CN101980440A - Method and device for detecting initial position of rotor of permanent magnet synchronous motor - Google Patents
Method and device for detecting initial position of rotor of permanent magnet synchronous motor Download PDFInfo
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- CN101980440A CN101980440A CN2010105506971A CN201010550697A CN101980440A CN 101980440 A CN101980440 A CN 101980440A CN 2010105506971 A CN2010105506971 A CN 2010105506971A CN 201010550697 A CN201010550697 A CN 201010550697A CN 101980440 A CN101980440 A CN 101980440A
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Abstract
The invention relates to a method and a device for detecting the initial position of a rotor of a permanent magnet synchronous motor and belongs to a method and a device for detecting the initial position of a motor rotor. When the electrical angle of an A phase axis of a stator winding is 0, a system controller controls a power inverter to output a pulsating voltage signal of which the electrical angle is theta; a current sensor detects the three-phase currents of stators A, B and C and feeds back the three-phase currents to the controller; the system controller performs 3s/2r transformation on the sampling values of the three-phase currents by taking the theta as an orientation angle; and current values under three-phase static coordinates are transformed into those under two-phase rotating coordinates, namely d-q coordinates, to acquire a d axis current value and a q axis current value, namely id and iq respectively when the orientation angle is the theta; when angular deviation exists between a rotor position angle and the angle theta of the initially output voltage signal, the iq value is greater. The method does not need an encoder, simplifies the hardware structure of a system, improves the detection reliability and is suitable for working conditions of motor noload or load starting.
Description
Technical field
The present invention relates to a kind of method for detecting initial position of rotor and device of detection method and device, particularly a kind of permagnetic synchronous motor of original position of electric motor's rotator.
Background technology
Permagnetic synchronous motor has advantages such as high torque (HT) inertia ratio, high-energy-density and high efficiency, is using more and more widely in recent years.In high performance permanent magnet synchronous motor control system, need accurately know the residing position of rotor.Because absolute position formula position transducer costs an arm and a leg, what adopt at a lot of control system for permanent-magnet synchronous motor is incremental encoder, perhaps adopts method for controlling position-less sensor.In this case, if initial position is estimated inaccurately in the time of electric motor starting, can cause the electric motor starting torque to reduce even may not normal starting.
Present initial position of rotor detection system adopts the incremental encoder that has UVW three-phase position judgment usually or rotates the initial position determination methods that high frequency injects.The initial position estimated accuracy of incremental encoder that has UVW three-phase position judgment is not high.And the method that the rotation high frequency injects is utilized the saliency of motor, obtains the angle of rotor-position in conjunction with the judgement of rotor NS polarity, and this method is had relatively high expectations for current detection circuit, implements to acquire a certain degree of difficulty.
Summary of the invention
The objective of the invention is to provide a kind of method for detecting initial position of rotor and device of permagnetic synchronous motor, the initial position estimated accuracy that solves the incremental encoder that has UVW three-phase position judgment is not high; The method that the rotation high frequency injects is utilized the saliency of motor, obtains the angle of rotor-position in conjunction with the judgement of rotor NS polarity, and this method is for the problem of having relatively high expectations of current detection circuit.
The object of the present invention is achieved like this: this permanent-magnetic synchronous motor rotor initial position includes detection method and checkout gear;
Detection method is as follows:
When the electrical degree of stator winding A phase axis is 0, utilize the pulsating voltage signal of system controller power controlling converter output electrical degree for θ;
Current sensor senses stator A, B, C three-phase current feed back to controller;
System controller is that directional angle is carried out the 3s/2r conversion with θ with the three-phase current sampled value, it is under the d-q coordinate system that current value under the three phase static coordinate system is transformed to the two-phase rotating coordinate system, and d axle and q shaft current value when obtaining directional angle and being θ are respectively id, iq; When there was angular deviation in the angle θ of rotor position angle and the initial voltage signal of exporting, the iq value was bigger;
The establishing method of Iq:
When (1) value of iq surpasses the width of the ring setting that stagnates:
A, θ value be during less than rotor position angle, id, and the iq electric current is reverse;
B, θ value be during greater than rotor position angle, id, and the iq electric current is in the same way;
Therefore can decide the change direction of angle value by the phase difference of judging the dq electric current, find rotor-position quickly.Promptly work as id, during the iq current reversal, system controller output θ becomes big signal; Id, iq electric current be in the same way the time, the signal that system controller output θ diminishes;
When (2) value of iq is within the width that the ring that stagnates is set: the signal that system controller output θ remains unchanged;
The signal controlling power inverter of system controller output changes the angle value θ of the voltage signal of its output, makes the value of iq encircle within the width of setting stagnant, and the angle of the pulsating voltage signal that loaded this moment is the angle of rotor.
