CN113746405B - Method for judging starting locked-rotor of permanent magnet synchronous motor without position sensor control - Google Patents
Method for judging starting locked-rotor of permanent magnet synchronous motor without position sensor control Download PDFInfo
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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Abstract
The invention discloses a method for judging the starting locked-rotor of a permanent magnet synchronous motor without a position sensor, which comprises the following steps: establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system; based on a voltage equation, under the preset consistent operating frequency, respectively taking d-axis voltage as 0, q-axis voltage as preset voltage, d-axis voltage as preset voltage and q-axis voltage as 0, generating three-phase sine wave current to form an active rotating magnetic field, enabling the motor to normally and open loop operate under the condition of no locked rotation, and respectively calculating d-axis current and q-axis current of the motor under the two modes; and judging whether the motor is blocked in the starting stage according to the relation between the dq axis current of the motor and the current preset value in the two modes. According to the invention, by applying two groups of dq axis voltages and analyzing the magnitude of the obtained current amounts, whether the motor is in a locked-rotor state or not in the starting stage is judged, and the problems of motor loss of magnetism, power module damage and the like caused by motor locked-rotor and current overshoot can be avoided.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method for judging starting locked rotor of a permanent magnet synchronous motor without a position sensor.
Background
Permanent magnet synchronous motors are widely applied to the fields of industrial control, household appliances and the like due to simple structure, high power density, high efficiency and wide speed regulation range. The sensorless control technology of the permanent magnet synchronous motor can reduce hardware cost and improve system reliability, and has become a very important research direction in the field of motor control in recent years, for example, fan pump products are very suitable for adopting a sensorless control scheme.
The motor is blocked, namely torque is still output when the rotating speed of the motor is zero, and the motor is blocked due to the fact that the device load is too large, the rotor and the stator are blocked when being contacted, or the driving device is blocked. If a locked rotor state occurs in the running process of the permanent magnet synchronous motor without position sensor control, a microprocessor of the motor immediately blocks the output pulse signal, closes an IGBT of the inverter, and avoids the condition that the locked rotor current is overlarge to burn the inverter. The traditional stall state judging method mainly comprises the steps of judging two parameters of rotating speed and current, and controlling the permanent magnet synchronous motor based on a vector without a position sensor, namely, performing back electromotive force estimation according to parameters such as resistance and inductance of the motor by calculating output voltage of an inverter and detecting phase current of the motor, so as to perform motor rotor position estimation. The output voltage of the inverter is estimated by the PWM duty ratio of the IGBT power module, but the output voltage estimation has errors due to factors such as on-off delay, dead time and the like of the IGBT power module, on the other hand, the measured value and the actual value of the inductance parameter of the motor also have errors, and when the motor changes from an operation state to a locked-rotor state, the errors in several aspects can lead the current value read back by the controller and the output voltage value of the inverter to enter a steady-state closed-loop state after self-operation. Because the motor is not actually operated due to locked rotor, the amplitude of the output voltage of the inverter and the detection value of the motor current are very small and are not enough to drag the motor to operate, and the control system can misjudge that the motor is in a normal operation state according to variables such as the output voltage, the motor current and the like, namely, when the motor is locked rotor, the motor is likely not to enter a protection state to continue to drive the motor to operate, so that the motor is easy to damage.
Chinese patent CN 110518857a discloses a method for determining a locked-rotor state based on vector control without a position sensor, which determines the locked-rotor state by comparing input power and output power, but the method determines the locked-rotor state during normal operation of the motor, and does not consider the locked-rotor problem during starting of the motor. The method for judging the stalling of the permanent magnet synchronous motor disclosed in the China patent CN 110875704A is also carried out in the normal running process of the motor, and the starting stalling problem is not considered. However, when the motor is started, the motor fails to start due to the locked rotor, and larger current impact may be generated, so that the motor is in loss of magnetism and the inverter is damaged, and the locked rotor judgment and protection are very necessary in the actual working stage of the motor.
Disclosure of Invention
The invention aims to provide a judging method for controlling starting locked rotor of a permanent magnet synchronous motor without a position sensor, which is used for solving the problems of motor loss of magnetism, power module damage and the like caused by motor locked rotor and current overshoot in the prior art.
