KR20130020081A - Estimation method and apparatus for initial rotor of permanent magnet synchronous motor - Google Patents

Estimation method and apparatus for initial rotor of permanent magnet synchronous motor Download PDF

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KR20130020081A
KR20130020081A KR1020110082472A KR20110082472A KR20130020081A KR 20130020081 A KR20130020081 A KR 20130020081A KR 1020110082472 A KR1020110082472 A KR 1020110082472A KR 20110082472 A KR20110082472 A KR 20110082472A KR 20130020081 A KR20130020081 A KR 20130020081A
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South Korea
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vectors
rotor
initial
current information
current
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KR1020110082472A
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Korean (ko)
Inventor
정인성
최준혁
구본관
박준성
김진홍
김건명
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전자부품연구원
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Publication of KR20130020081A publication Critical patent/KR20130020081A/en

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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
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

PURPOSE: A method and an apparatus for estimating the initial rotor of a permanent magnet synchronous motor are provided to facilitate algorithm embodiment. CONSTITUTION: A vector control mode supports a SVPWM(Space Vector Power Width Modulation)(30). Current information is collected from four vectors among six vectors. The collected current information is compared. The position of a rotor is presumed based on comparison result. [Reference numerals] (40) Initial rotor position estimating apparatus

Description

Estimation Method And Apparatus for initial rotor of Permanent Magnet Synchronous Motor

The present invention relates to a motor, and more particularly, to a method and apparatus for initial rotor estimation of a PMSM that supports more precise estimation of the position of the initial rotor of a permanent magnet synchronous motor (PMSM) in a simpler method. will be.

Recently, PMSM vector control drives are widely used in various fields such as home appliances and industrial applications that require high performance and high efficiency. High performance vector control drives require high resolution position information. In general, such position information can be easily obtained from an encoder or a resolver having a high resolution, but these sensors not only increase the volume of the motor as installed on the rotor shaft of the motor, but also have the disadvantage that the sensor itself is expensive. As a result, recent researches on sensorless control methods that can be controlled without sensors have been actively conducted, and they can be largely classified into methods based on back EMF and rotor flux information and methods using rotor polarity.

The sensorless control technique indirectly estimates the voltage generated by the rotation of the rotor in the motor controller, and has high accuracy at high speed. If the speed is low, the estimation is inaccurate. If the speed is zero, the estimation is impossible. Therefore, when power is supplied to the motor controller and the motor control starts, the position of the rotor magnet (magnetic flux) cannot be estimated.

On the other hand, a typical three-phase inverter has six switches. Switches on the same ARM are designed to not turn on at the same time, and the three switches (U, V, W) turn on at the same time or

Figure pat00001
,
Figure pat00002
,
Figure pat00003
) If three lights are turned on at the same time, there is no direction and the same size as the zero point. Accordingly, six vectors may be represented in the vector control method using six switches ON / OFF. These six vectors, namely V1 to V6, are SVPWM vectors according to the control method that can be generated by the inverter switch pattern.

In the conventional method, when the initial rotor speed is 0, the six voltage vectors V1, V2, V3, V4, V5, and V6 are generated at regular time intervals to apply current to the coil. The applied current thus generates a magnetic flux. When the magnetic flux generated by the six voltage vectors generates magnetic flux in the same direction as the permanent magnet, the magnetic flux of the permanent magnet is added to saturate the motor core and lower the inductance of the motor. As a result, a high current is generated for the voltage vector compared to the same voltage vector in different directions. The conventional method has been to find the position of the permanent magnet, that is, the rotor, within an error rate of 30 degrees by finding the direction of generating such a high current. When the position of the rotor is found with an error rate within 30 degrees, the motor driving can be started using the sensorless control according to the conventional method.

However, the conventional method has a problem that takes a lot of time because the current is applied to all six voltage vectors and then compared with each other. In addition, in the conventional method, since the voltage vector applied with the current corresponds to the entire voltage vector, there is a possibility that the torque is generated by the applied current and the rotor may rotate, and thus the position of the initial rotor may be changed during the estimation. .

Accordingly, an object of the present invention is to solve the problems described above, and to prevent the rotation of the rotor due to the initial rotor position estimation and to support the PMSM to estimate the position of the rotor according to a simplified processing method. An initial rotor position estimation method and apparatus are provided.

It is also an object of the present invention to provide a method and apparatus for initial rotor position estimation of a PMSM that supports sensorless based motor driving by enabling an initial rotor position to be estimated within a 30 ° range.

In addition, an object of the present invention is to provide a method and apparatus for initial rotor position estimation of PMSM, which is easy to theoretically approach and has a simple configuration, which enables the miniaturization of a product and can provide a cost competitiveness.

