CN102045020A - Method for detecting position of rotor of permanent magnet motor - Google Patents

Method for detecting position of rotor of permanent magnet motor Download PDF

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Publication number
CN102045020A
CN102045020A CN2011100246328A CN201110024632A CN102045020A CN 102045020 A CN102045020 A CN 102045020A CN 2011100246328 A CN2011100246328 A CN 2011100246328A CN 201110024632 A CN201110024632 A CN 201110024632A CN 102045020 A CN102045020 A CN 102045020A
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Prior art keywords
emf
rotor
axle back
axle
frequency
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CN102045020B (en
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叶林华
邹积浩
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Teco Group Science and Technology Hangzhou Co Ltd
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Teco Group Science and Technology Hangzhou Co Ltd
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Abstract

The invention provides a method for detecting the position of a rotor based on counter potentials of a permanent magnet motor, aiming at overcoming the defects that the traditional methods for detecting the position of the rotor are complex and depend on motor parameters. The method is characterized by after filtering alpha axis counter potential and beta axis counter potential in an alpha-beta coordinate system of the permanent magnet motor, calculating the position of the rotor after phase shifting, and obtaining the actual position of the rotor according to the influence of the predetermined filtering frequency and the predetermined number of filtering times on the phase of the rotor. The method has the following beneficial effects: various spurious signals in the counter potential calculation results can be effectively eliminated to remain the actual signals, thus the estimated position of the rotor is more accurate and stable; and the estimated position of the rotor dispenses with additional check or correction under the condition that the important motor parameters are obviously changed or the range of the motor parameters can be only roughly determined, thus greatly improving the robustness of an observer and being convenient for engineering application and implementation.

Description

The permanent magnet machine rotor method for detecting position
Technical field
The present invention relates to the electric machines control technology field, more particularly, relate to a kind of permanent magnet machine rotor method for detecting position.
Background technology
Magneto needs the position of detection rotor to realize the commutation of winding when operation, and this is the basis that magneto is controlled, and the accuracy of permanent magnet machine rotor position probing is directly influenced the control effect of magneto.Because the rotor-position sensor failure rate is higher, can reduce the reliability of whole system, the detection of permanent magnet machine rotor position carries out the transition to the stage that no transducer is estimated from sensor.
In the prior art, in the control method of position-sensor-free magneto, position and speed that many methods are estimated rotor have been proposed, for example:
1, employing is based on the accurate model method of motor, though this method is calculated simply, dynamic response is fast, and speed calculation depends critically upon the parameter of electric machine, does not have the error correction link, thereby is difficult to guarantee the governing system anti-interference, even unsettled situation may occur;
2, adopt the salient pole tracing, this method can be applicable to the velocity interval of broad even also can obtain effect preferably at low speed, but the estimation of speed relatively relies on the saliency of motor;
3, Kalman filter method, algorithm complexity, parameter regulation difficulty;
4, neural net method; Evaluation method is relatively complicated, makes the adjusting of structure and the design of parameter all compare difficulty.
In a word, said method or seriously rely on the parameter of electric machine, (for example compressor of air conditioner etc.) will be estimated to produce than mistake to rotor-position in case the parameter of electric machine has greatly changed; Algorithm complexity, parameter regulation are than more complicated and difficulty, and said method is influenced by external condition all very easily, and adaptability is relatively poor.
 
Summary of the invention
The objective of the invention is the defective that exists in the prior art in order to solve, a kind of method based on magneto back-emf detection rotor position is provided, this method is by the simple algorithm position of detection rotor accurately, can only roughly determine under the situation of scope in the parameter of electric machine bigger variation of generation or the parameter of electric machine, do not influence the detection of rotor-position yet, thereby guarantee the stable operation of whole system.
Technical problem solved by the invention can realize by the following technical solutions:
A kind of permanent magnet machine rotor method for detecting position is characterized in that: to magneto
Figure 757961DEST_PATH_IMAGE001
Under the coordinate system
Figure 599009DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf carries out identical predetermined filter times respectively, and the first-order filtering of corresponding the identical predetermined frequency filtering of employing is according to filtered
Figure 298160DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf calculates dephased rotor-position, again according to predetermined frequency filtering and the influence of the filter times of being scheduled to rotor phase, obtains the physical location of rotor.
Among the present invention, rotor is correlated with
Figure 373881DEST_PATH_IMAGE001
Back-emf under the coordinate system is by identical predetermined filter times, adopts the first-order filtering of identical predetermined frequency filtering corresponding time, and amplitude is 1/3 to 2/3 of a former amplitude.
Among the present invention, the angle of rotor-position after the phase shift is for filtered
Figure 675549DEST_PATH_IMAGE003
The axle back-emf with
Figure 111822DEST_PATH_IMAGE002
The arc-tangent value of axle back-emf ratio.
Among the present invention, in whole control process, when The axle back-emf and
Figure 665480DEST_PATH_IMAGE003
When axle back-emf frequency changes, the predetermined frequency filtering that each first-order filtering is adopted with
Figure 634705DEST_PATH_IMAGE002
The axle back-emf and Axle back-emf frequency is carried out equal proportion and is changed.
Among the present invention, described frequency filtering is
Figure 102912DEST_PATH_IMAGE001
The cut-off frequency of back-emf under the coordinate system is when described frequency filtering is During the cut-off frequency of back-emf, described predetermined filter times is 2 times or 3 times under the coordinate system.
