WO2021068471A1 - Method for determining stalled state of permanent magnet synchronous motor under position sensor-free vector control - Google Patents

Method for determining stalled state of permanent magnet synchronous motor under position sensor-free vector control Download PDF

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WO2021068471A1
WO2021068471A1 PCT/CN2020/084034 CN2020084034W WO2021068471A1 WO 2021068471 A1 WO2021068471 A1 WO 2021068471A1 CN 2020084034 W CN2020084034 W CN 2020084034W WO 2021068471 A1 WO2021068471 A1 WO 2021068471A1
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motor
locked
permanent magnet
determining
magnet synchronous
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PCT/CN2020/084034
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French (fr)
Chinese (zh)
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蓝竞豪
边文清
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中山大洋电机股份有限公司
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

Definitions

  • the invention relates to a method for judging the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor.
  • the permanent magnet synchronous motor with Hall sensor can sense the rotor position and speed information through the Hall sensor at all times, so the entire control is stable and reliable, and it can also accurately judge the motor's locked-rotor fault.
  • the cost of the Hall sensor is relatively high, the assembly process is complicated, and it cannot be used for a long time under harsh environmental conditions.
  • many manufacturers have begun to gradually promote permanent magnet synchronous motors without Hall sensors.
  • the drawbacks of Hall sensors have been solved, which has greatly expanded the application range of permanent magnet synchronous motors.
  • information such as the position of the motor rotor is estimated through complex algorithms, which requires high reliability of the control algorithm.
  • the position sensorless three-phase synchronous motor vector controller disclosed in US Patent US7525269 discloses a current torque control mode for constant torque control.
  • Chinese patent CN103929109(A) also discloses a constant speed control method based on a position sensorless vector control permanent magnet synchronous motor.
  • the load becomes heavier, and the motor is not enough to drive its operation, which will cause the motor to be locked .
  • the microprocessor of the motor will block the output to the inverter.
  • the pulse signal of the inverter turns off the inverter IGBT to avoid burning electronic components due to excessive current.
  • the traditional method of judging the locked rotor state is mainly to judge the two parameters of speed and current.
  • the motor rotor position is usually calculated by detecting the BEMF (back electromotive force), and the BEMF estimation
  • BEMF back electromotive force
  • the measurements are all calculated by the inverter output voltage, reading the motor current, and then calculating the resistance, inductance and other parameters of the motor.
  • the output voltage of the inverter is mainly estimated by the duty cycle of PWM. For example, 100V 50% duty cycle is theoretically equivalent to an output voltage of 50V.
  • IGBTs turn-on, turn-off delay
  • the inductance of the motor is generally measured at zero current, but in real applications, the inductance will be slightly lower due to current.
  • the controller reads back the motor current value and the inverter output voltage value after self-calculation and enters a steady-state closed-loop state.
  • the motor is not actually running.
  • the output voltage amplitude of the inverter and the amplitude of the motor current read back are very small, which is not enough to drive the motor.
  • the control system will misjudge based on the output voltage, return motor current and other parameters.
  • the motor is in normal operation, but the motor is in a high-frequency and small oscillation state at this time.
  • a low-power motor is more likely to enter this state when it is locked, causing judgment errors and affecting the operation of the motor. That is, when the motor is locked, it may be possible If it does not enter the protection state, it will continue to drive the motor to run, which is likely to cause damage to the motor.
  • the purpose of the present invention is to provide a method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor, which mainly solves the problem that the accuracy of the locked-rotor state judgment in the prior art is not high, the application range is narrow, and there is no need to modify the control parameters after changing the load. , More troublesome technical problems.
  • the method for determining the locked rotor state of a position sensorless vector control permanent magnet synchronous motor is characterized in that: the method judges the locked rotor state by comparing the input power Pin and the output power Pout.
  • the method described above includes the following steps:
  • Step A Calculate the input power Pin and output power Pout of the motor
  • Step C Judge whether ERR is greater than or equal to a certain preset value P1, if yes, return to step A; if not, judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state.
  • step C when it is judged to be a locked-rotor state, proceed to step D: the motor microprocessor blocks the pulse signal output to the inverter.
  • the range of the above-mentioned coefficient K1 is between 1-2.
  • the aforementioned preset value P1 K2 ⁇ Pin, K2 is a coefficient, and the range of the coefficient K2 is between 1-2.5.
  • K1 mentioned above is between 1.2-1.4, and the range of K1 is between 1.2-1.4.
  • the aforementioned input power Pin is obtained as follows:
  • iq is the q-axis component of the current
  • Vdc is the bus voltage
  • Duty is the inverter output duty ratio
  • the present invention has the following beneficial effects:
  • Step A Calculate the input power Pin and output power Pout of the motor
  • Step C Determine whether ERR is greater than or equal to a preset value P0, if yes, return to Step A; if not, then judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state, and enter Step D
  • Step D The motor microprocessor blocks the pulse signal output to the inverter.