The initial rotor position estimation method of the PMSM according to an embodiment of the present invention divides the center angles provided by the Space Vector Power Width Modulation (SVPWM) supporting the vector control method into the same angles and is arranged in six directions outward from the center angles. Collecting the current information according to the power applied to four of the vectors, by comparing the current information of the vectors having directions opposite to each other in the collected current information to determine whether the position of the rotor is located on a certain half surface And estimating a position of the rotor by comparing the current having the larger current information among the vectors having the opposite directions and the current information corresponding to the remaining two vectors.

The estimating may be a step of estimating the position of the rotor within a 30 degree range.

In addition, the present invention is provided by Space Vector Power Width Modulation (SVWWM) that supports a vector control scheme, which divides the center angle into the same angle and has two opposite directions among the six vectors arranged outward from the center angle. Collecting the current information according to the power-up of the two, collecting current information according to the power-up of the remaining two vectors located in the opposite direction of the vector having a larger current information of the vectors, the current information of the vectors Disclosed is a configuration of an initial rotor position estimation method comprising estimating the initial position of the rotor based on the magnitude order.

Wherein the method further comprises providing table information defining a unique current information relationship of the four voltage vectors according to the region in which the N pole of the rotor is located, wherein estimating the initial position comprises: It may be a step of estimating the position of the rotor by comparing the information corresponding to the current information magnitude relationship of the obtained vectors with the table information.

In addition, the present invention divides the center angle into the same angle and supports vector control by six vectors arranged outward from the center angle, SVPWM (Space Vector Power Width Modulation), and PMSM (based on the information transmitted by the SVPWM). Inverter providing a signal for driving a permanent magnet synchronous motor, PMSM driven according to the signal supplied by the inverter, the current according to the power supply of two vectors having opposite directions among the six vectors provided by the SVPWM Information and current information according to the power-up of the remaining two vectors located in opposite directions of the vector having the larger current information among the vectors, and collecting the magnitude order of the current information of the vectors and the position of a predefined rotor. The initial position of the rotor by comparing the table information including the order of magnitude of current information of four vectors according to Disclosed is a configuration of an initial rotor position estimating apparatus comprising an initial rotor position estimating apparatus for estimating a value and performing an initial motor operation according to an estimated position.

In addition, the present invention divides the center angle into the same angle and supports vector control by six vectors arranged outward from the center angle, SVPWM (Space Vector Power Width Modulation), and PMSM (based on the information transmitted by the SVPWM). an inverter that provides a signal for driving a permanent magnet synchronous motor, a PMSM driven according to a signal supplied by the inverter, and collects current information when power is applied to four of the six vectors, and collects collected current information Compares the current information of the vectors with opposite directions and checks whether the rotor is located on a certain half, and corresponds to the vector with the larger current information and the other two vectors among the vectors with opposite directions. Compare the current information with each other to estimate the position of the rotor Disclosed is a configuration of an initial rotor position estimation apparatus including an initial rotor position estimation apparatus that performs motor operation control.

According to the method and apparatus for initial rotor position estimation of the PMSM according to an embodiment of the present invention, the present invention can estimate the position of the rotor through a simpler process, the implementation of the algorithm is more simplified, and applied from the inverter to the motor By minimizing the SVPWM vector, the drive circuitry is improved and the losses are minimized.

1 is a view schematically showing an inverter and a motor of a PMSM driving circuit according to an embodiment of the present invention.
2 is a view for explaining SVPWM vector control according to an embodiment of the present invention.
3 is a vector control diagram for explaining the initial rotor position estimation method according to an embodiment of the present invention.
4 to 7 are vector control diagrams for explaining the initial rotor position estimation method according to another embodiment of the present invention.
8 is a schematic view of a PMSM driving circuit according to an embodiment of the present invention.
9 is a view showing in more detail the PMSM driving circuit according to an embodiment of the present invention.
10 is a flowchart illustrating a method for estimating the initial rotor position according to the first embodiment of the present invention.
11 is a flowchart illustrating a method for estimating the initial rotor position according to the second embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, only parts necessary for understanding the operation according to the embodiment of the present invention will be described, and the description of other parts will be omitted so as not to disturb the gist of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor is not limited to the meaning of the terms in order to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only the most preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, and various equivalents may be substituted for them at the time of the present application. It should be understood that there may be water and variations.

FIG. 1 is a view schematically showing an inverter and a motor structure applied to a PMSM according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining vector control according to an embodiment of the present invention. Here, the PMSM of the present invention may be particularly an interior PMSM (IPMSM).

1 and 2, the inverter 10 of the present invention may be configured in three phases as shown. The motor 20 may be connected to the inverter 10, and the motor 20 may include a stator 21 and a rotor 23. In the figure is shown a rotor 23 composed of permanent magnets and divided into N pole and S pole. The rotor 23 composed of a permanent magnet of the motor 20 may be divided into a d axis in a direction parallel to the N pole and a theoretical axis of a q axis perpendicular to the d axis. The stator 21 may be arranged to surround the rotor 23 and three phase power lines u, v, and w may be connected to rotate the rotor 23. The power lines u, v, and w supply power to coils of a portion of the stator 21 at regular intervals according to the control of the inverter 10, and rotate the rotor 23 according to the power supply. .

