CN100367656C - Controlling device of permanent-magnet synchro motor - Google Patents
Controlling device of permanent-magnet synchro motor Download PDFInfo
- Publication number
- CN100367656C CN100367656C CNB2005100774215A CN200510077421A CN100367656C CN 100367656 C CN100367656 C CN 100367656C CN B2005100774215 A CNB2005100774215 A CN B2005100774215A CN 200510077421 A CN200510077421 A CN 200510077421A CN 100367656 C CN100367656 C CN 100367656C
- Authority
- CN
- China
- Prior art keywords
- magnetic pole
- current
- phase
- permanent magnet
- synchronous motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention provides a controller of a permanent magnet synchronous motor in which smooth start can be realized in a short time without using an absolute position detector. The controller comprises a detection mode setting means (18) outputting a magnetic pole detection command for detecting the magnetic pole position of a permanent magnet synchronous motor; a magnetic pole detection current command means (19) outputting a plurality of different values as electric phase angle and current commands for detecting initial magnetic pole phase in response to the magnetic pole detection command; signal switch sections (21a-21c) outputting the electric phase angle and current commands for detecting initial magnetic pole phase being delivered from the magnetic pole detection current command means to a current control section when the magnetic pole detection command is inputted; and a magnetic pole phase judging means (20) for detecting oscillation phenomenon by extracting a high frequency component from a feedback current for a plurality of different values outputted from the magnetic pole detection current command means (19) in response to the magnetic pole detection command, and specifying an electric phase angle for maximizing oscillation as the initial magnetic pole phase.
Description
Technical field
The present invention relates to detect the control device of permanent magnet synchronous motor of the position of magnetic pole of synchronous motor.
Background technology
Patent documentation 1: the spy opens 2003-143894 communique (the 1st page, Fig. 1)
On the elevator hoist that has adopted permanent magnet synchronous motor, generally have the transducer of the rotor magnetic pole position that is used to detect motor, and take mostly with this function be embedded into the direct-connected speed detector of the rotating shaft of motor in mode.The accuracy of detection of rotor magnetic pole position has determined motor to change the control performance of distance, if electrical angle skew 60 degree then change apart from reducing by half, if would be offset 90 degree or more than 90 degree then produce reciprocal commentaries on classics distance.
Therefore, not only the accuracy of detection of transducer self is very important, and the positioning accuracy of transducer reference position in the installation procedure of traction machine and rotor magnetic pole position is also very important.In order to improve this positioning accuracy, adopt in the installation adjustment process of elevator, while move the method for proofreading and correct position of magnetic pole.
The synchronous motor magnetic pole position estimation method (for example, with reference to patent documentation 1) of the position of magnetic pole in the time of on the other hand, can utilizing the magnetic pole position estimation unit to infer the synchronous motor starting accurately in addition.This method is by carrying out the convergence computing of magnetic pole position estimation value, infer the position of magnetic pole of synchronous motor when the starting, and need not magnetic pole position detector.
Yet there are the following problems in the prior art.Require in the application of slow-speed of revolution large torque at elevator etc., adopt number of magnetic poles to reach the multipole design of dozens of mostly.In this case, even the skew of very little mechanical angle also can be very big skew when being converted into electrical angle.Therefore, correctly represent the excitation phase place of rotor, must fully guarantee the installation accuracy of absolute position transducer in order to make electrical phase angle.
For example, under the situation of the motor of 40 utmost points, mechanical angle skew 5 degree are equivalent to electrical angle skew 100 degree.Therefore, easy appearance produces the rightabout commentaries on classics distance of and instruction or changes problems such as distance is not enough.In this case, because elevator is normally moved, be not suitable for using the problem that the method for excitation correction is carried out in such in the past moving while exist.
Yet, consider manufacturing cost, absolute position transducer is installed is guaranteed that the electrical angle precision for several measurement levels is unpractical.Therefore, use in multitude poles permanent magnet synchronous under the situation of absolute position transducer, the correction of electrical phase angle is a big problem.And, compare with the enhancement mode encoder that is generally used for induction motor, there is the problem of absolute position transducer selling at exorbitant prices.
In addition, the magnetic pole position estimation method of patent documentation 1, owing to carrying out carrying out axle differentiation and the utmost point differentiation when initial value is set, and to restrain computing, so may want spended time at actual prestart wanting spended time aspect the magnetic pole position estimation.
Summary of the invention
The present invention proposes in order to address the above problem, and its objective is that providing a kind of does not use absolute position transducer and use position detectors such as enhancement mode encoder, realizes the control device of the permanent magnet synchronous motor of smooth start at short notice.