  • Figure 1 is a schematic diagram of the principle of a position sensorless vector control permanent magnet synchronous motor.
  • Figure 2 is a diagram of the relationship between the coordinate systems of the permanent magnet synchronous motor vector control
  • Figure 3 is a perspective view of the permanent magnet synchronous motor of the present invention.
  • FIG. 4 is a perspective view of the motor controller of the permanent magnet synchronous motor of the present invention.
  • Figure 5 is a cross-sectional view of the permanent magnet synchronous motor of the present invention.
  • Figure 6 is a schematic block diagram of the motor controller of the permanent magnet synchronous motor of the present invention.
  • Fig. 7 is a circuit diagram corresponding to Fig. 6;
  • Figure 8 is a vector control flow chart of the permanent magnet synchronous motor of the present invention.
  • Fig. 9 is a program control flow chart of the present invention.
  • the rotor rotating coordinate system dq axis There are two coordinate systems, one is the rotor rotating coordinate system dq axis; the other is the stator static coordinate system ABC coordinate system (can be converted into a coordinate system where ⁇ is perpendicular to each other); the rotor can be regarded as the function of the excitation current if to rotate speed wr Rotating, the stator can be regarded as the action of the excitation current is rotating at the speed ws, the composite vector of the stator in the figure is S; according to the calculation formula of electromagnetic torque:
  • K is a constant, and the electromagnetic torque Te of the permanent magnet synchronous motor is only related to the q-axis current.
  • the ABC coordinate system of the stator static coordinate system is replaced by a coordinate system in which ⁇ is perpendicular to each other.
  • the stator stationary coordinate system is the ⁇ coordinate system
  • the rotor rotating coordinate system is the dq coordinate system
  • the angle between the ⁇ coordinate system and the dq coordinate system is ⁇ .
  • the present invention is a three-phase permanent magnet synchronous motor, consisting of a motor controller 2 and a motor unit 1, and the motor unit 1 includes a stator assembly 12, The rotor assembly 13 and the housing assembly 11, the stator assembly 13 is installed on the housing assembly 11, the rotor assembly 13 is sleeved on the inside or outside of the stator assembly 12, and the motor controller 2 includes a control box 22 and a control box 22 installed inside.
  • the control circuit board 21 generally includes a power supply circuit, a microprocessor, a bus voltage detection circuit, and an inverter.
  • the power supply circuit supplies power to each part of the circuit.
  • the bus voltage detection circuit inputs the DC bus voltage Udc to the microprocessor.
  • the microprocessor controls the inverter, and the inverter controls the on and off of each phase coil winding of the stator assembly 12.
  • phase line current detection circuit of a 3-phase brushless DC permanent magnet synchronous motor inputs the currents Ia, Ib, and Ic of each phase to the microprocessor.
  • the DC bus voltage Vdc is output at one end of the capacitor C1.
  • the DC bus voltage Vdc is related to the input AC voltage. Input a certain duty cycle PWM signal to the inverter.
  • the inverter is composed of electronic switch tubes q1, q2, q3, q4, q5, q6, and the control terminals of the electronic switch tubes q1, q2, q3, q4, q5, q6 It is controlled by 6 PWM signals (P1, P2, P3, P4, P5, P6) output by the microprocessor.
  • a PWM signal with a certain duty cycle refers to a PWM signal with a duty cycle of Duty.
  • the d-axis current Id and the q-axis current Iq can be calculated using the currents Ia, Ib, and Ic of each phase.
  • the position & speed observer can be used to obtain the ⁇ coordinate system and the dq coordinate system.
  • the included angle is ⁇ and the speed spd.
  • the motor microprocessor is equipped with a magnetic flux observer.
  • the magnetic flux can be calculated using parameters such as d-axis current Id, q-axis current Iq, included angle ⁇ , motor resistance, inductance, and speed spd. ⁇ , these are all recorded in textbooks, so I won’t describe them here.
  • the method of the present invention judges the locked rotor state by comparing the input power Pin and the output power Pout.
  • the method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor of the present invention is characterized in that it includes the following steps:
  • Step A Calculate the input power Pin and output power Pout of the motor
  • Step C Determine whether the error value ERR is greater than or equal to a certain preset value P1, if yes, go back to step A; if not, judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state, and go to step D;
  • Step D The motor microprocessor blocks the pulse signal output to the inverter.
  • the invention can accurately determine that the motor becomes a locked-rotor state, prevents the motor from entering a stable closed-loop state when it becomes a locked-rotor state, keeps the motor in a high-frequency small oscillation state, improves the protection strategy, effectively protects the motor, and fundamentally solves this problem.
  • the algorithm is simple and the control is simple.
  • the range of the above-mentioned coefficient K1 is between 1-2.
  • the aforementioned preset value P1 K2 ⁇ Pin, K2 is a coefficient, and the range of the coefficient K2 is between 1-2.5.
  • the range of K1 mentioned above is between 1.2-1.4, and the range of K1 is between 1.2-1.4.
  • the parameter setting is more reasonable and more in line with the actual condition of the motor.
