CN101282101A - Method for detecting initiation magnetic pole of permanent magnetism motor - Google Patents

Method for detecting initiation magnetic pole of permanent magnetism motor Download PDF

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Publication number
CN101282101A
CN101282101A CNA2007100907555A CN200710090755A CN101282101A CN 101282101 A CN101282101 A CN 101282101A CN A2007100907555 A CNA2007100907555 A CN A2007100907555A CN 200710090755 A CN200710090755 A CN 200710090755A CN 101282101 A CN101282101 A CN 101282101A
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China
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motor
magnetic pole
detecting
permanent magnetism
stator
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CNA2007100907555A
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Chinese (zh)
Inventor
李振业
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Delta Electronics Inc
Delta Optoelectronics Inc
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Delta Optoelectronics Inc
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Priority to CNA2007100907555A priority Critical patent/CN101282101A/en
Publication of CN101282101A publication Critical patent/CN101282101A/en
Pending legal-status Critical Current

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Abstract

A method for detecting permanent magnetism motor initial magnetic pole comprises firstly determining a PWM pulse width Dt applied to the stator based on motor parameter; outputting six voltage vectors to the stator by turn; calculating current rising time generated by each voltage vector; comparing the rising time to obtain a primary rotor position; next repeatingly outputting the six voltage vectors to the stator and calculating the rotor position again; comparing the results of aligning magnetic poles, if the results are same, the detection is complete; if different, then repeating the voltage input of six connecting method, until the two results are same. the current accurate position can be set larger than the motor rated current, for example, is 160 % of the motor rated current, which is benefit to compare the rising time; if the motor rated current is larger than the driver rated current, the current accurate position can be set by 160 % of the driver rated current.

