CN113541557B - High-speed air compressor starting method based on frequency converter - Google Patents
High-speed air compressor starting method based on frequency converter Download PDFInfo
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- CN113541557B CN113541557B CN202110779771.5A CN202110779771A CN113541557B CN 113541557 B CN113541557 B CN 113541557B CN 202110779771 A CN202110779771 A CN 202110779771A CN 113541557 B CN113541557 B CN 113541557B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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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
- 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
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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
- 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
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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
- 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
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- 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
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- 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 DEG, a set current I_ref is injected from an A phase, and then I_a is equal to I_ref; after the rotor reaches the preset position to stop rotating, obtaining I_a=2|I_b|=2|I_c|, stopping at 180 degrees if the initial angle is at the dead zone position, otherwise stopping at 0 degrees; and setting the magnetic chain angle of the rotor to be equal to 120 degrees through secondary positioning, injecting a set current I_ref from the phase B, obtaining I_b=2|I_a|=2|I_c|afterthe rotor reaches a pre-positioning position and stopping rotating, and judging that the rotor has rotated to be nearby 120 degrees through the current to finish the pre-positioning of the initial position of the rotor. The invention can effectively avoid dead zone positions, shorten positioning time and improve 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 position-sensor-free control algorithm of the frequency converter is widely applied to the field of high-speed motors with high requirements on system cost and reliability, and the accurate acquisition of the initial position of the rotor is used for determining whether the motor can be started successfully. The existing rotor initial position detection method without the position sensor control algorithm mainly comprises the following defects:
1. a pre-positioning method; the pre-positioning method has dead zone positions, inaccurate positioning and longer positioning time of the rotor;
2. high frequency signal injection; the high-frequency injection method is only suitable for a built-in permanent magnet synchronous motor with a certain salient pole ratio, is not suitable for surface mounting, and cannot well determine the polarity of magnetic poles;
3. an observer method; the calculated amount is large, and the Kalman gain and 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 the topology of the frequency converter is composed of a three-phase inverter, a motor is a surface-mounted permanent magnet synchronous motor, and three-phase output currents of the inverter are respectively I a 、I b And I c When the high-speed air compressor is started, the initial position of a rotor of the motor is pre-positioned;
when the motor is in a static state, the motor can be subjected to a torque T formed by rotor tooth space positioning force and bearing static friction force 0 Electromagnetic torque T generated only when a current vector is applied e Greater than T 0 When the motor is started, the rotor of the motor can be rotated to a preset position; since the initial positioning angle of the motor rotor is uncertain, the electromagnetic torque of the motor
Wherein: l (L) s Is the stator inductance of the motor; p (P) n Is the pole pair number of the motor; psi phi type s 、ψ f The amplitude of flux linkage of a stator and a rotor of the motor; θ sr Is the included angle between the stator current and the rotor; from the equation, two dead zone position conditions exist: when theta is as sr When the torque force 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 is as sr At a smaller time, a detent torque force T is generated e Less than T 0 The rotor cannot be dragged to a predetermined position;
setting the magnetic chain angle of the rotor to be equal to 0 DEG, and injecting a set current I from the phase A ref Then I a Equal to I ref Output current I from phase B and phase C respectively b And I c The method comprises the steps of carrying out a first treatment on the surface of the When the rotor reaches the preset position to stop rotating, I is obtained a ＝2|I b |＝2|I c I, the rotor can be judged to have rotated through the currentTurning to around 0 ° or 180 °, if the initial angle is in the dead zone position, stopping at 180 °, otherwise stopping at 0 °;
setting the magnetic chain angle of the rotor to be equal to 120 DEG by secondary positioning, and injecting a set current I from the phase B ref Then I b Equal to I ref Output current I from phase A and phase C, respectively a And I c At this time, the rotor is at 0 ° or near 180 °, no dead zone position exists, and the rotor will rotate to the target position of 120 °; when the rotor reaches the preset position to stop rotating, I is obtained b ＝2|I a |＝2|I c The current can judge that the rotor rotates to the vicinity of 120 degrees, and the preliminary positioning of the initial position of the rotor is completed;
the phase current is used as current loop control, namely the motor phase current is used as injection current constant current control, and conversion calculation is not needed.