A kind of permanent magnet machine rotor method for detecting position is characterized in that: with magneto
Figure 834556DEST_PATH_IMAGE001
Under the coordinate system
Figure 864829DEST_PATH_IMAGE002
The axle back-emf and
Figure 774010DEST_PATH_IMAGE003
After the axle back-emf carries out discretization, right again
Figure 485614DEST_PATH_IMAGE002
The axle back-emf and
Figure 413119DEST_PATH_IMAGE003
The axle back-emf carries out identical predetermined filter times, and the first-order filtering of corresponding the identical predetermined filter factor of employing is according to filtered
Figure 367955DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf calculates dephased rotor-position, again according to predetermined filter factor and the influence of the filter times of being scheduled to rotor phase, obtains each discrete rotor-position constantly.
Among the present invention, rotor is correlated with
Figure 528995DEST_PATH_IMAGE001
Back-emf under the coordinate system is by identical predetermined filter times, and behind the first-order filtering of corresponding the identical predetermined filter factor of employing, amplitude is 1/3 to 2/3 of a former amplitude.
Among the present invention, the angle of rotor-position after the phase shift is for filtered
Figure 248689DEST_PATH_IMAGE003
The axle back-emf with
Figure 371497DEST_PATH_IMAGE002
The arc-tangent value of axle back-emf ratio.
Among the present invention, in whole control process, when
Figure 504538DEST_PATH_IMAGE002
The axle back-emf and
Figure 557945DEST_PATH_IMAGE003
When axle back-emf frequency changes, the predetermined filter factor that each first-order filtering is adopted with
Figure 210774DEST_PATH_IMAGE002
The axle back-emf and
Figure 753751DEST_PATH_IMAGE003
Axle back-emf frequency is carried out equal proportion and is changed.
Among the present invention, described filter factor is
Figure 311771DEST_PATH_IMAGE004
, wherein,
Figure 716339DEST_PATH_IMAGE005
For
Figure 472943DEST_PATH_IMAGE002
The axle back-emf and
Figure 390083DEST_PATH_IMAGE003
Axle back-emf cut-off frequency, Be the control algolithm frequency, when described filter factor is
Figure 375149DEST_PATH_IMAGE004
The time, described predetermined filter times is 2 times or 3 times.
The present invention can filter the various assorted letter in the back-emf result of calculation effectively by back-emf being scheduled to the first-order filtering of filter times and predetermined frequency filtering, and is accurate more and stable to keep actual signal, to make the rotor-position of estimating.
Simultaneously, method of the present invention is to motor important parameter (resistance R, inductance L) and insensitive, can only roughly determine under the situation of scope in the bigger variation of generation of motor important parameter or the parameter of electric machine, the rotor-position of estimating need not extra verification and correction, can satisfy the demand of Electric Machine Control fully, improve the robustness of observer greatly.
Just based on this, the present invention especially is useful in operating mode and uses in abominable place (as air-conditioning etc.), especially when predetermined frequency filtering adopts the back-emf cut-off frequency, and each filtering rotor phase angle hysteresis , simplified computational process, make things convenient for engineering to use and realization greatly.
Description of drawings
Fig. 1 is under the inventive method
Figure 887350DEST_PATH_IMAGE002
After axle counter potential waveform, the filtering
Figure 154383DEST_PATH_IMAGE002
The rotor position angle waveform of the phase shift of axle counter potential waveform, calculating and the schematic diagram of revised rotor physical location angle waveform.
Fig. 2 is the rotor position angle waveform of the phase shift of calculating and the enlarged diagram of revised rotor physical location angle waveform.
Fig. 3 carries out filtering to rotor position angle again for calculating rotor position angle earlier,
Figure 415600DEST_PATH_IMAGE002
The rotor position angle waveform of axle counter potential waveform, calculating, the rotor position angle waveform carried out the schematic diagram of the rotor position angle waveform revised again behind low frequency filtering and the High frequency filter.
Fig. 4 carries out the enlarged diagram of the rotor position angle waveform revised again behind low frequency filtering and the High frequency filter for the rotor position angle waveform that calculates, to the rotor position angle waveform.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Purport of the present invention is to solve available technology adopting does not have transducer control magneto, the permanent magnet machine rotor method for detecting position is loaded down with trivial details, to the special sensitive issue of the parameter of electric machine (resistance R, inductance L), provide a kind of permanent magnet machine rotor method for detecting position based on back-emf.
As stated in the Background Art, the method that detects the permanent magnet machine rotor position has a lot, they have advantage separately also to have corresponding shortcoming, except the method for mentioning in the background technology, detecting the permanent magnet machine rotor position can also obtain indirectly by the back-emf that detects motor, such as by detecting the zero crossing of a certain opposite potential of magneto, postpone again necessarily to commutate often.Like this, one side is the position of detection rotor in real time, and control precision is lower, and motor bigger error can occur after operation a period of time on the other hand, need carry out verification and correction.
The present invention then considers after carrying out coordinate transform, at magneto
Figure 897528DEST_PATH_IMAGE001
Under coordinate system and the dq coordinate system, The axle back-emf and
Figure 707538DEST_PATH_IMAGE003
The relation of axle back-emf and other parameters is right
Figure 257600DEST_PATH_IMAGE002
The axle back-emf and
Figure 780985DEST_PATH_IMAGE003
The axle back-emf calculates, and obtains indirectly
Figure 273146DEST_PATH_IMAGE002
The axle back-emf and Detect the rotor-position of magneto behind the axle back-emf again.For those skilled in the art, the ABC coordinate system of magneto,
Figure 617593DEST_PATH_IMAGE001
The definition of coordinate system and dq coordinate system, the implication of each parameter under each coordinate system, the transform method between any two coordinate systems is all known, and foregoing is not tired out herein and states.
