CN113541557A - High-speed air compressor starting method based on frequency converter - Google Patents
High-speed air compressor starting method based on frequency converter Download PDFInfo
- Publication number
- CN113541557A CN113541557A CN202110779771.5A CN202110779771A CN113541557A CN 113541557 A CN113541557 A CN 113541557A CN 202110779771 A CN202110779771 A CN 202110779771A CN 113541557 A CN113541557 A CN 113541557A
- Authority
- CN
- China
- Prior art keywords
- rotor
- current
- degrees
- phase
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
-
- 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
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
-
- 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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
- H02P2207/055—Surface mounted magnet motors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention belongs to the technical field of surface-mounted permanent magnet synchronous motor control, and discloses a high-speed air compressor starting method based on a frequency converter, wherein a rotor magnetic chain angle is set to be equal to 0 degrees, and a set current I _ ref is injected from an A phase, so that I _ a is equal to I _ ref; when the rotor reaches a preset position and stops rotating, obtaining that I _ a is 2| I _ b | -2 | I _ c |, if the initial angle is at the dead zone position, stopping at 180 degrees, otherwise stopping at 0 degrees; and setting a rotor magnetic chain angle to be equal to 120 degrees in secondary positioning, injecting a set current I _ ref from the phase B, obtaining I _ B as 2| I _ a | 2| I _ c |, and judging that the rotor rotates to be close to 120 degrees through current after the rotor reaches a preset position and stops rotating, so that the preset position of the initial position of the rotor is completed. The invention can effectively avoid the dead zone position, shorten the positioning time and improve the positioning accuracy.
Description
Technical Field
The invention belongs to the technical field of surface-mounted permanent magnet synchronous motor control, and particularly relates to a high-speed air compressor starting method based on a frequency converter.
Background
The control algorithm without the position sensor of the frequency converter is widely applied to the field of high-speed motors with higher requirements on system cost and reliability, and the initial position of a rotor is accurately obtained to determine whether the starting can be successfully carried out. The method for detecting the initial position of the rotor by the current position sensor-free control algorithm mainly comprises the following steps and has the following respective disadvantages:
1. a pre-positioning method; the pre-positioning method has some dead zone positions, the positioning is inaccurate, and the positioning time of the rotor is long;
2. a high-frequency signal injection method; the high-frequency injection method is only suitable for the built-in permanent magnet synchronous motor with a certain salient pole rate, is not suitable for surface mounting and cannot well determine the polarity of a magnetic pole;
3. an observer method; the calculation amount is large, and the Kalman gain and the noise of an actual system are difficult to determine.
Disclosure of Invention
The embodiment of the invention aims to provide a high-speed air compressor starting method based on a frequency converter, which can effectively avoid dead zone positions, shorten positioning time and improve positioning accuracy.
The embodiment of the invention is realized as follows:
a high-speed air compressor starting method based on a frequency converter is characterized in that a converter topology is composed of three-phase inverters, the motors are surface-mounted permanent magnet synchronous motors, and three-phase output currents of the inverters are Ia、IbAnd IcWhen the high-speed air compressor is started, the initial position of the rotor of the motor is prepositioned;
when the motor is in a static state, the motor can be subjected to torque T formed by the positioning force of the rotor tooth grooves and the static friction force of the bearing0Electromagnetic torque T generated only when current vector is appliedeGreater than T0When the motor is started, the rotor of the motor can rotate to a preset position; since the initial positioning angle of the rotor of the electric machine is uncertain, the electromagnetic torque of the electric machine
In the formula: l issIs the stator inductance of the motor; pnThe number of pole pairs of the motor is shown; psis、ψfThe amplitude of the flux linkage of the stator and the rotor of the motor is shown; thetasrIs the included angle between the stator current and the rotor; from the equation, there are two dead zone position cases: when theta issrWhen the angle is 180 degrees, namely the applied current vector direction is just the negative direction of the rotor current, the positioning torque force is 0; when theta issrSmall, generated detent torque force TeLess than T0The rotor cannot be dragged to a preset position;
setting rotor flux angle equal to 0 deg, injecting set current I from phase ArefThen, IaIs equal to IrefRespectively outputting current I from phase B and phase CbAnd Ic(ii) a When the rotor reaches a preset position and stops rotating, I is obtaineda＝2|Ib|＝2|IcJudging whether the rotor rotates to 0 degree or 180 degrees or not through current, if the initial angle is at the dead zone position, stopping at 180 degrees, otherwise stopping at 0 degrees;
setting the rotor magnetic chain angle equal to 120 degree in secondary positioning, injecting set current I from phase BrefThen, IbIs equal to IrefRespectively outputting current I from phase A and phase CaAnd IcAt the moment, the rotor is positioned at 0 degrees or 180 degrees, no dead zone position exists, and the rotor rotates to a target position by 120 degrees; when the rotor reaches a preset position and stops rotating, the rotor is obtainedb＝2|Ia|＝2|IcJudging that the rotor rotates to be near 120 degrees through current, and finishing pre-positioning of the initial position of the rotor;
the injected phase current is used for current loop control, namely, the phase current of the motor is used for constant current control of the injected current, and conversion calculation is not needed.