The control device of permanent magnet synchronous motor of the present invention has: position detector, the position of magnetic pole of detection permanent magnet synchronous motor; The phase place arithmetic element is calculated electrical phase angle according to detected position of magnetic pole; Power converter offers permanent magnet synchronous motor according to voltage instruction with the alternating current of voltage variable, changeable frequency; Current detector detects from each phase current of power converter output; Control part, calculate voltage instruction according to electrical phase angle, current-order with from the detection electric current of current detector, and it is outputed to power transfer portion, in the control device of the permanent magnet synchronous motor of the speed control of carrying out permanent magnet synchronous motor, also have: the magnetic pole that detecting pattern setup unit, output are used to detect the position of magnetic pole of permanent magnet synchronous motor detects instruction; Magnetic pole detection stream command unit detects instruction according to the magnetic pole from the detecting pattern setup unit, exports electrical phase angle and current-order that a plurality of different values are used as the initial magnetic pole phase-detection; The signal switching part, carry out the switching of signal processing, make when running well, to instruct from the q shaft current instruction of the speed command generation of outside with from the d shaft current of outside according to electrical phase angle, basis that the position output of position detector is tried to achieve and output to control part, when input is instructed from the magnetic pole detection of detecting pattern setup unit, will output to control part from electrical phase angle and the current-order that the initial magnetic pole phase-detection of magnetic pole detection stream command unit output is used; The magnetic pole phase identifying unit, detect instruction according to magnetic pole from the detecting pattern setup unit, from detected value, extract the high fdrequency component of electric current from the feedback current of current detector, and detect oscillatory occurences, and the electrical phase angle of degree of oscillation maximum is defined as the initial magnetic pole phase place, the phase place arithmetic element is carried out the setting of initial magnetic pole phase place, and the detected value of wherein said feedback current is with corresponding from a plurality of different values of magnetic pole detection stream command unit output.
According to the present invention, can realize the control device of following permanent magnet synchronous motor: by current control system additional detected mode initialization unit, magnetic pole detection are flowed command unit, magnetic pole phase identifying unit, switch, can utilize position detectors such as enhancement mode encoder and do not use absolute position transducer, when stopping, carrying out the detection of position of magnetic pole at short notice, can realize rapidly and starting stably.
Description of drawings
Fig. 1 is the structure chart of control device of the permanent magnet synchronous motor of embodiments of the present invention 1.
Fig. 2 is the square frame line chart of the d shaft current control system of expression embodiments of the present invention 1.
Fig. 3 is the curve chart of the relation of the armature supply of motor of expression embodiments of the present invention 1 and magnetic flux.
Fig. 4 is the Bode diagram of open-loop transfer function of the d shaft current control system of expression embodiments of the present invention 1.
Fig. 5 is the flow chart of the sequential processes that detects of the initial magnetic pole position of expression embodiments of the present invention 1.
Fig. 6 represents that the initial magnetic pole position of embodiments of the present invention 1 detects each phase current Iu, Iv, Iw and the electrical phase angle θ ph in the action, the relation of d shaft current Id.
Fig. 7 has been the square frame line chart that has comprised the d shaft current control system that postpones key element and switch of expression embodiments of the present invention 2.
Symbol description
2: position detector; 3: the angular speed arithmetic element; 4: subtracter; 5: speed control unit; 6: the phase place arithmetic element; 7: current detector; 8: three-phase two phase converter; 9: the two-phase three phase converer; 10,11: subtracter; 12:d shaft current control unit; 13:q shaft current control unit; 14: non-Interference Control unit; 15,16: adder; 17: power converter; 18: the detecting pattern setup unit; 19: magnetic pole detection stream command unit; 20: the magnetic pole phase identifying unit; 21a～21c: switch (signal switching part); 23: postpone key element; 24: switch (secondary signal switching part); 100: speed control system; The non-Interference Control of 101:d-q axle system.
Embodiment
Below, utilize accompanying drawing that the preferred implementation of the control device of permanent magnet synchronous motor of the present invention is described.The control device of permanent magnet synchronous motor of the present invention, it is characterized in that, a kind of position detectors such as enhancement mode encoder that utilize are provided, can easily carry out the detection of position of magnetic pole in prestarting dwell time at short notice, can be rapidly and the low-cost control device of starting permanent-magnet synchronous motor reposefully.
Fig. 1 is the structure chart of control device of the permanent magnet synchronous motor of embodiment of the present invention 1.The control device of this permanent magnet synchronous motor, be constituted as and comprise the non-Interference Control of the d-q axle system 101 that the is often used as current control system speed control system 100 of (being equivalent to part shown in the dotted line of Fig. 1) (being equivalent to part shown in the single-point line of Fig. 1), also further added detecting pattern setup unit 18, magnetic pole detection stream command unit 19, magnetic pole phase identifying unit 20, switch 21a～21c.
At first, the structure to speed control system 100 describes.The non-Interference Control of d-q axle system just had in the past, was used for carrying out the Current Control of permanent magnet synchronous motor 1, was the general control mode that also comprises speed control.This speed control system 100 is made of position detector 2, angular speed arithmetic element 3, subtracter 4, speed control unit 5, phase place arithmetic element 6, current detector 7, three-phase two phase converter 8, two-phase three phase converer 9, subtracter 10 and 11, d shaft current control unit 12, q shaft current control unit 13, non-Interference Control unit 14, adder 15 and 16, power converter 17.
In the control of three-phase alternating-current motor, general most carrying out with the electric current of three-phase, the processing that voltage transitions is 2.Here, with the U of α axle and three-phase mutually the coordinate system on the axle overlap static 2 be called the alpha-beta coordinate system.In addition, the coordinate system in 2 of the rotations that the d axle is overlapped with the excitation direction of rotor is called the d-q axis coordinate system.The non-Interference Control of d-q axle system 101 among Fig. 1 is equivalent to the control system of this d-q axis coordinate system.
Phase place arithmetic element 6 is exported the electrical angle phase theta re of the rotor that calculates permanent magnet synchronous motor 1 according to the position of position detector 2.This electrical angle phase theta re represents from the anglec of rotation of the observed d-q axis coordinate system of alpha-beta coordinate system.Current detector 7 detects the three-phase alternating current (Iu, Iv, Iw) of the stator winding (coil) that flows through permanent magnet synchronous motor 1.