Power lines u, v, and w connected to the stator 21 may be disposed on the stator 21 at positions separated from each other by a predetermined angle, for example, 120 degrees. Substantially, the stator 21 is composed of a certain number of sectors, and each sector is disposed at a position spaced apart from each other by 120 degrees, and each sector is constituted by a coil so that power lines u, v, and w are connected. Referring to FIG. 1, the u power line is defined as the α axis, and an axis perpendicular to the α axis is defined as the β axis.

Meanwhile, as described above, the three-phase inverter 10 of the present invention has six switches. Ie U, V, W switches placed above and below

Figure pat00004
,
Figure pat00005
,
Figure pat00006
Switch. The six switches are turned on and off at regular intervals under control. In particular, switches placed on the same ARM are designed to turn on and off during different periods. The U, V, and W switches placed above are turned on simultaneously, or
Figure pat00007
,
Figure pat00008
,
Figure pat00009
Six voltage vectors may be formed by the six switches turn-on and turn-off operations of the three-phase inverter 10 except when the switches are simultaneously turned on. These six voltage vectors are shown in FIG. 2.

Referring to FIG. 2, three switches (U, V, W) are turned on at once or the switches (

Figure pat00010
,
Figure pat00011
,
Figure pat00012
When all three lights up at the same time, there is no directivity and can correspond to the zero origin of the voltage vector. In addition, the voltage vectors V1 to V6 disposed at regular intervals to correspond to the turn-on and turn-off of each switch may be generated by the inverter switch pattern. According to this control method, a space vector power width modulation (SVWWM) vector. The SVPWM vector control of the present invention may perform four voltage vector searches and comparisons of the retrieved voltage vectors for position estimation of the initial rotor. This will be described in more detail with reference to FIG. 3.

3 is a view for explaining a method of estimating the position of a rotor based on voltage vectors according to an embodiment of the present invention.

The initial rotor position estimation method according to an embodiment of the present invention supports estimating the position of the initial rotor using only four voltage vectors among the voltage vectors of the SVPWM. For example, the initial rotor position estimation method of the present invention may estimate the initial rotor position using the V1, V3, V5, V4 voltage vectors of the V1 ~ V6 voltage vectors of the SVPWM.

In more detail, after applying a constant current to each of the voltage vectors V1, V3, V5, and V4, the measurement is performed and the measured values are compared with each other. First, the V1 voltage vector and the V4 voltage vector are compared. When the V1 voltage vector is larger than the V4 voltage vector by comparing the V1 voltage vector and the V4 voltage vector, it may be estimated that the north pole of the rotor is on the right side, that is, the right side of the illustrated figure is located on the right side. Accordingly, it can be assumed that the d-axis of the rotor lies in the range of 90 ° and 270 ° within the 180 ° radius while on the right side as shown in the 301 drawing.

Meanwhile, the magnitude result of each voltage vector is compared again. In this case, assuming that the result is V1> V3> V5, since the V1 voltage vector is the largest, it can be estimated that the d-axis of the rotor is located within a 60 ° range with respect to the V1 voltage vector as shown in 302. That is, the d-axis of the rotor can be estimated to be located in the range of 30 ° ~ 330 ° as shown.

Next, since the voltage vector having the second largest current value in the comparison result is the V3 voltage vector, the V3 voltage vector is in the range of 60 ° centered on the V1 voltage vector, that is, in the range 30 ° to 330 ° as shown in the figure 303. It can be assumed that the d-axis of the rotor is located within the range of 0 ° to 30 ° close to the lateral plane.

As described above, the initial rotor position estimation method of the present invention supports estimating the initial rotor position using only four voltage vectors of the SVPWM. Accordingly, the method of estimating the initial rotor position according to the present invention can estimate the position of the initial rotor with only a small amount of computation, and the estimated rotor position information is within a 30 degree range, so that the necessary information for driving the sensorless motor can be obtained. Can provide. In addition, since the initial rotor position estimation method of the present invention uses only four voltage vectors, it is possible to lower the possibility that the rotor can rotate compared to the case of using six voltage vectors, which may occur in the initial rotor position estimation. The occurrence of errors in the rotor flow can be suppressed.

On the other hand, when another example of the initial rotor position estimation method of the present invention is disclosed, it can be assumed that the magnitude order of the currents applied to the voltage vectors V1, V3, V5, V4 are V1> V4 and V1> V5> V3. have. In this case, the d-axis of the rotor can still be assumed to be in the 90-270 degrees range, which is on the right hand side as a result of V1> V4, and the d-axis of the rotor as a result of V1> V5> V3 is 330 ° on the right hand side. It can be assumed to be in the range of ~ 0 °.

On the other hand, the above-described method may be useful to some extent in consideration of the characteristic that the position of the rotor is located within a certain range, but to compensate for the case that the d-axis of the rotor is disposed so as to be adjacent to other voltage vectors as follows: Based on the same method, the rotor d-axis position estimation can be performed.