Checkout gear: comprise stator three-phase alternating-current supply, three-phase power switch, power inverter, current sensor, system controller, permagnetic synchronous motor, the stator three-phase alternating-current supply is connected with power inverter by three-phase power switch, system controller is connected with current sensor with power inverter simultaneously, power inverter is connected with permagnetic synchronous motor, be connected with current sensor on the line between power inverter and the permagnetic synchronous motor, the output of current sensor is connected with system controller.
Beneficial effect: the permanent magnet synchronous machine stator winding is connected with power inverter, and power inverter is connected to the stator three-phase alternating-current supply by three-phase power switch.Current sensor senses permanent-magnetic synchronous motor stator three-phase electricity flow valuve; The sampled value of current sensor feeds back to system controller; System controller is provided with the stagnant ring controller of a tentering value to iq, according to id, and the control signal that the output of the phase relation of iq is different; When the deviate of the value of iq and 0 greater than the amplitude of setting, relatively make id by logic so, the control signal that output θ increases in the time of the iq current reversal, id, the iq electric current control signal that output θ reduces in the same way the time; When the deviate of the value of iq and 0 less than the amplitude of setting, the ring controller that stagnates so is output as 0, makes θ keep currency.The control signal of sending of system controller is regulated the pulsating level angle of power inverter output.
Loading electrical degree on stator winding is the pulsating voltage signal of θ, utilizes current transformer to measure stator current value.System controller sends appropriate control signals and makes the output voltage angle θ of stator power inverter change according to the stator three-phase electricity flow valuve that feeds back.When the iq value stabilization was in the ring width of setting, this moment, the angle θ of on-load voltage was estimated rotor position electrical degree value.
This method need not encoder, has simplified the hardware configuration of system, has improved the reliability that detects, and is all suitable to the operating mode of empty load of motor or loaded starting.
Description of drawings
Fig. 1 is the vectogram when loading the stator voltage electrical degree less than the motor rotor position angle.
Fig. 2 is the vectogram when loading the stator voltage electrical degree greater than the motor rotor position angle.
Fig. 3 is a permanent-magnetic synchronous motor rotor initial position detection system block diagram.
Among the figure: 1, stator three-phase alternating-current supply; 2, three-phase power switch; 3, stator power inverter; 4, current sensor; 5, system controller; 6, permagnetic synchronous motor.
Embodiment
Embodiment 1: this permanent-magnetic synchronous motor rotor initial position includes detection method and checkout gear;
Detection method is as follows:
When the electrical degree of stator winding A phase axis is 0, utilize the pulsating voltage signal of system controller 5 power controlling converters 3 output electrical degrees for θ;
Current sensor 4 detects stator A, B, C three-phase current, feeds back to controller 5.
System controller 5 is that directional angle is carried out the 3s/2r conversion with θ with the three-phase current sampled value, it is under the d-q coordinate system that current value under the three phase static coordinate system is transformed to the two-phase rotating coordinate system, and d axle and q shaft current value when obtaining directional angle and being θ are respectively id, iq.When there was angular deviation in the angle θ of rotor position angle and the initial voltage signal of exporting, the iq value was bigger.
The establishing method of Iq:
When (1) value of iq surpasses the width of the ring setting that stagnates:
A, θ value be during less than rotor position angle, id, and the iq electric current is reverse;
B, θ value be during greater than rotor position angle, id, and the iq electric current is in the same way.
Therefore can decide the change direction of angle value by the phase difference of judging the dq electric current, find rotor-position quickly.Promptly work as id, during the iq current reversal, system controller output θ becomes big signal; Id, iq electric current be in the same way the time, the signal that system controller 5 output θ diminish.
When (2) value of iq is within the width that the ring that stagnates is set: the signal that system controller 5 output θ remain unchanged.
The signal controlling power inverter 3 of system controller 5 outputs changes the angle value θ of the voltage signal of its output, makes the value of iq encircle within the width of setting stagnant, and the angle of the pulsating voltage signal that loaded this moment is the angle of rotor.
