage output by the sine wave of the second period is the second high-frequency voltage, and the first high-frequency voltage and the second high-frequency voltage can be accurately obtained.
In one embodiment of the present invention, preferably, the processor 504 is further configured to execute the computer program to: demodulating the first high-frequency current according to a first preset formula, or demodulating the second high-frequency current according to a second preset formula; wherein the first predetermined formula is
Representing the demodulated first high frequency current,
representing the first high-frequency current, theta, before demodulation0An angle value representing a sine wave of a first period; the second predetermined formula is
Representing the demodulated second high frequency current,
representing the second high-frequency current, theta, before demodulation1Representing the angular value of the sine wave of the second period.
In the embodiment, before the rotor position of the permanent magnet synchronous motor is obtained according to the sampled high-frequency current, the high-frequency current is demodulated, and then an accurate current value is obtained. Specifically, the random state number "0" is multiplied by the demodulation signal sin θ at the corresponding frequency0The random state number "1" is multiplied by the demodulated signal sin θ at the corresponding frequency1。
In one embodiment of the present invention, the processor 504 is preferably specifically configured to execute a computer program to: enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
In the embodiment, the phase-locked loop enables the demodulated high-frequency current to approach 0 ampere through the PI regulator, so that the angular speed of the rotor is obtained, the angular speed of the rotor is derived to obtain the position of the rotor, and the accurate and low-cost estimation of the position of the rotor is realized.
Fig. 6 shows a schematic block diagram of a permanent magnet synchronous motor control system of a specific embodiment of the present invention. Wherein, PMSM control system includes:
a speed command generating module 602, configured to generate a motor speed control command;
the speed control module 604 generates a torque command Tasr according to a difference Verr between a given rotating speed Vref and a feedback speed Vfdb in a motor speed control command;
the current control module 606 generates a voltage command U to be injected into the motor 610 through the torque command Tasr and the feedback current Ifdb;
a high frequency signal injection module 608 for generating a high frequency signal for injection into the motor 610;
and the position estimation module 612 is configured to detect a high-frequency component of the feedback current Ifdb, estimate a motor position θ, and output the estimated motor position θ to the speed operation module 614.
In an embodiment of the third aspect of the present invention, a permanent magnet synchronous motor is provided, which includes the permanent magnet synchronous motor control device of any of the above embodiments.
The permanent magnet synchronous motor provided by the invention comprises the permanent magnet synchronous motor control device of any one of the embodiments, so that the permanent magnet synchronous motor has all the beneficial effects of the permanent magnet synchronous motor control device of any one of the embodiments.
In an embodiment of a fourth aspect of the present invention, a washing machine is provided, including the permanent magnet synchronous motor control device of any one of the above embodiments; and/or the permanent magnet synchronous machine of any of the embodiments described above.
The washing machine provided by the invention comprises the permanent magnet synchronous motor control device of any one embodiment; and/or the permanent magnet synchronous motor of any of the above embodiments, so that the washing machine includes all the benefits of the permanent magnet synchronous motor control device and/or the permanent magnet synchronous motor of any of the above embodiments.
In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A permanent magnet synchronous motor control method is characterized by comprising the following steps:
acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current;
and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current, and further acquiring the rotor position of the permanent magnet synchronous motor.
2. The method according to claim 1, wherein the obtaining of the high-frequency voltage by using the sine wave with the random period and the sampling of the high-frequency current comprises:
acquiring a random state number;
when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current;
and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
3. The permanent magnet synchronous motor control method according to claim 2,
the first high-frequency voltage is
the second high-frequency voltage is
Vc0、Vc1the first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0The first frequency is Vc1The second frequency.
4. The method of claim 2, further comprising, before obtaining the angular speed of the rotor of the permanent magnet synchronous motor according to the high-frequency current and further obtaining the position of the rotor of the permanent magnet synchronous motor:
demodulating the first high-frequency current according to a first preset formula, or demodulating the second high-frequency current according to a second preset formula;
wherein the first preset formula is
Representing said first high frequency current after demodulation,
representing said first high-frequency current, θ, before demodulation0An angle value representing the first periodic sine wave;
the second preset formula is
Representing said demodulated second high frequency current,
representing said second high-frequency current, theta, before demodulation1An angle value representing the sine wave of the second period.
5. The method according to any one of claims 1 to 4, wherein the obtaining of the rotor angular velocity of the permanent magnet synchronous motor according to the high-frequency current and further the rotor position of the permanent magnet synchronous motor specifically includes:
enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor;
and obtaining the rotor position by derivation of the rotor angular speed.
6. A permanent magnet synchronous motor control device, characterized by comprising:
a memory for storing a computer program;
a processor for executing the computer program to:
acquiring high-frequency voltage by utilizing sine waves with random periods, and sampling to obtain high-frequency current; and acquiring the rotor angular speed of the permanent magnet synchronous motor according to the high-frequency current so as to acquire the rotor position of the permanent magnet synchronous motor.
7. The permanent magnet synchronous motor control apparatus of claim 6, wherein the processor is specifically configured to execute the computer program to:
acquiring a random state number;
when the random state number is '0', outputting a first high-frequency voltage by utilizing a sine wave of a first period, and sampling to obtain a first high-frequency current;
and when the random state number is 1, outputting a second high-frequency voltage by using the sine wave of the second period, and sampling to obtain a second high-frequency current.
8. The permanent magnet synchronous motor control apparatus according to claim 7,
the first high-frequency voltage is
the second high-frequency voltage is
Vc0、Vc1the first frequency corresponding to the first period and the second frequency corresponding to the second period meet the following requirements: vc0The first frequency is Vc1The second frequency.
9. The PMSM control apparatus of claim 7, wherein the processor is further configured to execute the computer program to:
demodulating the first high-frequency current according to a first preset formula, or demodulating the second high-frequency current according to a second preset formula;
wherein the first preset formula is
Representing said first high frequency current after demodulation,
representing said first high-frequency current, θ, before demodulation0An angle value representing the first periodic sine wave;
the second preset formula is
Representing said demodulated second high frequency current,
representing said second high-frequency current, theta, before demodulation1An angle value representing the sine wave of the second period.
10. The permanent magnet synchronous motor control device according to any one of claims 6 to 9, characterized in that the processor is specifically configured to execute the computer program to:
enabling the high-frequency current to approach 0 ampere, and obtaining the angular speed of the rotor;
and obtaining the rotor position by derivation of the rotor angular speed.
11. A permanent magnet synchronous motor, comprising:
the permanent magnet synchronous motor control device according to any one of claims 6 to 10.
12. A washing machine, characterized by comprising:
the permanent magnet synchronous motor control device according to any one of claims 6 to 10; and/or
A permanent magnet synchronous machine according to claim 11.
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| CN201811198533.XA CN111130410A (en) | 2018-10-15 | 2018-10-15 | Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor |
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| CN201811198533.XA CN111130410A (en) | 2018-10-15 | 2018-10-15 | Permanent magnet synchronous motor control method and device and permanent magnet synchronous motor |
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| CN106849804A (en) * | 2017-04-17 | 2017-06-13 | 哈尔滨工业大学 | A kind of permanent-magnet synchronous motor rotor position observer of random frequency high frequency square wave voltage injection |
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