4 to 7 are diagrams for describing a method of performing position estimation of the initial rotor 23 according to another embodiment of the present invention.

First, current is first applied to the V1 and V4 voltage vectors among the voltage vectors, and the results are compared. If the current magnitude of the V1 voltage vector is larger than the current magnitude of the V4 voltage vector, the current magnitude information of the V3 and V5 voltage vectors is collected as in the previous example. In addition, the position estimation of the rotor 23 may be performed by comparing magnitude values between the collected V1, V3, V4, and V5 voltage vectors. For example, when the d-axis of the rotor 23 is positioned in the first region 101 as shown in FIG. 4, the comparison result of the voltage vectors may result in V3> V1> V4> V5. That is, such a result may be obtained because a voltage vector closer to the N pole of the rotor 23 may have a relatively larger current value than other voltage vectors. If such a result is obtained, it can be estimated that the d-axis of the rotor 23 is within a 30 degree range of the region adjacent to the V2 voltage vector. That is, it can be estimated that the d-axis of the rotor 23 is located between 60 degrees and 90 degrees.

As another example, when the d-axis of the rotor 23 is positioned in the second region 102 as shown in FIG. 5, the comparison result of the voltage vectors may result in V1> V5> V4> V3. When such a result is obtained, it can be estimated that the d-axis of the rotor 23 is disposed in an area adjacent to the V6 voltage vector. That is, it can be estimated that the d-axis of the rotor 23 is located between 330 degrees and 300 degrees.

On the other hand, when the V4 voltage vector is larger as a result of comparing the current values of the V1 voltage vector and the V4 voltage vector, power may be applied to the V2 and V6 voltage vectors and the current value may be measured. In addition, the d-axis position estimation of the rotor 23 may be performed by comparing the magnitudes of the current values between the V1, V2, V4, and V6 voltage vectors.

For example, as shown in FIG. 6, when the d-axis of the rotor 23 is positioned in the third region 103, the rotor 23 may be first compared by comparing current values between the V1 and V4 voltage vectors. It can be determined that the d-axis is located on the left hand side. As shown in the drawing, when the d-axis of the rotor 23 is positioned in the third region 103, a comparison result between the voltage vectors may result in V4> V6> V1> V2. In other words, when the comparison result between the voltage vectors is V4> V6> V1> V2, the d-axis of the rotor 23 is in the range of 60 degrees with respect to the position adjacent to the V5 voltage vector, that is, the V5 voltage vector. You can judge. In particular, it can be estimated that the d-axis of the rotor 23 is located in the range of 210 degrees to 240 degrees, which is the left 30 degree region based on the V5 voltage vector.

On the other hand, when the d-axis of the rotor 23 is located in the fourth region 104 as shown in FIG. 7, the applied current comparison between the V1 voltage vector and the V4 voltage vector may be performed. As illustrated in FIG. 7, when the d-axis of the rotor 23 is positioned in the fourth region 104, the V4 voltage vector may have a larger value than the V1 voltage vector. Accordingly, the current value of the V2 and V6 voltage vectors according to the power supply is collected. When the current values of the voltage vectors V1, V2, V4, and V6 are compared, the comparison result of the voltage vectors is V6> V4> V1> V2. In other words, if the comparison result of the voltage vectors is V6> V4> V1> V2, the d-axis of the rotor 23 is 240 degrees, which is a 30 degree range located on the right side of the region adjacent to the V5 voltage vector, based on the V5 voltage vector. It can be assumed that it exists in the range of ~ 270 degrees.

As described above, when the rotor 23 is located in a specific 30 degree range region, since the comparison result of the four voltage vectors has a unique value, the d-axis of the rotor 23 according to the comparison result of the voltage vectors The table information on the position may be prepared, and the d-axis position of the rotor 23 may be estimated using the table information and the result of comparing the magnitude of the current values when the voltage vectors are applied.

When the position of the initial rotor is estimated, it may be controlled to perform a sensorless motor operation based on the estimated position of the rotor 23. A description of the motor operation will be described in more detail with reference to the following drawings.

FIG. 8 is a view schematically showing only some components of the apparatus for the initial position estimation of the rotor of the PMSM according to an embodiment of the present invention. 9 illustrates the overall PMSM driving circuit for driving the PMSM.

Referring to FIG. 8, the PMSM rotor initial position estimation apparatus of the present invention may include an initial rotor position estimation apparatus 40, an SVPWM 30, a PWM inverter 10, and a PMSM 20. The initial rotor position estimation device 40 controls the application of power to constant voltage vectors of the SVPWM 30, and the rotor position of the PMSM 20 based on the magnitude of the current value of each voltage vector according to the applied power. It is a device that supports to estimate. The initial rotor position estimation device 40 may command power application to the voltage vectors V1, V3, V4, and V5 as described above with respect to the SVPWM 30. The SVPWM 30 then transmits a corresponding signal to the PWM inverter 10, and accordingly, power is applied to a specific sector of the stator of the PMSM 20 so that the result can be fed back to the initial rotor position estimation device 40. have. The initial rotor position estimating apparatus 40 estimates the initial position of the rotor according to the comparison result of the current magnitude values of the fed back V1, V3, V4 and V5 voltage vectors, and according to the estimated position result value, the sensorless initial motor. Control to perform an operation. The initial rotor position estimation device 40 of the present invention can estimate in more detail where the rotor is located through the above-described method when the rotor is mainly located in a specific sector by an applied power source when the rotation stops. have.