According to motor equation and coordinate transform rule, following relation is arranged:
Figure 323381DEST_PATH_IMAGE008
Figure 471596DEST_PATH_IMAGE009
Wherein, For
Figure 341649DEST_PATH_IMAGE002
Shaft voltage,
Figure 839627DEST_PATH_IMAGE011
For Shaft voltage,
Figure 437278DEST_PATH_IMAGE012
For
Figure 319784DEST_PATH_IMAGE002
Shaft current,
Figure 485317DEST_PATH_IMAGE013
For
Figure 490182DEST_PATH_IMAGE003
Shaft current,
Figure 928117DEST_PATH_IMAGE014
For The axle back-emf,
Figure 693740DEST_PATH_IMAGE015
For
Figure 807189DEST_PATH_IMAGE003
The axle back-emf,
Figure 545469DEST_PATH_IMAGE016
Be the magneto internal resistance,
Figure 769777DEST_PATH_IMAGE017
For
Figure 706640DEST_PATH_IMAGE018
The axle inductance,
Figure 990991DEST_PATH_IMAGE019
For The axle inductance,
Figure 306883DEST_PATH_IMAGE021
Be differential operator,
Figure 488466DEST_PATH_IMAGE022
Be rotor electric angle speed.But by above-mentioned detection limit, calculating that can be indirect Under the coordinate system
Figure 456257DEST_PATH_IMAGE002
The axle back-emf and
Figure 22368DEST_PATH_IMAGE003
The axle back-emf, and any time rotor position angle
Figure 386353DEST_PATH_IMAGE023
But in application of practical project,
Figure 559977DEST_PATH_IMAGE002
The axle back-emf and
Figure 947096DEST_PATH_IMAGE003
There are a lot of assorted letters in the result of calculation of axle back-emf, and as the assorted letter of hardware circuit, sample circuit disturbs, the error of calculation, and problems such as numerical precision make
Figure 379214DEST_PATH_IMAGE002
The axle back-emf
Figure 269810DEST_PATH_IMAGE014
With
Figure 879914DEST_PATH_IMAGE003
The axle back-emf Result of calculation inaccurate, simultaneously, in the abominable place of some operating modes (for example air-conditioning etc.), the parameter of electric machine (resistance R, inductance L) can change along with the change of temperature or operational environment, perhaps the parameter of electric machine just can only roughly be determined scope originally, feasible calculating
Figure 724559DEST_PATH_IMAGE002
The axle back-emf and
Figure 548289DEST_PATH_IMAGE003
The axle back-emf can produce serious local oscillation, and (Fig. 1 is right The axle back-emf is illustrated), above-mentioned problem will inevitably influence the detection of rotor-position.
The problem to be solved in the present invention provides the detection method of a kind of permanent magnet machine rotor position, and the first, it is inaccurate to solve back-emf result of calculation, causes the inaccurate problem of rotor position detection; The second, guaranteeing rotor position detection simultaneously accurately, this detection method is insensitive to the variation of the parameter of electric machine, strengthens the scope of application of this method.
At aforesaid problem, the present invention is at first to according to other calculation of parameter
Figure 674694DEST_PATH_IMAGE002
The axle back-emf and
Figure 196418DEST_PATH_IMAGE003
The axle back-emf carries out the first-order filtering of identical pre-determined number.Referring to Fig. 1, because
Figure 61606DEST_PATH_IMAGE003
The axle back-emf with The waveform similarity of axle back-emf, thus only right among Fig. 1 The axle back-emf illustrates that the purpose of first-order filtering is to remove as shown in Figure 1 The axle back-emf (
Figure 956564DEST_PATH_IMAGE003
The axle back-emf) the assorted letter in the result of calculation makes filtered The axle back-emf (
Figure 150096DEST_PATH_IMAGE003
The axle back-emf) level and smooth, can at first eliminate like this before the filtering
Figure 265819DEST_PATH_IMAGE002
The axle back-emf (
Figure 918649DEST_PATH_IMAGE003
The axle back-emf) self calculate inaccurate because of what local oscillation caused.
Mathematical Modeling according to the first-order filtering link , amplitude-frequency characteristic , phase-frequency characteristic
Figure 415424DEST_PATH_IMAGE026
If through n first-order filtering, frequency filtering is followed successively by
Figure 109711DEST_PATH_IMAGE027
, ...,
Figure 681955DEST_PATH_IMAGE029
, then amplitude-frequency characteristic is followed successively by , ...,
Figure 776316DEST_PATH_IMAGE032
, phase-frequency characteristic is followed successively by
Figure 856398DEST_PATH_IMAGE033
, ...,
Figure 520915DEST_PATH_IMAGE035
Total amplitude-frequency characteristic Sum{
Figure 592907DEST_PATH_IMAGE030
,
Figure 409553DEST_PATH_IMAGE031
...,
Figure 146565DEST_PATH_IMAGE032
, i.e. the amplitude Sum{ that decayed altogether
Figure 480070DEST_PATH_IMAGE030
,
Figure 972231DEST_PATH_IMAGE031
...,
Figure 948278DEST_PATH_IMAGE032
.
Total phase-frequency characteristic Sum{
Figure 302030DEST_PATH_IMAGE033
,
Figure 7817DEST_PATH_IMAGE034
...,
Figure 342984DEST_PATH_IMAGE035
, i.e. the phase place Sum{ that lagged behind altogether
Figure 884955DEST_PATH_IMAGE033
,
Figure 963769DEST_PATH_IMAGE034
...,
Figure 524064DEST_PATH_IMAGE035
.