  • the aforementioned input power Pin is obtained as follows:
  • iq is the q-axis component of the current
  • Vdc is the bus voltage
  • Duty is the inverter output duty ratio.
  • the algorithm is simple and can reduce the burden on the microprocessor.
  • the present invention can accurately and quickly distinguish the abnormal steady-state closed-loop state when the rotor is locked, can completely solve such problems, and can also be adapted to different power sections and load types.

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

Abstract

Disclosed is a method for determining the stalled state of a permanent magnet synchronous motor under position sensor-free vector control, which comprises the following steps: step A: calculating the input power Pin and output power Pout of a motor; step B: calculating an error value ERR＝|Pin-K1×Pout|, where K is a coefficient; step C: determining whether the ERR is greater than or equal to a certain preset value P0, and if so, then returning to step A; if not, determining that the motor is in a stalled state, and proceeding to step D; step D: a microprocessor of the motor locks out a pulse signal outputted to an inverter. The described method may accurately determine a motor changing into a stalled state, and still prevents the motor from entering a steady-state closed loop state when changed into the stalled state, which enables the motor to be in a high-frequency small-amplitude oscillation state, perfects a protection strategy, effectively protects the motor, essentially solves the problem of determining the stalled state, and does not require modifications once a load is replaced, which brings great convenience to a user.

Description

无位置传感器矢量控制永磁同步电机的堵转状态判断方法Method for judging locked-rotor state of sensorless vector control permanent magnet synchronous motor 技术领域：Technical field:
本发明涉及无位置传感器矢量控制永磁同步电机的堵转状态判断方法。The invention relates to a method for judging the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor.
背景技术：Background technique:
带霍尔传感器的永磁同步电机，能够时刻通过霍尔传感器感知转子位置和转速信息，所以整个控制稳定可靠，也能够准确的判断电机堵转故障。但霍尔传感器成本较高，装配工艺复杂，而且不能在环境恶劣的条件下长时间使用。目前很多厂家都开始逐步推广无霍尔传感器的永磁同步电机，解决的带霍尔传感器的弊端，大大拓展了永磁同步电机的应用范围。但电机转子位置等信息是通过复杂算法估算获得，对控制算法的可靠性要求很高。The permanent magnet synchronous motor with Hall sensor can sense the rotor position and speed information through the Hall sensor at all times, so the entire control is stable and reliable, and it can also accurately judge the motor's locked-rotor fault. However, the cost of the Hall sensor is relatively high, the assembly process is complicated, and it cannot be used for a long time under harsh environmental conditions. At present, many manufacturers have begun to gradually promote permanent magnet synchronous motors without Hall sensors. The drawbacks of Hall sensors have been solved, which has greatly expanded the application range of permanent magnet synchronous motors. However, information such as the position of the motor rotor is estimated through complex algorithms, which requires high reliability of the control algorithm.
例如美国专利US7525269公开的无位置传感器三相同步电机矢量控制器，公开了电流转矩控制模式，进行恒转矩控制。For example, the position sensorless three-phase synchronous motor vector controller disclosed in US Patent US7525269 discloses a current torque control mode for constant torque control.
中国专利CN103929109(A)也公开，基于无位置传感器矢量控制永磁同步电机的恒转速控制方法。Chinese patent CN103929109(A) also discloses a constant speed control method based on a position sensorless vector control permanent magnet synchronous motor.
在无位置传感器矢量控制永磁同步电机的运行过程中，负载变大，电机不足以拖动其运转会造成电机堵转状态 ，一旦出现堵转状态，电机的微处理器封锁输出到逆变器的脉冲信号，关闭逆变器IGBT，避免造成电流过大而烧毁电子元器件。 During the operation of the position sensorless vector control permanent magnet synchronous motor, the load becomes heavier, and the motor is not enough to drive its operation, which will cause the motor to be locked . Once the locked rotor occurs, the microprocessor of the motor will block the output to the inverter. The pulse signal of the inverter turns off the inverter IGBT to avoid burning electronic components due to excessive current.