According to the embodiment of the invention, the mode of applying current is simplified on the basis of conventional pre-positioning, the judgment that the rotor reaches the pre-positioning position is added, the dead zone position is effectively avoided, the positioning time is shortened, the positioning accuracy is improved, the control algorithm is simplified, the operation amount is reduced, and the method is rapid and reliable.
Drawings
Fig. 1 is a flowchart 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
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
According to the embodiment of the invention, the mode of applying current is simplified on the basis of conventional pre-positioning, the judgment that the rotor reaches the pre-positioning position is added, the dead zone position is effectively avoided, the positioning time is shortened, and the positioning accuracy is improved.
The following describes in detail the implementation of the present invention in connection with specific embodiments:
a high-speed air compressor starting method based on a frequency converter is characterized in that the topology of the frequency converter is composed of a three-phase inverter, a motor is a surface-mounted permanent magnet synchronous motor, and three-phase output currents of the inverter are respectively I a 、I b And I c When the high-speed air compressor is started, the initial position of a rotor of the motor is pre-positioned;
when the motor is in a static state, the motor can be subjected to a torque T formed by rotor tooth space positioning force and bearing static friction force 0 Electromagnetic torque T generated only when a current vector is applied e Greater than T 0 When the motor is started, the rotor of the motor can be rotated to a preset position; since the initial positioning angle of the motor rotor is uncertain, the electromagnetic torque of the motor
Wherein: l (L) s Is the stator inductance of the motor; p (P) n Is the pole pair number of the motor; psi phi type s 、ψ f The amplitude of flux linkage of a stator and a rotor of the motor; θ sr Is the included angle between the stator current and the rotor; from the equation, two dead zone position conditions exist: when theta is as sr When the torque force 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 is as sr At a smaller time, a detent torque force T is generated e Less than T 0 The rotor cannot be dragged to a predetermined position; providing a sufficiently large current generates a sufficiently large electromagnetic torque to reduce dead zone positions and adopts secondary positioning to solve this problem.
Setting the magnetic chain angle of the rotor to be equal to 0 DEG, and injecting a set current I from the phase A ref Then I a Equal to I ref Output current I from phase B and phase C respectively b And I c The method comprises the steps of carrying out a first treatment on the surface of the When the rotor reaches the preset position to stop rotating, I is obtained a ＝2|I b |＝2|I c It can be judged by the current that the rotor has rotated to around 0 ° or 180 °, if the initial angle is at the dead zone position, then stop at 180 °, otherwise stop at 0 °;
setting the magnetic chain angle of the rotor to be equal to 120 DEG by secondary positioning, and injecting a set current I from the phase B ref Then I b Equal to I ref Output current I from phase A and phase C, respectively a And I c At this time, the rotor is at 0 ° or near 180 °, no dead zone position exists, and the rotor will rotate to the target position of 120 °; when the rotor reaches the preset position to stop rotating, I is obtained b ＝2|I a |＝2|I c The current can judge that the rotor rotates to the vicinity of 120 degrees, and the preliminary positioning of the initial position of the rotor is completed;
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 simplifies the control method and shortens the positioning time by simplifying the current application mode and increasing the judgment of reaching the pre-positioning position in the pre-positioning method based on the three-phase inverter hardware topology:
(1) The converter topology is composed 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 I respectively a ，I b ，I c ；
(3) Three-phase resistors of the motor are respectively R a ，R b ，R c If the three-phase resistances are considered to be equal, the phase resistance is R s ；
(4) The d-axis inductance and the q-axis inductance of the motor are respectively L d ，L q ；
(5) The d-axis current and the q-axis current of the motor are respectively I d ，I q ；
(6) The d-axis voltage and the q-axis voltage of the motor are U respectively d ，U q ；
(7) Setting the magnetic chain angle of the rotor to be equal to 0 DEG, injecting current from the A phase, and outputting current from the B phase and the C phase, wherein the electromagnetic torque equation is that
For the stator inductance of the surface-mounted three-phase permanent magnet synchronous motor, L is satisfied d ＝L q Thus->
At this time there is1. Fixed dead zone position, rotor positioned at 180 deg. or near 180 deg., rotor q-axis combined current vector component I q Approaching 0, the rotor will not be able to rotate to the target position of 0 °, and positions other than the dead zone position will rotate to the target position of 0 °;
(9)U bn ＝I b ×R b ；U cn ＝I c ×R c The method comprises the steps of carrying out a first treatment on the surface of the Taking into account R a ，R b ，R c Substantially in agreement, can be considered as I b ，I c Is also substantially consistent, conclude I a ＝2|I b |＝2|I c The rotor can be judged to have rotated to the preset position of 0 DEG or the vicinity of the dead zone position of 180 DEG through the current;
(10) Setting the magnetic chain angle of the rotor to be 120 DEG, injecting current from the B phase, outputting current from the A phase and the C phase,
at this point the rotor is already at or near 0 ° or 180 °, there is no dead zone position and the rotor will rotate to the target position 120 °;
(12)U an ＝I a ×R a ；U cn ＝I c ×R c The method comprises the steps of carrying out a first treatment on the surface of the Taking into account R a ，R b ，R c Substantially identical, can be regarded as I a ，I c Is also substantially consistent, conclude I b ＝2|I a |＝2|I c And the current can judge that the rotor has rotated to the vicinity of 120 degrees, and the initial position of the rotor is preset.
