CN111987937A - Permanent magnet motor starting device and method - Google Patents
Permanent magnet motor starting device and method Download PDFInfo
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- CN111987937A CN111987937A CN201910438869.7A CN201910438869A CN111987937A CN 111987937 A CN111987937 A CN 111987937A CN 201910438869 A CN201910438869 A CN 201910438869A CN 111987937 A CN111987937 A CN 111987937A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 230000009466 transformation Effects 0.000 claims abstract description 5
- 230000003068 static effect Effects 0.000 claims description 3
- 239000007858 starting material Substances 0.000 claims 2
- 230000008569 process Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
-
- 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
- H02P6/20—Arrangements for starting
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a permanent magnet motor starting device and a method, comprising a motor control branch, a current feedback branch and a rotor angle iteration module; the motor control branch and the current feedback branch are respectively connected with a permanent magnet motor to be started, the rotor angle iteration module is respectively connected with the motor control branch and the current feedback branch, and the current feedback branch is connected with the motor control branch; the motor control branch is used for controlling the permanent magnet synchronous motor according to M, T shaft current on the stator side of a given motor in vector control; the current feedback branch is used for acquiring phase current of the permanent magnet synchronous motor; the rotor angle iteration module is used for providing an angle of coordinate transformation. Compared with the prior art, the invention has the advantages of low cost, high control precision and reliability, capability of avoiding the motor from being out of control or large moment fluctuation and the like.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a permanent magnet motor starting device and method.
Background
A starting method of the permanent magnet motor mainly comprises a starting method based on a position sensor, the method has high dependence on the sensor, and the starting accuracy completely depends on the accuracy of the sensor. The position sensors commonly used today have rotary transformers or encoders, which add to the cost of the system and are difficult to install. B. The method for injecting high-frequency voltage current based on the salient polarity of the inductor has requirements on the salient polarity of the motor, has poor effect on a surface-mounted motor or a motor with unobvious salient polarity, and has complex procedure and difficult engineering realization. C. The counter-potential method is suitable for medium and high speed systems, and is difficult to accurately measure at low speed or near zero speed. D. The pulse injection method may cause unnecessary rotation of the rotor of the synchronous motor, which may affect the accuracy of the later identification. E. The open loop of the current loop is started, and the rotor swing of the method is large, so that the method is not suitable for many application occasions.
In order to realize accurate control of the motor, the initial position of the motor needs to be accurately detected, and the magnetic field orientation control of the motor is realized, but the commonly adopted position sensors (an absolute position sensor, a UVW + encoder, a rotary encoder and the like) bring high-precision control performance to the starting of the permanent magnet synchronous motor, and also bring problems of high cost, high installation difficulty, low reliability and the like to a driving system.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a starting device and method for a permanent magnet motor.
The purpose of the invention can be realized by the following technical scheme:
a permanent magnet motor starting device comprises a motor control branch and a current feedback branch, and further comprises a rotor angle iteration module, wherein the motor control branch and the current feedback branch are respectively connected with a permanent magnet motor to be started, the rotor angle iteration module is respectively connected with the motor control branch and the current feedback branch, and the current feedback branch is connected with the motor control branch;
the motor control branch is used for controlling the permanent magnet synchronous motor according to M, T shaft current on the stator side of a given motor in vector control; the current feedback branch is used for acquiring phase current of the permanent magnet synchronous motor; the rotor angle iteration module is used for providing an angle of coordinate transformation.
Preferably, the motor control branch comprises a current comparator, a current loop controller, a Park/Clark inverter, an SVPMW and a three-phase inverter which are connected in sequence, the three-phase inverter is connected with the permanent magnet motor to be started, the Park/Clark inverter is connected with the rotor angle iteration module, and the current feedback branch is connected with the current comparator;
the M-axis current on the stator side of the motor in the vector control is IsMref, the T-axis current Istref is 0, the current command is connected to a Park/Clark inverter through a current comparator and a current loop control in sequence, the rotating voltage is converted into the current of a three-phase static coordinate system and then is connected to the permanent magnet synchronous motor, and the control of the permanent magnet synchronous motor is achieved.
Preferably, the current feedback branch comprises a phase current sensor and a Park/Clark converter which are sequentially connected, the phase current sensor is connected with the permanent magnet synchronous motor, and the Park/Clark converter is respectively connected with the current comparator and the rotor angle iteration module;
the current feedback branch circuit is connected to one end of the current comparator through the phase current sensor and the Park/Clark converter, and forms negative feedback by comparing with a given value.
