CN101615876A - A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method - Google Patents

Abstract

The invention discloses a kind of speed-adjusting and control system and method for non-salient pole permanent magnet synchronous motor; Method comprises: electrical degree position θ and the electromechanics rotational speed omega of measuring the non-salient pole permanent magnet synchronous motor rotor _mThe rotating speed of target ω that obtains presetting _m ^*With described ω _mDifference; To described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*According to described θ to u _d ^*With described u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^*Be 0; According to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal; Produce the three-phase winding current according to described power device pulse width signal, send to described non-salient pole permanent magnet synchronous motor.The present invention can realize the speed ring no current sensor vector control of non-salient pole permanent magnet synchronous motor, has reduced hardware cost for timing.

Description

A kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor and method

Technical field

The present invention relates to the control system field, be specifically related to a kind of speed-adjusting and control system and method for non-salient pole permanent magnet synchronous motor.

Background technology

Fast development along with rare earth permanent-magnetic material, power electronic technology and Electric Machine Control theory etc., permagnetic synchronous motor (PMSM) obtains increasingly extensive application with advantages such as its high torque (HT)/inertia ratio, high power density, high efficiency, fastness and maintainability are good in fields such as weaving, chemical fibre, Digit Control Machine Tool, industrial robot and Aero-Space.

According to the structure difference of permagnetic synchronous motor, permagnetic synchronous motor is divided into two kinds of salient pole type and hidden pole types.In industrial applications, most permagnetic synchronous motor is a Non-Salient-Pole Motor.When adopting the sine-wave current controlling schemes to realize speed control, its control strategy generally adopts direct-axis current to instruct null control method, hands over shaft current to realize control to torque and rotating speed by control.This control method at first obtains handing over the shaft current instruction with the speed regulation controller, and friendship, direct-axis current realize current closed-loop by the current regulation control device again.In a word, this control strategy must be to need current of electric to measure feedback, also promptly needs corresponding current sensor, modulate circuit and AD converter, and therefore increased the hardware cost of driving control system.

Summary of the invention

The technical problem to be solved in the present invention has provided a kind of speed-adjusting and control system and method for non-salient pole permanent magnet synchronous motor, can realize the speed ring no current sensor vector control of non-salient pole permanent magnet synchronous motor, has reduced hardware cost for timing.

In order to address the above problem, the invention provides a kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor, comprising:

Measuring unit is used to measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

Comparator is used to the rotating speed of target ω that obtains presetting _m ^*With described ω _mDifference;

The proportion integration differentiation unit, be used for to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

The Park inverse transformation block is used to receive u _d ^*, described u _q ^*And θ, according to described θ to u _d ^*And u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^*Be 0;

Space voltage vector pulse width modulation algorithm unit is used for according to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal;

Voltage source inverter is used for producing the three-phase winding current according to described power device pulse width signal, sends to described non-salient pole permanent magnet synchronous motor.

Further, described measuring unit specifically comprises:

Position measurement device, multiplier and differentiator.

Described position measurement device is used to measure the mechanical angle position θ of rotor _m, send to described multiplier and differentiator respectively;

Described multiplier is with described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ, send to described Park inverse transformation block;

Described differentiator is used for described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m

Further, described position measurement device is one to be installed in the code-disc of the motor shaft end of non-salient pole permanent magnet synchronous motor.

Further, described Park inverse transformation block according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant:

Described Park inverse transformation block according to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

Further, described speed-adjusting and control system also comprises:

Low pass filter LPF is connected between described proportion integration differentiation unit and the described Park inverse transformation block, is used for the q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*, input to described Park inverse transformation block.

The present invention also provides a kind of method for controlling speed regulation of non-salient pole permanent magnet synchronous motor, comprising:

Measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

The rotating speed of target ω that obtains presetting _m ^*With described ω _mDifference;

To described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

According to described θ to u _d ^*With described u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^* Be 0;

According to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal;

Produce the three-phase winding current according to described power device pulse width signal, send to described non-salient pole permanent magnet synchronous motor.