In order to realize the tasks, the invention adopts the following technical scheme:
A judging method for controlling starting locked rotor of a permanent magnet synchronous motor without a position sensor comprises the following steps:
Establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system;
Based on the voltage equation, under the preset consistent operating frequency, respectively taking d-axis voltage as 0, q-axis voltage as preset voltage, d-axis voltage as preset voltage and q-axis voltage as 0, generating three-phase sine wave current to form an active rotating magnetic field, enabling the motor to normally perform open-loop operation under the condition of not blocking rotation, and respectively calculating d-axis current and q-axis current of the motor under the two modes;
And judging whether the motor is locked in the starting stage according to the relation between d and q axis currents of the motor and the current preset value in the two modes.
Further, according to the relation between d and q axis currents and current preset values of the motor in the two modes, judging whether the motor is locked in a starting stage or not includes:
Let d and q axis currents of the motor in the first mode be i d1、iq1 and d and q axis currents of the motor in the second mode be i d2、iq2 respectively, then:
If the I d1-iq1 and the I d2+iq2 are both larger than the current preset value i set, determining that the motor is locked; if both i d1-iq1 and i d2+iq2 are smaller than the current preset value i set, the motor is judged not to be locked.
Further, the preset voltage V set is greater than the back electromotive force e of the motor, but the magnitudes of the preset voltage V set and the back electromotive force e are close to each other, |v set-e|＝ζ*Vset, wherein the coefficient ζ=0.1-0.2.
Further, the calculation formula of the current preset value i set is thatWherein the coefficient xi=0.2-0.4, R represents the motor stator resistance, ω 0 represents the rotation angular velocity corresponding to the preset operation frequency, L d、Lq represents the d-axis inductance and q-axis inductance of the motor, and V set is the preset voltage.
A sensorless permanent magnet synchronous motor, wherein a controller of the permanent magnet synchronous motor is loaded with a computer program; the steps of the judging method are realized when the computer program is executed.
A computer readable storage medium having a computer program stored therein, which when executed, implements the steps of the determination method.
Compared with the prior art, the invention has the following technical characteristics:
According to the invention, whether the motor is in a locked-rotor state or not in a starting stage is judged by analyzing the obtained two current amounts of i d1、iq1 and i d2、iq2 through applying two groups of dq axis voltages instead of comparing the amplitude values of the phase currents, and through actual verification, the problems of motor loss of magnetism, power module damage and the like caused by motor locked-rotor and current overshoot can be effectively avoided.
Drawings
FIG. 1 is a block diagram of a position sensorless vector control system for a permanent magnet synchronous motor;
FIG. 2 is a comparison of phase current waveforms for a prototype with and without locked rotor;
FIG. 3 is a graph of i d1、iq1 current waveforms for a prototype without stall;
FIG. 4 is a graph of i d1、iq1 current waveforms for a prototype at lock-up;
FIG. 5 is a graph of i d2、iq2 current waveforms for a prototype without stall;
FIG. 6 is a graph of i d2、iq2 current waveforms for a prototype at lock-up;
fig. 7 is a phase current waveform of a motor with 3 failed starts and no successful start in the case of locked rotor.
Detailed Description
Referring to the drawings, the invention discloses a method for judging starting locked-rotor of a permanent magnet synchronous motor without a position sensor, which comprises the following steps:
and step 1, establishing d and q axis voltage equations under a dq coordinate system of actual rotation of the permanent magnet synchronous motor.
Wherein R is stator resistance; l d、Lq represents d-axis and q-axis inductances respectively; u d、uq represents the d and q axis voltages of the motor respectively; i d、iq represents d-axis current and q-axis current, respectively; e is the back electromotive force of the motor; omega is the rotation angular velocity of the motor; p is a differential operator, p=d/dt.