Three-phase two phase converter 8 are converted to electric current (Id, Iq) in the d-q axis coordinate system with three-phase current (Iu, Iv, Iw).Two-phase three phase converer 9 will be converted to voltage in three phases command value (Vu, Vv, Vw) at the voltage instruction value (Vd, Vq) of d-q axis coordinate system.Subtracter 10 and subtracter 11 calculate the current-order Idcom of d axle component of stator winding electric current of permanent magnet synchronous motor 1 and the deviation of feedback current value Id thereof respectively, and the deviation of the current-order Iqcom of q axle component and feedback current value Iq thereof.
D shaft current control unit 12 and q shaft current control unit 13 be according to the deviation that is calculated by subtracter 10 and subtracter 11, obtains control output (Vd ', Vq '), carries out Current Control, makes each feedback current value servo-actuated in current-order separately.Non-Interference Control unit 14 makes the non-interfering feedforward compensation of each electric current, makes independently to control d shaft current and q shaft current.
Adder 15 and adder 16 with the output of non-Interference Control unit 14 respectively with the control output of d axle and q axle (Vd ', Vq ') addition, calculate voltage instruction (Vd, Vq) separately.And then output voltage is variable, the three-phase alternating voltage of changeable frequency according to voltage in three phases command value (Vu, Vv, Vw) for power converter 17.
Below, a series of control actions based on these structures are described.Since the control mode of the non-Interference Control of this d-q axle system 101 be with the synchronous rotational coordinates of the rotation of the rotor magnetic pole of permanent magnet synchronous motor 1 on the control carried out, so the detection as the rotor magnetic pole position of benchmark is just become very important.Utilize the signal according to the position detector 2 that is connected from the rotor with permanent magnet synchronous motor 1, the phase angle θ re that is calculated by phase place arithmetic element 6 represents rotor magnetic pole position.
According to the phase angle θ re that calculates by phase place arithmetic element 6, will be converted to the two-phase current value of feedback (Id, Iq) of d-q axle by the three-phase current (Iu, Iv, Iw) of current detector 7 detected permanent magnet synchronous motors 1 by three-phase two phase converter 8.Then, d shaft current control unit 12 and q shaft current control unit 13 are converted into 2 mutually current feedback values (Id, Iq) according to this and carry out FEEDBACK CONTROL with the deviation separately of the current instruction value (Idcom, Iqcom) of each, output control output (Vd ', Vq ').
At this moment, for the non-interferenceization of the control that realizes d axle and q axle, so that be not subjected to influence from other interference voltage, non-Interference Control unit 14 carries out non-interference feedforward compensation according to the interference voltage that precomputes.Like this, owing to realized non-interferenceization, each carries out FEEDBACK CONTROL independently, so the non-Interference Control of d-q axle system 101 is called as non-Interference Control mode.
The voltage instruction (Vd, Vq) that the output of non-Interference Control unit 14 and control output (Vd ', Vq ') addition is calculated, phase angle θ re according to phase place arithmetic element 6 calculates is converted to three-phase voltage command value (Vu, Vv, Vw) by two-phase three phase converer 9.Then, output voltage is variable, the three-phase alternating voltage of changeable frequency according to three-phase voltage command value (Vu, Vv, Vw) for power converter 17, carries out the speed control of permanent magnet synchronous motor 1 thus.
In the structure of Fig. 1, have at permanent magnet synchronous motor 1 under the situation of the rotor shapes that is called as non-prominent polar form, generally making d shaft current instruction Idcom as a rule is 0., weaken under the situation in magnetic field, or in the permanent magnet synchronous motor 1 of contrary prominent polar form, use under the situation of reluctance torque etc., d shaft current instruction Idcom can be controlled to be suitable value at the voltage when reducing high speed rotating.
Below, detecting pattern setup unit 18, magnetic pole detection stream command unit 19, magnetic pole phase identifying unit 20, the switch 21a～21c that increases newly in the speed control system 100 described.By additional these structures, not under the situation of position detector 2 of absolute position transducer having used, can easily detect the initial magnetic pole position after the power supply closure.
Detecting pattern setup unit 18 has the storage part (not shown) that the storage position of magnetic pole detects the setting/reset mode of complement mark, and this position of magnetic pole detects complement mark and represents whether be in the state that has detected position of magnetic pole.In Fig. 1, because position detector 2 is not an absolute position transducer, so when power supply is closed, be in the state that does not detect correct position of magnetic pole.Therefore, detecting pattern setup unit 18 position of magnetic pole that is stored in the storage part that resets when power supply is closed detects complement mark.
And detecting pattern setup unit 18 takes out position of magnetic pole from storage part and detects complement mark when permanent magnet synchronous motor 1 starting, judges whether to carry out magnetic pole and detects action.And then, detecting situation that complement mark resetted according to position of magnetic pole at detecting pattern setup unit 18 and judge needs and carry out magnetic pole and detect under the situation of action, the magnetic pole that output is used to detect the position of magnetic pole of permanent magnet synchronous motor 1 detects instruction.
When magnetic pole detection stream command unit 19 receives magnetic pole when detecting instruction from detecting pattern setup unit 18, output is used to detect the electrical phase angle and the current-order of initial magnetic pole phase place.Magnetic pole detection stream command unit 19 slowly changes electrical phase angle at the current-order of the d shaft current of certain regulation, electrical phase angle and current-order that output initial magnetic pole phase-detection is used.And magnetic pole detection stream command unit 19 also can make electrical phase angle slowly change the generation output signal at different current-orders, can generate the output valve of a plurality of different patterns.
In addition, magnetic pole detection stream command unit 19 for example can carry out following setting to current instruction value.Promptly, magnetic pole detection stream command unit 19 is by setting current instruction value, so that the magnetic flux that armature reaction magnetic flux that the d shaft current produces and permanent magnetism produce and, a part that becomes the motor magnetic loops such as stator core that make permanent magnet synchronous motor 1 reaches the value of magnetic saturation degree, can set the state that more is easy to generate oscillatory occurences for thus.And this d axle is the notion in the control all the time, owing to do not detect position of magnetic pole in this stage, so the direction of the magnetic flux of d axle phase place and permanent magnetism may not be consistent.
When magnetic pole phase identifying unit 20 receives magnetic pole when detecting instruction from detecting pattern setup unit 18, judge magnetic pole phase according to the feedback current Id of d axle.Specifically, magnetic pole phase identifying unit 20 extracts the high fdrequency component of electric current from the detected value of feedback current Id, detects the oscillatory occurences of the current control system of the non-Interference Control of d-q axle system 101.And then magnetic pole phase identifying unit 20 judges that rotor magnetic pole is present on the electrical phase angle of degree of oscillation for maximum of detected oscillatory occurences, is defined as the initial magnetic pole phase place with this electrical phase angle.
And 20 pairs of phase place arithmetic elements of magnetic pole phase identifying unit 6 are carried out the setting of fixed initial magnetic pole phase place as initial phase.Phase place arithmetic element 6 is carried out starting operation by the initial phase that utilization sets, and can make indefinite permanent magnet synchronous motor 1 smooth start of position of magnetic pole.
And magnetic pole phase identifying unit 20 is provided with the storage part that position of magnetic pole detects complement mark and stores detecting pattern setup unit 18 into after can determining the initial magnetic pole phase place.Like this, during first start after the power supply closure, can determine the initial magnetic pole phase place.When the second time after carrying out the power supply closure and for the second time later starting, detecting pattern setup unit 18 detects the situation of complement mark according to the position of magnetic pole that has been provided with storage part, and can be judged as does not need to carry out magnetic pole and detect action.Thus, when the second time after the power supply closure and for the second time later starting, can not carry out magnetic pole and detect action and directly carry out starting operation stably.
Switch 21a～21c detects the signal switching part that output signal is switched in instruction according to the magnetic pole from detecting pattern setup unit 18.Switch 21a～21c is not receiving magnetic pole when detecting instruction (when being equivalent to run well) from detecting pattern setup unit 18, and the electrical phase angle θ re and the current-order (Idcom, Iqcom) that will utilize phase place arithmetic element 6 to calculate according to the position output of position detector 2 output to the non-Interference Control of d-q axle system 101.
On the other hand, switch 21a～21c switches to electrical phase angle θ ph and the current-order of using from the initial magnetic pole phase-detection of magnetic pole detection stream command unit 19 outputs (Idph, Iqph) with electrical phase angle and the current instruction value that offers the non-Interference Control of d-q axle system 101 when receiving magnetic pole detection instruction from detecting pattern setup unit 18.
Below, the reason of utilizing this structure can detect the initial magnetic pole phase place is described.Fig. 2 is the square frame line chart of the d shaft current control system of expression embodiments of the present invention 1.Time lag of first order square frame 22 is expression square frames from the voltage that imposes on motor armature to the transfer function of electric current.Current Control square frame 12a is the square frame of the example of the control computing of use in the expression d shaft current control unit 12.
This Current Control square frame 12a is usually as proportional integral (PI) control of the stable deviation that is used to suppress electric current.The design of PI compensator is decided by the nominal value of motor constant and the design response frequency ω c of control system.Promptly, nominal value at the resistance value Ra that makes armature coil is R, the nominal value of induction coefficient La is under the situation of L, will control the inverse that break frequency ω i that constant is designed so that the PI compensator on the Bode diagram equals the nominal value (L/R) of the time constant of motor armature coil usually.
In this case, be well known that: the open-loop transfer function of current control system only represents with integrating system ω c/s that phase place is always-90 degree, and can carry out stable control.And though represented the situation of d axle in Fig. 2, the q axle also can similarly carry out the design of current control system.
On the other hand, often have actual motor constant to depart from the situation of nominal value, the magnetic saturation of stator core etc. also is one of major reason that causes this situation.Fig. 3 is the curve chart of the relation of the armature supply of permanent magnet synchronous motor 1 of expression embodiment of the present invention 1 and magnetic flux.As shown in Figure 3, when armature supply increased, because the magnetically saturated influence of stator core etc., slope of a curve had the tendency that diminishes.Because the induction coefficient L relevant with the Current Control of permanent magnet synchronous motor 1 equates that with this slope of a curve Δ φ/Δ I therefore owing to magnetically saturated influence, the value of induction coefficient La is littler than nominal value L.
Fig. 4 is the Bode diagram of open-loop transfer function of the d shaft current control system of expression embodiment of the present invention 1.Fig. 4 has represented situation (being equivalent to La=L) that induction coefficient equates with nominal value and because magnetic saturation and (be equivalent to La＜L) less than the situation of nominal value respectively.
Under the situation of La=L, as previously mentioned, with have-slope of 20dB/dec, be that 0 straight line is represented gain in design response frequency ω c place gain, phase place remains-90 and spends.On the other hand, under the situation of La＜L, open-loop transfer function is not only an integration, but on Bode diagram, form expression advance lag characteristic, in the high-frequency region gain shape of protuberance significantly.
In this case, because the phase place that gains when being zero is-90 degree, so control is stable in theory., because the digital control control lag that causes, the perhaps influence of sensor characteristics etc. is easy to generate delay in the phase place of high-frequency region, so in fact there is unsettled tendency.Therefore, the phase place of the armature reaction magnetic flux that produces when electric current is consistent with the phase place of the magnetic flux that permanent magnetism produces, flow through very big magnetic flux in the iron core, and when causing induction coefficient less than nominal value owing to magnetic saturation, under the sufficiently high situation of the gain of control system, current control system can produce oscillatory occurences.
Therefore, by from feedback current, extracting oscillating component, and detect this oscillatory occurences, can determine the phase relation of magnetic flux and armature reaction magnetic flux, can easily find initial magnetic pole position.And, consider that when oscillatory regime continues it is unusual that vibration amplitude can slowly become big even system is taken place, but as described later, do not produce excessive electric current by making phase angle variations and providing instruction to make, before system exception, suppress amplitude.
Below, according to flow chart, continuous action processing is described.Fig. 5 is the flow chart of the sequential processes that detects of the initial magnetic pole position of expression embodiment of the present invention 1.At first, at step S501, when detecting pattern setup unit 18 receives the starting order of permanent magnet synchronous motor 1 from the outside, take out position of magnetic pole from storage part and detect complement mark, detect the complement mark position of magnetic pole that still resetted and detect complement mark and judge that magnetic pole detects and whether finish according to position of magnetic pole is set.
Detect complement mark at position of magnetic pole and reset, and be judged as magnetic pole and detect under the uncompleted situation, detecting pattern setup unit 18 output magnetic poles detect instruction, then, advance to the processing of step S502.In addition, detect complement mark at position of magnetic pole and be provided with, and be judged as magnetic pole and detect under the situation about having finished, detecting pattern setup unit 18 is not exported magnetic pole and is detected instruction, then, advances to the processing of step S509.
At step S502, magnetic pole detection stream command unit 19 detects instruction by receiving magnetic pole from detecting pattern setup unit 18, sets initial magnetic pole and detects the necessary d shaft current command value Idph of action, and q shaft current command value Iqph is set at Iqph=0.
At step S503, detecting pattern setup unit 18 detects instruction by the output magnetic pole and comes diverter switch 21a～21c.Thus, switch 21a～21c outputs to the non-Interference Control of d-q axle system 101 with current-order (Idph, Iqph) and the electrical phase angle θ ph that magnetic pole detects usefulness.
The state of switch 21a～21c of Fig. 1, expression be to be switched the state that is connected with the output signal that flows command unit 19 from the magnetic pole detection in order to carry out magnetic pole to detect.That is, detect instruction according to the magnetic pole from detecting pattern setup unit 18, switch 21a is connected with d shaft current command value Idph, and switch 21b is connected with q shaft current command value Iqph, and switch 21c is connected with electrical phase angle θ ph.
Then, at step S504, magnetic pole detection stream command unit 19 makes electrical phase angle θ ph increase the amount of predesignating.Then at step S505, magnetic pole phase identifying unit 20 extracts the high fdrequency component of electric current from the detected value of the feedback current of the electrical phase angle θ ph that sets at step S504.
Then, at step S506, magnetic pole detection stream command unit 19 judges whether electrical phase angle θ ph has changed the one or more cycle, and the operation of repeating step S504～step S506 is until having changed the one or more cycle.By this reprocessing, extract the data of the high fdrequency component of electric current the detected value of magnetic pole phase identifying unit 20 each feedback current when electrical phase angle θ ph changes in the scope of one-period.
At step S506, when being judged as electrical phase angle θ ph when having changed one or more cycle, at step S507, magnetic pole phase identifying unit 20 is according to the high frequency component data that is extracted, the variation of one-period takes place by making electrical phase angle θ ph in judgement, and whether current control system has produced oscillatory occurences.And, be judged as under the situation that does not produce oscillatory occurences at magnetic pole phase identifying unit 20, be transferred to the processing of step S512.
On the other hand, be judged as under the situation that has produced oscillatory occurences, be judged to be the electrical phase angle place that rotor magnetic pole is present in the degree of oscillation maximum, determine electrical phase angle, and be transferred to the processing of step S508 at magnetic pole phase identifying unit 20.Then, at step S508, magnetic pole phase identifying unit 20 upgrades the magnetic pole phase that phase place arithmetic element 6 is kept according to the electrical phase angle of determining.
Fig. 6 represents that the initial magnetic pole of embodiment of the present invention 1 detects each phase current Iu, Iv, Iw and electrical phase angle θ ph in the action and the relation of d shaft current Id.In this example, represented electrical phase angle θ ph surpass 180 degree near, the state of overlapping dither on each phase current and the d shaft current.Magnetic pole phase identifying unit 20 can be judged as rotor magnetic pole and be present in and the corresponding electrical phase angle of such oscillatory regime place, and can determine electrical phase angle.
And in Fig. 1, magnetic pole phase identifying unit 20 is as being taken into d shaft current Id, detects the structure with the overlapping vibration of d shaft current Id, but according to detecting rotor magnetic pole too with the overlapping vibration of each phase current.In addition, because the pace of change of electrical phase angle θ ph, and observe oscillatory occurences slightly behindhand,, can carry out more high-precision test so get and the mean value when electrical phase angle θ ph is changed in the opposite direction than actual magnetic pole phase.
Step S507 formerly, be judged as under the situation that does not produce oscillatory occurences, at step S512, magnetic pole detection stream command unit 19 increases d shaft current command value Idph, the feasible magnetic saturation that is easy to generate stator, then, the determination processing of position of magnetic pole is carried out in the processing of repeating step S504～step S507.
And, according to the magnetic pole detection of present embodiment 1, can when starting, detect position of magnetic pole at short notice, make permanent magnet synchronous motor 1 smooth start.After the starting,, as mentioned above, after the initial value of determining electrical phase angle and starting,, can further improve the accuracy of detection of magnetic pole by the pole reduction running (for example, the spy opens flat 10-80188) that proposed in the past for requiring high-precision the commentaries on classics apart from the situation of control.The step S509 of Fig. 5～step S511, expression is used to carry out the flow chart of this pole reduction running exactly.
According to execution mode 1, by current control system additional detected mode initialization unit, magnetic pole detection are flowed command unit, magnetic pole phase identifying unit, switch, can utilize position detectors such as enhancement mode encoder, when stopping, carrying out the detection of position of magnetic pole at short notice, at short notice the smooth start permanent magnet synchronous motor.
Also have,, then can easily carry out position of magnetic pole at short notice and detect if will be used for the electrical phase angle of initial magnetic pole phase-detection and the initial value of current-order is set at the value that makes current control system produce oscillatory occurences easily.
And, more than be illustrated carrying out the situation that position of magnetic pole detects after the power supply closure during first start, but be not limited thereto.Can when each starting, carry out this position of magnetic pole and detect, also can detect instruction according to magnetic pole and carry out from the outside.
In execution mode 1,, the situation that d shaft current command value Idph is increased is illustrated as the method that is easy to generate oscillatory occurences.In present embodiment 2, the additive method that is easy to generate oscillatory occurences is described.
Shown in the Bode diagram of Fig. 4, oscillatory occurences is easy to generate by the phase delay that makes high-frequency region.Thus, in the processing of the step S512 of Fig. 5, can in current regulator, insert and postpone key element (redundancy time key element) and d shaft current command value Idph is increased to substitute.
Fig. 7 has been the square frame line chart that has comprised the d shaft current control system that postpones key element 23 and switch 24 of expression embodiment of the present invention 2.Postpone key element 23 and export the feedback current value Id ' of the time delay of the feedback current value Id with relative current control system.In addition, switch 24 is to insert the secondary signal switching part that output signal is switched in instruction according to the delay key element from magnetic pole phase identifying unit 20.
When running well, when perhaps illustrated position of magnetic pole detected in carrying out execution mode 1, magnetic pole phase identifying unit 20 did not generate and postpones key element insertion instruction.But when carrying out the position of magnetic pole detection, even d shaft current command value Idph increase also is being judged as under the situation that does not produce oscillatory occurences, magnetic pole phase identifying unit 20 can the output delay key element insert instruction.
Under the situation of not instructing from the delay key element insertion of magnetic pole phase identifying unit 20, switch 24 is exported feedback current Id as the feedback current value.On the other hand, switch 24 inserts under the situation of instruction receiving from the delay key element of magnetic pole phase identifying unit 20, and the feedback current Id ' by postponing the time delay that key element 23 causes that will have relative feedback current Id exports as the feedback current value.
According to execution mode 2, be inserted into the current feedback ring by postponing key element according to delay key element insertion instruction, the feedback current when position of magnetic pole is detected is easy to generate oscillatory occurences.Thus, only increasing current instruction value, feedback current can not produce oscillatory occurences, and can not determine under the situation of position of magnetic pole, can postpone usually to produce oscillatory occurences by inserting, and can easily detect position of magnetic pole.
And, owing to can make feedback current be easy to generate oscillatory occurences by inserting the delay key element, so need not to increase current instruction value on the contrary.Therefore, can detect for carrying out position of magnetic pole under the lower state in that current instruction value is suppressed, and the heating of the permanent magnet synchronous motor can suppress position of magnetic pole and detect the time.
Claims (5)
1. the control device of a permanent magnet synchronous motor, this control device is used to carry out the speed control of permanent magnet synchronous motor, and it has:
Position detector, the position of magnetic pole of detection permanent magnet synchronous motor;
The phase place arithmetic element calculates electrical phase angle according to detected described position of magnetic pole;
Power converter offers described permanent magnet synchronous motor according to voltage instruction with the alternating current of voltage variable, changeable frequency;
Current detector detects from each phase current of described power converter output;
Control part calculates voltage instruction according to electrical phase angle, current-order with from the detection electric current of described current detector, and it is outputed to described power transfer portion;
It is characterized in that also having:
The magnetic pole that detecting pattern setup unit, output are used to detect the position of magnetic pole of described permanent magnet synchronous motor detects instruction;
Magnetic pole detection stream command unit detects instruction according to the described magnetic pole from described detecting pattern setup unit, exports a plurality of different values as the electrical phase angle and the current-order that are used for the initial magnetic pole phase-detection;
The signal switching part, carry out the conversion of signal processing, make when running well, to instruct from the q shaft current instruction of the speed command generation of outside with from the d shaft current of outside according to electrical phase angle, basis that the position output of described position detector is tried to achieve and output to described control part, when input is instructed from the described magnetic pole detection of described detecting pattern setup unit, will output to described control part from the electrical phase angle that is used for the initial magnetic pole phase-detection and the current-order of described magnetic pole detection stream command unit output;
The magnetic pole phase identifying unit, detect instruction according to described magnetic pole from described detecting pattern setup unit, from detected value, extract the high fdrequency component of electric current and detect oscillatory occurences from the feedback current of described current detector, the electrical phase angle that vibration is maximum is defined as the initial magnetic pole phase place, described phase place arithmetic element is carried out the setting of described initial magnetic pole phase place, and described feedback current is with corresponding from a plurality of different values of described magnetic pole detection stream command unit output.
2. the control device of permanent magnet synchronous motor according to claim 1 is characterized in that, described magnetic pole detection stream command unit is set at a plurality of values with the electrical phase angle that described initial magnetic pole phase-detection is used an electrical phase angle in the cycle.
3. the control device of permanent magnet synchronous motor according to claim 1 and 2, it is characterized in that, the current instruction value that described magnetic pole detection stream command unit will be used for the initial magnetic pole phase-detection be set in certain value near, this certain value makes armature reaction magnetic flux and made a part of magnetic saturation of the magnetic circuit of described permanent magnet synchronous motor by the magnetic flux sum that permanent magnetism causes.
4. the control device of permanent magnet synchronous motor according to claim 1 and 2, it is characterized in that, described detecting pattern setup unit has the storage part that the storage position of magnetic pole detects complement mark, the position of magnetic pole that resets when power supply is closed detects complement mark and is stored to described storage part, when starting, take out described position of magnetic pole and detect complement mark from described storage part, detect under the situation that complement mark has been reset at described position of magnetic pole, the magnetic pole that output is used to detect the position of magnetic pole of described permanent magnet synchronous motor detects instruction;
After can determining described initial magnetic pole phase place, described magnetic pole phase identifying unit is provided with the storage part that position of magnetic pole detects complement mark and is stored to described detecting pattern setup unit.
5. the control device of permanent magnet synchronous motor according to claim 1 and 2 is characterized in that, described control part also has:
Postpone key element portion, input is from the detection electric current of described current detector, and output device is the signal of delay if having time;
The secondary signal switching part, carry out the switching of signal processing, make when running well, output is from the detection electric current of described current detector, as the feedback current that uses at described control part, and when the input delay key element was inserted instruction, output was from the signal of described delay key element portion, as the feedback current that uses at described control part;
Described magnetic pole phase identifying unit carrying out the initial magnetic pole phase place really regularly according to the described magnetic pole detection instruction from described detecting pattern setup unit, inserts instruction to described secondary signal switching part output delay key element as required.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004368036A JP4566725B2 (en) | 2004-12-20 | 2004-12-20 | Control device for permanent magnet synchronous motor |
| JP2004368036 | 2004-12-20 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1794560A CN1794560A (en) | 2006-06-28 |
| CN100367656C true CN100367656C (en) | 2008-02-06 |
Family
ID=36734142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100774215A Active CN100367656C (en) | 2004-12-20 | 2005-06-16 | Controlling device of permanent-magnet synchro motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4566725B2 (en) |
| CN (1) | CN100367656C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4592385B2 (en) * | 2004-10-27 | 2010-12-01 | 株式会社東芝 | Control device for synchronous machine |
| WO2008001904A1 (en) | 2006-06-30 | 2008-01-03 | Nikon Corporation | Digital camera |
| JP4901695B2 (en) * | 2007-11-02 | 2012-03-21 | 本田技研工業株式会社 | Characteristic measurement device, characteristic visualization device, and current control device |
| JP5512392B2 (en) * | 2009-05-26 | 2014-06-04 | 株式会社東芝 | X-ray CT apparatus and magnetic pole position detection method thereof |
| CN102570945B (en) * | 2010-11-15 | 2016-01-13 | 北京航天发射技术研究所 | Permanent magnet synchronization gyro motor control and equipment |
| CN102075054B (en) * | 2011-02-25 | 2012-08-22 | 哈姆林电子(苏州)有限公司 | Multi-magnetic pole switching position detector |
| JP5523414B2 (en) * | 2011-09-05 | 2014-06-18 | 三菱電機株式会社 | AC motor control device |
| CN102969969B (en) * | 2012-12-14 | 2014-10-15 | 北京精雕科技有限公司 | Automatic phase hunting method used for permanent magnet synchronous servo motor |
| CN104852663B (en) * | 2015-05-11 | 2018-04-13 | 永大电梯设备（中国）有限公司 | A kind of extremely accurate discrimination methods of the initial N/S of permanent magnetism assist in synchronization magnetic resistance motor rotor |
| CN105572591B (en) * | 2015-12-23 | 2018-10-26 | 日立电梯(上海)有限公司 | Elevator motor magnetic pole drift angle offset detection system and detection method |
| CN110546880B (en) * | 2017-04-27 | 2022-07-05 | 日本电产株式会社 | Control device for output voltage command value |
| CN112088485A (en) * | 2018-05-07 | 2020-12-15 | 松下知识产权经营株式会社 | Drive device and drive system |
| JP7164471B2 (en) * | 2019-03-15 | 2022-11-01 | エドワーズ株式会社 | Control device and vacuum pump equipped with the control device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000166300A (en) * | 1998-11-25 | 2000-06-16 | Toshiba Corp | Start-controlling device of permanent magnet-type synchronous motor |