Description

The method for detecting of initiation magnetic pole of permanent magnetism motor
Technical field
The present invention relates to a kind of method for detecting of initiation magnetic pole of permanent magnetism motor, particularly a kind of method for detecting that utilizes the initiation magnetic pole of permanent magnetism motor of potential pulse, and wherein potential pulse is relevant with parameters of hydraulic motor.
Background technology
Along with the inexorable trend of industrial upgrades and industry automation, servo motor as CNC toolroom machine, mechanical arm, industrial machine, elevator, cold air aviation brake or the like, all needs the accurate control of motor and drives on commercial Application.Because microprocessor and electric power assembly technology significantly promote, make that the control theory method of more complicated is put into practice, and then control performance is promoted significantly in recent years.
Permanent-magnetic AC servo motor (permanent magnet AC servo motor) causes a rotating magnetic field by pulse-width modulation (pulse width modulation) at the stator of motor by frequency converter (inverter), the magnetic field interaction that it and rotor permanent magnet are caused and produce rotation torque.And the permanent magnet motor Drive Control Technique is according to the motor rotor position, changes the on off state of frequency converter thus, produces suitable stator rotating magnetic field, makes motor produce level and smooth rotating magnetic field.Because the permanent magnet original position of rotor is at random that when causing motor starting, rotor may produce forward or reverse and unknown.Yet, to reverse when not allowing motor starting in application scenarios such as elevators, permanent magnet original position that therefore must the detecting rotor is to avoid the situation of this counter-rotating.
The method of permanent magnet motor detecting initiation magnetic pole mainly can be divided into two kinds of high frequency input method (HFI) and potential pulse input methods.The high frequency input method have calculation of complex, d-q axle inductance need known, can't differentiate ± 180 ° of problems such as electronics angle.Traditional potential pulse is when utilizing the different rotor position, produces the different electric current rates of rise because of inductance is different, and relatively this ascending current can obtain the initiation magnetic pole position.But the potential pulse input method is too high for the dependence of parameters of hydraulic motor, if the incorrect meeting of the setting of rise time causes motor coil to damage, crosses to hang down and can cause the initiation magnetic pole detecting incorrect again.
The method that a cover can fast, accurately be judged initiation magnetic pole of permanent magnetism motor if therefore can develop, then can significantly promote the performance and the stability of permanent magnet motor; Preferably the dependence to parameter is not high for the method for detecting of this initiation magnetic pole of permanent magnetism motor in addition, and goes for any motor.
Summary of the invention
Main purpose of the present invention provides a kind of method that can quick and precisely judge initiation magnetic pole of permanent magnetism motor.
To achieve the above object, the invention provides a kind of method for detecting of initiation magnetic pole of permanent magnetism motor, at first determine a PWM pulsewidth Dt who is applied to stator according to parameters of hydraulic motor; Export six kinds of voltage vectors in regular turn to stator; Calculate the current rise time that each voltage vector produces; Then contrast the rise time to obtain a rotor-position.
To achieve the above object, in the method for detecting of initiation magnetic pole of permanent magnetism motor of the present invention, can then repeat to export six kinds of voltage vectors to stator and also calculate rotor-position again; Contrast the result of twice pair of positive magnetic pole, and if identical the detecting finish; If different then repeat the voltage input of six kinds of connection methods, till two times result would be identical.
To achieve the above object, in the method for detecting of initiation magnetic pole of permanent magnetism motor of the present invention, can set the accurate position of electric current greater than the motor rated current, be 160% of motor rated current for example, is beneficial to the length of comparison rise time; If the motor rated current is greater than the driver rated current, then the accurate position of electric current can be set at 160% of driver rated current.
According to the method for detecting of above-mentioned initiation magnetic pole of permanent magnetism motor, can judge the initiation magnetic pole of permanent magnet motor rapidly and accurately.
Description of drawings
Figure 1A and Figure 1B are the schematic diagram of permanent magnet motor stator field and rotor field;
Fig. 2 is the graph of a relation of magnetic flux and electric current in the permanent magnet motor;
Fig. 3 is under the different situation of stator inductance, electric current and time relation figure;
Before Figure 4 shows that the permanent magnet motor running, six kinds of bias voltage modes of three phase windings;
Figure 5 shows that the equivalent circuit diagram of motor;
Fig. 6 is the current waveform of motor coil when excitatory;
Fig. 7 is the schematic diagram of the mode input voltage of use PWM (pulse width modulation);
Fig. 8 be the PWM pulsewidth break period Ts and PWM pulsewidth Dt concern schematic diagram;
Fig. 9 is the method for detecting flow chart according to initiation magnetic pole of permanent magnetism motor of the present invention.
Embodiment
Relevant technology contents of the present invention and detailed description now cooperate graphic being described as follows:
See also shown in Figure 1A and Figure 1B, be the schematic diagram of permanent magnet motor stator field and rotor field, wherein the rotor field is produced by permanent magnet, and stator field is then set up by additional power source, therefore the stator field direction can be considered as known.When stator field was opposite with the rotor field direction, then the resultant magnetic field was unsaturated (linearity); Otherwise when stator field was identical with the rotor field direction, the resultant magnetic field was saturated.Whether the resultant magnetic field is saturated can influence the stator inductance size, so characteristic is detected the start position of permanent magnet motor rotor thus.
Consult shown in Figure 2ly, be the graph of a relation of magnetic flux in the permanent magnet motor and electric current, whether saturated influence of resultant magnetic field as can be seen to the stator inductance size, inductance is less when the resultant magnetic field is saturated; Otherwise when the unsaturation of resultant magnetic field, inductance is bigger.Stator inductance becomes that greatly then time constant is bigger, makes that the speed that electric current rises is slower when adding outer identical voltage.
Consulting shown in Figure 3ly, is electric current and time relation figure under the different situation of stator inductance.Can find out that because the difference of inductance, it is also inconsistent that electric current rises to same accurate the time, detected the initiation magnetic pole of permanent magnetism motor position thus under the saturated and full situation of closing in resultant magnetic field.
In other words can utilize above-mentioned rotor to have different stator inductances, cause the principle of different current rise times, detecting initiation magnetic pole of permanent magnetism motor position at diverse location.Figure 4 shows that six kinds of bias voltage modes of permanent magnet motor running three-phase winding.On three phase winding U of stator, V, W, add bias voltage Vdc in six kinds of modes shown in Figure 4, on each phase winding U, V, W, produce the trigger impulse of positive and negative polarity thus; Measure this six kinds of rise time that the bias voltage mode produces electric current more respectively, to obtain the relative original position of rotor and stator.
Figure 5 shows that the equivalent circuit diagram of motor, and the current waveform of Fig. 6 when to be motor coil excitatory, wherein R is the coil resistance of motor, L is an inductance, V DcBe bus (bus) voltage.I RatedBe the rated current of motor, I Level=I Rated* 160%.Make i (t)=I Level, can calculate rise time t r:
t r = - L R × ln | 1 - I level × R V dc |
As seen from Figure 6, the electric current rate of climb is fast more if inductance is more little, just the rise time is short more, therefore can add trigger impulse according to six kinds of bias voltage modes shown in Figure 4, measure current rise time again, what the rise time was the shortest is exactly the magnetic pole of the stator that rotor aligns, and therefore can obtain the start position of permanent magnet motor rotor.As for the accurate position of electric current I LevelSetting, because when the accurate position of the electric current that rises is little, therefore be difficult for comparing the length of rise time, set the accurate position of electric current 160% (if the motor rated current is greater than driver rated current, then with 160% of the driver rated current position that is as the criterion) for the motor rated current.
In order to simplify calculating, the voltage drop of resistance R can be ignored in addition, following formula can be simplified obtaining:
t r = L × I level V dc
Too fast for avoiding electric current to rise, cause the difficulty of process monitoring, so the input of voltage can not use the mode of power switch standard-sized sheet or complete shut-down to come conducting, must utilize the mode input voltage of PWM (pulse width modulation).Referring to Fig. 7, be the schematic diagram of the mode input voltage that uses PWM (pulse width modulation).Because different motors has different parameters of hydraulic motor, so the rise time also can be different, so the design of PWM pulsewidth needs to change along with parameters of hydraulic motor.Referring to Fig. 8, for the PWM pulsewidth break period Ts and PWM pulsewidth Dt concern schematic diagram.At first, Ts break period of a PWM pulsewidth is subdivided into 256 five equilibriums, afterwards rise time tr is split as 32 PWM and interrupts finishing (referring to shown in Figure 7), wherein t r=t 1+ t 2+ ...+t 31+ t 32Can calculate PWM pulsewidth Dt this moment:
Dt = ( t r + 32 × DB ) × CF × 256 32
In following formula, DB is the out-of-service time (deadtime) (for example can be 4 μ S) that prevents underarm short circuit on the driving power switch, and CF is the maximum carrier frequency (carryfrequency) of driver.
Referring to Fig. 9, be method for detecting flow chart according to initiation magnetic pole of permanent magnetism motor of the present invention, at first the maximum carrier frequency according to parameters of hydraulic motor and driver calculates PWM pulsewidth Dt (step 100); Then export six kinds of voltage vectors successively to stator (step 102) as the framework of Fig. 4; The current rise time (step 104) of then calculating each voltage vector and being produced; Then contrast the rise time to obtain rotor-position (step 106); Then repeating step 102 is to step 106; Then contrast twice measurement result whether identical (step 108), finish if come to the same thing then detect.In above-mentioned flow process, cause the measurement mistake for avoiding noise jamming, so repeating step 102 is to step 106.Contrast the result of twice pair of positive magnetic pole, if identical then detecting finishes, if different then repeat the voltage input of six kinds of connection methods, till two times result would be identical.
Above-mentioned is the preferred embodiments of the present invention only, is not to be used for limiting the scope of the present invention.Be that all equalizations of doing according to claim of the present invention change and modification, be all claim of the present invention and contain.

