CN1832328A - Deducing method for initial magnetic position of permanent synchro motor - Google Patents
Deducing method for initial magnetic position of permanent synchro motor Download PDFInfo
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- CN1832328A CN1832328A CNA2005100242660A CN200510024266A CN1832328A CN 1832328 A CN1832328 A CN 1832328A CN A2005100242660 A CNA2005100242660 A CN A2005100242660A CN 200510024266 A CN200510024266 A CN 200510024266A CN 1832328 A CN1832328 A CN 1832328A
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Abstract
This invention discloses a method for deducing the initial position of magnetic pole of a permanent magnetic synchronous motor, when applying a control mode of ids=0, according to the symbol of the product Y of a voltage difference DeltaU(Ud+Iq* Lq* omega ) and the rotor speed omega, if Y>0, then shaft d moves backward Delta theta, if Y<0, then shaft d moves forward Delta theta and the initial position angle theta 0' of the rotor magnetic pole is got finally after the operation is carried out repeatedly.
Description
Technical field
The present invention relates to a kind of deduction method of permanent magnet synchronous motor initial magnetic pole position, especially the deduction method of the initial magnetic pole position of permanent magnet synchronous motor under the field orientation control.
Background technology
Because the rotor flux of permanent magnet synchronous motor produces by being installed in epitrochanterian permanent magnet, for smooth starting with stably control permanent magnet synchronous motor, need know the initial position of permanent magnet in the space.If when the deviation of the position of magnetic pole of being known surpasses ± 90 electric angles, permanent magnet synchronous motor will be opposite with the rotation direction of appointment, backward rotation.Owing to this reason, the detection of position of magnetic pole is the key of permanent magnet synchronous motor control.Usually the method that detects position of magnetic pole is at motor internal ear magnetic pole detecting element suddenly to be installed, and utilizes it directly to measure position of magnetic pole.In disclosed patented technology, for example the CN 1267405A Chinese invention patent ublic specification of application of announcing on September 20th, 2000 discloses a kind of " the deduction method of initial pole position of permanent magnet brushless motor ", this method is set arbitrarily the γ axle and is set the δ axle from the advance direction of 90 electrical degrees of γ axle on space coordinates, the current controller of γ axle is a closed loop, the current controller of δ axle is open loop, derive the induced current on the δ direction of principal axis when the current-order of γ axle is the step-like alternative current, the symbol of the product of this induced current integrated value and γ shaft current command value is timing, makes the γ axial advancement move angle delta θ; When symbol when negative, make axially back move angle Δ θ of γ.Finally can obtain thus position of magnetic pole direction and d direction of principal axis or-the d direction of principal axis is consistent.
Yet it is Embedded IPM permanent magnet synchronous motor that this detection method is only applicable to rotor permanent magnet, and its principle is exactly the induced current that utilizes on the different δ of the deriving axles of d direction of principal axis and q direction of principal axis magnetic resistance.For the SPM permanent magnet synchronous motor that permanent magnet surfaces mounts, because the d direction of principal axis is identical with the axial magnetic resistance of q, the d axle approaches 1 with the protruding machine ratio of q axle, and this detection method can't be suitable for.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of deduction method of permanent magnet synchronous motor initial magnetic pole position, is applicable to protruding machine than being the permanent magnet synchronous motor of any size.