Step 2, setting the d-axis voltage of the motor to be u d1 =0, the q-axis voltage to be u q1＝Vset and the preset operating frequency to be f 0, generating three-phase sine wave currents to form an active rotating magnetic field, measuring the three-phase currents of the motor at the moment and calculating d-axis current and q-axis current i d1、iq1 and rotating angular velocity omega 0＝2πf0 of the motor at the moment under the condition that the motor is not blocked, wherein the steady-state equation of the d-axis voltage and the q-axis voltage at the moment is as follows:
Wherein V set is a preset voltage.
Step 3, setting the d-axis voltage of the motor as u d2＝Vset, the q-axis voltage as u q2 =0 and the operating frequency f 0, generating three-phase sine wave current in the motor winding to form an active rotating magnetic field, measuring the three-phase current of the motor at the moment and calculating d-axis current and q-axis current i d2、iq2 under the condition that no rotation is blocked, wherein the dq-axis voltage steady equation is as follows:
In the step 2 and the step 3, the set running frequency omega 0 is smaller so as to meet the condition that the stator resistance R is far larger than d and q axis inductive reactance omega 0Ld、ω0Lq; the preset voltage V set is greater than the counter potential e, but the magnitudes of the two are close to each other, |v set-e|＝ζ*Vset, where the coefficient ζ=0.1 to 0.2.
Step 4, if the absolute value i d1-iq1 and the absolute value i d2+iq2 are both larger than the current preset value i set, determining that the motor is locked; if both i d1-iq1 and i d2+iq2 are smaller than the current preset value i set, the motor is judged not to be locked.
The calculation formula of the current preset value i set is deduced as follows:
From equation (2), it can be deduced that:
From equation (3), it can be deduced that:
Since the set operating frequency ω 0 is small, the stator resistance R is much larger than the d, q-axis inductive reactance X Ld、XLq, equations (5) and (7) can be simplified:
When the motor can normally open loop operate under the condition of no locked rotor, the given voltage V set is larger than the counter potential e but the amplitudes of the counter potential e and the motor are close to each other, otherwise, a large three-phase current is generated, and the values of |V set-e|＝ζ*Vset,ζ＝(0.1～0.2),|id1-iq1 | and |i d2+iq2 | are set as follows:
Wherein the coefficient ζ=0.1 to 0.2.
When the motor is locked-rotor, the counter potential e is zero, and the values of i d1-iq1 and i d2+iq2 are:
Judging whether the motor is locked or not is judging whether the values of the i d1-iq1 and the i d2+iq2 are in accordance with the formula (9) or the formula (10), and comparing the formula (9) and the formula (10) can see that the values of the i d1-iq1 and the i d2+iq2 are much larger when the motor is locked than when the motor is not locked, so that whether the motor is in the locked state or not in the starting stage can be judged by analyzing the magnitudes of two groups of current amounts of the i d1、iq1 and the i d2、iq2.
The current preset value i set is selected to be one time larger than the calculated value of the non-locked rotor operation formula (9), but is much smaller than the calculated value of the locked rotor operation formula (10):
Wherein the coefficient ζ=2 ζ=0.2 to 0.4.
Examples:
The principle experiment of the invention verifies that the adopted permanent magnet synchronous motor is an outer rotor fan motor applied to an automobile air conditioner, wherein the parameters of the permanent magnet synchronous motor are as follows: rated power 300W, rated voltage DC 24V, minimum operating speed n set_min =500 rpm, maximum operating speed n set_max =4200 rpm, pole pair number p n =4, stator resistance r=0.39Ω, stator direct axis inductance L d =0.09 mH, quadrature axis inductance L q =0.11 mH, counter potential coefficient K e =2.45V/krpm, vector control PWM frequency 16KHz.
The system control block diagram of the sensorless vector control of the permanent magnet synchronous motor system in one embodiment of the invention shown in fig. 1 comprises a double-resistance sampling circuit, clarke and PARK conversion, maximum torque current ratio control (MTPA), a speed loop, a dq-axis current loop, PARK inverse transformation, rotor position estimation, SVPWM calculation, a three-phase PWM inverter and other units.