The invention directly adopts the motor phase current as the injection current constant current control, does not need to carry out transformation calculation, simplifies the control algorithm and reduces the operand.
According to the embodiment of the invention, the mode of applying current is simplified on the basis of conventional pre-positioning, the judgment that the rotor reaches the pre-positioning position is added, the dead zone position is effectively avoided, the positioning time is shortened, the positioning accuracy is improved, the control algorithm is simplified, the operation amount is reduced, and the method is rapid and reliable.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. A high-speed air compressor starting method based on a frequency converter is characterized by comprising the following steps of: the converter topology is composed of three-phase inverters, the motor is a surface-mounted permanent magnet synchronous motor, and three-phase output currents of the inverters are respectively I a 、I b And I c When the high-speed air compressor is started, the initial position of a rotor of the motor is pre-positioned;
when the motor is in a static state, the motor can be subjected to a torque T formed by rotor tooth space positioning force and bearing static friction force 0 Electromagnetic torque T generated only when a current vector is applied e Greater than T 0 When the motor is started, the rotor of the motor can be rotated to a preset position; due to the initial state of the motor rotorThe initial positioning angle is uncertain, and the electromagnetic torque of the motor
Wherein: l (L) s Is the stator inductance of the motor; p (P) n Is the pole pair number of the motor; psi phi type s 、ψ f The amplitude of flux linkage of a stator and a rotor of the motor; θ sr Is the included angle between the stator current and the rotor; from the equation, two dead zone position conditions exist: when theta is as sr When the torque force 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 is as sr At a smaller time, a detent torque force T is generated e Less than T 0 The rotor cannot be dragged to a predetermined position;
setting the magnetic chain angle of the rotor to be equal to 0 DEG, and injecting a set current I from the phase A ref Then I a Equal to I ref Output current I from phase B and phase C respectively b And I c The method comprises the steps of carrying out a first treatment on the surface of the When the rotor reaches the preset position to stop rotating, I is obtained a ＝2|I b |＝2|I c It can be judged by the current that the rotor has rotated to around 0 ° or 180 °, if the initial angle is at the dead zone position, it is stopped at 180 °, otherwise it is stopped at 0 °;
setting the magnetic chain angle of the rotor to be equal to 120 DEG by secondary positioning, and injecting a set current I from the phase B ref Then I b Equal to I ref Output current I from phase A and phase C, respectively a And I c At this time, the rotor is at 0 ° or near 180 °, no dead zone position exists, and the rotor will rotate to the target position of 120 °; when the rotor reaches the preset position to stop rotating, I is obtained b ＝2|I a |＝2|I c The current can judge that the rotor rotates to the vicinity of 120 degrees, and the initial position pre-positioning of the rotor is completed;
the phase current is used as current loop control, namely the motor phase current is used as injection current constant current control, and conversion calculation is not needed.
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| CN202110779771.5A CN113541557B (en) | 2021-07-09 | 2021-07-09 | High-speed air compressor starting method based on frequency converter |
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| CN202110779771.5A CN113541557B (en) | 2021-07-09 | 2021-07-09 | High-speed air compressor starting method based on frequency converter |
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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 |
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- 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 |
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