On the other hand, as described above, in order to estimate the overall rotor position without considering the static characteristics of the rotor, the current magnitude information of the V2 and V6 voltage vectors or The current magnitude information of the V3 and V5 voltage vectors may be selectively collected to perform position estimation of the rotor. To this end, the initial rotor position estimation device 40 may first transmit a command for applying power to the V1 and V4 voltage vectors to the SVPWM 30. Then, the SVPWM 30 may transmit a signal corresponding to the corresponding signal to the PWM inverter 10, and the PMSM 20 may operate by a signal provided by the PWM inverter 10. When the result of the operation of the PMSM 20, that is, the current magnitudes of the V1 and V4 voltage vectors is collected, the initial rotor position estimating apparatus 40 determines whether the rotor is positioned on the right hand side or the left hand side based on the result. If it is estimated to be located on the right hand side, the initial rotor position estimation device 40 collects power and current magnitude information according to the voltage vectors V3 and V5 voltage vectors located at positions opposite to the V1 voltage vector. In addition, the position estimation of the rotor may be performed based on mutual comparison of collected information and pre-stored table information. On the other hand, when it is estimated that the rotor is located on the left side as a result of the comparison of the V1 and V4 voltage vectors, the initial rotor position estimating apparatus 40 determines the voltage vectors at the positions opposite to the V4 voltage vectors, that is, the V2 and V6 voltage vectors. Collection of the current magnitude information associated with these fields. When the current magnitude information collection of the corresponding voltage vectors is completed, the initial rotor position estimation device 40 may perform the position estimation of the rotor based on the collected information and pre-stored table information.

When the position estimation of the rotor is completed, the initial rotor position estimating apparatus 40 may control to perform the sensorless initial motor operation based on the estimated rotor position.

When the initial motor operation is completed, the PMSM driving circuit 100 may control the initial operation of the PMSM 20 to operate according to an upper command. As shown in FIG. 9, the PMSM driving circuit 100 includes a first adder 61 which combines the result of the position / speed estimator 50 and the position / speed estimator 50 and the upper reference ω *. A first proportional-integral controller 71, an MTPA 80, a second summer 62, a third summer 63, and a second PI controller connected to the first summer 61. 72), the third PI controller 73, the first phase converter 111, the SVPWM 30, the PWM inverter 10, the PMSM 20, the second phase converter 112, the third phase converter 113 The configuration of the initial rotor position estimation device 40 and the switch 90 may be included. Here, the PMSM driving circuit 100 of the present invention may be implemented by elements other than the circuit elements shown and described, and the circuit shown in FIG. 9 may correspond to a driving circuit for one example. Accordingly, the present invention should be understood as an invention in which the initial rotor position estimation device 40 of the present invention is applied to various PMSM driving circuits, rather than the PMSM driving circuit described in FIG. 6.

The position / speed estimator 50 estimates the position and speed of the rotor based on the signal transmitted from the PWM inverter 10 to the PMSM 20. The position / speed estimator 50 transmits the angular velocity information ω of the PMSM 20 to the first summer 61. The position / speed estimator 50 operates after the PMSM driving circuit 100 is operated by the initial rotor position estimating apparatus 40 of the present invention to perform motor operation of the PMSM driving circuit 100 according to a higher command. Can be controlled to perform. Here, the position / speed estimator 50 is provided to the third phase converter 113 by the second phase converter 112 by using a signal line connected between the second phase converter 112 and the third phase converter 113. The rotor position and speed of the PMSM can be estimated based on the signal. The position / speed estimator 50 may be arranged in a form connected to the switch 90 to operate after the initial rotor position estimation device 40 as described above. Control of the switch 90 may be controlled by the host controller or the initial rotor position estimation device 40.

The switch 90 is connected between the initial rotor position estimating apparatus 40 and the position / speed estimator 50, and in the initial operation state of the PMSM driving circuit 100, the switch 90 is connected to the initial rotor position estimating apparatus 40. Control it to be formed. When the initial operation of the PMSM driving circuit 100 is completed, the switch 90 may be switched to release a path connection with the initial rotor position estimation device 40 and form a path connection of the position / speed estimator 50. have.

The first summer 61 adds the angular velocity information ω provided by the position / speed estimator 50 and the angular velocity command information ω * provided from the upper level controller to the first PI. The controller 71 is provided.