Preferably, the IsMref is connected with the positive input end of the current comparator, and the signal IsM output by the Park/Clark converter is connected with the negative input end of the current comparator.
Preferably, the Istref is connected with the positive input end of the current comparator, and the signal IsT output by the Park/Clark converter is connected with the negative input end of the current comparator.
A starting method adopting the permanent magnet motor starting device comprises the following specific steps:
(1) setting initial angles theta1, theta2 and theta;
(2) judging whether a Z signal sent by the incremental encoder is detected, if so, setting the Z signal as an electrical angle, and then ending the processing logic of the current round, otherwise, executing the step (3);
(3) after enabling the motor to enter current control, judging whether the rotor rotates, if so, executing the step (4), otherwise, continuously increasing the IsMref until the rated current I _ max of the motor;
(4) judging whether the rotor rotates in the forward direction, if so, enabling the rotor of the motor to be between theta and theta1, enabling the theta to be equal to (theta + theta1)/2, and then executing the step (5), otherwise, enabling the theta to be equal to (theta1+ theta2)/2, and then executing the step (5);
(5) determining whether theta-theta1 or theta-theta2 is less than theta maxIf yes, theta is the electrical angle, then the processing logic of the current round is ended, otherwise, the step (2) is returned.
Preferably, the offset angle delta is calculated in the step (4), and the offset angle theta is (theta + theta1)/2+ delta or (theta + theta 2)/2-delta.
Preferably, θ ismaxAnd the module is used for adjusting the precision of the rotor angle iteration module.
Compared with the prior art, the invention has the following advantages:
firstly, the cost is low: the detection of the initial position is not needed, and the cost is reduced.
Secondly, the control precision and reliability are high: the angle iteration module is used for providing the coordinate transformation angle, so that the control precision and reliability of the motor are higher.
Thirdly, the motor can be prevented from being out of control or large moment fluctuation: the rotation amplitude of the rotor is small, the current amplitude is controlled simultaneously in the correction process, and the out-of-control or large torque fluctuation can be avoided.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Examples
The invention relates to a starting method without an initial position angle of a permanent magnet synchronous motor. In order to realize the precise control of the motor, the initial position of the motor needs to be precisely detected, and the directional control of the magnetic field of the motor is realized. While the commonly adopted position sensors (an absolute position sensor, a UVW + encoder, a rotary encoder and the like) bring high-precision control performance to the starting of the permanent magnet synchronous motor, and also bring the problems of higher cost, high installation difficulty, low reliability and the like to a driving system. The invention overcomes the defects in the prior art, provides an initial position angle-free starting method with an incremental encoder considering both complexity and reliability, and realizes the normal torque starting of a permanent magnet synchronous motor. In each cycle of the loop iteration, the next rotor position is corrected by detecting the offset of the incremental encoder.
As shown in fig. 1, a starting apparatus for a permanent magnet motor includes a motor control branch, a current feedback branch, and a rotor angle iteration module; the current control branch and the current feedback branch form a current loop control mode of the motor;
the motor control branch is used for controlling the permanent magnet synchronous motor according to M, T shaft current on the stator side of a given motor in vector control; the current feedback branch is used for acquiring phase current of the permanent magnet synchronous motor; the rotor angle iteration module is used for providing an angle of coordinate transformation.
The motor control branch comprises a current comparator, a current ring controller and a Park/Clark inverter, wherein the M-axis current at the stator side of the motor in vector control is IsMref, the T-axis current is 0, a current command is connected to the Park/Clark inverter through the current controller, the rotating voltage is converted into the current of a three-phase static coordinate system and then is connected to the permanent magnet synchronous motor, and the control of the permanent magnet synchronous motor is realized.
The current feedback branch comprises a phase current sensor and a Park/Clark converter; the current feedback branch circuit is connected to one end of the current comparator through the phase current sensor and the Park/Clark converter, and forms negative feedback by comparing with a given value.
As shown in fig. 2, a method for starting a permanent magnet motor includes the following steps:
(1) setting initial angles theta1, theta2 and theta;
(2) judging whether a Z signal sent by the incremental encoder is detected, if so, setting the Z signal as an electrical angle, and then ending the processing logic of the current round, otherwise, executing the step (3);
(3) and (4) after enabling the motor to enter current control, judging whether the rotor rotates, if so, executing the step (4), and otherwise, continuously increasing the IsMref until the rated current I _ max of the motor.