传统的堵转状态的判断方法主要是判断转速和电流两个参数，基于无位置传感器矢量控制永磁同步电机的控制，通常是通过侦测BEMF(反电动势)来计算电机转子位置，BEMF的估测都是通过逆变器输出电压、读取电机电流，再由电机的电阻、电感等参数计算而来。逆变器输出电压主要是由PWM的占空比估算，例如100V 50％占空比，理论上等效于输出电压为50V，但由于IGBT等电力电子元器件的固有特性(开通、关断延时、死区时间等)会造成估算误差，电机电感值一般是在零电流下测量，而真实应用由于有电流，电感值会稍微偏低。当电机从运行状态变成堵转状态时，有可能会出现这种情况，控制器读回的电机 电流值与逆变器输出电压值进行自我运算后进入一个稳态的闭环状态。而电机实际上并没有运转，逆变器输出电压幅值和读回的电机电流的幅值都很小，也不足以拖动电机运转，控制***会根据输出电压、返回电机电流等参数误判为电机处于正常运转状态，但此时电机处于高频小幅震荡状态，小功率的电机更容易在堵转时进入此状态，造成判断错误，影响电机的运作，即电机发生堵转时，有可能不进入保护状态的情况，还继续驱动电机运行，容易造成电机损坏。The traditional method of judging the locked rotor state is mainly to judge the two parameters of speed and current. Based on the position sensorless vector control permanent magnet synchronous motor control, the motor rotor position is usually calculated by detecting the BEMF (back electromotive force), and the BEMF estimation The measurements are all calculated by the inverter output voltage, reading the motor current, and then calculating the resistance, inductance and other parameters of the motor. The output voltage of the inverter is mainly estimated by the duty cycle of PWM. For example, 100V 50% duty cycle is theoretically equivalent to an output voltage of 50V. However, due to the inherent characteristics of power electronic components such as IGBTs (turn-on, turn-off delay) Time, dead time, etc.) will cause estimation errors. The inductance of the motor is generally measured at zero current, but in real applications, the inductance will be slightly lower due to current. When the motor changes from the running state to the locked-rotor state, this situation may occur. The controller reads back the motor current value and the inverter output voltage value after self-calculation and enters a steady-state closed-loop state. The motor is not actually running. The output voltage amplitude of the inverter and the amplitude of the motor current read back are very small, which is not enough to drive the motor. The control system will misjudge based on the output voltage, return motor current and other parameters. The motor is in normal operation, but the motor is in a high-frequency and small oscillation state at this time. A low-power motor is more likely to enter this state when it is locked, causing judgment errors and affecting the operation of the motor. That is, when the motor is locked, it may be possible If it does not enter the protection state, it will continue to drive the motor to run, which is likely to cause damage to the motor.
大部分的闭环控制***都会遇到情况，输出电压产生电流，电流返回到***计算推导输出电压，形成一个闭环稳态状态。这种情况属于异常情况，对于电机控制***来说，电机会持续处于高频小幅振动情况，所以需要有一种方法来辨别判断此异常情况。Most closed-loop control systems will encounter a situation where the output voltage generates a current, and the current returns to the system to calculate and derive the output voltage, forming a closed-loop steady-state state. This situation is an abnormal situation. For the motor control system, the motor will continue to vibrate with high frequency and small amplitude. Therefore, a method is needed to distinguish and judge this abnormal situation.
传统的判断方法有2种：1)对控制***的输出进行幅值判断，能够避免部分此异常情况，但由于输出电压的偏差和电机电感的偏差，不能根本性杜绝此异常情况；2)对返回电流的幅值和估算电机转速进行判断，若电流连续低于一定门槛值，转速连续高于一定门槛值，则判断为异常，这种方法容易误判，而且不适合小功率的电机，适用范围广。在之前基于无感矢量控制的永磁同步电机控制***验证调试时，就发生过异常稳态闭环情况，解决此问题就是不断修正控制参数，传统的通过转速、电流等来判断堵转的策略能分辨出此时的状态，但是只能减少其出现几率，不能根本性解决此类问题。而且更换负载后，又需要不断修正控制参数。There are two traditional judgment methods: 1) The amplitude judgment of the output of the control system can avoid part of this abnormal situation, but due to the deviation of the output voltage and the deviation of the motor inductance, this abnormal situation cannot be completely eliminated; 2) Return the amplitude of the current and estimate the motor speed for judgment. If the current is continuously lower than a certain threshold and the speed is continuously higher than a certain threshold, it is judged as abnormal. This method is easy to misjudge and is not suitable for low-power motors. wide range. In the previous verification and debugging of the permanent magnet synchronous motor control system based on non-inductive vector control, an abnormal steady-state closed-loop situation occurred. To solve this problem is to continuously modify the control parameters. The traditional strategy of judging the locked rotor by rotating speed, current, etc. Identify the state at this time, but only reduce the probability of its appearance, and cannot fundamentally solve such problems. And after changing the load, the control parameters need to be constantly revised.
发明内容：Summary of the invention:
本发明的目的是提供无位置传感器矢量控制永磁同步电机的堵转状态判断方法，主要解决现有技术中堵转状态判断准确性不高，适用范围较窄，更换负载后无需再修改控制参数，比较麻烦的技术问题。The purpose of the present invention is to provide a method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor, which mainly solves the problem that the accuracy of the locked-rotor state judgment in the prior art is not high, the application range is narrow, and there is no need to modify the control parameters after changing the load. , More troublesome technical problems.
本发明的目的是通过以下的技术方案予以实现的：The purpose of the present invention is achieved through the following technical solutions:
无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：该方法是通过比较输入功率Pin和输出功率Pout来判断堵转状态。The method for determining the locked rotor state of a position sensorless vector control permanent magnet synchronous motor is characterized in that: the method judges the locked rotor state by comparing the input power Pin and the output power Pout.
上述所述的方法包括如下步骤：The method described above includes the following steps:
步骤A：计算电机的输入功率Pin和输出功率Pout；Step A: Calculate the input power Pin and output power Pout of the motor;
步骤B：计算误差值ERR＝|Pin-K1×Pout|，K1是系数；Step B: Calculate the error value ERR=|Pin-K1×Pout|, K1 is the coefficient;
步骤C：判断ERR是否大于或者等于某个预设值P1，如果是，则返回步骤A；如果不是，则判断为堵转状态，即处于异常闭环稳态状态。Step C: Judge whether ERR is greater than or equal to a certain preset value P1, if yes, return to step A; if not, judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state.
上述在步骤C中当判断为堵转状态，进入步骤D：电机微处理器封锁输出到逆变器的脉冲信号。In step C, when it is judged to be a locked-rotor state, proceed to step D: the motor microprocessor blocks the pulse signal output to the inverter.
上述所述的系数K1的范围是1-2之间。The range of the above-mentioned coefficient K1 is between 1-2.
上述的预设值P1＝K2×Pin,K2是系数，系数K2的范围是1-2.5之间。The aforementioned preset value P1=K2×Pin, K2 is a coefficient, and the range of the coefficient K2 is between 1-2.5.
上述所述的K1的范围是1.2-1.4之间，K1的范围是1.2-1.4之间。The range of K1 mentioned above is between 1.2-1.4, and the range of K1 is between 1.2-1.4.
上述所述的输入功率Pin是这样获得：The aforementioned input power Pin is obtained as follows:
Pin＝I×Vin＝iq×Vdc×Duty其中：iq为电流q轴分量，Vdc为母线电压，Duty为逆变器输出占空比。Pin=I×Vin=iq×Vdc×Duty where: iq is the q-axis component of the current, Vdc is the bus voltage, and Duty is the inverter output duty ratio.
上述所述的输出功率Pout是这样获得：The above-mentioned output power Pout is obtained as follows:
Pout＝iq×2π×f×φ＝2π×spd/60×pole/2×φ；其中iq为电流q轴分量，f为电机的极对数，spd为估算转速，pole为电机极数，φ为磁通量。Pout=iq×2π×f×φ=2π×spd/60×pole/2×φ; where iq is the q-axis component of the current, f is the number of pole pairs of the motor, spd is the estimated speed, pole is the number of motor poles, φ Is the magnetic flux.
本发明与现有技术相比具有有益效果是：Compared with the prior art, the present invention has the following beneficial effects:
1)无位置传感器矢量控制永磁同步电机的堵转状态判断方法，它包括如下步骤：步骤A：计算电机的输入功率Pin和输出功率Pout；步骤B：计算误差值ERR＝|Pin-K1×Pout|，K1是系数；步骤C：判断ERR是否大于或者等于某个预设值P0，如果是，则返回步骤A；如果不是，则判断为堵转状态，即处于异常闭环稳态状态，进入步骤D；步骤D：电机微处理器封锁输出到逆变器的脉冲信号。它能准确判断出电机变成堵转状态，避免电机变成堵转状态时仍然进入一个稳态的闭环状态，使电机处于高频小幅震荡状态，完善保护策略，有效保护电机，根本解决这个堵转状态的判断问题，且更换负载后无需也修改产生，给用户带来很大方便。1) The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor, which includes the following steps: Step A: Calculate the input power Pin and output power Pout of the motor; Step B: Calculate the error value ERR=|Pin-K1× Pout|, K1 is a coefficient; Step C: Determine whether ERR is greater than or equal to a preset value P0, if yes, return to Step A; if not, then judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state, and enter Step D; Step D: The motor microprocessor blocks the pulse signal output to the inverter. It can accurately determine that the motor has become a locked-rotor state, avoiding the motor to enter a stable closed-loop state when it becomes a locked-rotor state, and keep the motor in a high-frequency small oscillation state, perfect protection strategies, effectively protect the motor, and fundamentally solve this blockage. The problem of judging the status of the rotation, and there is no need to modify it after the load is replaced, which brings great convenience to the user.
2)本发明的其它优点在实施例部分再展开陈述。2) Other advantages of the present invention will be further described in the embodiment section.
附图说明：Description of the drawings:
图1是无位置传感器矢量控制永磁同步电机原理示意图。Figure 1 is a schematic diagram of the principle of a position sensorless vector control permanent magnet synchronous motor.
图2是永磁同步电机矢量控制的各坐标系关系图；Figure 2 is a diagram of the relationship between the coordinate systems of the permanent magnet synchronous motor vector control;
图3是本发明永磁同步电机的立体图；Figure 3 is a perspective view of the permanent magnet synchronous motor of the present invention;
图4是本发明永磁同步电机的电机控制器的立体图；4 is a perspective view of the motor controller of the permanent magnet synchronous motor of the present invention;
图5是本发明永磁同步电机的剖视图；Figure 5 is a cross-sectional view of the permanent magnet synchronous motor of the present invention;
图6是本发明永磁同步电机的电机控制器的原理方框图；Figure 6 is a schematic block diagram of the motor controller of the permanent magnet synchronous motor of the present invention;
图7是图6对应的电路图；Fig. 7 is a circuit diagram corresponding to Fig. 6;
图8是本发明的永磁同步电机的矢量控制流程图；Figure 8 is a vector control flow chart of the permanent magnet synchronous motor of the present invention;
图9是本发明的程序控制流程图。Fig. 9 is a program control flow chart of the present invention.
具体实施方式：Detailed ways:
下面通过具体实施例并结合附图对本发明作进一步详细的描述。Hereinafter, the present invention will be further described in detail through specific embodiments in conjunction with the accompanying drawings.
如图1所示，简述无位置传感器矢量控制永磁同步电机的基本工作原理(教科书有详细的描述)，永磁同步电机看作是定子的旋转磁场与转子旋转磁场相互作用的结果，图中有两个坐标系，一个是转子旋转坐标系dq轴；另一个定子静止坐标系ABC坐标系(可以转换成αβ相互垂直的坐标系)；转子可以看作是励磁电流if的作用以转速wr旋转，定子可以看作是励磁电流is的作用以转速ws旋转,图中定子的合成矢量是S；根据电磁转矩的计算公式：As shown in Figure 1, the basic working principle of the position sensorless vector control permanent magnet synchronous motor is briefly described (the textbook has a detailed description). The permanent magnet synchronous motor is regarded as the result of the interaction between the rotating magnetic field of the stator and the rotating magnetic field of the rotor. There are two coordinate systems, one is the rotor rotating coordinate system dq axis; the other is the stator static coordinate system ABC coordinate system (can be converted into a coordinate system where αβ is perpendicular to each other); the rotor can be regarded as the function of the excitation current if to rotate speed wr Rotating, the stator can be regarded as the action of the excitation current is rotating at the speed ws, the composite vector of the stator in the figure is S; according to the calculation formula of electromagnetic torque:
T e＝P 0·ψ f×i q------(1) T e ＝P 0 ·ψ f ×i q ------(1)
P0是电机的极对数(常数)，Ψf是励磁电流if的作用产生的磁链，由于转子是永磁转子，if＝0,Ψf变成常数，电磁转矩的公式变成：P0 is the number of pole pairs (constant) of the motor, and Ψf is the flux linkage produced by the excitation current if. Since the rotor is a permanent magnet rotor, if=0, Ψf becomes a constant, and the electromagnetic torque formula becomes:
T e＝K×i q------(2) T e =K×i q ------(2)
K是一个常数，永磁同步电机电磁转矩Te只与q轴电流有关。K is a constant, and the electromagnetic torque Te of the permanent magnet synchronous motor is only related to the q-axis current.
如图2所示，定子静止坐标系ABC坐标系用αβ相互垂直的坐标系代替。定子静止坐标系是αβ的坐标系，转子旋转坐标系是dq坐标系，αβ的坐标系与dq坐标系的夹角是θ。As shown in Figure 2, the ABC coordinate system of the stator static coordinate system is replaced by a coordinate system in which αβ is perpendicular to each other. The stator stationary coordinate system is the αβ coordinate system, the rotor rotating coordinate system is the dq coordinate system, and the angle between the αβ coordinate system and the dq coordinate system is θ.
如图3、图4、图5所示，举例：假设本发明是一种三相永磁同步电机,由电机控制器2和电机单体1,所述的电机单体1包括定子组件12、转子组件13和机壳组件11，定子组件13安装在机壳组件11上，转子组件13套装在定子组件12的内侧或者外侧组成，电机控制器2包括控制盒22和安装在控制盒22里面的控制线路板21，控制线路板21一般包括电源电路、微处理器、母线电压检测电路、逆变器，电源电路为各部分电路供电，母线电压检测电路将直流母线电压Udc输入到微处理器，微处理器控制逆变器，逆变器控制定子组件12的各相线圈绕组的通断电。As shown in Figures 3, 4, and 5, for example: suppose the present invention is a three-phase permanent magnet synchronous motor, consisting of a motor controller 2 and a motor unit 1, and the motor unit 1 includes a stator assembly 12, The rotor assembly 13 and the housing assembly 11, the stator assembly 13 is installed on the housing assembly 11, the rotor assembly 13 is sleeved on the inside or outside of the stator assembly 12, and the motor controller 2 includes a control box 22 and a control box 22 installed inside. The control circuit board 21 generally includes a power supply circuit, a microprocessor, a bus voltage detection circuit, and an inverter. The power supply circuit supplies power to each part of the circuit. The bus voltage detection circuit inputs the DC bus voltage Udc to the microprocessor. The microprocessor controls the inverter, and the inverter controls the on and off of each phase coil winding of the stator assembly 12.
如图6、图7所示，假设3相无刷直流永磁同步电机的相线电流检测电路将各相的电流Ia、Ib、Ic输入到微处理器。交流输入(AC INPUT)经过由二级管D7、D8、D9、D10组成的全波整流电路后，在电容C1的一端输出直流母线电压Vdc,直流母线电压Vdc与输入交流电压有关，微处理器输入一定占空比的PWM信号到逆变器，逆变器由电子开关管q1、q2、q3、q4、q5、q6组成，电子开关管q1、q2、q3、q4、q5、q6的控制端分别由微处理器输出的6路PWM信号(P1、P2、P3、P4、P5、P6)控制。一定占空比的PWM信号是指占空比为Duty的PWM信号。As shown in Figure 6 and Figure 7, it is assumed that the phase line current detection circuit of a 3-phase brushless DC permanent magnet synchronous motor inputs the currents Ia, Ib, and Ic of each phase to the microprocessor. After the AC INPUT passes through a full-wave rectifier circuit composed of diodes D7, D8, D9, and D10, the DC bus voltage Vdc is output at one end of the capacitor C1. The DC bus voltage Vdc is related to the input AC voltage. Input a certain duty cycle PWM signal to the inverter. The inverter is composed of electronic switch tubes q1, q2, q3, q4, q5, q6, and the control terminals of the electronic switch tubes q1, q2, q3, q4, q5, q6 It is controlled by 6 PWM signals (P1, P2, P3, P4, P5, P6) output by the microprocessor. A PWM signal with a certain duty cycle refers to a PWM signal with a duty cycle of Duty.
如图2和图8所示，利用各相的电流Ia、Ib、Ic可以计算出的d轴电流Id和q轴电流Iq，利用位置&速度观测器可以得到αβ的坐标系与dq坐标系的夹角是θ和速度spd，电机微处理器里面设置有磁通观测器，利用d轴电流Id、q轴电流Iq、夹角是θ、电机电阻、电感和速度spd等参数可以计算出磁通φ，这些在教科书都有记载，在此，不再叙述。As shown in Figure 2 and Figure 8, the d-axis current Id and the q-axis current Iq can be calculated using the currents Ia, Ib, and Ic of each phase. The position & speed observer can be used to obtain the αβ coordinate system and the dq coordinate system. The included angle is θ and the speed spd. The motor microprocessor is equipped with a magnetic flux observer. The magnetic flux can be calculated using parameters such as d-axis current Id, q-axis current Iq, included angle θ, motor resistance, inductance, and speed spd. φ, these are all recorded in textbooks, so I won’t describe them here.
本发明的方法是通过比较输入功率Pin和输出功率Pout来判断堵转状态。The method of the present invention judges the locked rotor state by comparing the input power Pin and the output power Pout.
如图9所示，本发明的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：它包括如下步骤：As shown in Figure 9, the method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor of the present invention is characterized in that it includes the following steps:
步骤A：计算电机的输入功率Pin和输出功率Pout；Step A: Calculate the input power Pin and output power Pout of the motor;
步骤B：计算误差值ERR＝|Pin-K1×Pout|，K1是系数；Step B: Calculate the error value ERR=|Pin-K1×Pout|, K1 is the coefficient;
步骤C：判断误差值ERR是否大于或者等于某个预设值P1，如果是，则返回步骤A；如果不是，则判断为堵转状态，即处于异常闭环稳态状态，进入步骤D；Step C: Determine whether the error value ERR is greater than or equal to a certain preset value P1, if yes, go back to step A; if not, judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state, and go to step D;
步骤D：电机微处理器封锁输出到逆变器的脉冲信号。Step D: The motor microprocessor blocks the pulse signal output to the inverter.
本发明能准确判断出电机变成堵转状态，避免电机变成堵转状态时仍然进入一个稳态的闭环状态，使电机处于高频小幅震荡状态，完善保护策略，有效保护电机，根本解决这个堵转状态的判断问题，且更换负载后无需也修改产生，给用户带来很大方便。算法简单，控制简便。The invention can accurately determine that the motor becomes a locked-rotor state, prevents the motor from entering a stable closed-loop state when it becomes a locked-rotor state, keeps the motor in a high-frequency small oscillation state, improves the protection strategy, effectively protects the motor, and fundamentally solves this problem. The problem of judging the locked-rotor state, and there is no need to modify it after the load is replaced, which brings great convenience to users. The algorithm is simple and the control is simple.
上述所述的系数K1的范围是1-2之间。The range of the above-mentioned coefficient K1 is between 1-2.
上述所述的预设值P1＝K2×Pin,K2是系数，系数K2的范围是1-2.5之间。The aforementioned preset value P1=K2×Pin, K2 is a coefficient, and the range of the coefficient K2 is between 1-2.5.
上述所述的K1的范围是1.2-1.4之间，K1的范围是1.2-1.4之间，参数设置较为合理，更符合电机的实际状况。The range of K1 mentioned above is between 1.2-1.4, and the range of K1 is between 1.2-1.4. The parameter setting is more reasonable and more in line with the actual condition of the motor.
上述所述的输入功率Pin是这样获得：The aforementioned input power Pin is obtained as follows:
Pin＝I×Vin＝iq×Vdc×Duty其中：iq为电流q轴分量，Vdc为母线电压，Duty为逆变器输出占空比。算法简单，可以减少微处理器的负担。Pin=I×Vin=iq×Vdc×Duty where: iq is the q-axis component of the current, Vdc is the bus voltage, and Duty is the inverter output duty ratio. The algorithm is simple and can reduce the burden on the microprocessor.
上述所述的输出功率Pout是这样获得：The above-mentioned output power Pout is obtained as follows:
Pout＝iq×2π×f×φ＝2π×spd/60×pole/2×φ；其中iq为电流q轴分量，f为电机的极对数，spd为估算转速，pole为电机极数，φ为磁通量。算法简单，可以减少微处理器的负担。Pout=iq×2π×f×φ=2π×spd/60×pole/2×φ; where iq is the q-axis component of the current, f is the number of pole pairs of the motor, spd is the estimated speed, pole is the number of motor poles, φ Is the magnetic flux. The algorithm is simple and can reduce the burden on the microprocessor.
经过分析、推论和试验后，本发明能够准确、快速的分辨出堵转时异常的稳态闭环状态，可彻底解决此类问题，也能适应于不同的功率段和负载类型。After analysis, deduction, and experimentation, the present invention can accurately and quickly distinguish the abnormal steady-state closed-loop state when the rotor is locked, can completely solve such problems, and can also be adapted to different power sections and load types.
以上实施例为本发明的较佳实施方式，但本发明的实施方式不限于此，其他任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均为等效的置换方式，都包含在本发明的保护范围之内。The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited thereto. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention are equivalent. The replacement methods of are all included in the protection scope of the present invention.

Claims (8)

  1. 无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：该方法是通过比较输入功率Pin和输出功率Pout来判断堵转状态。The method for determining the locked rotor state of a position sensorless vector control permanent magnet synchronous motor is characterized in that: the method judges the locked rotor state by comparing the input power Pin and the output power Pout.
  2. 根据权利要求1所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：它包括如下步骤：The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 1, characterized in that it comprises the following steps:
    步骤A：计算电机的输入功率Pin和输出功率Pout；Step A: Calculate the input power Pin and output power Pout of the motor;
    步骤B：计算误差值ERR＝|Pin-K1×Pout|，K1是系数；Step B: Calculate the error value ERR=|Pin-K1×Pout|, K1 is the coefficient;
    步骤C：判断ERR是否大于或者等于某个预设值P1，如果是，则返回步骤A；如果不是，则判断为堵转状态，即处于异常闭环稳态状态。Step C: Judge whether ERR is greater than or equal to a certain preset value P1, if yes, return to step A; if not, judge it as a locked-rotor state, that is, in an abnormal closed-loop steady state.
  3. 根据权利要求2所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：在步骤C中当判断为堵转状态，进入步骤D：电机微处理器封锁输出到逆变器的脉冲信号。The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 2, characterized in that: in step C, when it is determined to be a locked-rotor state, proceed to step D: the motor microprocessor blocks the output to the reverse The pulse signal of the converter.
  4. 根据权利要求2或3所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：系数K1的范围是1-2之间。The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 2 or 3, characterized in that the range of the coefficient K1 is between 1-2.
  5. 根据权利要求4所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：预设值P1＝K2×Pin,K2是系数，系数K2的范围是1-2.5之间。The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 4, characterized in that: the preset value P1=K2×Pin, K2 is a coefficient, and the range of the coefficient K2 is between 1-2.5 .
  6. 根据权利要求5所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：K1的范围是1.2-1.4之间，K1的范围是1.2-1.4之间。The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 5, wherein the range of K1 is between 1.2-1.4, and the range of K1 is between 1.2-1.4.
  7. 根据权利要求2或3所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：输入功率Pin是这样获得：The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 2 or 3, characterized in that the input power Pin is obtained as follows:
    Pin＝I×Vin＝iq×Vdc×Duty其中：iq为电流q轴分量，Vdc为母线电压，Duty为逆变器输出占空比。Pin=I×Vin=iq×Vdc×Duty where: iq is the q-axis component of the current, Vdc is the bus voltage, and Duty is the inverter output duty ratio.
  8. 根据权利要求7所述的无位置传感器矢量控制永磁同步电机的堵转状态判断方法，其特征在于：输出功率Pout是这样获得：The method for determining the locked-rotor state of a position sensorless vector control permanent magnet synchronous motor according to claim 7, wherein the output power Pout is obtained as follows:
    Pout＝iq×2π×f×φ＝2π×spd/60×pole/2×φ；其中iq为电流q轴 分量，f为电机的极对数，spd为估算转速，pole为电机极数，φ为磁通量。Pout=iq×2π×f×φ=2π×spd/60×pole/2×φ; where iq is the q-axis component of the current, f is the number of pole pairs of the motor, spd is the estimated speed, pole is the number of motor poles, φ Is the magnetic flux.
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