The first PI controller 71 is configured to generate a torque command value of the PMSM 20. The first PI controller 71 receives the summed angular velocity information Δω from the first summer 61 and generates current command information I c corresponding thereto. The first PI controller 71 then transfers the generated current command information I c to the MTPA 80.

The MTPA 80 (Maximum Torque Per Ampere) is a control signal that controls the maximum torque per predetermined current based on the current information provided by the first PI controller 71, that is, d-axis maximum current command (i md *) And q-axis maximum current command i mq * are generated and provided to the second summer 62 and the third summer 63, respectively.

The second summer 62 receives the q-axis maximum current command i mq * from the MTPA 80, and receives the q-axis current feedback signal i q from the third phase converter 113. The second summer 62 generates q-axis current information Δi q by summing the received q-axis maximum current command i mq * and the q-axis current feedback signal i q . The second summer 62 transfers the generated q-axis current information Δi q to the second PI controller 72.

The third summer 63 receives the d-axis maximum current command i md * from the MTPA 80, and receives the d-axis current feedback signal i d from the third phase converter 113. The third summer 63 adds the received d-axis maximum current command i md * and the d-axis current feedback signal i d to generate d-axis current information Δi d . The second summer 62 transfers the generated d-axis current information Δi d to the third PI controller 73.

The second PI controller 72 generates a q-axis voltage signal V q corresponding to the received q-axis current information Δi q . The second PI controller 72 transmits the generated q-axis voltage signal V q to the first phase converter 111.

The third PI controller 73 generates a d-axis voltage signal V d corresponding to the received d-axis current information Δi d . The third PI controller 73 transfers the generated d-axis voltage signal V d to the first phase converter 111.

The first phase converter 111 is configured to phase-convert the d-axis and q-axis voltage signals V d , V q to the α-axis and β-axis voltage signals V α , V β . That is, the first phase transformer 111 is configured to perform an inverse park transform. The first phase converter 111 receives the q-axis voltage signal V q and the d-axis voltage signal V d from the second PI controller 72 and the third PI controller 73, and receives the received signal. The signal is converted to the α-axis voltage signal V α and the β-axis voltage signal V β , and then transferred to the SVPWM 30.

The SVPWM 30 (Space Vector Pulse Width Modulation) outputs a PWM control signal for controlling the PWM inverter 10. Here, the SVPWM 30 may convert the two-phase physical quantity into a three-phase fixed coordinate system physical quantity and provide it to the PWM inverter. In particular, the SVPWM 30 converts the α-axis voltage signal V α and the β-axis voltage signal V β into three phase physical quantities and provides them to the PWM inverter 10. In other words, the inverse Clarke transform is performed by the SVPWM 30.

The PWM inverter 10 generates a signal for driving the PMSM 20 and transmits the generated signal to the PMSM 20. The PWM inverter 10 may receive a signal from the SVPWM 30, generate a signal corresponding to the received signal, and provide the signal to the PMSM 20.

The PMSM 20 has a characteristic of mutually interfering with counter electromotive force between the d-axis and the q-axis. Accordingly, in order to independently control the vector control of the PMSM 20, that is, the d-axis and the q-axis, a current controller having an appropriate compensation function may be required. The driving circuit of the present invention may provide a PI controller for this purpose and generate and provide a current signal for driving the PMSM 20.

The second phase converter 112 is configured to perform phase conversion by receiving two phase signals, for example, U and V phase signals, among three phases of the PWM inverter 10. The second phase converter 112 converts two phases of the U, V, and W phases into the α-axis and the β-axis phases. In other words, the second phase transformer 112 performs a Clark Transform. In particular, the second phase converter 112 receives the U-phase current signal i u and the V-phase current signal i v of the PWM inverter 10 to receive the α-axis current signal i α and the β-axis current signal ( i β ) is phase-transformed and transferred to the third phase-transformer 113. In this case, the α-axis current signal i α and β-axis current signal i β changed by the second phase converter 112 may be transmitted to the position / speed estimator 50.

The third phase converter 113 converts the α-axis current signal i α and the β-axis current signal i β provided by the second phase converter 112 to the d-axis feedback current signal i d and the q-axis feedback current. Convert to signal i q . That is, the third phase transformer 113 performs a park transform. The d-axis feedback current signal i d and the q-axis feedback current signal i q , which are phase-converted by the third phase converter 113, are transmitted to the second summer 62 and the third summer 63, respectively. Can be. In addition, the output of the third phase converter 113 is also transmitted to the first phase converter 111, wherein the first phase converter 111 is applied by applying an angle θ to the rotation position from the initial rotor position estimation device 40. To pass).

In the PMSM driving circuit 100 of the present invention having the configuration as described above, the initial rotor position estimation device 40 operates a part of the vector control by the SVPWM 30 to adjust the rotor position of the PMSM 20. Assist in estimating For example, the initial rotor position estimating apparatus 40 may estimate the rotor initial position by using current magnitude information of power supply of four voltage vectors from six voltage vectors by the SVPWM 30. The PMSM driving circuit 100 of the present invention performs a sensorless motor operation according to the estimated rotor initial position, and operates the PMSM 20 motor based on the upper command and the position / speed estimator 50 after performing the initial operation. Can be controlled.