(4) Judging whether the rotor rotates in the forward direction, if so, enabling the rotor of the motor to be between theta and theta1, enabling the theta to be equal to (theta + theta1)/2, and then executing the step (5), otherwise, enabling the theta to be equal to (theta1+ theta2)/2, and then executing the step (5);
In order to improve the calculation accuracy, the angle rotation delta is compensated when theta is calculated, and the compensated angle theta is (theta + theta1)/2+ delta or theta + theta2)/2
(5) Determining whether theta-theta1 or theta-theta2 is less than thetamaxIf yes, theta is the electrical angle, then the present round of processing logic is ended, otherwise, step (2) is executed.
In step (5), the value of theta can be changedmaxTo change the accuracy of the iterative process.
And (4) repeating the steps (3) and (4), wherein the positioning precision is doubled after each time of one time, and the rotor can be accurately positioned after a plurality of iterations.
In the whole process, as long as the Z signal sent by the incremental encoder is detected, the iteration is immediately stopped, the Z signal is set to be the electrical angle, and the starting process is finished.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A permanent magnet motor starting device comprises a motor control branch and a current feedback branch, and is characterized by further comprising a rotor angle iteration module, wherein the motor control branch and the current feedback branch are respectively connected with a permanent magnet motor to be started;
the motor control branch is used for controlling the permanent magnet synchronous motor according to M, T shaft current on the stator side of a given motor in vector control; the current feedback branch is used for acquiring phase current of the permanent magnet synchronous motor; the rotor angle iteration module is used for providing an angle of coordinate transformation.
2. The permanent magnet motor starting device according to claim 1, wherein the motor control branch comprises a current comparator, a current loop controller, a Park/Clark inverter, an SVPMW and a three-phase inverter which are connected in sequence, the three-phase inverter is connected with the permanent magnet motor to be started, the Park/Clark inverter is connected with the rotor angle iteration module, and the current feedback branch is connected with the current comparator;
The M-axis current on the stator side of the motor in the vector control is IsMref, the T-axis current Istref is 0, the current command is connected to a Park/Clark inverter through a current comparator and a current loop control in sequence, the rotating voltage is converted into the current of a three-phase static coordinate system and then is connected to the permanent magnet synchronous motor, and the control of the permanent magnet synchronous motor is achieved.
3. The permanent magnet motor starting device according to claim 2, wherein the current feedback branch comprises a phase current sensor and a Park/Clark converter which are connected in sequence, the phase current sensor is connected with the permanent magnet synchronous motor, and the Park/Clark converter is respectively connected with the current comparator and the rotor angle iteration module;
the current feedback branch circuit is connected to one end of the current comparator through the phase current sensor and the Park/Clark converter, and forms negative feedback by comparing with a given value.
4. A starter device according to claim 3, characterized in that said IsMref is connected to the positive input of a current comparator, and the signal IsM output by said Park/Clark converter is connected to the negative input of the current comparator.
5. A starter device according to claim 3, wherein the Istref is connected to the positive input of the current comparator, and the signal IsT output from the Park/Clark converter is connected to the negative input of the current comparator.
6. A starting method adopting the permanent magnet motor starting device of claim 1 is characterized by comprising the following specific steps:
(1) setting initial angles theta1, theta2 and theta;
(2) judging whether a Z signal sent by the incremental encoder is detected, if so, setting the Z signal as an electrical angle, and then ending the processing logic of the current round, otherwise, executing the step (3);
(3) after enabling the motor to enter current control, judging whether the rotor rotates, if so, executing the step (4), otherwise, continuously increasing the IsMref until the rated current I _ max of the motor;
(4) judging whether the rotor rotates in the forward direction, if so, enabling the rotor of the motor to be between theta and theta1, enabling the theta to be equal to (theta + theta1)/2, and then executing the step (5), otherwise, enabling the theta to be equal to (theta1+ theta2)/2, and then executing the step (5);
(5) determining whether theta-theta1 or theta-theta2 is less than thetamaxIf yes, theta is the electrical angle, then the processing logic of the current round is ended, otherwise, the step (2) is returned.
7. The startup method according to claim 6, wherein the offset delta is calculated in step (4), and the offset delta is (theta + theta1)/2+ delta or (theta + theta 2)/2-delta.
8. The starting method of claim 6 wherein θ ismaxAnd the module is used for adjusting the precision of the rotor angle iteration module.
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| CN201910438869.7A CN111987937B (en) | 2019-05-24 | 2019-05-24 | Permanent magnet motor starting device and method |
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| CN201910438869.7A CN111987937B (en) | 2019-05-24 | 2019-05-24 | Permanent magnet motor starting device and method |
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2019
- 2019-05-24 CN CN201910438869.7A patent/CN111987937B/en active Active
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