The embodiment of the invention simplifies the current applying mode on the basis of conventional pre-positioning, adds judgment that the rotor reaches the pre-positioning position, effectively avoids the dead zone position, shortens the positioning time and improves the positioning accuracy.
Drawings
FIG. 1 is a flow chart of a method for detecting an initial position of a rotor for starting a high-speed air compressor based on a frequency converter.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention simplifies the current applying mode on the basis of conventional pre-positioning, adds judgment that the rotor reaches the pre-positioning position, effectively avoids the dead zone position, shortens the positioning time and improves the positioning accuracy.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
a high-speed air compressor starting method based on a frequency converter is characterized in that a converter topology is composed of three-phase inverters, the motors are surface-mounted permanent magnet synchronous motors, and three-phase output currents of the inverters are Ia、IbAnd IcWhen the high-speed air compressor is started, the initial position of the rotor of the motor is prepositioned;
when the motor is in a static state, the motor can be subjected to torque T formed by the positioning force of the rotor tooth grooves and the static friction force of the bearing0Electromagnetic torque T generated only when current vector is appliedeGreater than T0When the motor is started, the rotor of the motor can rotate to a preset position; since the initial positioning angle of the rotor of the electric machine is uncertain, the electromagnetic torque of the electric machine
In the formula: l issIs the stator inductance of the motor; pnThe number of pole pairs of the motor is shown; psis、ψfThe amplitude of the flux linkage of the stator and the rotor of the motor is shown; thetasrAs stator currentThe angle between the rotor and the rotor; from the equation, there are two dead zone position cases: when theta issrWhen the angle is 180 degrees, namely the applied current vector direction is just the negative direction of the rotor current, the positioning torque force is 0; when theta issrSmall, generated detent torque force TeLess than T0The rotor cannot be dragged to a preset position; providing a sufficiently large current generates a sufficiently large electromagnetic torque to reduce the dead band position and employing secondary positioning to address this problem.
Setting rotor flux angle equal to 0 deg, injecting set current I from phase ArefThen, IaIs equal to IrefRespectively outputting current I from phase B and phase CbAnd Ic(ii) a When the rotor reaches a preset position and stops rotating, I is obtaineda＝2|Ib|＝2|IcJudging whether the rotor rotates to 0 degree or 180 degrees or not through current, if the initial angle is at the dead zone position, stopping at 180 degrees, otherwise stopping at 0 degrees;
setting the rotor magnetic chain angle equal to 120 degree in secondary positioning, injecting set current I from phase BrefThen, IbIs equal to IrefRespectively outputting current I from phase A and phase CaAnd IcAt the moment, the rotor is positioned at 0 degrees or 180 degrees, no dead zone position exists, and the rotor rotates to a target position by 120 degrees; when the rotor reaches a preset position and stops rotating, the rotor is obtainedb＝2|Ia|＝2|IcJudging that the rotor rotates to be near 120 degrees through current, and finishing pre-positioning of the initial position of the rotor;
the injected phase current is used for current loop control, and conversion calculation is not needed.