Checkout gear: comprise stator three-phase alternating-current supply 1, three-phase power switch 2, power inverter 3, current sensor 4, system controller 5, permagnetic synchronous motor 6, stator three-phase alternating-current supply 1 is connected with power inverter 3 by three-phase power switch 2, system controller 5 is connected with current sensor 4 with power inverter 3 simultaneously, power inverter 3 is connected with permagnetic synchronous motor 6, be connected with current sensor 4 on the line between power inverter 3 and the permagnetic synchronous motor 6, the output of current sensor 4 is connected with system controller 5.
The permanent magnet synchronous machine stator winding is connected with power inverter 3, and power inverter 3 is connected to stator three-phase alternating-current supply 1 by three-phase power switch 2.Current sensor 4 detects permanent-magnetic synchronous motor stator three-phase electricity flow valuve.The sampled value of current sensor 4 feeds back to system controller 5.5 couples of iq of system controller are provided with the stagnant ring controller of a tentering value, according to id, and the control signal that the output of the phase relation of iq is different.When the deviate of the value of iq and 0 greater than the amplitude of setting, relatively make id by logic so, the control signal that output θ increases in the time of the iq current reversal, id, the iq electric current control signal that output θ reduces in the same way the time; When the deviate of the value of iq and 0 less than the amplitude of setting, the ring controller that stagnates so is output as 0, makes θ keep currency.The control signal that system controller 5 sends outputs to power inverter 3, regulates the pulsating level angle of power inverter 3 outputs.
The initial position of rotor method of measurement and the device of permagnetic synchronous motor of the present invention, loading electrical degree on stator winding is the high frequency pulsating voltage signal of θ, utilizes current transformer to measure the dq axle component of stator current.System controller is according to the current i d that feeds back, and the iq component sends appropriate control signals and makes voltage load angle θ variation.When the iq value stabilization was in the ring width of setting, this moment, the angle θ of on-load voltage was estimated rotor position electrical degree value.
Utilize the saliency of salient pole permagnetic synchronous motor, adopt the known pulsating voltage signal of stator implant angle, the observation stator current responds the level angle of adjusting injection, the actual angle value of the feasible level angle tracking motor rotor that injects.Motor does not need to rotate in testing process, can be used in the motor of loaded starting, and the scope of application is more extensive.Owing to the restriction of ring width is arranged, makes this method reduce for the required precision of the current detection circuit that is adopted.Cause θ to change even the error that detects occurs or big system noise interference occurs, also can be by detecting id in the next sampling period, the size of the polarity of iq and the value of iq, the rule of setting according to system controller provides θ variation or indeclinable instruction, makes θ change toward correct direction.Even under sample circuit burr very condition of severe, according to the detection method that we propose, the excursion of last θ also can be limited to rotor-position near.
The stator power inverter be the IPM of Fuji, current sensor 4 for electric current LEM transducer, system's control be 5 to be the TIDSP2812 controller.
Claims (2)
1. the method for detecting initial position of rotor of a permagnetic synchronous motor, it is characterized in that: detection method is as follows:
When the electrical degree of stator winding A phase axis is 0, utilize the pulsating voltage signal of system controller power controlling converter output electrical degree for θ;
Current sensor senses stator A, B, C three-phase current feed back to controller;
System controller is that directional angle is carried out the 3s/2r conversion with θ with the three-phase current sampled value, it is under the d-q coordinate system that current value under the three phase static coordinate system is transformed to the two-phase rotating coordinate system, and d axle and q shaft current value when obtaining directional angle and being θ are respectively id, iq; When there was angular deviation in the angle θ of rotor position angle and the initial voltage signal of exporting, the iq value was bigger;
The establishing method of Iq:
When (1) value of iq surpasses the width of the ring setting that stagnates:
A, θ value be during less than rotor position angle, id, and the iq electric current is reverse;
B, θ value be during greater than rotor position angle, id, and the iq electric current is in the same way;
Therefore can decide the change direction of angle value by the phase difference of judging the dq electric current, find rotor-position quickly.Promptly work as id, during the iq current reversal, system controller output θ becomes big signal; Id, iq electric current be in the same way the time, the signal that system controller output θ diminishes;
When (2) value of iq is within the width that the ring that stagnates is set:
The signal that system controller output θ remains unchanged;
The signal controlling power inverter of system controller output changes the angle value θ of the voltage signal of its output, makes the value of iq encircle within the width of setting stagnant, and the angle of the pulsating voltage signal that loaded this moment is the angle of rotor.
2. device of realizing the method for detecting initial position of rotor of permagnetic synchronous motor, it is characterized in that: checkout gear: comprise the stator three-phase alternating-current supply, three-phase power switch, power inverter, current sensor, system controller, permagnetic synchronous motor, the stator three-phase alternating-current supply is connected with power inverter by three-phase power switch, system controller is connected with current sensor with power inverter simultaneously, power inverter is connected with permagnetic synchronous motor, be connected with current sensor on the line between power inverter and the permagnetic synchronous motor, the output of current sensor is connected with system controller.
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| CN2010105506971A CN101980440A (en) | 2010-11-10 | 2010-11-10 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor |
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| CN2010105506971A CN101980440A (en) | 2010-11-10 | 2010-11-10 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103051276A (en) * | 2012-08-27 | 2013-04-17 | 深圳市正弦电气股份有限公司 | Initial position distinguishing method of permanent magnet synchronous motor rotor |
| CN103178768A (en) * | 2011-12-26 | 2013-06-26 | 上海大郡动力控制技术有限公司 | Device for detecting initial position of rotor of permanent-magnetic synchronous motor and using method thereof |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN106208881A (en) * | 2016-07-07 | 2016-12-07 | 中国电子科技集团公司第二十研究所 | Based on potential pulse vector control strategy without sensing motor driver |
| CN109874395A (en) * | 2016-10-24 | 2019-06-11 | 罗伯特·博世有限公司 | Method for the regulator control system of synchronous motor and for running synchronous motor |
| CN112924722A (en) * | 2019-12-05 | 2021-06-08 | 中车时代电动汽车股份有限公司 | Method for determining initial position and wiring mode of motor rotor |
| CN113484627A (en) * | 2021-07-13 | 2021-10-08 | 中国第一汽车股份有限公司 | Wiring detection method and device for electric drive system and motor control system |
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| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| CN201860287U (en) * | 2010-11-10 | 2011-06-08 | 徐州中矿大传动与自动化有限公司 | Rotor initial position detecting device for a permanent magnet synchronous motor |
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| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| CN201860287U (en) * | 2010-11-10 | 2011-06-08 | 徐州中矿大传动与自动化有限公司 | Rotor initial position detecting device for a permanent magnet synchronous motor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103178768A (en) * | 2011-12-26 | 2013-06-26 | 上海大郡动力控制技术有限公司 | Device for detecting initial position of rotor of permanent-magnetic synchronous motor and using method thereof |
| CN103051276A (en) * | 2012-08-27 | 2013-04-17 | 深圳市正弦电气股份有限公司 | Initial position distinguishing method of permanent magnet synchronous motor rotor |
| CN103051276B (en) * | 2012-08-27 | 2015-06-24 | 深圳市正弦电气股份有限公司 | Initial position distinguishing method of permanent magnet synchronous motor rotor |
| CN104734589A (en) * | 2013-12-20 | 2015-06-24 | 联合汽车电子有限公司 | Method for calibrating deviation angle in permanent magnet synchronous motor |
| CN104734589B (en) * | 2013-12-20 | 2017-07-07 | 联合汽车电子有限公司 | The method that deviation angle is demarcated in permagnetic synchronous motor |
| CN106208881A (en) * | 2016-07-07 | 2016-12-07 | 中国电子科技集团公司第二十研究所 | Based on potential pulse vector control strategy without sensing motor driver |
| CN109874395A (en) * | 2016-10-24 | 2019-06-11 | 罗伯特·博世有限公司 | Method for the regulator control system of synchronous motor and for running synchronous motor |
| CN109874395B (en) * | 2016-10-24 | 2022-06-03 | 罗伯特·博世有限公司 | Control system for a synchronous machine and method for operating a synchronous machine |
| CN112924722A (en) * | 2019-12-05 | 2021-06-08 | 中车时代电动汽车股份有限公司 | Method for determining initial position and wiring mode of motor rotor |
| CN113484627A (en) * | 2021-07-13 | 2021-10-08 | 中国第一汽车股份有限公司 | Wiring detection method and device for electric drive system and motor control system |
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Application publication date: 20110223 |