CN101814883B - Method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement sensor - Google Patents
Method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement sensor Download PDFInfo
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- CN101814883B CN101814883B CN2010101349539A CN201010134953A CN101814883B CN 101814883 B CN101814883 B CN 101814883B CN 2010101349539 A CN2010101349539 A CN 2010101349539A CN 201010134953 A CN201010134953 A CN 201010134953A CN 101814883 B CN101814883 B CN 101814883B
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- rotor
- magnetic pole
- synchronous motor
- permanent magnet
- magnet synchronous
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Abstract
The invention discloses a method for detecting the magnetic pole position of a permanent magnet synchronous motor rotor based on a displacement sensor, belonging to the methods for detecting the magnetic pole positions of permanent magnet synchronous motor rotors. The method is characterized by determining the position of the rotor by slotting the rotor and detecting the slot position with the displacement sensor. The method comprises the following steps: in static state, calibrating the initial position of the rotor by giving the current vector with fixed angle and then leading the rotor to the synchronous state by a control method of loop opening; and after stabilization, evaluating the position of the rotor in real time by a method of angle stacking based on the previously calibrated initial position for the closed-loop control algorithm. The method not only saves cost but also has no impact on the reliability of the system and is higher in measurement accuracy.
Description
Technical field
The invention discloses a kind of method for detecting magnetic pole position of permanent magnet synchronous motor rotor, belong to magnetic pole position of permanent magnet synchronous motor rotor and detect based on displacement transducer.
Background technology
Permagnetic synchronous motor (PMSM-Permanent Magnet Synchronous Motor) combines the advantage of DC motor and alternating current motor: both can obtain the control characteristic close with DC motor, and have characteristics such as high torque (HT)/ratio of inertias, high power density, high efficiency, fastness and maintainability are good again.Permagnetic synchronous motor also is widely used in some high performance speed governing, the servo system because of these advantages.In recent years, along with the raising of permanent magnetic material performance, the development of power electronic technology and the appearance of high-performance microprocessor, permagnetic synchronous motor is in medical treatment, chemical industry, light textile, Digit Control Machine Tool, industrial robot, computer peripheral equipment, instrument and meter, fields such as minicar and electric bicycle have obtained extensive use.
At present the frequency control way that permagnetic synchronous motor is commonly used has constant voltage and frequency ratio control (V/F-Voltage/Frequency), direct torque control (DTC-Direct TorqueControl) and based on the vector control (VC-Vector Control) of field orientation.
Constant voltage and frequency ratio control is the most frequently used a kind of variable frequency regulating speed control method.This method is the control strategy of blower fan and water pump first-selection because realization is simple, reliable and stable, speed governing convenient, it is not too high that dynamic property is required.But the weathering zone loading capability of this kind control strategy is also barely satisfactory, must carry out compensation to the stator pressure drop.In addition, owing to only controlled the air-gap flux of motor, and can not regulate torque, performance is not high.
Direct torque control emphasizes the torque of motor is directly controlled, saved complicated conversion and calculating such as vector rotation transformation, significantly reduced the problem that control performance in the vector control technology is subject to the parameter variable effect.But it is ripe not enough in theory and practice, as low-speed performance, carrying load ability etc.And,, realize that direct torque control is inconceivable if there is not a new generation's microprocessor at a high speed because it is high to the real-time requirement, amount of calculation is big.
Vector control also claims field orientation control.People such as F.Blaschke by Germany at first propose, this method uses the positional information of rotor that the phase place of the stator current space vector of motor is controlled, to realize stator current space vector and rotor flux direction quadrature spatially, the feasible electromagnetic torque maximum that is produced is the most general control method of current permagnetic synchronous motor.
In vector control method, traditional method of obtaining rotor position information is to adopt electronic type or electromechanical position transducer directly to measure, in order to correct Current Control waveform to be provided.For the precise current control signal is provided, reduce torque pulsation, generally adopt high-resolution position transducer, for example: absolute type photoelectric encoder, incremental photoelectric encoder or resolver.But the permanent magnet synchronous motor cost that has this position transducer is higher relatively and performance transducer is vulnerable to the influence of adverse circumstances such as high temperature, humidity, has also influenced promoting the use of of permanent magnet synchronous motor thus.In addition, this transducer generally will install on the rotor, because the restriction of centrifugal force and resolution generally is less compliant at a high speed and uses down.In order to solve the application under high speed and to reduce cost, also generally adopt discrimination method to determine the angle position of rotor both at home and abroad, do not need transducer, but the precision of identification has also influenced the raising of permanent magnet synchronous motor performance not as the height by transducer.Therefore the improvement of rotor position detection technology and develop into an important research direction for the permanent magnet synchronous motor control technology.
Summary of the invention
The objective of the invention is to utilize displacement type transducer and comparatively simple mounting means accurately to detect the position of magnetic pole of permanent magnet machine rotor, for the closed-loop control of permagnetic synchronous motor provides rotor magnetic pole angular position information more accurately.
The present invention adopts following technical scheme for realizing its purpose:
A kind of method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement transducer by to rotor fluting, and uses displacement transducer to detect the position that rotor is determined in the groove position.May further comprise the steps: when static, come the initial position of calibration rotor, take rotor to synchronous regime with the control method of open loop afterwards by the current phasor of given fixed angle; After stable,, use for closed loop control algorithm with the method for angle stack and the position of the next real-time estimated rotor of the previous initial position of demarcating.
The invention has the beneficial effects as follows:
With respect to high-precision angular transducer such as photoelectric encoder, resolver has been saved cost.Because what adopt is contactless transducer, can the reliability of system not impacted.For the constant blower fan of load under the stabilized (steady-state) speed, pump class rotary machine, the certainty of measurement of this method is higher than no transducer position of magnetic pole detection technique.
Description of drawings
Fig. 1 is the measuring principle schematic diagram of displacement transducer.
Label title among Fig. 1: 1 is rotor, and 2 is displacement transducer, and 3 is rotor recesses.
Fig. 2 is a displacement transducer output signal schematic diagram.
Label title among Fig. 2: 4 are the rotor recesses process pulse signal that transducer produced
Fig. 3 is the initial position of rotor schematic diagram.
Label title among Fig. 3: 1 is rotor, and 2 is displacement transducer, and 3 is rotor recesses.
Fig. 4 detects principle schematic for rotor magnetic pole initial position.
Label title among Fig. 4: 1 is rotor, and 2 is displacement transducer, and 3 is rotor recesses.
Embodiment
Below in conjunction with accompanying drawing the invention is described further.
Realize that this kind metering system mainly is divided into two steps:
At first, measure the initial position of rotor magnetic pole.The installation of displacement transducer is installed a displacement transducer 2 as shown in Figure 1 on the rotor 1 of motor, its function be detect its with rotor 1 surface between distance, if the output signal of displacement transducer 2 also changes accordingly apart from changing then.At rotor 1 surface fluting, i.e. the rotor recesses 3 that the width of processing and the degree of depth can be discerned by displacement transducer 2 on rotor 1.Whenever the rotor recesses 3 of rotor 1 is rotated in place the position that displacement sensor 2 is installed, be equivalent on the test point of displacement transducer 2, occur the saltus step of a displacement, then the output of displacement transducer 2 will produce a pulse signal 4 and react this variation, as shown in Figure 2.As long as the residing position of rotor magnetic pole when finding this pulse signal 4 to take place just can be determined the angle of rotor magnetic pole by the compensation of angle.Because magneto is after entering synchronously, the rotating speed of rotor and the frequency of electric current are strict synchronism.Therefore, whenever appearring in pulse, the back just can obtain the angle that rotor turns in a week by following formula.
θ＝2πf·t (1)
In the formula
θ---the angle that rotor turns over behind the elapsed time t
The frequency of f---electric current
The back elapsed time takes place in t---pulse signal
Actual rotor d by angle be θ ± θ just
0(wherein unlike signs is decided on turning to of rotor).