10 is a flowchart illustrating a method for estimating the initial rotor position according to the first embodiment of the present invention.

Referring to FIG. 10, in operation S101, the initial rotor position estimating apparatus 40 collects current magnitude information according to power of V1, V3, V5, and V4 voltage vectors in a vector control method by the SVPWM 30. do. The initial rotor position estimation device 40 compares the current magnitude information of the V1 and V4 voltage vectors among the current magnitude information collected in step S103. In this process, when the V1 voltage vector has relatively higher current magnitude information than the V4 voltage vector, the N pole of the rotor may be estimated to be located on the right side of the V1 voltage vector. On the contrary, it can be assumed that the N pole of the rotor having a relatively higher current magnitude information than the V1 voltage vector is located on the left side of the V4 voltage vector. In the following description, it is assumed that the V1 voltage vector is larger than the V4 voltage vector.

Next, the initial rotor position estimation device 40 detects the voltage vector having the maximum current value by comparing mutual current magnitude information between the voltage vectors V1, V3, and V5 in step S105. In operation S107, the initial rotor position estimating apparatus 40 may estimate the position of the rotor based on the corresponding information when detecting the voltage vector having the maximum current value.

When the position estimation of the rotor is completed, the initial rotor position estimation device 40 may control to perform the sensorless initial motor operation of the PMSM driving circuit based on the estimated position of the rotor in step S109.

11 is a flowchart illustrating a method of estimating the initial rotor position according to the second embodiment of the present invention.

Referring to FIG. 11, in operation S201, the initial rotor position estimating apparatus 40 collects current magnitude information according to power of V1 and V4 voltage vectors in a vector control method by the SVPWM 30. The initial rotor position estimating apparatus 40 compares the current magnitude information of the V1 and V4 voltage vectors among the current magnitude information collected in step S203. In this process, when the V1 voltage vector has relatively higher current magnitude information than the V4 voltage vector, it can be assumed that the north pole of the rotor is located on the right hand side. On the contrary, it can be assumed that the north pole of the rotor having a relatively higher current magnitude information than the V1 voltage vector is located on the left side. Here, the V1 voltage vector and the V4 voltage vector are voltage vectors having directions opposite to each other in the vector control scheme of the SVPWM 30.

If the V1 voltage vector is greater than the V4 voltage vector in step S203, the initial rotor position estimation device 40 may include voltage vectors, eg, V3 and V5 voltage vectors, located in the region opposite to the region where the V1 voltage vector is located in step S205. Collects the current magnitude information according to the power supply.

On the other hand, when the V4 voltage vector has a value larger than the current magnitude of the V1 voltage vector in step S203, the initial rotor position estimating apparatus 40 includes the voltage vectors located in the region opposite to the region where the V4 voltage vector is located in step S207. Control to collect the current magnitude information according to the power supply of the V2, V6 voltage vector.

That is, the initial rotor position estimation device 40 may control to collect current magnitude information of other voltage vectors located on the opposite side according to a result of comparing current magnitudes of voltage vectors having opposite directions.

After the step S205, the initial rotor position estimation device 40 performs mutual comparison of the current information collected in the step S209, that is, the current magnitude information of the V1, V3, V4, and V5 voltage vectors. The initial rotor position estimating apparatus 40 estimates the position of the rotor according to the result of the mutual comparison. In this case, the initial rotor position estimating apparatus 40 may estimate the position of the rotor based on a comparison result of four voltage vectors and previously stored table information. The table information is information including values defining positions at which the rotor is disposed between the six voltage vectors according to the magnitude relationship of the four voltage vectors. In this case, the magnitude relation of the four voltage vectors may be defined as a unique value for each region of the 30 degree range in which the rotor is disposed. Accordingly, when the initial rotor position estimation device 40 collects information on the magnitude relationship of the four voltage vectors, the initial rotor position estimating apparatus 40 may estimate in which angle range the rotor currently exists within a 30 degree range.

On the other hand, after the step S207, the initial rotor position estimation device 40 branches to step S211 to compare the correlation between the current magnitude of the voltage vectors V1, V2, V4, V6, and performs the position estimation of the rotor according to the result can do. The method of estimating the position of the rotor may be applied based on the table information described in step S209.

When the position estimation of the rotor is completed, the initial rotor position estimation device 40 may control to perform the sensorless initial motor operation of the PMSM driving circuit based on the estimated position of the rotor in step S213.

As described above, in the initial rotor position estimation method according to an embodiment of the present invention, when the rotor is present within a predetermined range between six vectors, a comparison relationship between current information according to power of four vectors is unique. With this, the position of the rotor can be accurately estimated within 30 degrees. Accordingly, the initial rotor position estimation method of the present invention can reduce the amount of computation by performing the position estimation of the rotor using only simpler vector elements than in the prior art, thereby providing a simplified system implementation.