For solving the problems of the technologies described above, the deduction method of permanent magnet synchronous motor initial magnetic pole position of the present invention, in the permanent magnet synchronous motor system of field orientation control, the control of employing transform vector, rotor flux ψ is oriented on the d axle that vector control uses, on the counterclockwise 90 degree direction in spaces of d axle, set up q axle (torque current axis of orientation), d axle and q axle are formed the rotating coordinate system that vector control is used, and when the position at indeterminate real accurate rotor flux ψ and torque current place, suppose the d '-q ' axle of one group of quadrature, be the real accurate rotor flux ψ and the position at torque current place, d '-q ' axle differs the α angle with the d-q axle; When adopting i
DsDuring=0 control mode, according to voltage difference delta U (=U
d+ I
q* L
q*, when Y＞0, make the axially mobile Δ θ in back of d ω) with the symbol of rotor speed ω product Y; When Y＜0, make the d axial advancement move Δ θ, guarantee that finally the α angle that d '-q ' axle and d-q axle differ trends towards zero; When carrying out the This move process repeatedly, voltage difference delta U finally can trend towards 0, when voltage difference delta U continually and steadily 0 the value near after, just can judge that vector space coordinate d axle accurately is positioned on the magnetic direction of rotor permanent magnet, thereby can obtain rotor magnetic pole initial position angle θ
0'.
Adopt method of the present invention, wherein the parameter that need relate to has rotor speed ω, motor q axle inductance L
q, q shaft current I
qWith d shaft voltage U
dRotor speed ω and q shaft current I
qCan directly measure motor q axle inductance L
qManufacturing side provides by motor, d shaft voltage U
dIn vector control, can calculate.All these parameters are all irrelevant with the protruding machine ratio of motor, so the present invention is applicable to protruding machine than being the permanent magnet synchronous motor of any size.
Description of drawings
Polar plot when Fig. 1 is permanent magnet synchronous motor ideal operation state;
Fig. 2 is the graph of a relation of rotor positive direction rotation ψ hysteresis d axle α angle;
Fig. 3 is the graph of a relation of the leading d axle of rotor positive direction rotation ψ α angle;
Fig. 4 is the graph of a relation of rotor opposite spin ψ hysteresis d axle α angle;
Fig. 5 is the graph of a relation of the leading d axle of rotor opposite spin ψ α angle;
Fig. 6 is the conceptual block diagram of the deduction method embodiment of permanent magnet synchronous motor initial magnetic pole position of the present invention;
Fig. 7 is the flow chart of the position of magnetic pole estimator among Fig. 6;
Fig. 8 is position of magnetic pole deviation α for+90 when spending, the acceleration diagram when the motor self study starts;
Fig. 9 is position of magnetic pole deviation α for+90 when spending, the hodograph when the motor self study starts.
Embodiment
The deduction method of permanent magnet synchronous motor initial magnetic pole position of the present invention need relate to the axial voltage Δ of motor d U, motor speed of service ω.The following elder generation principle of the present invention of deriving.
In rotor field-oriented vector control, as Fig. 1, rotor flux ψ is oriented on the d axle of vector control, and permanent magnet synchronous motor at the stator voltage formula of d axle and q axle is:
U
d＝i
d*R
a-i
q*ω*L
q
(1)
U
q＝i
q*R
a+i
d*ω*L
d+E
Wherein, d axle and q axle are rotating coordinate system, the U in the vector control
dBe component, the U of stator voltage on the d axle
qBe component, the i of stator voltage on the q axle
dBe component, the i of stator current on the d axle
qBe that component, the ω of stator current on the q axle is rotor rotating speed, L
dBe that d axle inductance, Lq are q axle inductance, R
aBe the stator phase resistance, E is the rotary inductive voltage of rotor flux ψ on the q axle.
In Vector Control of Permanent Magnet Synchronous Motors, generally take d shaft current instruction i
Ds=0 control mode, when motor speed is stablized, d shaft current value i
dBe 0, formula (1) can be reduced to:
U
d＝-i
q*ω*Lq
(2)
U
q＝i
q*R
a+E
When rotor flux ψ is accurately positioned on the d axle of vector control, can get:
ΔU＝U
d+i
q*ω*L
q＝0 (3)
But, because the initial position of rotor has arbitrariness, do not detect if do not carry out position of magnetic pole, when rotor flux ψ just begins to start at motor, be difficult to be accurately positioned on the d axle.When rotor just changes, suppose that rotor flux ψ is physically located on imaginary d ' axle, as shown in Figure 2.This moment, the angle of d ' axle was θ '=ω * t+ θ
0', the angle of d axle is θ=ω * t+ θ
0, these two axles are all with rotor speed ω (electrical degree) rotation, d ' axle hysteresis d axle α degree (0 °～180 °).According to this polar plot, can draw following formula:
ΔU＝U
d+i
q*ω*L
q＝E*sinα (4)
Easily know Δ U＞0.In order to make rotor flux Ψ consistent with the d direction of principal axis, must reduce the angle θ of d axle, make the θ angle trend towards θ ' (θ and θ ' difference are α).