The frequency filtering that first-order filtering adopted is high more, after the filtering
Figure 843181DEST_PATH_IMAGE002
The axle back-emf and
Figure 59398DEST_PATH_IMAGE003
Axle back-emf amplitude attenuation is big more, after the filtering The axle back-emf and
Figure 172683DEST_PATH_IMAGE003
The axle counter potential waveform is level and smooth more, and this is for elimination
Figure 115232DEST_PATH_IMAGE002
The axle back-emf and
Figure 615483DEST_PATH_IMAGE003
Axle back-emf local oscillation is useful, but amplitude attenuation is excessive, can cause filtering after
Figure 36100DEST_PATH_IMAGE002
The axle back-emf and Axle back-emf amplitude is too small, can reduce the computational accuracy of rotor-position (dephased rotor-position) again.Therefore, from
Figure 231906DEST_PATH_IMAGE002
The axle back-emf and
Figure 157137DEST_PATH_IMAGE003
After the axle back-emf filtering under the taking all factors into consideration of smoothness and computational accuracy, after the filtering The axle back-emf and Axle back-emf amplitude attenuation is to 1/3 to 2/3 of former amplitude.
Simultaneously, right
Figure 868238DEST_PATH_IMAGE002
The axle back-emf and
Figure 93814DEST_PATH_IMAGE003
After the axle back-emf carries out first-order filtering,
Figure 918551DEST_PATH_IMAGE002
The axle back-emf and
Figure 100133DEST_PATH_IMAGE003
The phase place of axle back-emf will lag behind, when
Figure 365505DEST_PATH_IMAGE002
The axle back-emf and
Figure 327645DEST_PATH_IMAGE003
When the each filtering of axle back-emf all adopts identical frequency filtering to carry out filtering, according to filtered
Figure 893755DEST_PATH_IMAGE002
The axle back-emf
Figure 742894DEST_PATH_IMAGE036
With filtered
Figure 369047DEST_PATH_IMAGE003
The axle back-emf
Figure 818483DEST_PATH_IMAGE037
, pass through formula
Figure 735755DEST_PATH_IMAGE038
The dephased rotor position angle that calculates
Figure 891930DEST_PATH_IMAGE039
, relatively the phase place of rotor physical location angular lag could with
Figure 751301DEST_PATH_IMAGE002
The axle back-emf and
Figure 173186DEST_PATH_IMAGE003
The phase place that axle back-emf itself lags behind is identical.Position angle according to rotor after the phase shift
Figure 346679DEST_PATH_IMAGE039
With
Figure 419677DEST_PATH_IMAGE002
The axle back-emf (
Figure 215331DEST_PATH_IMAGE003
The axle back-emf) phase lag can obtain the physical location of rotor.
Magneto for steady operation (uniform rotation), the waveform of the rotor position angle in rotation period of rotor should be the straightway with certain slope, therefore the waveform of detected rotor position angle is more near straightway, and the precision of rotor position detection is also higher relatively.
Again referring to Fig. 1 and Fig. 2, by right The axle back-emf and
Figure 819804DEST_PATH_IMAGE003
The axle back-emf carries out filtering in advance, after filtering
Figure 763621DEST_PATH_IMAGE002
The axle back-emf and
Figure 902478DEST_PATH_IMAGE003
When the axle back-emf was enough level and smooth, the dephased rotor position angle waveform that rotation period of rotor calculates will be very near the straight line with certain slope, basis again
Figure 548223DEST_PATH_IMAGE002
The axle back-emf ( The axle back-emf) phase lag, revised rotor physical location angle waveform is owing to only dephased rotor position angle waveform being carried out obtaining after the phase shift, also with very approaching straight line with certain slope.
Again referring to Fig. 3, Fig. 4, if directly with calculating
Figure 596262DEST_PATH_IMAGE002
The axle back-emf and
Figure 968337DEST_PATH_IMAGE003
The position that the axle back-emf calculates rotor, because The axle back-emf and
Figure 905517DEST_PATH_IMAGE003
The local oscillation that the axle back-emf exists, although the waveform of the rotor position angle that calculates presents the linearity with certain slope on the whole, there is local oscillation equally in rotor position angle, the accuracy of detection of rotor-position is not high.At this moment, if consider the rotor position angle waveform is carried out first-order filtering, again according to obtaining rotor position angle waveform (revising among Fig. 3, Fig. 4) after the rotor position angle phase shift correction, low frequency filtering guarantees that (in fact the rotor position angle waveform does not also pass through the rotor-position zero degree of definition under the distortionless as far as possible situation of rotor position angle waveform, the distortion of rotor position angle waveform), can't eliminate the local oscillation that rotor position angle exists; Although High frequency filter can make the rotor position angle waveform level and smooth, the rotor position angle waveform is seriously distortion, at a lot of rotor-positions that constantly can't reflect.
This explanation, by simple processing mode, detected rotor-position can be very near the physical location of rotor by method of the present invention, and this will provide good assurance to Electric Machine Control.But in fact, all there is error in the rotor-position that any method and observer are detected with real rotor-position, in Engineering Control, need only ERROR CONTROL and just can not influence the control of motor within the specific limits, in general, think that in Engineering Control the rotor-position that detects and real rotor position error just can not influence the control of motor at 30 ~ 40 degree (electrical degree), certainly, the more little Electric Machine Control to precision of error is favourable more, also is the direction that Engineering Control is pursued.