Further, the electrical degree position θ of described measurement non-salient pole permanent magnet synchronous motor rotor and electromechanics rotational speed omega _mStep specifically comprise:

Measure the mechanical angle position θ of rotor _m

With described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ;

To described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m

Further, measure the mechanical angle position θ of rotor _mBe meant:

Adopt a code-disc that is installed in the motor shaft end of non-salient pole permanent magnet synchronous motor to measure the mechanical angle position θ of rotor _m

Further, according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant:

According to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

Further, to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*After also comprise:

Q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*

According to θ to u _d ^*With described u _q ^*When carrying out the PARK inverse transformation, described u _q ^*Be filtered u _q ^*

Technical scheme of the present invention has proposed a kind of novel, adopts the speed-adjusting and control system based on the null control strategy of direct-axis voltage command value, can realize the speed ring no current sensor vector control of non-salient pole permanent magnet synchronous motor; Technical scheme of the present invention has obtained checking and has used in the driving control system for electric machine based on 32 bit DSPs of TMS320F2808.After using the present invention, the non-salient pole permanent magnet synchronous motor speed ring is controlled to have and is operated steadily, and current noise is little, and system realizes low cost and other advantages.Prioritization scheme of the present invention adds low pass filter, has avoided causing the power device overcurrent to damage or the problem of protection at the beginning of non-salient pole permanent magnet synchronous motor starts.

Description of drawings

Fig. 1 is the schematic block diagram of the speed-adjusting and control system of the non-salient pole permanent magnet synchronous motor among the embodiment one;

Fig. 2 is the unloaded dynamic speed response experimental result picture when the motor rotating speed of target is 1500rpm in a kind of execution mode of embodiment one;

Fig. 3 is the figure as a result of the unloaded dynamic experiment during the electric motor starting process in a kind of execution mode of embodiment one;

Fig. 4 is the unloaded stable state experimental result picture when motor speed is 1500rpm in a kind of execution mode of embodiment one.

Embodiment

Below in conjunction with drawings and Examples technical scheme of the present invention is described in detail.

At first introduce the Mathematical Modeling of non-salient pole permanent magnet synchronous motor.

Suppose that motor is linear, parameter is ignored magnetic hysteresis, eddy current loss, rotor undamped winding not with variations such as temperature, and then based in the rotor field-oriented coordinate system (dq axle), the Mathematical Modeling of permanent magnet synchronous motor is:

The magnetic linkage equation: $\begin{array}{c}{\mathrm{\ψ}}_d=L_d{i}_d+{\mathrm{\ψ}}_m\\ {\mathrm{\ψ}}_q=L_q{i}_q\end{array}$

Voltage equation: $u_d={\mathrm{Ri}}_d+\frac{d}{\mathrm{dt}}{\mathrm{\ψ}}_d-{\mathrm{\ω\ψ}}_q---\left(1\right)$

$u_q={\mathrm{Ri}}_q+\frac{d}{\mathrm{dt}}{\mathrm{\ψ}}_q+{\mathrm{\ω\ψ}}_d---\left(2\right)$

Torque equation: $T_{\mathrm{em}}=\frac{3}{2}{P}_m({\mathrm{\ψ}}_d{i}_q-{\mathrm{\ψ}}_q{i}_d)=\frac{3}{2}{P}_m[{\mathrm{\ψ}}_m{i}_q-(L_q-L_d)i_d{i}_q]$

Wherein: ψ _d, ψ _qBe respectively stator dq axle magnetic linkage component; i _d, i _qBe respectively stator dq shaft current component; L _d, L _qBe respectively stator dq axle inductance, ψ _mBe the permanent magnet magnetic linkage; u _d, u _qBe respectively stator dq shaft voltage component; R is a motor stator resistance; ω is the rotor rotating speed; P _mBe the motor number of pole-pairs; T _EmTorque for motor.

For non-salient pole permanent magnet synchronous motor, L _d=L _q=L, magnetic linkage equation and torque equation are reduced to respectively:

The magnetic linkage equation: $\begin{array}{c}{\mathrm{\ψ}}_d=L{i}_d+{\mathrm{\ψ}}_m\\ {\mathrm{\ψ}}_q=L{i}_q\end{array}---\left(3\right)$

Torque equation: $T_{\mathrm{em}}=\frac{3}{2}{P}_m{\mathrm{\ψ}}_m{i}_q---\left(4\right)$

Employing is instructed null control method based on direct-axis current.When the steady operation of permagnetic synchronous motor sine, to fasten in static coordinate, the three-phase winding current can be expressed as:

i _a＝Asin(ωt)

$i_b=A\sin (\mathrm{\ωt}-\frac{2}{3}\mathrm{\π})---\left(5\right)$

$i_c=A\sin (\mathrm{\ωt}+\frac{2}{3}\mathrm{\π})$

Wherein, A is a current amplitude.

The Clarke coordinate transform is fastened the coordinate transform of three-phase winding current on two phase coordinate system α, β with static coordinate:

$\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}1& 0\\ \frac{1}{\sqrt{3}}& \frac{2}{\sqrt{3}}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\end{array}\right]---\left(6\right)$

The Park coordinate transform is fastened winding current with the two-phase static coordinate and is transformed to the dq synchronous coordinate and fasten:

$\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& \sin \mathrm{\θ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{i}_{\mathrm{\α}}\\ i_{\mathrm{\β}}\end{array}\right]---\left(7\right)$

Wherein, θ is the p-m rotor magnetic field position, and $\mathrm{\ω}=\frac{d}{\mathrm{dt}}\mathrm{\θ}.$

Can get by formula (5) to (7) computing abbreviation:

$i_d=\frac{3}{2}A\sin (\mathrm{\ωt}-\mathrm{\θ})$

Therefore, when permagnetic synchronous motor during at the sinusoidal steady operation of three-phase current:

$\frac{d}{\mathrm{dt}}{i}_d=\frac{3}{2}A\cos (\mathrm{\ωt}-\mathrm{\θ})\frac{d}{\mathrm{dt}}(\mathrm{\ωt}-\mathrm{\θ})=0$

Existing control strategy is in order to realize speed closed loop control, electric current (i necessarily to be arranged _d, i _q) given or the feedback (or reconstruct).

Technical scheme of the present invention has proposed a kind of speed regulating control scheme of no current sensor vector control, and its design philosophy is: current-order or feedback (or reconstruct) do not occur, make direct-axis voltage command value u _d ^*Equal zero, the output of speed ring directly is exactly u _qInstruction.When driving, ignore the tube voltage drop of VSI and the influence in dead band by voltage source inverter (VSI) when motor, can be similar to and think: $u_d=u_d^{*}=0.$ Then can get by d shaft voltage equation (1) and magnetic linkage equation (3):

$u_d={\mathrm{Ri}}_d+\frac{d}{\mathrm{dt}}({\mathrm{Li}}_d+{\mathrm{\ψ}}_m)-\mathrm{\ω}{\mathrm{Li}}_q=0$

That is: ${\mathrm{Ri}}_d+L\frac{d}{\mathrm{dt}}{i}_d=\mathrm{\ω}{\mathrm{Li}}_q$

When sinusoidal stable state, have $\frac{d}{\mathrm{dt}}{i}_d=0,$ Therefore,

$i_q=\frac{R}{\mathrm{L\ω}}{i}_d---\left(8\right)$

Bring equation (8) into q shaft voltage equation (2), abbreviation gets:

$u_q=L\frac{d}{\mathrm{dt}}{i}_q+(R+\frac{L^2{\mathrm{\ω}}^2}{R})i_q+{\mathrm{\ω\ψ}}_m---\left(9\right)$

Be expressed as with i _qState space equation for state variable:

$\frac{d}{\mathrm{dt}}{i}_q=-\left(\frac{{R^2+L}^2{\mathrm{\ω}}^2}{\mathrm{RL}}\right)i_q+\frac{1}{L}\left({u_q-\mathrm{\ω\ψ}}_m\right)---\left(10\right)$

According to equation (9) or (10), technical scheme of the present invention is by control q shaft voltage component u _qRealize q shaft current i _qThe control of state variable.To control input u _q, ω ψ _mAs the moving living back electromotive force of permagnetic synchronous motor, be a disturbance term.Further according to the torque formula $T_{\mathrm{em}}=\frac{3}{2}{P}_m{\mathrm{\ψ}}_m{i}_q,$ Can be by control q shaft voltage component u _qRealize indirect control to electromagnetic torque.

As seen, technical scheme of the present invention can be avoided current loop control, thereby realizes no current transducer control cheaply.Simultaneously, owing to there is not current closed-loop control, only directly control the torque and the rotating speed of motor by voltage vector, the harmonic content of electric current will obviously reduce, and the motor running noises significantly descends.

Certainly, from equation (8) as can be known, stator excitation current component i _d≠ 0, promptly there is extra excitation current component in stator current, and but to not contribution of electromagnetic torque, so power factor (PF) is lower, and may there be heating problem in magneto.But in a lot of industrial applications, permagnetic synchronous motor mainly operates under underload even the idle condition, and this problem can be avoided fully.

Embodiment one, a kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor, as shown in Figure 1, comprise: proportion integration differentiation unit PID, Park inverse transformation Inverse Park unit, space voltage vector pulse width modulation algorithm SVPWM unit, voltage source inverter VSI, comparator, measuring unit.

Described measuring unit is used to measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

In the present embodiment, described measuring unit can comprise:

Position measurement device, multiplier and differentiator.

Described position measurement device is used to measure the mechanical angle position θ of rotor _m, send to described multiplier and differentiator respectively; In the present embodiment, described position measurement device can but be not limited to a code-disc that is installed in the motor shaft end of non-salient pole permanent magnet synchronous motor; During practical application, described position measurement device also can be other mechanical angle position θ that can measure rotor _mDevice.

Described multiplier is with described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ, send to described Park inverse transformation block.

Described differentiator is used for described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m, and export to described comparator; Described differentiator can but be not limited to adopt the M/T method to calculate described electromechanics rotational speed omega _m

During practical application, described measuring unit also can be that other can directly measure electrical degree position θ and electromechanics rotational speed omega _mDevice; Can also comprise that energy measurement goes out electrical degree position θ or electromechanics rotational speed omega _mDevice, and extrapolate the device of another data according to the data of measuring, such as can comprise electrical degree position θ measurement mechanism, with θ divided by described P _mObtain mechanical angle position θ _mDivider, and to described θ _mCarry out differential and obtain the electromechanics rotational speed omega _mDifferentiator.

Described comparator is used to use default rotating speed of target ω _m ^*Deduct ω _m, the difference that obtains is sent to described proportion integration differentiation unit.

Described proportion integration differentiation unit be used for to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

Described Park inverse transformation block is used to receive u _q ^*, u _d ^*And θ, according to θ to described u _d ^*With described u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*, and send to described space voltage vector pulse width modulation algorithm unit.

Adopt that the present invention proposes with direct-axis voltage command value u _d ^*As 0 control strategy, $u_d^{*}=0.$

Described space voltage vector pulse width modulation algorithm unit is used for according to described voltage vector u _α ^*And u _β ^*Employing space voltage vector pulse width modulation algorithm (can be referring to document Han Li, Wen Xuhui, Chen Guilan. the entirely discrete hybrid simulation study of AC induction motor vector control. system emulation journal [J] .2007Vol.19No.7P.1646-1650) generate the required power device pulse width signal of described voltage source inverter, send to described voltage source inverter.

Described voltage source inverter is u by voltage _DcDC bus powered, be used for producing three-phase winding current i according to described power device pulse width signal _a, i _bAnd i _c, send to non-salient pole permanent magnet synchronous motor, press the work of setting speed closed loop to drive non-salient pole permanent magnet synchronous motor.

In the present embodiment, described speed-adjusting and control system can also comprise a low pass filter LPF, is connected between described proportion integration differentiation unit and the described Park inverse transformation block, is used for the q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*, input to described Park inverse transformation block.

By equation (9) as can be known, permagnetic synchronous motor is at the beginning of starting, and speed is not set up, the moving back electromotive force ω ψ that gives birth to _mBe 0, in addition, d shaft current i _dDo not set up induced electromotive force yet

Also be 0, q shaft voltage component will all be added on the resistance R, so cause impulse current very big when starting, be easy to cause the power device overcurrent to damage or protection.For avoiding the generation of this situation, added low pass filter, in the present embodiment with q shaft voltage component instruction value u _q ^*(can be by this low pass filter LPF referring to document Han Li, Wen Xuhui, Chen Guilan, Zhao Feng, Gao Jingwen. " A Practical SoftwareStrategy to Reduce DC Bus Bar Surge Voltage in AC Drives Fed by VSI " .Power Electronics Specialists Conference, 2007.PESC 2007.IEEE PublicationDate:17-21 June 2007.On page (s): 497-502.Location:Orlando, FL, ISSN:0275-9306.ISBN:978-1-4244-0655-5.) filtering obtains filtered q shaft voltage component instruction value u _q ^*, input to described Park inverse transformation block.