| US6204618B1 (en) * | 1999-06-08 | 2001-03-20 | Industrial Technology Research Institute | Starting method for brushless DC motor and device for the same |
| CN1467910A (en) * | 2002-05-31 | 2004-01-14 | ���µ�����ҵ��ʽ���� | Motor driving apparatus and motor using the same |
| CN1470760A (en) * | 2002-06-27 | 2004-01-28 | ���＼�й�ҵ��ʽ���� | Starting device of engine |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0956193A (en) * | 1995-08-21 | 1997-02-25 | Aichi Electric Co Ltd | Apparatus for detecting magnetic pole position during stoppage of sensorless brushless dc motor |
| JP3336870B2 (en) * | 1996-09-04 | 2002-10-21 | 三菱電機株式会社 | Method and apparatus for controlling rotating magnet type polyphase synchronous motor |
| JPH1084691A (en) * | 1996-09-09 | 1998-03-31 | Sanyo Electric Co Ltd | Motor driver |
| JP4211133B2 (en) * | 1999-04-26 | 2009-01-21 | 株式会社明電舎 | Sensorless control system for permanent magnet synchronous motor |
| JP3591414B2 (en) * | 2000-03-15 | 2004-11-17 | 富士電機機器制御株式会社 | Control device for permanent magnet synchronous motor |
| JP4596200B2 (en) * | 2000-11-27 | 2010-12-08 | 富士電機システムズ株式会社 | Control device for permanent magnet type synchronous motor |
| JP3687590B2 (en) * | 2001-11-14 | 2005-08-24 | 株式会社明電舎 | PM motor control method and control apparatus |
| JP3625291B2 (en) * | 2002-11-12 | 2005-03-02 | 株式会社日立製作所 | Magnetic pole position estimation method for synchronous motor, motor control device, and electric vehicle |
-
2004
- 2004-12-20 JP JP2004368036A patent/JP4566725B2/en not_active Expired - Fee Related
-
2005
- 2005-06-16 CN CNB2005100774215A patent/CN100367656C/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000166300A (en) * | 1998-11-25 | 2000-06-16 | Toshiba Corp | Start-controlling device of permanent magnet-type synchronous motor |
| US6204618B1 (en) * | 1999-06-08 | 2001-03-20 | Industrial Technology Research Institute | Starting method for brushless DC motor and device for the same |
| CN1467910A (en) * | 2002-05-31 | 2004-01-14 | ���µ�����ҵ��ʽ���� | Motor driving apparatus and motor using the same |
| CN1470760A (en) * | 2002-06-27 | 2004-01-28 | ���＼�й�ҵ��ʽ���� | Starting device of engine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1794560A (en) | 2006-06-28 |
| JP2006180567A (en) | 2006-07-06 |
| JP4566725B2 (en) | 2010-10-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100367656C (en) | Controlling device of permanent-magnet synchro motor | |
| Pacas | Sensorless drives in industrial applications | |
| EP2689527B1 (en) | A method and apparatus for control of electrical machines | |
| CN110729940A (en) | Method for detecting initial phase of permanent magnet synchronous motor | |
| CN101286725A (en) | Deriving method of motor rotative velocity and location of rotor in synchronous electric machine vector control system | |
| CN102647134A (en) | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor | |
| JP5224372B2 (en) | Magnetic pole position detection method for permanent magnet synchronous motor | |
| Immaneni | Mathematical modelling and position control of brushless dc (BLDC) motor | |
| CN103460595B (en) | Method and apparatus for being adapted to the commutation of the motor of electronic commutation | |
| US9270215B2 (en) | Method and device for compensating for load factors in permanently excited motors | |
| US11848591B2 (en) | Systems, methods, and computer-readable media for driving polyphase motors | |
| CN110601633A (en) | Permanent magnet synchronous motor initial phase detection system | |
| CN104143937A (en) | Speed sensorless vector control system | |
| Zhang | Information driven control design: a case for PMSM control | |
| Chattopadhyay | Advances in vector control of ac motor drives—A review | |
| De Viaene et al. | Sensorless load angle control for energy optimal sinusoidal driven BLDC motor applications | |
| Daud et al. | DSP based simulator for speed control of the synchronous reluctance motor using hysteresis current controller | |
| Jing et al. | Optimization of speed loop control technology for permanent magnet synchronous motor servo system | |
| Dybkowski et al. | Self-tuning adaptive sensorless induction motor drive with the stator current-based MRAS speed estimator | |
| Wang et al. | Realization of vector control for induction motor considering iron loss | |
| CN107482965A (en) | The control device of synchronous motor | |
| CN110785923A (en) | Motor control device and motor control method | |
| Patel | Development and implementation of high performance and high efficiency interior permanent magnet synchronous motor drive | |
| Ekmen et al. | A BLDC motor drive with four switch three phase inverter | |
| JP2019054621A (en) | Control device and control method of synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: MITSUBISHI ELECTRIC SHANGHAI ELECTRIC ELEVATOR CO. Free format text: FORMER OWNER: MISSUBISHI ELECTRIC CORP. Effective date: 20120607 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; TO: 201108 MINHANG, SHANGHAI |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20120607 Address after: 201108 Minhang District, Shanghai Road, No. 1211 spring Patentee after: Mitsubshi Electric Shanghai Electric Elevator Co., Ltd. Address before: Tokyo, Japan Patentee before: Missubishi Electric Co., Ltd. |