It is a lot of to influence the rotor position detection factors of accuracy, and wherein the parameter of electric machine (resistance R, inductance L) is a key factor, although a lot of method, for example based on the accurate model method of motor, can point-device detection rotor position when the parameter of electric machine is accurate.But the parameter of electric machine at motor in running, change because of the change of temperature or operational environment possibly, at this moment the rotor-position that a lot of methods detect will produce very big error, this moment need be to just verification or the correction of detected rotor-position, when serious even can't continue the detection rotor position, very person is arranged again, and the parameter of motor just can only roughly be determined scope originally, and this will bring very big difficulty to rotor position detection.The undue rotor position detecting method that relies on the parameter of electric machine all has its limitation, and the scope of application in Engineering Control is all very limited.
The present invention adopts calculating
Figure 807614DEST_PATH_IMAGE002
The axle back-emf and
Figure 288274DEST_PATH_IMAGE003
The mode of axle back-emf detection rotor position, less to the dependence of the parameter of electric machine, when the parameter of electric machine changed, detected rotor-position was also little with real rotor-position deviation, had strengthened the scope of application of this method greatly.Relevant reason is analyzed as follows:
For common electric machine,
Figure 390835DEST_PATH_IMAGE040
Be in close proximity to zero, this is right The axle back-emf and
Figure 4536DEST_PATH_IMAGE003
The influence of the result of calculation of axle back-emf can be ignored aforementioned calculating substantially
Figure 469146DEST_PATH_IMAGE002
The axle back-emf and
Figure 514463DEST_PATH_IMAGE003
The equation of axle back-emf can be reduced to:
Figure 971989DEST_PATH_IMAGE041
Figure 333831DEST_PATH_IMAGE042
Because
Figure 421873DEST_PATH_IMAGE002
The axle back-emf
Figure 751223DEST_PATH_IMAGE014
With
Figure 497593DEST_PATH_IMAGE003
The axle back-emf
Figure 166472DEST_PATH_IMAGE015
Formula identical, the two is correlated with again, therefore from
Figure 487732DEST_PATH_IMAGE002
The axle back-emf
Figure 792461DEST_PATH_IMAGE014
Start with, analyze under the method for employing of the present invention, the parameter of electric machine is to the influence of rotor-position:
Figure 795052DEST_PATH_IMAGE043
Figure 380754DEST_PATH_IMAGE044
Wherein, Be rotor position angle,
Figure 599694DEST_PATH_IMAGE046
,
Figure 202714DEST_PATH_IMAGE047
Be mechanical frequency,
Figure 393655DEST_PATH_IMAGE021
Be the motor number of pole-pairs,
Figure 994401DEST_PATH_IMAGE048
For motor in service
Figure 520060DEST_PATH_IMAGE010
With
Figure 677503DEST_PATH_IMAGE012
Differential seat angle.
Because
Figure 175480DEST_PATH_IMAGE002
The axle back-emf
Figure 743865DEST_PATH_IMAGE014
Phase place and the phase difference of rotor position angle fix, so we with
Figure 960083DEST_PATH_IMAGE002
The axle back-emf The zero crossing place analyzes:
Order , then
Figure 744477DEST_PATH_IMAGE050
Figure 995461DEST_PATH_IMAGE051
（
Figure 743974DEST_PATH_IMAGE052
）
Substitution gets
Figure 950965DEST_PATH_IMAGE053
Promptly
Figure 877464DEST_PATH_IMAGE054
At motor
Figure 865011DEST_PATH_IMAGE055
Under the control, With
Figure 229445DEST_PATH_IMAGE010
Differential seat angle
Figure 576112DEST_PATH_IMAGE048
Approach zero, therefore:
Figure 617636DEST_PATH_IMAGE057
Figure 67520DEST_PATH_IMAGE059
Figure 967343DEST_PATH_IMAGE060
Obtain after the arrangement again:
Figure 595770DEST_PATH_IMAGE061
For magneto,
Figure 444909DEST_PATH_IMAGE062
Generally be
Figure 71062DEST_PATH_IMAGE016
More than ten times, therefore,
Figure 254919DEST_PATH_IMAGE016
Minor variations, very limited to the influence of phase place, following formula can be expressed as:
Figure 437770DEST_PATH_IMAGE063
Be illustrated in the parameter of electric machine accurately under the situation,
Figure 872272DEST_PATH_IMAGE002
The axle back-emf
Figure 780185DEST_PATH_IMAGE014
The zero crossing place, the position angle of rotor.Method of the present invention is adopted in following formula explanation, other parameters of magneto are very little to result's influence of rotor position detection, and rotor-position mainly is subjected to magneto
Figure 853183DEST_PATH_IMAGE018
The axle inductance
Figure 634188DEST_PATH_IMAGE017
Influence.
Variation more than 50% generally can not take place in the parameter of electric machine of magneto (inductance, internal resistance), perhaps under any circumstance, the estimation of the parameter of electric machine unlikely there is error more than 50%, therefore we are example with positive and negative 50% error of the parameter of electric machine, when the analysis parameter of electric machine is inaccurate, to the influence of rotor position detection.
When the parameter of electric machine is accurate parameter 1/2:
Figure 504241DEST_PATH_IMAGE067
Figure 448058DEST_PATH_IMAGE068
When the expression parameter of electric machine is accurate parameter 1/2,
Figure 586915DEST_PATH_IMAGE002
The axle back-emf
Figure 967081DEST_PATH_IMAGE014
The zero crossing place, the position angle of rotor.
When the parameter of electric machine is accurate parameter 3/2:
Figure 295425DEST_PATH_IMAGE069
Figure 280698DEST_PATH_IMAGE070
When the expression parameter of electric machine is accurate parameter 3/2,
Figure 273898DEST_PATH_IMAGE002
The axle back-emf
Figure 327305DEST_PATH_IMAGE014
The zero crossing place, the position angle of rotor.