Claims (13)

1. the method for detecting of an initiation magnetic pole of permanent magnetism motor, described permanent magnet motor comprises stator and rotor and stator and has three phase windings, and described permanent magnet motor is by a driver drives, and described method comprises the steps:
(a) decision is applied to the PWM pulsewidth Dt of stator;
(b) export six kinds of voltage vectors in regular turn to stator;
(c) current rise time of calculating each voltage vector and being produced; And
(d) the described rise time of contrast is to obtain rotor-position.
2. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 1 is characterized in that, also comprises the steps:
Repeat above-mentioned steps (b)～(d), and whether comparing result is identical.
3. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 1 is characterized in that, T break period of a PWM pulsewidth sBe subdivided into 256 five equilibriums.
4. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 3 is characterized in that, described rise time tr is split as 32 PWM and interrupts finishing.
5. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 4 is characterized in that, PWM pulsewidth Dt calculates according to following manner:
Dt = ( t r + 32 × DB ) × CF × 256 32
DB is the out-of-service time that prevents underarm short circuit on the driving power switch, and CF is the maximum carrier frequency of driver.
6. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 1 is characterized in that, the accurate position of electric current is 160% of a motor rated current.
7. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 6 is characterized in that, if the motor rated current is greater than the driver rated current, then with 160% of the driver rated current position that is as the criterion.
8. the method for detecting of an initiation magnetic pole of permanent magnetism motor, described permanent magnet motor comprises stator and rotor and stator and has three phase windings, and described permanent magnet motor is by a driver drives, and described method comprises the steps:
(a) decision is applied to the PWM pulsewidth Dt of stator;
(b) export six kinds of voltage vectors in regular turn to stator;
(c) current rise time of calculating each voltage vector and being produced; And
(d) the described rise time of contrast is to obtain a preliminary rotor-position;
(e) repeat above-mentioned steps (b)～(d), and whether comparing result is identical;
(f), then obtain correct rotor-position if comparing result is identical;
(g) if the comparing result difference, repeating step (b)～(e) then is till comparing result is identical.
9. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 8 is characterized in that, T break period of a PWM pulsewidth sBe subdivided into 256 five equilibriums.
10. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 9 is characterized in that, described rise time tr is split as 32 PWM and interrupts finishing.
11. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 10 is characterized in that, PWM pulsewidth Dt calculates according to following manner:
Dt = ( t r + 32 × DB ) × CF × 256 32
DB is the out-of-service time that prevents underarm short circuit on the driving power switch, and CF is the maximum carrier frequency of driver.
12. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 8 is characterized in that, the accurate position of electric current is 160% of a motor rated current.
13. the method for detecting of initiation magnetic pole of permanent magnetism motor as claimed in claim 12 is characterized in that, if the motor rated current is greater than the driver rated current, then with 160% of the driver rated current position that is as the criterion.
CNA2007100907555A 2007-04-02 2007-04-02 Method for detecting initiation magnetic pole of permanent magnetism motor Pending CN101282101A (en)

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CNA2007100907555A CN101282101A (en) 2007-04-02 2007-04-02 Method for detecting initiation magnetic pole of permanent magnetism motor

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Application Number Priority Date Filing Date Title
CNA2007100907555A CN101282101A (en) 2007-04-02 2007-04-02 Method for detecting initiation magnetic pole of permanent magnetism motor

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CN101282101A true CN101282101A (en) 2008-10-08

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107317524A (en) * 2016-04-26 2017-11-03 戴森技术有限公司 The method for determining the rotor-position of magneto
CN107395071A (en) * 2016-04-26 2017-11-24 戴森技术有限公司 The method for controlling brushless permanent magnet motor
CN108206658A (en) * 2016-12-16 2018-06-26 半导体组件工业公司 For the rotor-position sensing system of permanent magnet synchronous motor

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107317524A (en) * 2016-04-26 2017-11-03 戴森技术有限公司 The method for determining the rotor-position of magneto
CN107395071A (en) * 2016-04-26 2017-11-24 戴森技术有限公司 The method for controlling brushless permanent magnet motor
CN107395071B (en) * 2016-04-26 2020-06-23 戴森技术有限公司 Method for controlling brushless permanent magnet motor
CN107317524B (en) * 2016-04-26 2020-08-25 戴森技术有限公司 Method for determining the position of a rotor of a permanent magnet machine
CN108206658A (en) * 2016-12-16 2018-06-26 半导体组件工业公司 For the rotor-position sensing system of permanent magnet synchronous motor
CN108206658B (en) * 2016-12-16 2023-08-25 半导体组件工业公司 Rotor Position Sensing System for Permanent Magnet Synchronous Motor

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Open date: 20081008