Specifically, as shown in fig. 1, the present invention is based on a three-phase inverter hardware topology, and simplifies the control method and shortens the positioning time by simplifying the current applying manner and increasing the judgment of reaching the predetermined position in the predetermined position method:
(1) the converter topology consists of a three-phase inverter, and the motor is a surface-mounted permanent magnet synchronous motor;
(2) three-phase output currents of the inverter are respectively Ia，Ib，Ic；
(3) The three-phase resistance of the motor is R respectivelya，Rb，RcIf the three-phase resistances are equal, the phase resistance is Rs；
(4) The d-axis inductance and the q-axis inductance of the motor are respectively Ld，Lq；
(5) The d-axis current and the q-axis current of the motor are respectively Id，Iq；
(6) The d-axis voltage and the q-axis voltage of the motor are respectively Ud，Uq；
(7) Setting the rotor magnetic chain angle equal to 0 deg, injecting current from phase A, and outputting current from phase B and phase C, and the electromagnetic torque equation is
The surface-mounted three-phase permanent magnet synchronous motor stator inductance satisfies Ld＝LqThus, therefore, it is
At the moment, a certain dead zone position exists, the rotor is positioned at 180 degrees or around 180 degrees, and the resultant current vector component I on the q axis of the rotorqApproaching 0, the rotor will not rotate to the target position 0 °, and the positions other than the dead zone position will rotate to the target position 0 °;
(9)Ubn＝Ib×Rb；Ucn＝Ic×Rc(ii) a Considering Ra，Rb，RcAre substantially identical, and can be considered as Ib，IcAre also substantially consistent, and result in conclusion Ia＝2|Ib|＝2|IcJudging whether the rotor rotates to a preset position of 0 degree or a dead zone position of 180 degrees through current;
(10) setting the rotor magnetic chain angle equal to 120 deg, injecting current from phase B, outputting current from phase A and phase C,
at the moment, the rotor is already positioned at 0 degrees or 180 degrees, a dead zone position does not exist, and the rotor rotates to a target position by 120 degrees;
(12)Uan＝Ia×Ra；Ucn＝Ic×Rc(ii) a Considering Ra，Rb，RcSubstantially coincident, can be considered as Ia，IcAre also substantially consistent, and result in conclusion Ib＝2|Ia|＝2|IcAnd II, judging that the rotor rotates to be near 120 degrees through current, and finishing the pre-positioning of the initial position of the rotor.
The invention directly adopts the motor phase current to carry out injection current constant current control without conversion calculation, simplifies the control algorithm and reduces the operation amount.
The embodiment of the invention simplifies the current applying mode on the basis of conventional pre-positioning, adds judgment that the rotor reaches the pre-positioning position, effectively avoids the dead zone position, shortens the positioning time and improves the positioning accuracy.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as 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 (1)
1. A high-speed air compressor starting method based on a frequency converter is characterized in that: the converter topology is composed of a three-phase inverter, the motor is a surface-mounted permanent magnet synchronous motor, and the three-phase output currents of the inverter are Ia、IbAnd IcWhen the high-speed air compressor is started, the initial position of the rotor of the motor is prepositioned;
when the motor is in a static state, the motor can be subjected to torque T formed by the positioning force of the rotor tooth grooves and the static friction force of the bearing0Electromagnetic torque T generated only when current vector is appliedeGreater than T0When the motor is started, the rotor of the motor can rotate to a preset position; since the initial positioning angle of the rotor of the electric machine is uncertain, the electromagnetic torque of the electric machine
In the formula: l issIs the stator inductance of the motor; pnThe number of pole pairs of the motor is shown; psis、ψfThe amplitude of the flux linkage of the stator and the rotor of the motor is shown; thetasrIs the included angle between the stator current and the rotor; from the equation, there are two dead zone position cases: when theta issrWhen the angle is 180 degrees, namely the applied current vector direction is just the negative direction of the rotor current, the positioning torque force is 0; when theta issrSmall, generated detent torque force TeLess than T0The rotor cannot be dragged to a preset position;
setting rotor flux angle equal to 0 deg, injecting set current I from phase ArefThen, IaIs equal to IrefRespectively outputting current I from phase B and phase CbAnd Ic(ii) a When the rotor reaches the predetermined positionAfter the bit position stops rotating, I is obtaineda＝2|Ib|＝2|IcJudging whether the rotor rotates to 0 degree or 180 degrees or not through current, if the initial angle is at the dead zone position, stopping at 180 degrees, otherwise stopping at 0 degrees;
setting the rotor magnetic chain angle equal to 120 degree in secondary positioning, injecting set current I from phase BrefThen, IbIs equal to IrefRespectively outputting current I from phase A and phase CaAnd IcAt the moment, the rotor is positioned at 0 degrees or 180 degrees, no dead zone position exists, and the rotor rotates to a target position by 120 degrees; when the rotor reaches a preset position and stops rotating, I is obtainedb＝2|Ia|＝2|IcJudging that the rotor rotates to be near 120 degrees through current, and finishing the pre-positioning of the initial position of the rotor;