The inverse transformation block of Park described in the present embodiment according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant: described Park inverse transformation block according to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

In an embodiment of the present embodiment, the parameters of affiliated non-salient pole permanent magnet synchronous motor is: rated output power 200W, rated speed 3000rpm, nominal torque 0.637Nm, coefficient of potential 0.411Vs/rad, moment coefficient 0.411Nm/A, rotor inertia 0.167 * 10-4Kgm2, armature winding (between line) resistance 15.42 Ω, armature winding (between line) inductance 30.08mH.Damping coefficient 4.831 * 10-5Nms/rad.

In this execution mode, described speed-adjusting and control system adopts 32 bit DSPs-TMS320F2808 to realize, uses the C Programming with Pascal Language to realize whole control algolithms.This speed-adjusting and control system sample frequency is 10KHz., and motor speed is measured by the feedback of 2500 line code dishes realization Position And Velocity, and is convenient for the research algorithm, by Hall element ACS712 current of electric carried out synchronous track record.

Unloaded dynamic speed response experimental result when Fig. 2 is 1500rpm for motor rotating speed of target in this execution mode, Fig. 3 is the stator voltage during electric motor starting and the temporal variations process of electric current in this execution mode.As can be seen, the motor speed response process has satisfied the requirement that speed slowly changes well; Low pass filter LPF has realized the smoothing effect to speed ring PID control output, thereby makes current of electric realize the control effect of soft start.

In this execution mode, the motor running speed arrive 1500rpm and enter the electric moter voltage of steady-state process and results of weak current as shown in Figure 4.As seen the voltage instruction value u that fastens of static coordinate _α ^*And u _β ^*Sine when stable state is very good.Q shaft voltage component bid value u among the figure _q ^CmdWith command value u _q ^*The trickle error of calculation that exists when coming from the LPF fixed-point computation of technicality, can ignore.

Embodiment two, and a kind of method for controlling speed regulation of non-salient pole permanent magnet synchronous motor comprises:

Measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

The rotating speed of target ω that obtains presetting _m ^*And ω _mDifference;

To described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

According to θ to u _d ^*With described u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^*Be 0;

According to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal;

Produce three-phase winding current i according to described power device pulse width signal _a, i _bAnd i _c, send to described non-salient pole permanent magnet synchronous motor.

In the present embodiment, the electrical degree position θ of described measurement non-salient pole permanent magnet synchronous motor rotor and electromechanics rotational speed omega _mStep specifically comprise:

Measure the mechanical angle position θ of rotor _m

With described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ;

To described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m

During practical application, also can be directly to measure electrical degree position θ and electromechanics rotational speed omega _mDevice; Can also measure electrical degree position θ or electromechanics rotational speed omega earlier _m, extrapolate another data according to the data of measuring then, such as measuring electrical degree position θ earlier, use θ then divided by described P _mObtain mechanical angle position θ _m, again to described θ _mCarry out differential and obtain the electromechanics rotational speed omega _m

In the present embodiment, can but be not limited to adopt a code-disc that is installed in the motor shaft end of non-salient pole permanent magnet synchronous motor to measure the mechanical angle position θ of rotor _mDuring practical application, also can otherwise measure the mechanical angle position θ of rotor _m

In the present embodiment, according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant:

According to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

In the present embodiment, to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*After, according to θ to u _d ^*With described u _q ^*Carry out also comprising before the PARK inverse transformation:

Q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*

According to θ to u _d ^*With described u _q ^*When carrying out the PARK inverse transformation, described u _q ^*Be filtered u _q ^*

The present invention owing to there is not current sensor, therefore can realize speed ring control cheaply in system speed ring control implementation procedure.In addition, adopt space voltage vector pulse-width modulation SVPWM algorithm, therefore can in power device drives, use the charge pump power supply plan, further reduced the cost of hardware design of system because electric moter voltage drives.

Because not having current sensor closed loop feedback, the Current Control of motor is open loop control, in experiment and actual the use, motor mainly shows the mechanical friction noise, almost can't hear ever-present current harmonics noise in the current closed-loop control.This point also can be come as can be seen from the voltage current waveform shown in Fig. 4.Therefore, technical scheme of the present invention can well realize low noise.

Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection range of claim of the present invention.

Claims (10)

1, a kind of speed-adjusting and control system of non-salient pole permanent magnet synchronous motor is characterized in that, comprising:

Measuring unit is used to measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

Comparator is used to the rotating speed of target ω that obtains presetting _m ^*With described ω _mDifference;

The proportion integration differentiation unit, be used for to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

The Park inverse transformation block is used to receive u _d ^*, described u _q ^*And θ, according to described θ to u _d ^*And u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^*Be 0;

Space voltage vector pulse width modulation algorithm unit is used for according to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal;

Voltage source inverter is used for producing the three-phase winding current according to described power device pulse width signal, sends to described non-salient pole permanent magnet synchronous motor.

2, speed-adjusting and control system as claimed in claim 1 is characterized in that, described measuring unit specifically comprises:

Position measurement device, multiplier and differentiator;

Described position measurement device is used to measure the mechanical angle position θ of rotor _m, send to described multiplier and differentiator respectively;

Described multiplier is with described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ, send to described Park inverse transformation block;

Described differentiator is used for described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m

3, speed-adjusting and control system as claimed in claim 2 is characterized in that:

Described position measurement device is one to be installed in the code-disc of the motor shaft end of non-salient pole permanent magnet synchronous motor.

4, speed-adjusting and control system as claimed in claim 1 is characterized in that, described Park inverse transformation block according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant:

Described Park inverse transformation block according to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

5, speed-adjusting and control system according to any one of claims 1 to 4 is characterized in that, also comprises:

Low pass filter LPF is connected between described proportion integration differentiation unit and the described Park inverse transformation block, is used for the q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*, input to described Park inverse transformation block.

6, a kind of method for controlling speed regulation of non-salient pole permanent magnet synchronous motor comprises:

Measure the electrical degree position θ and the electromechanics rotational speed omega of non-salient pole permanent magnet synchronous motor rotor _m

The rotating speed of target ω that obtains presetting _m ^*With described ω _mDifference;

To described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*

According to described θ to u _d ^*With described u _q ^*Carry out the PARK inverse transformation and obtain the voltage vector u that static coordinate is fastened _α ^*And u _β ^*Wherein, described u _d ^*Be 0;

According to described voltage vector u _α ^*And u _β ^*, adopt the space voltage vector pulse width modulation algorithm to generate the power device pulse width signal;

Produce the three-phase winding current according to described power device pulse width signal, send to described non-salient pole permanent magnet synchronous motor.

7, method for controlling speed regulation as claimed in claim 6 is characterized in that, the electrical degree position θ of described measurement non-salient pole permanent magnet synchronous motor rotor and electromechanics rotational speed omega _mStep specifically comprise:

Measure the mechanical angle position θ of rotor _m

With described θ _mMultiply by a motor number of pole-pairs P _m, obtain electrical degree position θ;

To described electrical degree position θ _mCarry out differential, obtain the electromechanics rotational speed omega _m

8, method for controlling speed regulation as claimed in claim 7 is characterized in that, measures the mechanical angle position θ of rotor _mBe meant:

Adopt a code-disc that is installed in the motor shaft end of non-salient pole permanent magnet synchronous motor to measure the mechanical angle position θ of rotor _m

9, method for controlling speed regulation as claimed in claim 6 is characterized in that, according to θ to described u _d ^*With described u _q ^*Carrying out the PARK inverse transformation specifically is meant:

According to following formula by described u _d ^*With described u _q ^*Obtain u _α ^*And u _β ^*:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}^{*}\\ u_{\mathrm{\β}}^{*}\end{array}\right]=\left[\begin{array}{cc}\cos \mathrm{\θ}& -\sin \mathrm{\θ}\\ \sin \mathrm{\θ}& \cos \mathrm{\θ}\end{array}\right]\left[\begin{array}{c}{u}_d^{*}\\ u_q^{*}\end{array}\right].$

10, as each described method for controlling speed regulation in the claim 6 to 9, it is characterized in that, to described difference carry out ratio, integration, differentiating obtains q shaft voltage component instruction value u _q ^*After also comprise:

Q shaft voltage component instruction value u to the output of described proportion integration differentiation unit _q ^*Carry out filtering, obtain filtered u _q ^*

According to θ to u _d ^*With described u _q ^*When carrying out the PARK inverse transformation, described u _q ^*Be filtered u _q ^*

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