Rotor with the two poles of the earth is an example, and at initial time, the magnetic pole of rotor is in a position at random, as shown in Figure 3.Current phasor by the given and constant magnitude identical with stator A direction of principal axis of inverter makes the position of magnetic pole of rotor overlap with stator A axle.The output signal of displacement transducer links to each other with the interrupt pin of DSP (digital signal processor) digital signal processor, make current phasor turn over Δ θ degree clockwise by program, and keep the regular hour, treat to continue to turn over Δ θ degree behind the rotor stability, when epitrochanterian groove 3 is detected by displacement transducer, the pulse signal of displacement transducer 2 outputs will trigger the interruption of dsp chip.At this moment, the angle that turns over altogether of current phasor is θ
0, the angle of rotor magnetic pole and stator A between centers when being exactly the pulsing signal, as shown in Figure 4.The value of Δ θ is more little in the method, and the precision of measurement is just high more.
Determine after the initial position that method that just can be by angle stack is carried out real-time measurement to the corner of rotor.But it should be noted that this method can not use in the rotor acceleration and deceleration, can use after need making rotor enter synchronously by open-loop control methods such as V/F.Concrete way is: the output of displacement transducer is linked to each other with the interrupt pin of dsp chip, in program,, and calls the control strategy of open loop earlier with this interruption masking, treat that rotor enters synchronously after, allow to interrupt.Interrupt in case displacement signal triggers DSP, then the value with the angle register changes θ into
0, and according to θ ± θ
0Carry out the stack of angle, just the corner that estimates rotor that can be real-time.
Claims (1)
1. method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement transducer is characterized in that by to the rotor fluting, and uses displacement transducer to detect the position that rotor is determined in the groove position; This detection method may further comprise the steps: when static, come the initial position of calibration rotor by the current phasor of given fixed angle, take rotor to synchronous regime with the control method of open loop afterwards, after stable, with the method for angle stack and the position of the next real-time estimated rotor of the previous initial position of demarcating, use for closed loop control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101349539A CN101814883B (en) | 2010-03-29 | 2010-03-29 | Method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101349539A CN101814883B (en) | 2010-03-29 | 2010-03-29 | Method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement sensor |
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| Publication Number | Publication Date |
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| CN101814883A CN101814883A (en) | 2010-08-25 |
| CN101814883B true CN101814883B (en) | 2011-11-09 |
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| CN2010101349539A Expired - Fee Related CN101814883B (en) | 2010-03-29 | 2010-03-29 | Method for detecting magnetic pole position of permanent magnet synchronous motor rotor based on displacement sensor |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101924514B (en) * | 2010-09-30 | 2012-07-04 | 重庆长安汽车股份有限公司 | Rotary transformer initial position signal autocorrection method |
| US8482266B2 (en) * | 2011-01-25 | 2013-07-09 | Freescale Semiconductor, Inc. | Voltage regulation circuitry and related operating methods |
| CN112803857B (en) * | 2021-01-06 | 2023-02-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
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| CN1146092A (en) * | 1995-09-19 | 1997-03-26 | 昆明市公安局看守所 | Brush-less electrically exciting motor |
| GB9715248D0 (en) * | 1997-07-18 | 1997-09-24 | Switched Reluctance Drives Ltd | Starting of single-phase motors |
| CN1141776C (en) * | 1999-05-28 | 2004-03-10 | 徐炳辉 | Energy-saving motor |
| JP2006014474A (en) * | 2004-06-25 | 2006-01-12 | Favess Co Ltd | Motor control device and electric power steering device |
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| C14 | Grant of patent or utility model | ||
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| C53 | Correction of patent for invention or patent application | ||
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Inventor after: Ji Li Inventor after: Dong Jiyong Inventor after: Xu Longxiang Inventor before: Dong Jiyong Inventor before: Xu Longxiang Inventor before: Ji Li |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: DONG JIYONG XU LONGXIANG JI LI TO: JI LI DONG JIYONG XU LONGXIANG |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111109 Termination date: 20180329 |