As shown in FIG. 2, the phase current real beat waveform of the prototype in the case of locked rotor and non-locked rotor is compared in the embodiment of the invention, the phase current waveform of the prototype in the case of manual locked rotor is shown in 0-3 seconds, the phase current amplitude of locked rotor is about 3A, 3-4.5 seconds is the transition process of locked rotor withdrawal, the phase current amplitude is about 2.5A in the case of normal open loop operation of the prototype without locked rotor, it can be seen that it is difficult for the prototype to simply judge whether the motor is locked rotor from the amplitude of the phase current waveform, which indicates that the invention judges whether the motor is locked rotor by analyzing the magnitudes of two groups of current amounts of i d1、iq1 and i d2、iq2.
The unit of applied voltage in the practice of the present invention is not volt (V) but is the FOC system voltage variable unit, 1v=95.3 system voltage variable unit; the unit of measured current is not ampere (a) but is the FOC system current variable unit, 1a= 327.7 system current variable unit.
In the experiment, the voltage variable unit of the system with the running frequency of f 0＝3.5Hz,Vset =1000 is taken, the dq-axis inductance is calculated to be X Ld＝2πf0Ld＝1.98mΩ,XLq＝2πf0Lq =2.42 mΩ respectively according to the motor parameter L d＝0.09mH,Lq =0.11 mH measured previously, and the stator resistance R=0.39Ω, so that R is far greater than the dq-axis inductance X Ld、XLq, and the condition that the formulas (5) and (7) are simplified to the formula (8) is satisfied.
Calculating i set according to a formula (11) according to the resistance inductance parameter of the motor:
the coefficient ζ=0.25 is taken in the above equation.
According to the voltage variable unit of the system with f 0＝3.5Hz,Vset =1000, the d-axis voltage of the motor can be set as u d1 =0, the q-axis voltage as u q1 =1000, and the three-phase sine wave current can be generated to form an active rotating magnetic field, as shown in fig. 3, which is an i d1、iq1 current waveform of a prototype in no locked rotor, and in fig. 4, which is an i d1、iq1 current waveform of the prototype in locked rotor, the dq-axis current obtained from the graph has small current ripple, and the dq-axis current needs to be subjected to low-pass filtering to obtain the i d1、iq1 current for locked rotor judgment. I d1＝330、iq1＝750,|id1-iq1 |=420 (system current variable unit) i d1-iq1|＜iset when the prototype is not locked in fig. 3; in fig. 4, i d1＝40、iq1＝990,|id1-iq1 |=950 (system current variable unit) at the time of locked-rotor, |i d1-iq1|＞iset;
The motor u d2 =1000 system voltage variable units, u q2 =0 and the running frequency f 0 =3.45 Hz are set again, and three-phase sine wave currents are generated to form an active rotating magnetic field, as shown in fig. 5, which is an i d2、iq2 current waveform of a prototype in the non-locked state, and in fig. 6, which is an i d2、iq2 current waveform of the prototype in the locked state. I d2＝760、iq2＝-330,|id2+iq2 |=430 (system current variable unit) i d2+iq2|＜iset when the prototype is not locked in fig. 5; in fig. 6, i d2＝979、iq2＝-50,|id2+iq2 |=929 (system current variable unit) and i d2+iq2|＞iset at the time of locked rotation.
The values of i d1-iq1 and i d2+iq2 corresponding to fig. 3 and 5 are smaller than the preset value i set, respectively, to determine that the motor is not locked, and the values of i d1-iq1 and i d2+iq2 corresponding to fig. 4 and 6 are larger than the preset value i set, respectively, to determine that the motor is locked, so that the criterion about motor starting locked is correct.