the injected phase current is used for current loop control, namely, the phase current of the motor is used for constant current control of the injected current, and conversion calculation is not needed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779771.5A CN113541557B (en) | 2021-07-09 | 2021-07-09 | High-speed air compressor starting method based on frequency converter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110779771.5A CN113541557B (en) | 2021-07-09 | 2021-07-09 | High-speed air compressor starting method based on frequency converter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113541557A true CN113541557A (en) | 2021-10-22 |
| CN113541557B CN113541557B (en) | 2023-04-21 |
Family
ID=78127321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110779771.5A Active CN113541557B (en) | 2021-07-09 | 2021-07-09 | High-speed air compressor starting method based on frequency converter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113541557B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102868350A (en) * | 2012-09-21 | 2013-01-09 | 中南林业科技大学 | Quasi-close loop starting method of brushless direct current motor free of position sensor |
| CN104506103A (en) * | 2014-10-28 | 2015-04-08 | 西北工业大学 | Novel method for detecting initial position of permanent magnet synchronous motor rotor |
| CN105703682A (en) * | 2015-12-18 | 2016-06-22 | 华南理工大学 | Position sensor-free permanent magnet synchronous motor starting method |
| CN112436762A (en) * | 2020-11-29 | 2021-03-02 | 上海电机学院 | Method for detecting initial position of rotor of permanent magnet synchronous motor |
-
2021
- 2021-07-09 CN CN202110779771.5A patent/CN113541557B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102868350A (en) * | 2012-09-21 | 2013-01-09 | 中南林业科技大学 | Quasi-close loop starting method of brushless direct current motor free of position sensor |
| CN104506103A (en) * | 2014-10-28 | 2015-04-08 | 西北工业大学 | Novel method for detecting initial position of permanent magnet synchronous motor rotor |
| CN105703682A (en) * | 2015-12-18 | 2016-06-22 | 华南理工大学 | Position sensor-free permanent magnet synchronous motor starting method |
| CN112436762A (en) * | 2020-11-29 | 2021-03-02 | 上海电机学院 | Method for detecting initial position of rotor of permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113541557B (en) | 2023-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Bojoi et al. | Sensorless control of PM motor drives—A technology status review | |
| CN103856139B (en) | Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods | |
| CN110311608B (en) | High-frequency square wave voltage injection permanent magnet synchronous motor position-sensorless control method with optimal injection angle | |
| CN103607155A (en) | Permanent-magnet synchronous-motor position-free-sensor control method based on rotating-current vectors | |
| CN106374805B (en) | Permanent-magnetic synchronous motor rotor stationary state initial position discrimination method and device | |
| Bianchi et al. | Analysis and experimental tests of the sensorless capability of a fractional-slot inset PM motor | |
| CN105490608B (en) | A kind of permanent magnetism elevator door motor controller and its control method | |
| Morandin et al. | Integrated starter–alternator with sensorless ringed-pole pm synchronous motor drive | |
| CN205304674U (en) | Permanent magnetism elevator door motor controller | |
| Kano et al. | Sensorless-oriented design of concentrated-winding IPM motors for HEV drive application | |
| Trancho et al. | A novel PMSM hybrid sensorless control strategy for EV applications based on PLL and HFI | |
| Zhu et al. | Influence of machine topology and cross-coupling magnetic saturation on rotor position estimation accuracy in extended back-EMF based sensorless PM brushless AC drives | |
| CN113541557A (en) | High-speed air compressor starting method based on frequency converter | |
| Lashkevich et al. | Investigation of self-sensing rotor position estimation methods for synchronous homopolar motor in traction applications | |
| Song et al. | Evaluation method to estimate position control error in position sensorless control based on pattern matching method | |
| TW202118218A (en) | Method for estimating d-q axis inductance of permanent magnet synchronous motor | |
| Liu et al. | Research on initial rotor position estimation for SPMSM | |
| Jianmin et al. | Analysis of position estimation error resulted from filter in carrier signal injection based sensorless control of PMSM | |
| Rotilli Filho et al. | Low-speed sensorless control of a surface mounted permanent magnet motor in an e-bike application | |
| Li et al. | Improved High-Frequency Square-Wave Voltage Signal Injection Sensorless Strategy for Interior Permanent Magnet Synchronous Motors | |
| Nimura et al. | EEMFs excited by signal injection for position sensorless control of PMSMs and their performance comparison by using imaginary electromotive force | |
| Kumar et al. | Q-mras based speed sensorless vector controlled synchronous reluctance motor drive | |
| Hosogaya et al. | Position estimating method of IPMSM at low speed region using dq-axis current derivative without high frequency component | |
| Lapshina et al. | Determination of the inductance of a synchronous reactive machine for sensorless control | |
| Wang et al. | Influence of speed EMF on position estimation error in carrier signal injection based sensorless control of PMSM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |