CN101814882A - Position-sensor-free permasyn motor direct driving device and driving method - Google Patents

Position-sensor-free permasyn motor direct driving device and driving method Download PDF

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Publication number
CN101814882A
CN101814882A CN201010149056A CN201010149056A CN101814882A CN 101814882 A CN101814882 A CN 101814882A CN 201010149056 A CN201010149056 A CN 201010149056A CN 201010149056 A CN201010149056 A CN 201010149056A CN 101814882 A CN101814882 A CN 101814882A
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CN
China
Prior art keywords
motor
sensor
control unit
rotor
circuit
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CN201010149056A
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Chinese (zh)
Inventor
杜春洋
李冰
王宇超
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哈尔滨工程大学
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Priority to CN201010149056A priority Critical patent/CN101814882A/en
Publication of CN101814882A publication Critical patent/CN101814882A/en

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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/30Reactive power compensation

Abstract

The invention provides a position-sensor-free permasyn motor direct driving device and a driving method. The position-sensor-free permasyn motor direct driving device mainly consists of a power amplification unit, a main control unit, an operation control unit and a permasyn motor, wherein the power amplification unit consists of a controllable rectifier circuit, an inverter circuit and a detection circuit, the main control unit consists of an interface processing circuit and a digital controller, the operation control unit is mainly realized through an external operation control panel, and the permasyn motor comprises a motor stator and a rotor. The invention replaces the technical scheme of an asynchronous motor and a speed reducer, adopts the permasyn motor, and can improve the device efficiency. Through the adoption of the technical scheme without a position sensor, the invention can improve the operation stability and the environment adaptability, add the input power factor correction and wave filtering links, reduce the interference on the electric network and the wire inlet loss, and reach the goal of green and energy saving effect of the device.

Description

Position-sensor-free permasyn motor direct driving device and driving method

Technical field

What the present invention relates to is a kind of motor-driven control technology, particularly position-sensor-free permasyn motor control and power factor correction technology.

Background technology

Enter 21 century, the energy and environment are one of matters of utmost importance of facing of the mankind.Especially in recent years, climate change and reduction of greenhouse gas discharge problem are persistently overheating, have become the hot issue that the whole world is paid close attention to." low-carbon economy " that thereupon arises at the historic moment is the economic model based on low energy consumption, low pollution, low emission, is human society major progress again after agricultural civilization, industrial civilization.Low-carbon economy essence is the problem of high efficiency of energy utilization, development of clean energy, pursuit Green GDP, and core is the fundamental shifts of energy technology and emission-reduction technology innovation, the industrial structure and system innovation and survival and development of mankind idea.Under this world overall background, the development of various new forms of energy and energy-conserving and emission-cutting technology is also extremely urgent.

China in Eleventh Five-Year Plan, clearly propose per GDP energy consumption and total emissions of major pollutants than " 15 " end of term reduce respectively about 20%, 10% restrictive index." increasing income and decreasing expenditure " is unique way of reply energy crisis and ecological deterioration.Energy-conservation aspect, industrial energy saving are the energy-conservation sources of other industry, and the crucial status occupied of electrical machine energy-saving wherein.Therefore the development of two aspects all be unable to do without energy-efficient motor and converters system thereof as can be seen, carries out that systematic research is very necessary and urgent to energy-saving efficient motor.

At industrial circle, the device of motor+reductor or belt ratio wheel is widely used, but the use of reducing gear has had a strong impact on the device operating efficiency, has increased the loss of device, designs direct drive unit for this reason and replaces original device.Characteristics such as permanent magnet synchronous motor has output torque high, low speed excellent, efficient height, and speed adjustable range is big are particularly suitable for being used as the actuator of direct driving.But the permanent magnet synchronous motor device needs angular position pick up to restrict the scope of application of device usually, and does not control rectification in the variable frequency drives and brought high order harmonic component composition in interference, the especially electric current to electrical network, has increased the reactive loss of device.

In order to solve inefficiency problem in the above electric system, adopt the actuator of permanent magnet synchronous motor as direct drive unit, introduce position-sensor-free technology and power factor correction technology and overcome the above problems, can realize the drive unit of energy-efficient green.

Through existing technical literature retrieval is found, have in the CNKI database one piece with the present invention on the topic identical or similar bibliographical information, " research and development of direct-drive wind power generation net side unsteady flow control system " by name (open day 2009.2.17), this article stresses to study the unsteady flow control operation of generator, and it doesn't matter with position-sensor-free permasyn motor direct driving device.

Summary of the invention

The object of the present invention is to provide a kind of can raising the efficiency, reduce energy-saving position-sensor-free permasyn motor direct driving device the interference and the inlet wire loss of electrical network.The present invention also aims to provide a kind of position-sensor-free permasyn motor driving method.

The object of the present invention is achieved like this:

Position-sensor-free permasyn motor direct driving device mainly is made up of power amplification unit, main control unit, operation control unit and permanent magnet synchronous motor.When rotating speed and the permanent magnet synchronous motor of setting motor by guidance panel start and stop, and these given information are passed to main control unit, and main control unit power controlling amplifying circuit forms permanent magnet synchronous motor control required voltage signal.

Position-sensor-free permasyn motor driving method of the present invention is: adopt rotor location, open loop acceleration and operation with closed ring syllogic operation strategy; Rotor location: feed six pulses for the permanent magnet synchronous motor stator; Open loop starting: after finish the rotor location, when beginning to start, speed control open loop and Current Control closed loop, provide a rotational voltage vector by controller, and then the generation rotating magnetic field, drive motor and turn over, treat that motor moves and can accurately be estimated to after the rotor-position with certain rotating speed, switch to closed loop mode of operation again, output speed changes with given rotating speed; Operation with closed ring: adopt a kind of electric machine without position sensor controlling schemes in this control stage, obtain position of magnetic pole and rotary speed information, realized based on rotor field-oriented vector control mode by observer based on observer.

The invention provides a cover position-sensor-free permasyn motor direct and connect drive unit, replace asynchronous machine+reductor scheme, adopt permanent magnet synchronous motor, can improve unit efficiency; Adopt the position-sensor-free scheme can improve operational reliability and adaptive capacity to environment, increase input power factor and proofread and correct and the filtering link, reduce interference and inlet wire loss, reached the purpose of device green energy conservation electrical network.

Main feature of the present invention is embodied in:

1, the TMS320F2808 chip has characteristics such as handling property is better, the peripheral hardware integrated level is higher, program storage is bigger, the A/D conversion speed is faster aspect the Digital Control of motor, is the desirable upgrading products of motor Digital Control and has low cost, low-power consumption, high performance characteristics.

2, use the position-sensor-free vector control algorithm, on the basis that does not reduce device performance, saved the magnetic pole angular position sensor, saved cost, increased adaptive capacity to environment, assurance device can be under outdoor adverse circumstances reliability service.

3, driver adopts the space vector pulse width modulation technology can change output voltage and frequency easily, thereby improves the electronic device driveability on a large scale.

4, adopt intelligent power factor correcting technology to solve the high order harmonic component composition of not controlling in the interference that rectification brings, the especially electric current, increased the reactive loss of device, make the power factor of device reach more than 0.95 electrical network.

Description of drawings

Fig. 1 is an energy-saving position-sensor-free permasyn motor direct driving device composition diagram of the present invention;

Fig. 2 is position Sensorless Control operation key diagram schematic diagram;

Fig. 3 is the TMS320F2808 minimum system circuit diagram of energy-saving position-sensor-free permasyn motor direct driving device;

Fig. 4 is the power amplifier figure of the shaft angle conversion fraction of multi-network numeral shaft angle converting means.

Embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

In conjunction with Fig. 1, energy-saving position-sensor-free permasyn motor direct driving device mainly is made up of power amplification unit, main control unit, operation control unit and permanent magnet synchronous motor.Power amplification unit is made up of controlled rectification circuit 2, inverter circuit 3 and testing circuit 5.Main control unit is made of interface treatment circuit 7 and digitial controller 8, and operation control unit is mainly realized by peripheral operation control panel 6.Wherein permanent magnet synchronous motor comprises motor stator 4 and rotor formation, and rotor is generally hollow or two kinds of structures of solid construction.

When system moves, the air switch of peripheral operation control panel 6 closes, give controlled rectification circuit 2 power supplies by three-phase alternating-current supply 1, adjust the rotational speed setup button of peripheral operation control panel 6, rotating speed is set on demand, concrete set point can show that the rotating speed of setting passes to digitial controller 8 by bus and forms rotary speed instruction referring to control panel 6 setting speeds.Press the starting button of peripheral operation control panel 6, digitial controller 8 is passed in enabled instruction, digitial controller 8 is by interface treatment circuit 7, make controlled rectification circuit 2, inverter circuit 3 start working, the three-phase electricity of variable frequency and voltage magnitude is provided for permanent magnet synchronous motor stator 4, permanent magnet synchronous motor accelerates to the setting rotating speed by certain accelerating time.When needs power failure machine; press the stop button of peripheral operation control panel 6; halt instruction passes to digitial controller 8; digitial controller 8 is by interface treatment circuit 7; make controlled rectification circuit 2; inverter circuit 3 work; reduce the amplitude and the frequency of giving permanent magnet synchronous motor stator 4; permanent magnet synchronous motor slows down; when testing circuit 5 detects the operational analysis arrival certain frequency of information via digitial controller 8; digitial controller 8 is given controlled rectification circuit 2; inverter circuit 3 stops to send out pulse signal; inverter circuit 3 no longer gives the permanent magnet synchronous motor stator 4 power supplies, and permanent magnet synchronous motor is out of service.

In system's running, the testing circuit 5 real-time electric current and voltage information with inverter circuit 3 send to digitial controller 8 by interface treatment circuit 7, digitial controller 8 forms the space vector pulse signal according to position Sensorless Control operation strategy as shown in Figure 2, give inverter circuit 3 through interface treatment circuit 7, inverter circuit 3 carries out the signal amplification and outputs to permanent magnet synchronous motor stator 4.Simultaneously the front end electric current and voltage information of the real-time controlled rectification circuit 2 of testing circuit 5 sends to digitial controller 8 by interface treatment circuit 7, digitial controller 8 forms pulse signal according to the power factor correction algorithm, give controlled rectification circuit 2 through interface treatment circuit 7, the voltage and current that controlled rectification circuit 2 carries out signal amplification control rectification circuit guarantees to move near unity power factor.

In conjunction with Fig. 2, permanent magnet synchronous motor control employing syllogic operation strategy operation strategy mainly comprises: rotor location 9, open loop acceleration 10 and operation with closed ring 11 three phases.Rotor location 9: feed six pulses for permanent magnet synchronous motor stator 4, obtain a preliminary rough position, can guarantee that open loop has enough staring torques when quickening according to the current information that obtains.Open loop starting 10, after finished location 9, when beginning to start, speed control open loop and Current Control closed loop provided a rotational voltage vector by controller, and then produced rotating magnetic field, drove motor and turned over.Treat that motor moves and can accurately be estimated to after the rotor-position with certain rotating speed, switch to closed loop mode of operation 11 again, output speed changes with given rotating speed.Operation with closed ring 11: realize easy requirement in order to satisfy reliable operation in this control stage, adopt a kind of electric machine without position sensor controlling schemes based on observer, obtain position of magnetic pole and rotary speed information by observer, realized based on rotor field-oriented vector control mode.

In conjunction with Fig. 3, minimum system plate hardware circuit is mainly the interface circuit of TMS320F2808, comprises numeral, simulation and communication interface.TMS320F2808 is responsible for handling data and the transmitting control commands that collects, and the pwm control signal that DSP produces suitable duty ratio drives IPM, again by the direct drive motors rotation of IPM; DSP finishes the current closed-loop control of motor and the overcurrent protection of motor etc. through the phase current signal of A/D mouth collection motor.The TMS320F2808 chip is furnished with serial communication interface SCI module.SCI receiver and transmitter are double bufferings, baud rate mask register by one 16, the transmission speed of data can be programmed to 65535 kinds of different modes, this circuit has adopted the chip for driving MAX232 that meets rs-232 standard to carry out serial communication, realizes the asynchronous communication between PC and the multi-network numeral shaft angle converting means.Adopt the TMS320F2808 processor to realize the node of CAN bus, need between CAN bus and processor, increase converter circuit, so that can realize compatible level conversion, system adopts SN65HVD230 transducer (meeting ISO11898) to realize the high-speed CAN bus network.SN65HVD230 is the CAN transceiver of 3.3V, is applicable to the serial communication of the CAN bus of higher communication speed, good resistance interference performance and high reliability.It has difference transmitting-receiving ability, and flank speed can reach 1Mb/s; The low current standby mode, exemplary currents 370 μ A.

In conjunction with Fig. 4, power amplification circuit comprises two parts, controlled rectification and inversion, and wherein controlled rectification circuit is the same with the inverter circuit structure.The great advantage of controlled rectification is can the power controlling factor, by changing the conducting relation, reduces the high order harmonic component composition.Adopt the IGBT door to drive photoelectrical coupler HCPL-315J, two IGBT of upper and lower brachium pontis are provided isolate and drive.12 road isolated DC power supplys of driving side are provided after rectification by two 6 tunnel outputs and mutual small transformers of isolating.The IGBT module adopts IKW20N60T, Hall current sensor KA 50A/P, voltage transformer HPT205NB etc.

Claims (2)

1. a position-sensor-free permasyn motor direct driving device is characterized in that: mainly be made up of power amplification unit, main control unit, operation control unit and permanent magnet synchronous motor; Power amplification unit is made up of controlled rectification circuit, inverter circuit and testing circuit; Main control unit is made of interface treatment circuit and digitial controller; Operation control unit is mainly realized by the peripheral operation control panel; Permanent magnet synchronous motor comprises motor stator and rotor.
2. a position-sensor-free permasyn motor driving method is characterized in that: adopt rotor location, open loop acceleration and operation with closed ring syllogic operation strategy; Rotor location: feed six pulses for the permanent magnet synchronous motor stator; Open loop starting: after finish the rotor location, when beginning to start, speed control open loop and Current Control closed loop, provide a rotational voltage vector by controller, and then the generation rotating magnetic field, drive motor and turn over, treat that motor moves and can accurately be estimated to after the rotor-position with certain rotating speed, switch to closed loop mode of operation again, output speed changes with given rotating speed; Operation with closed ring: adopt a kind of electric machine without position sensor controlling schemes in this control stage, obtain position of magnetic pole and rotary speed information, realized based on rotor field-oriented vector control mode by observer based on observer.
CN201010149056A 2010-04-19 2010-04-19 Position-sensor-free permasyn motor direct driving device and driving method CN101814882A (en)

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102118129A (en) * 2011-03-31 2011-07-06 山东胜开动力科技有限公司 Permanent magnetic variable-speed motor
CN102195456A (en) * 2011-05-24 2011-09-21 哈尔滨工程大学 High-power series 12-pulse thyristor rectifier triggering device and method for ship
CN102497142A (en) * 2011-12-13 2012-06-13 上海电气集团股份有限公司 Starting method for permanent magnet synchronous motor
CN102969957A (en) * 2012-11-19 2013-03-13 海尔集团公司 Starting control method and control device of direct-current variable frequency air-conditioning compressor
CN103516267A (en) * 2012-06-27 2014-01-15 珠海格力电器股份有限公司 Starting method and system for air conditioner permanent magnetic synchronization fan motor
CN103825517A (en) * 2014-03-05 2014-05-28 哈尔滨泰富电气有限公司 High-power barrel type linear switch reluctance motor control system
CN103867424A (en) * 2012-12-10 2014-06-18 美的集团股份有限公司 Starting control method and system of direct current frequency conversion air conditioning compressor
CN103904981A (en) * 2012-12-25 2014-07-02 赐福科技股份有限公司 Energy retrieving device
CN104213597A (en) * 2014-08-26 2014-12-17 徐州徐工挖掘机械有限公司 Alternating-current variable-frequency speed-regulating control system for electro-hydraulic excavator
CN106330046A (en) * 2016-09-13 2017-01-11 江苏大学 Novel five-phase fault tolerant permanent magnet motor sensorless control method based on specific load
CN106594071A (en) * 2015-10-16 2017-04-26 株式会社岛津制作所 Magnet bearing device and rotor rotary-drive apparatus
CN107370435A (en) * 2017-08-30 2017-11-21 深圳市天祜智能有限公司 Cooking machine permanent torque current control method
CN107425776A (en) * 2017-07-31 2017-12-01 广东威灵电机制造有限公司 Startup control method, device and the driving control system for electric machine of motor

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Title
《微特电机》 20100331 金树强等 基于改进滑模观测器的PMSM无位置传感器矢量控制系统 第1页第1栏第1段至第3页第2栏第3段和图1-10 2 , 第3期 2 *
《电气自动化》 20091231 万衡等 永磁同步电动机无位置传感器数字控制系统的设计 第1页第1栏第1段至第3页第2栏第3段和图1-2 1 第31卷, 第6期 2 *

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102118129A (en) * 2011-03-31 2011-07-06 山东胜开动力科技有限公司 Permanent magnetic variable-speed motor
CN102195456A (en) * 2011-05-24 2011-09-21 哈尔滨工程大学 High-power series 12-pulse thyristor rectifier triggering device and method for ship
CN102195456B (en) * 2011-05-24 2013-07-03 哈尔滨工程大学 High-power series 12-pulse thyristor rectifier triggering device and method for ship
CN102497142A (en) * 2011-12-13 2012-06-13 上海电气集团股份有限公司 Starting method for permanent magnet synchronous motor
CN103516267A (en) * 2012-06-27 2014-01-15 珠海格力电器股份有限公司 Starting method and system for air conditioner permanent magnetic synchronization fan motor
CN102969957A (en) * 2012-11-19 2013-03-13 海尔集团公司 Starting control method and control device of direct-current variable frequency air-conditioning compressor
CN102969957B (en) * 2012-11-19 2015-09-02 海尔集团公司 A kind of startup control method of DC frequency converting air-conditioner compressor
CN103867424B (en) * 2012-12-10 2018-03-16 美的集团股份有限公司 The startup control method and system of a kind of DC frequency converting air-conditioner compressor
CN103867424A (en) * 2012-12-10 2014-06-18 美的集团股份有限公司 Starting control method and system of direct current frequency conversion air conditioning compressor
CN103904981B (en) * 2012-12-25 2016-12-28 赐福科技股份有限公司 Energy regenerating control device and method
CN103904981A (en) * 2012-12-25 2014-07-02 赐福科技股份有限公司 Energy retrieving device
CN103825517A (en) * 2014-03-05 2014-05-28 哈尔滨泰富电气有限公司 High-power barrel type linear switch reluctance motor control system
CN104213597A (en) * 2014-08-26 2014-12-17 徐州徐工挖掘机械有限公司 Alternating-current variable-frequency speed-regulating control system for electro-hydraulic excavator
CN104213597B (en) * 2014-08-26 2017-04-26 徐州徐工挖掘机械有限公司 Alternating-current variable-frequency speed-regulating control system for electro-hydraulic excavator
CN106594071B (en) * 2015-10-16 2019-06-07 株式会社岛津制作所 Magnetic bearing device and rotor rotation drive device
CN106594071A (en) * 2015-10-16 2017-04-26 株式会社岛津制作所 Magnet bearing device and rotor rotary-drive apparatus
CN106330046B (en) * 2016-09-13 2018-11-06 江苏大学 The five mutually fault-tolerant magneto method for controlling position-less sensor based on certain loads
CN106330046A (en) * 2016-09-13 2017-01-11 江苏大学 Novel five-phase fault tolerant permanent magnet motor sensorless control method based on specific load
CN107425776A (en) * 2017-07-31 2017-12-01 广东威灵电机制造有限公司 Startup control method, device and the driving control system for electric machine of motor
CN107370435A (en) * 2017-08-30 2017-11-21 深圳市天祜智能有限公司 Cooking machine permanent torque current control method
CN107370435B (en) * 2017-08-30 2020-07-28 深圳市天祜智能有限公司 Constant torque current control method for food processor

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