Analyze
Figure 229402DEST_PATH_IMAGE072
And
Figure 523111DEST_PATH_IMAGE073
, judge when the parameter of electric machine has positive and negative 50% deviation the deviation of detected rotor-position and rotor actual position.
Introduce the parameter of electric machine of certain compressor, analyze:
Figure 81131DEST_PATH_IMAGE074
，
Figure 734966DEST_PATH_IMAGE075
，
Figure 507881DEST_PATH_IMAGE076
，
Figure 159443DEST_PATH_IMAGE077
Figure 1497DEST_PATH_IMAGE078
，
Figure 396706DEST_PATH_IMAGE079
Figure 24127DEST_PATH_IMAGE080
Figure 908907DEST_PATH_IMAGE081
Figure 175940DEST_PATH_IMAGE082
So:
Figure 184960DEST_PATH_IMAGE083
Figure 916156DEST_PATH_IMAGE084
This instruction card is shown under the situation of error of the parameter of electric machine positive and negative 50%, adopt method of the present invention, the rotor-position that detects and the error of the real position of rotor are still in 10 degree, even therefore the parameter of electric machine has worse variation, detected rotor-position also can satisfy the demand of Electric Machine Control.And this law invention is at the parameter of electric machine accurately under the situation, can accurately detect rotor-position, and under the parameter of electric machine has situation than mistake, the rotor-position that detects also can satisfy the requirement of Electric Machine Control, dependence to the parameter of electric machine is very little, in actual engineering, the substitution parameter of electric machine can obtain rotor-position more accurately, need not debugging substantially.
Certainly, unless the present invention is only right
Figure 909519DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf carries out first-order filtering one time, if right
Figure 541806DEST_PATH_IMAGE002
The axle back-emf and
Figure 878241DEST_PATH_IMAGE003
The axle back-emf adopts repeatedly first-order filtering, and the predetermined frequency filtering that so each first-order filtering is adopted both can be identical, also can be different.
For the present invention, when motor is in unstable state operation (motor speed is non-constant), because the variation of motor speed can cause
Figure 42506DEST_PATH_IMAGE002
The axle back-emf and
Figure 346448DEST_PATH_IMAGE003
The frequency change of axle back-emf, if in whole control process, the frequency filtering that maintenance is scheduled to is constant, and is constantly different, the angle of calculating the dephased rotor-position hysteresis rotor physical location that obtains will be different, and this will bring great inconvenience to revising the physical location that obtains rotor.
Therefore, in order to make the angle of calculating the dephased rotor-position hysteresis rotor physical location that obtains in the whole control process remain unchanged, the predetermined frequency filtering that each first-order filtering is adopted with
Figure 887151DEST_PATH_IMAGE002
The axle back-emf and The ratio of axle back-emf frequency should remain unchanged, and promptly works as motor because rotation speed change makes
Figure 678837DEST_PATH_IMAGE002
The axle back-emf and
Figure 204497DEST_PATH_IMAGE003
The frequency of axle back-emf is when changing, the predetermined frequency filtering that each first-order filtering is adopted should with
Figure 376588DEST_PATH_IMAGE002
The axle back-emf and
Figure 608986DEST_PATH_IMAGE003
The frequency of axle back-emf is carried out the variation of equal proportion.If it is right
Figure 442950DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf adopts repeatedly first-order filtering, when the predetermined frequency filtering that each first-order filtering adopts is inequality again, should revise the predetermined frequency filtering that each first-order filtering adopted.
At the above-mentioned content and the characteristic of first-order filtering, preferable mode is to adopt
Figure 89143DEST_PATH_IMAGE002
The axle back-emf and
Figure 503944DEST_PATH_IMAGE003
The cut-off frequency of axle back-emf carries out first-order filtering.This be because, adopt cut-off frequency filtering,
Figure 446492DEST_PATH_IMAGE002
The axle back-emf and
Figure 697476DEST_PATH_IMAGE003
Axle back-emf amplitude attenuation
Figure 383672DEST_PATH_IMAGE085
, phase lag , promptly new amplitude is former amplitude , new phase angle lags behind
Figure 504709DEST_PATH_IMAGE086
And the like, if process
Figure 791334DEST_PATH_IMAGE088
Inferior same processing procedure, so
Figure 928530DEST_PATH_IMAGE002
The axle back-emf and
Figure 947302DEST_PATH_IMAGE003
The new amplitude of axle back-emf is former amplitude
Figure 422145DEST_PATH_IMAGE089
, new phase angle lags behind
Figure 450144DEST_PATH_IMAGE090
Like this, calculate dephased rotor-position after, can be adapted to rotor actual position rotor very easily.Consider aforesaid The axle back-emf and The problem of smoothness and computational accuracy is right after the filtering of axle back-emf
Figure 596589DEST_PATH_IMAGE002
The axle back-emf and
Figure 975749DEST_PATH_IMAGE003
It is better that axle back-emf employing cut-off frequency carries out 2 or 3 first-order filterings.In fact, for magneto, the electric frequency of motor is
Figure 277417DEST_PATH_IMAGE002
The axle back-emf and
Figure 965887DEST_PATH_IMAGE003
The cut-off frequency of axle back-emf makes predetermined obtaining of frequency filtering become easy unusually.
Consider the precision of Electric Machine Control and the disposal ability of processor, the present invention can also be right
Figure 900476DEST_PATH_IMAGE002
The axle back-emf and
Figure 270278DEST_PATH_IMAGE003
Handle again after the axle back-emf discretization, after the discretization:
Figure 488769DEST_PATH_IMAGE091
Figure 285824DEST_PATH_IMAGE092
Wherein,
Figure 710639DEST_PATH_IMAGE093
Represent the current time value, Represent last one to be worth constantly, for those skilled in the art, the theory and the processing method of discretization are all known, and do not tire out herein and state.
Right
Figure 691550DEST_PATH_IMAGE002
The axle back-emf and
Figure 472556DEST_PATH_IMAGE003
After axle back-emf discretization is handled, again to after the discretization
Figure 568688DEST_PATH_IMAGE002
The axle back-emf With after the discretization
Figure 20846DEST_PATH_IMAGE003
The axle back-emf
Figure 159703DEST_PATH_IMAGE096
Carry out the first-order filtering of identical pre-determined number, corresponding time first-order filtering adopts identical filter factor.
Each discrete dephased rotor position angle constantly
Figure 805448DEST_PATH_IMAGE097
, wherein
Figure 320743DEST_PATH_IMAGE098
For filtered
Figure 853487DEST_PATH_IMAGE002
The axle back-emf,
Figure 225562DEST_PATH_IMAGE099
For being filtered
Figure 296286DEST_PATH_IMAGE003
Axle back-emf, basis again
Figure 159813DEST_PATH_IMAGE002
The axle back-emf
Figure 61910DEST_PATH_IMAGE095
With
Figure 542570DEST_PATH_IMAGE003
The axle back-emf
Figure 913639DEST_PATH_IMAGE096
Phase lag can obtain each discrete position of rotor constantly.
For discrete processing mode, equally can be to after the discretization
Figure 505157DEST_PATH_IMAGE002
The axle back-emf
Figure 261761DEST_PATH_IMAGE095
With after the discretization
Figure 991951DEST_PATH_IMAGE003
The axle back-emf
Figure 771688DEST_PATH_IMAGE096
Carry out repeatedly first-order filtering, each filter factor that first-order filtering adopts both can be identical, also can be different.
Similar during with aforementioned non-discrete processes, in order to make the angle of calculating the dephased rotor-position hysteresis rotor physical location that obtains in the whole control process remain unchanged, when motor since rotation speed change make
Figure 229214DEST_PATH_IMAGE002
The axle back-emf and
Figure 43586DEST_PATH_IMAGE003
The frequency of axle back-emf is when changing, the predetermined filter factor that each first-order filtering is adopted should with
Figure 679098DEST_PATH_IMAGE002
The axle back-emf and
Figure 8448DEST_PATH_IMAGE003
The frequency of axle back-emf is carried out the variation of equal proportion.If it is right
Figure 207348DEST_PATH_IMAGE002
The axle back-emf and
Figure 680487DEST_PATH_IMAGE003
The axle back-emf adopts repeatedly first-order filtering, when the predetermined filter factor that each first-order filtering adopts is inequality again, should revise the predetermined filter factor that each first-order filtering adopted.
Optimum execution mode is to adopt
Figure 673851DEST_PATH_IMAGE004
Be filter factor, wherein,
Figure 490497DEST_PATH_IMAGE005
For
Figure 40559DEST_PATH_IMAGE002
The axle back-emf and
Figure 563944DEST_PATH_IMAGE003
Axle back-emf cut-off frequency, Be the control algolithm frequency.Like this, identical with the processing mode of non-discretization, every through a first-order filtering The axle back-emf and
Figure 385903DEST_PATH_IMAGE003
The axle back-emf decays to former amplitude
Figure 29374DEST_PATH_IMAGE087
, new phase angle lags behind
Figure 426858DEST_PATH_IMAGE086
, when filter factor is
Figure 968828DEST_PATH_IMAGE004
The time, adopt 2 or 3 times first-order filtering.Equally, the electric frequency owing to motor is
Figure 47643DEST_PATH_IMAGE002
The axle back-emf and The cut-off frequency of axle back-emf, under the constant situation of control algolithm frequency, predetermined filter factor also is easy to obtain.
More than show and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof
Figure 379584DEST_PATH_IMAGE100
Figure 85165DEST_PATH_IMAGE101

Claims (10)

1. the permanent magnet machine rotor method for detecting position is characterized in that: to magneto
Figure 586312DEST_PATH_IMAGE001
Under the coordinate system
Figure 86564DEST_PATH_IMAGE002
The axle back-emf and
Figure 507181DEST_PATH_IMAGE003
The axle back-emf carries out identical predetermined filter times respectively, and the first-order filtering of corresponding the identical predetermined frequency filtering of employing is according to filtered
Figure 792800DEST_PATH_IMAGE002
The axle back-emf and
Figure 906249DEST_PATH_IMAGE003
The axle back-emf calculates dephased rotor-position, again according to predetermined frequency filtering and the influence of the filter times of being scheduled to rotor phase, obtains the physical location of rotor.
2. permanent magnet machine rotor method for detecting position as claimed in claim 1 is characterized in that: rotor is correlated with
Figure 893797DEST_PATH_IMAGE001
Back-emf under the coordinate system is by identical predetermined filter times, and behind the first-order filtering of corresponding the identical predetermined frequency filtering of employing, amplitude is 1/3 to 2/3 of a former amplitude.
3. permanent magnet machine rotor method for detecting position as claimed in claim 1 is characterized in that: the angle of rotor-position after the phase shift, and for filtered
Figure 931154DEST_PATH_IMAGE003
The axle back-emf with
Figure 992651DEST_PATH_IMAGE002
The arc-tangent value of axle back-emf ratio.
4. as the arbitrary described permanent magnet machine rotor method for detecting position of claim 1 to 3, it is characterized in that: in whole control process, when
Figure 339319DEST_PATH_IMAGE002
The axle back-emf and
Figure 751846DEST_PATH_IMAGE003
When axle back-emf frequency changes, the predetermined frequency filtering that each first-order filtering is adopted with
Figure 589964DEST_PATH_IMAGE002
The axle back-emf and
Figure 771547DEST_PATH_IMAGE003
Axle back-emf frequency is carried out equal proportion and is changed.
5. as the arbitrary described permanent magnet machine rotor method for detecting position of claim 1 to 3, it is characterized in that: described frequency filtering is
Figure 23537DEST_PATH_IMAGE001
The cut-off frequency of back-emf under the coordinate system is when described frequency filtering is
Figure 923359DEST_PATH_IMAGE001
During the cut-off frequency of back-emf, described predetermined filter times is 2 times or 3 times under the coordinate system.
6. the permanent magnet machine rotor method for detecting position is characterized in that: with magneto
Figure 302519DEST_PATH_IMAGE001
Under the coordinate system
Figure 604188DEST_PATH_IMAGE002
The axle back-emf and
Figure 27079DEST_PATH_IMAGE003
After the axle back-emf carries out discretization, right again
Figure 414198DEST_PATH_IMAGE002
The axle back-emf and
Figure 597049DEST_PATH_IMAGE003
The axle back-emf carries out identical predetermined filter times, and the first-order filtering of corresponding the identical predetermined filter factor of employing is according to filtered
Figure 487644DEST_PATH_IMAGE002
The axle back-emf and
Figure 347016DEST_PATH_IMAGE003
The axle back-emf calculates dephased rotor-position, again according to predetermined filter factor and the influence of the filter times of being scheduled to rotor phase, obtains each discrete rotor-position constantly.
7. permanent magnet machine rotor method for detecting position as claimed in claim 6 is characterized in that: rotor is correlated with Back-emf under the coordinate system is by identical predetermined filter times, and behind the first-order filtering of corresponding the identical predetermined filter factor of employing, amplitude is 1/3 to 2/3 of a former amplitude.
8. permanent magnet machine rotor method for detecting position as claimed in claim 6 is characterized in that: the angle of rotor-position after the phase shift, and for filtered
Figure 942393DEST_PATH_IMAGE003
The axle back-emf with
Figure 953075DEST_PATH_IMAGE002
The arc-tangent value of axle back-emf ratio.
9. as the arbitrary described permanent magnet machine rotor method for detecting position of claim 6 to 8, it is characterized in that: in whole control process, when
Figure 983348DEST_PATH_IMAGE002
The axle back-emf and
Figure 883740DEST_PATH_IMAGE003
When axle back-emf frequency changes, the predetermined filter factor that each first-order filtering is adopted with
Figure 595344DEST_PATH_IMAGE002
The axle back-emf and
Figure 522849DEST_PATH_IMAGE003
Axle back-emf frequency is carried out equal proportion and is changed.
10. as the arbitrary described permanent magnet machine rotor method for detecting position of claim 6 to 8, it is characterized in that: described filter factor is
Figure 661706DEST_PATH_IMAGE004
, wherein, For
Figure 307899DEST_PATH_IMAGE002
The axle back-emf and
Figure 355489DEST_PATH_IMAGE003
Axle back-emf cut-off frequency,
Figure 665248DEST_PATH_IMAGE006
Be the control algolithm frequency, when described filter factor is
Figure 549022DEST_PATH_IMAGE004
The time, described predetermined filter times is 2 times or 3 times.
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CN102324880A (en) * 2011-06-14 2012-01-18 合肥威师智能电子电器厂 Method for detecting stochastic resonance of weak back electromotive force signal of brushless direct-current motor
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CN104410336B (en) * 2014-12-19 2017-03-08 南车株洲电力机车研究所有限公司 Rotor field-oriented deviation correction method and system
CN109600080A (en) * 2018-12-12 2019-04-09 吴江绿控电控科技有限公司 A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor
CN110286323A (en) * 2019-07-19 2019-09-27 格力电器（武汉）有限公司 A kind of method and apparatus for examining compressor motor internal failure

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US9525372B2 (en) * 2013-02-20 2016-12-20 Microchip Technology Incorporated Method and system for determining the position of a synchronous motor's rotor

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CN101102088A (en) * 2006-07-04 2008-01-09 株式会社电装 Rotor position detection circuit and motor driving device
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Cited By (8)

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Publication number Priority date Publication date Assignee Title
CN102324880A (en) * 2011-06-14 2012-01-18 合肥威师智能电子电器厂 Method for detecting stochastic resonance of weak back electromotive force signal of brushless direct-current motor
CN102324880B (en) * 2011-06-14 2013-04-17 合肥威师智能电子电器厂 Method for detecting stochastic resonance of weak back electromotive force signal of brushless direct-current motor
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CN102684595B (en) * 2012-05-31 2015-05-13 万高(杭州)科技有限公司 Self-anti-interference starting method for permanent magnetic synchronous motor
CN104410336B (en) * 2014-12-19 2017-03-08 南车株洲电力机车研究所有限公司 Rotor field-oriented deviation correction method and system
CN109600080A (en) * 2018-12-12 2019-04-09 吴江绿控电控科技有限公司 A kind of salient-pole permanent-magnet synchronous motor method for controlling position-less sensor
CN110286323A (en) * 2019-07-19 2019-09-27 格力电器（武汉）有限公司 A kind of method and apparatus for examining compressor motor internal failure
CN110286323B (en) * 2019-07-19 2021-06-11 格力电器（武汉）有限公司 Method and equipment for detecting faults of motor in compressor

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