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those of ordinary skill in the art that various changes and modifications may be made without departing from the spirit of the invention and the scope of the appended claims.

10: inverter 20: motor, PMSM
30: SVPWM 40: initial rotor position estimation device
50: position / speed estimator 61, 62, 63: summer
71, 72, 73: PI controller 80: MTPA
90: switch 100: PMSM drive circuit
111, 112, 113: phase changer

Claims (6)

It divides the center angle provided by SVPWM (Space Vector Power Width Modulation) supporting the vector control method into the same angle and collects the current information according to the power applied to four of the six vectors arranged outward from the center angle. step;
Performing a comparison of current information of vectors having opposite directions from the collected current information to determine whether the position of the rotor is located on a predetermined half surface;
An estimating step of estimating the position of the rotor by comparing a current having a larger current information among the vectors having opposite directions and current information corresponding to the remaining two vectors;
Initial rotor position estimation method comprising a. The method of claim 1,
The estimating step
And estimating the position of the rotor within a 30 degree range. SVPWM (Space Vector Power Width Modulation) which supports vector control method and divides the center angle into the same angle and the power of two vectors having opposite directions among 6 vectors arranged outward from the center angle Collecting current information;
Collecting current information according to the power-up of the remaining two vectors located in opposite directions of the vector having the larger current information;
Estimating the initial position of the rotor based on the magnitude order of the current information of the vectors;
Initial rotor position estimation method comprising a. The method of claim 3,
Providing table information defining a unique current information relationship of four voltage vectors according to a region where the rotor's N pole is located;
Estimating the initial position
And estimating the position of the rotor by comparing the information corresponding to the current information magnitude relationship of the currently collected vectors with the table information. Space Vector Power Width Modulation (SVWWM) which supports vector control by six vectors arranged in the outward direction from the center angle by dividing the center angle into the same angle;
An inverter providing a signal for driving a permanent magnet synchronous motor (PMSM) based on the information transmitted from the SVPWM;
A PMSM driven according to a signal supplied by the inverter;
Current information according to power supply of two vectors having opposite directions among the six vectors provided by the SVPWM, and power supply of the remaining two vectors located in opposite directions of the vector having greater current information among the vectors. Collects current information according to and estimates and estimates the initial position of the rotor by comparing the magnitude order of the current information of the vectors with the table information including the magnitude order of the current information of the four vectors according to a predefined rotor position. An initial rotor position estimation device for performing an initial motor operation according to a position;
Initial rotor position estimation device comprising a. Space Vector Power Width Modulation (SVWWM) which supports vector control by six vectors arranged in the outward direction from the center angle by dividing the center angle into the same angle;
An inverter providing a signal for driving a permanent magnet synchronous motor (PMSM) based on the information transmitted from the SVPWM;
A PMSM driven according to a signal supplied by the inverter;
Collect the current information according to the power applied to four of the six vectors, and compares the current information of the vectors having a direction opposite to each other from the collected current information to determine whether the rotor is located on a certain half surface In order to estimate the position of the rotor by comparing the current information corresponding to the remaining two vectors with the vector having the larger current information among the vectors having the opposite directions, and estimate the initial motor operation control according to the initial rotor position. Initial rotor position estimation device for performing the;
Initial rotor position estimation device comprising a.
KR1020110082472A 2011-08-18 2011-08-18 Estimation method and apparatus for initial rotor of permanent magnet synchronous motor KR20130020081A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160110685A (en) * 2015-03-10 2016-09-22 엘에스산전 주식회사 Method for detecting initial magnetic-pole position of rotor in permanent magnet synchronous motor
KR20180028667A (en) * 2016-09-09 2018-03-19 한온시스템 주식회사 Apparatus and method for controlling a rotor of BLDC motor using zero vector or array vector
CN110138287A (en) * 2019-04-30 2019-08-16 南京南瑞继保电气有限公司 A kind of method of calibration and system of rotor static position of synchronous motor detected value
KR20210097964A (en) * 2020-01-31 2021-08-10 현대엘리베이터주식회사 Rotor initial angle estimation device and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160110685A (en) * 2015-03-10 2016-09-22 엘에스산전 주식회사 Method for detecting initial magnetic-pole position of rotor in permanent magnet synchronous motor
KR20180028667A (en) * 2016-09-09 2018-03-19 한온시스템 주식회사 Apparatus and method for controlling a rotor of BLDC motor using zero vector or array vector
CN110138287A (en) * 2019-04-30 2019-08-16 南京南瑞继保电气有限公司 A kind of method of calibration and system of rotor static position of synchronous motor detected value
CN110138287B (en) * 2019-04-30 2021-02-09 南京南瑞继保电气有限公司 Method and system for checking static position detection value of synchronous motor rotor
KR20210097964A (en) * 2020-01-31 2021-08-10 현대엘리베이터주식회사 Rotor initial angle estimation device and method

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