When the leading d axle α angle (0 °～-180 °) of d ' axle, its current/voltage space vector as shown in Figure 3.According to this polar plot, can get Δ U=E*sin α＜0.In order to make rotor flux Ψ consistent with the d direction of principal axis, must increase the angle θ of d axle, make the θ angle trend towards θ '.
From the above mentioned, when rotor just changes, can draw:
1. Δ U＞0 o'clock, the angle θ of d axle need reduce;
2. Δ U＜0 o'clock, the angle θ of d axle need increase.
When the rotor opposite spin, situation is different again, and the induced voltage E of rotor flux Ψ this moment on the q axle is negative value, and rotor speed ω is a negative value.When supposing the d ' axle hysteresis d axle α angle (0 °～180 °) at rotor flux Ψ place, its space vector such as Fig. 4.According to this polar plot, can draw Δ U=E*sin α＜0.In order to make rotor flux Ψ consistent with the d direction of principal axis, must reduce the θ angle, make the θ angle trend towards θ '.
When the leading d axle of rotor flux Ψ α angle (0 °～-180 °), its space vector such as Fig. 5 according to this polar plot, can draw Δ U=E*sin α＞0.In order to make rotor flux Ψ consistent with the d direction of principal axis, must increase the θ angle, make the θ angle trend towards θ '.
From the above mentioned, when the rotor counter-rotation, can draw:
1. Δ U＞0 o'clock, the angle θ of d axle need increase;
2. Δ U＜0 o'clock, the angle θ of d axle need reduce.
Just changeing and bearing the analysis of two kinds of situations of commentaries on classics above comprehensive at rotor, judging the positive and negative of Δ U and rotational speed omega, can select suitable Δ θ,, can finally draw the initial position θ of magnetic pole through inferring repeatedly
0'.
Implementation process of the present invention is described with reference to the accompanying drawings.
In Fig. 6, except the position of magnetic pole estimator, be the typical vector control block diagram of motor.By current transformer feedback motor u phase and v electric current I mutually
UAnd I
V,, obtain d shaft current i through overcurrent 3/2 conversion
dWith q shaft current i
q, current controller is according to d shaft current instruction i
DsWith q shaft current instruction i
QsCan obtain d shaft voltage U
dWith q shaft voltage U
q, again through overvoltage 2/3 conversion, exportable 3 phase voltage U
U, U
V, U
WGo the drive motors operation, thereby reach closed-loop control.
The position of magnetic pole estimator that increases, its motion flow as shown in Figure 7, Δ U=U wherein
d+ I
q* L
q* ω, ω was for just when the rotor positive direction was rotated, and ω is for bearing during counter-rotation.According to the symbol of Δ U and ω product Y, it is as follows to derive:
1.Y, select suitable negative value Δ θ at＞0 o'clock;
2.Y, select suitable positive value delta θ at＜0 o'clock.
Like this, the angle θ of d axle=ω * t+ θ
0After adding Δ θ, will move the size of Δ θ absolute value toward d ' direction of principal axis.After carrying out this process repeatedly, the angle θ of d axle=ω * t+ θ
0Will level off to the angle θ '=ω * t+ θ of d ' axle gradually
0'.As Δ U=U
d+ I
q* L
q* during the value convergence 0 of ω, and continually and steadily after near 0 value, just can judge that the angle θ of d axle has equaled the angle θ ' of d ' axle at this moment, thereby obtain rotor magnetic pole initial position θ
0'.Then with θ
0' value is stored in the corresponding control system internal memory, so that when starting synchronous motor once more, just can directly take θ
0' get final product, need not to learn once more to infer magnetic pole initial position.