As shown in fig. 7, during the first 3 times of starting for 10 seconds, the starting is detected to stop the closed loop operation behind the cut-in by the method of the invention, and the 3 times of starting is judged to be failed and the corresponding protection is carried out; as can be seen from fig. 5, although the restart is performed after 3 times of start failures, the phase current peak value is maintained at about 6A during the start process, no current impact is generated, and the problems of motor loss, inverter damage and the like possibly caused by the start failures are avoided; in fig. 5, the 4 th start removes the stall, the system determines a normal start, switches into the estimated position closed loop mode after about 1.6 seconds of open loop operation, and the latter current waveform is the phase current waveform of the speed regulation operation in the position closed loop mode.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (5)
1. A judging method for controlling starting locked rotor of a permanent magnet synchronous motor without a position sensor is characterized by comprising the following steps:
Establishing a voltage equation of the permanent magnet synchronous motor under an actual rotation dq coordinate system;
Based on the voltage equation, under the preset consistent operating frequency, respectively taking d-axis voltage as 0, q-axis voltage as preset voltage, d-axis voltage as preset voltage and q-axis voltage as 0, generating three-phase sine wave current to form an active rotating magnetic field, enabling the motor to normally perform open-loop operation under the condition of not blocking rotation, and respectively calculating d-axis current and q-axis current of the motor under the two modes;
Judging whether the motor is locked in the starting stage according to the relation between d and q axis currents of the motor and current preset values in the two modes, wherein the method comprises the following steps:
Let d and q axis currents of the motor in the first mode be i d1、iq1 and d and q axis currents of the motor in the second mode be i d2、iq2 respectively, then:
If both the i d1-iq1 and the i d2+iq2 are larger than the current preset value i set, judging that the motor is blocked; if both i d1-iq1 and i d2+iq2 are smaller than the current preset value i set, judging that the motor is not blocked.
2. The method for determining a sensorless control start stall of a permanent magnet synchronous motor according to claim 1, wherein the preset voltage V set is greater than the counter electromotive force e of the motor, but the magnitudes of the preset voltage V set and the counter electromotive force e are close to each other, V set-e＝ζ*Vset, and the coefficient ζ=0.1 to 0.2.
3. The method for determining a sensorless control start stall of a permanent magnet synchronous motor according to claim 1, wherein the current preset value i set has a calculation formula ofWherein the coefficient xi=0.2-0.4, R represents the motor stator resistance, ω 0 represents the rotation angular velocity corresponding to the preset operation frequency, L d、Lq represents the d-axis inductance and q-axis inductance of the motor, and V set is the preset voltage.
4. A permanent magnet synchronous motor without a position sensor, which is characterized in that a controller of the permanent magnet synchronous motor is provided with a computer program; computer program, when executed, implementing the steps of the judgment method according to any one of claims 1 to 3.
5. A computer readable storage medium having a computer program stored therein, characterized in that the computer program, when executed, implements the steps of the judgment method according to any one of claims 1 to 3.
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| CN103746626A (en) * | 2013-11-20 | 2014-04-23 | 广东威灵电机制造有限公司 | Locked rotor detection method and apparatus of motor control, and motor driver |
| CN106953559A (en) * | 2015-11-03 | 2017-07-14 | 飞思卡尔半导体公司 | The method and apparatus detected for motor-locking or stall |
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| CN110875704A (en) * | 2018-08-31 | 2020-03-10 | 广东威灵电机制造有限公司 | Locked rotor detection method, locked rotor detection device and control system of permanent magnet synchronous motor |
| CN111244897B (en) * | 2018-11-28 | 2022-09-13 | 安徽美芝精密制造有限公司 | Detection method, detection device, motor and storage medium |
| CN111289894B (en) * | 2018-12-10 | 2022-02-25 | 广东威灵汽车部件有限公司 | Locked rotor detection method, system and device of motor and storage medium |
| CN110518857B (en) * | 2019-10-09 | 2021-04-06 | 中山大洋电机股份有限公司 | Locked rotor state judgment method of position-sensor-free vector control permanent magnet synchronous motor |
| EP3826170A1 (en) * | 2019-11-21 | 2021-05-26 | Melexis Technologies NV | Stall detection in sine wave driven motors |
| CN111490523B (en) * | 2020-05-11 | 2021-08-17 | 卧龙电气驱动集团股份有限公司 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103746626A (en) * | 2013-11-20 | 2014-04-23 | 广东威灵电机制造有限公司 | Locked rotor detection method and apparatus of motor control, and motor driver |
| CN106953559A (en) * | 2015-11-03 | 2017-07-14 | 飞思卡尔半导体公司 | The method and apparatus detected for motor-locking or stall |
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