CN101764553A - Method for controlling permanent magnet synchronous motor for Hall switch sensor - Google Patents

Abstract

The invention discloses a method for controlling a permanent magnet synchronous motor for a Hall switch sensor. The method comprises the following steps: (1) outputting six discrete position signals by using three Hall switch sensors so as to divide an electric cycle into six sectors; and (2) calculating the average speed omega i-1 of the previous sector, taking the speed of the previous sector as the speed of the current sector, and taking the rotor speed V of the motor as a switching value of a position estimating mode. The rotor position estimating method comprises the following steps that: (21) if the running speed v of the motor is more than 10Hz, the current position theta id of the rotor is theta i plus omega i minus 1*k*Ts, and when Hall edge capture happens, the position signals are forcibly corrected; (22) if the running speed v of the motor is less than 5Hz, the position signal theta id equaling theta i and v*k*Ts with the same frequency of command speed is set, and when the Hall edge capture happens, the position signals are forcibly corrected; and (23) if the running speed v of the motor is more than 5Hz and less than 10Hz, a speed hysteresis area is set. When used for controlling the permanent magnet synchronous motor, the method has the advantages of convenient use, small equipment size and low cost.

Description

A kind of method for controlling permanent magnet synchronous motor of Hall switch sensor

Technical field

The present invention relates to a kind of method for controlling permanent magnet synchronous motor, relate to a kind of method for controlling permanent magnet synchronous motor of Hall switch sensor specifically.

Background technology

Permagnetic synchronous motor has series of advantages such as volume is little, in light weight, efficient is high, torque pulsation is little, therefore uses more and more widely at the modern AC kinetic control system.For brshless DC motor, the torque control performance of permagnetic synchronous motor is more good.The control system of permanent magnet synchronous motor be unable to do without the detection to rotor-position, and accurate, reliable detecting apparatus for rotor position is the necessary condition of governing system operation, and rotor position detecting method is divided into position sensor method and position-sensor-free method.The position sensor method is that resolver, photoelectric encoder etc. are installed on the permanent-magnetic synchronous motor rotor axle, though the position sensor method can guarantee the positional precision of rotor, but the existence of transducer has increased the size and the cost of control system, increased the inertia of rotor, and the performance of transducer be vulnerable to adverse circumstances such as high temperature, humidity and influence.The position-sensor-free method has been removed mechanical position sensor, has simplified system design, has reduced system cost, but does not have the positional control algorithm complexity, and position detection accuracy is not high, and the running speed scope is very restricted.

Summary of the invention

At the defective that above-mentioned prior art exists, the purpose of this invention is to provide a kind of method for controlling permanent magnet synchronous motor of Hall switch sensor, this method control permagnetic synchronous motor, easy to use, the device therefor volume is little, and is with low cost.

For achieving the above object, design of the present invention is: 6 discrete signals that utilize three Hall switch position transducers to produce, in high velocity and low regime, with different evaluation methods, estimate the rotor physical location, and then realize the control of permagnetic synchronous motor sine wave drive.

According to above-mentioned design, the present invention adopts following technical proposals:

A kind of method for controlling permanent magnet synchronous motor of Hall switch sensor, its concrete steps are as follows:

(1), by being installed in three Hall switch sensors output square-wave signals on the permanent-magnetic synchronous motor stator, produces six discrete position signals, an electric cycle is divided into 6 sectors, each sector is 60 to spend electrical degrees;

(2), calculate the average speed ω of a sector _I-1, the speed of the speed of a last sector as current sector, with the speed of service v of the rotor switching value as the position estimation pattern, the particular location evaluation method is as follows:

(21) if motor speed of service v during greater than 10Hz, the rotor current location is estimated as θ _Id=θ _i+ ω _I-1* k*Ts, θ _iBe current sector original position, θ _IdBe current rotor-position, k is a sampling number, and Ts is the sampling period, when catch at generation Hall edge, position signalling is forced to correct;

(22) if motor speed of service v during less than 5Hz, rotor position estimation is: the position signalling θ of a given the same frequency of and instruction speed _Id=θ _i+ v*k*Ts, v are current command speed, when catch at generation Hall edge, position signalling are forced to correct;

(23) if motor speed of service v when 5Hz＜v＜10Hz, define this velocity interval and be the ring district that stagnates, in the ring district that stagnates, continue to use last position estimation pattern, when speed transition from low to high goes out this stagnant ring district, then change step (21),, then change step (22) when speed when transition goes out this and stagnates the ring district from high to low.

Advantage and effect that the method for controlling permanent magnet synchronous motor of a kind of Hall switch sensor of the present invention compared with prior art has are: this method adopts 3 Hall switch sensors to replace mechanical position sensor, realize the estimation of a plurality of rotor-position signals under 6 discrete position signals for minimizing torque, saved position checkout equipments such as photoelectric coded disk, resolver.When this method control permagnetic synchronous motor drove, easy to use, the device therefor volume is little, and was with low cost.

Description of drawings

Fig. 1 is the schematic diagram of the installation site of permagnetic synchronous motor Hall switch sensor;

The discrete signal figure that Fig. 2 produces for Hall switch sensor;

Fig. 3 is the control structure block diagram of the method for controlling permanent magnet synchronous motor of a kind of Hall switch sensor of the present invention;

Fig. 4 is the rotor position estimation schematic diagram;

Fig. 5 is that high, low speed district estimated position switches figure.

Embodiment

In conjunction with the accompanying drawings embodiments of the invention are described in further detail down.

The method for controlling permanent magnet synchronous motor of a kind of Hall switch sensor of the present invention, its concrete steps are as follows:

(1) on permanent-magnetic synchronous motor stator, installs three Hall switch sensor H _a, H _b, H _c, Hall switch sensor H _aBe installed in the axis place of permagnetic synchronous motor winding A phase, Hall switch sensor H _bBe installed in the axis place of permagnetic synchronous motor winding B phase, Hall switch sensor H _cBe installed in the axis place of permagnetic synchronous motor winding C phase, as shown in Figure 1, A is the axis of winding ax among the figure, and B is the axis of winding by, and C is the axis of winding cz.When rotor rotation, the corresponding square-wave signal of zero crossing of each rising edge of Hall switch sensor output and trailing edge and rotor field intensity B, each electrical degree cycle produces six discrete position signals, these 6 discrete position signals are divided into 6 sectors to an electric cycle, each sector is 60 degree electrical degrees, as shown in Figure 2,1～6 is sector number among the figure, and abscissa θ is a rotor-position.Utilization SVPWM modulation technique adopts the id=0 vector control mode that permagnetic synchronous motor is controlled, and as shown in Figure 3, ω is a rotor mechanical angular speed among the figure, n _RefBe the given command speed of system, i _dBe the d axle component under the dq axial coordinate, i _qBe the q axle component under the dq axial coordinate, i _a, i _b, i _cBe three-phase current.In DSP, open a timer and be used for writing down sector T action time _I-1Enable the DSP capture interrupt, be used for catching the rising edge and the trailing edge of hall signal;

(2), calculate the average speed ω of a sector _I-1, the speed of the speed of a last sector as current sector, the position of current rotor is θ _Id=θ _i+ ω _I-1* k*Ts, θ _iBe current sector original position, θ _IdBe current rotor-position, k is a sampling number, and Ts is the sampling period, and with the speed of service v of the rotor switching value as the position estimation pattern, the speed of service v of rotor sets respectively: v＞10Hz is a high velocity; V＜10Hz is a low regime; 5Hz＜v＜10Hz is the ring district that stagnates, and the estimation of rotor particular location is as follows:

(21) if when rotor operates in high velocity, rotor position estimation as shown in Figure 4, check point is that DSP the Hall edge takes place catches constantly rotor position among the figure _I-1, θ _i, θ _I+1Be respectively discrete position, current sector rotor estimating speed and angle are:

Speed: ${\mathrm{\ω}}_{i-1}=\frac{\mathrm{\π}/3}{T_{i-1}}---\left(1\right)$

Angle: θ _Id=θ _i+ ω _I-1* k*Ts (2)

${\mathrm{\θ}}_i\≤{\mathrm{\θ}}_{\mathrm{id}}\≤{\mathrm{\θ}}_i+\frac{\mathrm{\π}}{3}---\left(3\right)$

In the formula, Ts is the sampling period, and k is a sampling number, ω _I-1Be the average speed of a last sector, T _I-1Be the used time of a last sector.

When catch at generation Hall edge, position signalling is forced to correct, to avoid the accumulation of error, as shown in Figure 2, dotted line is the hall signal edge among the figure, pairing abscissa angle is current rotor correction position.

(22) if when motor operates in low regime, the position signalling of a given the same frequency of and instruction speed, current sector rotor estimating speed and angle are:

Speed: ${\mathrm{\ω}}_{i-1}=\frac{\mathrm{\π}/3}{T_{i-1}}---\left(4\right)$

Angle: θ _Id=θ _i+ v*k*Ts (5)

${\mathrm{\θ}}_i\≤{\mathrm{\θ}}_{\mathrm{id}}\≤{\mathrm{\θ}}_i+\frac{\mathrm{\π}}{3}---\left(6\right)$

In the formula, v is the given command speed of motor, and Ts is the sampling period, and k is a sampling number, ω _I-1Be the average speed of a last sector, T _I-1Be the used time of a last sector.

When catch at generation Hall edge, position signalling is forced to correct, to avoid the accumulation of error, as shown in Figure 2, dotted line is the hall signal edge among the figure, pairing abscissa angle is current rotor correction position.

(23), when if motor operates in high velocity, estimate motor rotor position with formula (1) (2) (3), if when operating in low regime, switch and estimate rotor-position with formula (4) (5) (6), for fear of at height, near the two kinds of control methods of low speed critical whirling speed value are frequently switched and are caused the motor response slack-off, even the motor operation stops, the ring district that stagnates is set, as shown in Figure 5, in the ring district that stagnates, continue to use last position estimation pattern, when speed transition from low to high goes out this and stagnates the ring district, then change step (21), when speed when transition goes out this and stagnates the ring district from high to low,, then change step (22).

Claims (1)

1. the method for controlling permanent magnet synchronous motor of a Hall switch sensor, 6 discrete signals that this method utilizes three Hall switch sensors to produce, in high velocity and low regime, utilize different position estimation methods, estimate the rotor physical location, and then realize the control of permagnetic synchronous motor sine wave drive, its concrete steps are as follows:

(1), by being installed in three Hall switch sensors output square-wave signals on the permanent-magnetic synchronous motor stator, produces six discrete position signals, an electric cycle is divided into 6 sectors, each sector is 60 to spend electrical degrees;

(2), calculate the average speed ω of a sector _I-1, the speed of the speed of a last sector as current sector, with the speed of service v of the rotor switching value as the position estimation pattern, the particular location evaluation method is as follows:

(21) if motor speed of service v during greater than 10Hz, the rotor current location is estimated as θ _Id=θ _i+ ω _I-1* k*Ts, θ _iBe current sector original position, θ _IdBe current rotor-position, k is a sampling number, and Ts is the sampling period, when catch at generation Hall edge, position signalling is forced to correct;

(22) if motor speed of service v during less than 5Hz, rotor position estimation is: the position signalling θ of a given the same frequency of and instruction speed _Id=θ _i+ v*k*Ts, v are current command speed, when catch at generation Hall edge, position signalling are forced to correct;

(23) if motor speed of service v when 5Hz＜v＜10Hz, define this velocity interval and be the ring district that stagnates, in the ring district that stagnates, continue to use last position estimation pattern, when speed transition from low to high goes out this stagnant ring district, then change step (21),, then change step (22) when speed when transition goes out this and stagnates the ring district from high to low.

Images