In Fig. 8 and Fig. 9 constant load torque system for application 11KW permanent magnet synchronous motor, when carrying out the initial magnetic pole position deduction for the first time, the acceleration figure and the speed pattern of motor.As we know from the figure, after 2 seconds, electric system just enters stable state.This method tool has an enormous advantage and is advanced as can be known.
Claims (1)
1, a kind of deduction method of permanent magnet synchronous motor initial magnetic pole position, it is characterized in that: in the permanent magnet synchronous motor system of field orientation control, the control of employing transform vector, rotor flux ψ is oriented on the d axle that vector control uses, on the counterclockwise 90 degree direction in spaces of d axle, set up the q axle, it is the torque current axis of orientation, d axle and q axle are formed the rotating coordinate system that vector control is used, and when the position at indeterminate real accurate rotor flux ψ and torque current place, suppose the d '-q ' axle of one group of quadrature, be the real accurate rotor flux ψ and the position at torque current place, d '-q ' axle differs the α angle with the d-q axle; When adopting i
DsDuring=0 control mode, according to voltage difference delta U=U
d+ I
q* L
q* the symbol of ω and rotor speed ω product Y when Y＞0, makes the axially mobile Δ θ in back of d; When Y＜0, make the d axial advancement move Δ θ, guarantee that finally the α angle that d '-q ' axle and d-q axle differ trends towards zero; When carrying out the This move process repeatedly, voltage difference delta U finally can trend towards 0, when voltage difference delta U continually and steadily 0 the value near after, just can judge that vector space coordinate d axle accurately is positioned on the magnetic direction of rotor permanent magnet, thereby can obtain rotor magnetic pole initial position angle θ
0'.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100242660A CN1832328A (en) | 2005-03-09 | 2005-03-09 | Deducing method for initial magnetic position of permanent synchro motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005100242660A CN1832328A (en) | 2005-03-09 | 2005-03-09 | Deducing method for initial magnetic position of permanent synchro motor |
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| CN1832328A true CN1832328A (en) | 2006-09-13 |
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|---|---|---|---|
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101369796B (en) * | 2007-08-17 | 2010-09-15 | 深圳市汇川技术股份有限公司 | Method and system for detecting rotor magnetic pole initial position of permanent magnet synchronous machine |
| CN104584417A (en) * | 2012-08-13 | 2015-04-29 | 德克萨斯仪器股份有限公司 | Sensorless field-oriented control (FOC) without current sampling for motors |
| CN105262397A (en) * | 2015-10-29 | 2016-01-20 | 四川长虹电器股份有限公司 | Positioning current control method of variable frequency motor |
| CN109428530A (en) * | 2017-09-05 | 2019-03-05 | 上海大郡动力控制技术有限公司 | The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result |
-
2005
- 2005-03-09 CN CNA2005100242660A patent/CN1832328A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101369796B (en) * | 2007-08-17 | 2010-09-15 | 深圳市汇川技术股份有限公司 | Method and system for detecting rotor magnetic pole initial position of permanent magnet synchronous machine |
| CN104584417A (en) * | 2012-08-13 | 2015-04-29 | 德克萨斯仪器股份有限公司 | Sensorless field-oriented control (FOC) without current sampling for motors |
| CN105262397A (en) * | 2015-10-29 | 2016-01-20 | 四川长虹电器股份有限公司 | Positioning current control method of variable frequency motor |
| CN105262397B (en) * | 2015-10-29 | 2018-06-29 | 四川长虹电器股份有限公司 | A kind of variable-frequency motor location current control method |
| CN109428530A (en) * | 2017-09-05 | 2019-03-05 | 上海大郡动力控制技术有限公司 | The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result |
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