CN102045020B - Method for detecting position of rotor of permanent magnet motor - Google Patents

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

Info

Publication number
CN102045020B
CN102045020B CN2011100246328A CN201110024632A CN102045020B CN 102045020 B CN102045020 B CN 102045020B CN 2011100246328 A CN2011100246328 A CN 2011100246328A CN 201110024632 A CN201110024632 A CN 201110024632A CN 102045020 B CN102045020 B CN 102045020B
Authority
CN
China
Prior art keywords
emf
rotor
axle back
frequency
filtering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN2011100246328A
Other languages
Chinese (zh)
Other versions
CN102045020A (en
Inventor
叶林华
邹积浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Teco Group Science and Technology Hangzhou Co Ltd
Original Assignee
Teco Group Science and Technology Hangzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Teco Group Science and Technology Hangzhou Co Ltd filed Critical Teco Group Science and Technology Hangzhou Co Ltd
Priority to CN2011100246328A priority Critical patent/CN102045020B/en
Publication of CN102045020A publication Critical patent/CN102045020A/en
Application granted granted Critical
Publication of CN102045020B publication Critical patent/CN102045020B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Method for detecting position of rotor of permanent
Technical field
The present invention relates to the electric machines control technology field, more particularly, relate to a kind of method for detecting position of rotor of permanent.
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 affected 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 detects the stage of estimating without transducer that is transitioned into from transducer.
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 the method is calculated simply, dynamic response is fast, and speed is calculated and depended 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, the method can be applicable to wider velocity interval even also can obtain preferably effect at low speed, but the estimation of speed relatively relies on the saliency of motor;
3, Kalman filter method, algorithm is complicated, and parameter is regulated difficulty;
4, neural network; Evaluation method is relatively complicated, so that the design of the adjusting of structure and parameter is all relatively more difficult.
In a word, said method or seriously rely on the parameter of electric machine, (such as compressor of air conditioner etc.) will estimate to produce larger error to rotor-position in case the parameter of electric machine has greatly changed; Algorithm is complicated, and parameter is regulated than more complicated and difficulty, and said method is affected 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, the method is by the simple algorithm position of detection rotor accurately, in the situation that larger variation occurs in the parameter of electric machine or the parameter of electric machine can only roughly be determined scope, do not affect 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 method for detecting position of rotor of permanent 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 respectively identical predetermined filter times, 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
Figure 745453DEST_PATH_IMAGE003
The axle back-emf calculates dephased rotor-position, again according to predetermined frequency filtering and the impact of the filter times of being scheduled on rotor phase, obtains the physical location of rotor.
Among the present invention, rotor is correlated with 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 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 The arc-tangent value of axle back-emf ratio.
Among the present invention, in whole control procedure, when
Figure 233362DEST_PATH_IMAGE002
The axle back-emf and
Figure 665480DEST_PATH_IMAGE003
When axle back-emf Frequency generated changes, the predetermined frequency filtering that each first-order filtering adopts with
Figure 634705DEST_PATH_IMAGE002
The axle back-emf and
Figure 431759DEST_PATH_IMAGE003
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
Figure 823874DEST_PATH_IMAGE001
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 method for detecting position of rotor of permanent is characterized in that: with magneto
Figure 834556DEST_PATH_IMAGE001
Under the coordinate system
Figure 864829DEST_PATH_IMAGE002
The axle back-emf and After the axle back-emf carries out discretization, right again
Figure 485614DEST_PATH_IMAGE002
The axle back-emf and 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
Figure 951383DEST_PATH_IMAGE003
The axle back-emf calculates dephased rotor-position, again according to predetermined filter factor and the impact of the filter times of being scheduled on 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 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 procedure, when
Figure 504538DEST_PATH_IMAGE002
The axle back-emf and
Figure 557945DEST_PATH_IMAGE003
When axle back-emf Frequency generated changes, the predetermined filter factor that each first-order filtering adopts 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, 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, to keep actual signal, so that the rotor-position of estimating is more accurately with stable.
Simultaneously, method of the present invention is to motor important parameter (resistance R, inductance L) and insensitive, in the situation that larger variation occurs in the motor important parameter or the parameter of electric machine can only roughly be determined scope, the rotor-position of estimating need not extra verification and correction, can satisfy the demand of Electric Machine Control fully, greatly improve the robustness of observer.
Just based on this, the present invention especially is useful in operating mode and uses in abominable place (such as air-conditioning etc.), especially when predetermined frequency filtering adopts the back-emf cut-off frequency, and each filtering rotor phase angle hysteresis
Figure 251838DEST_PATH_IMAGE007
, simplified computational process, greatly make things convenient for the engineering date constraint.
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 schematic diagram of the rotor position angle waveform of the phase shift of axle counter potential waveform, calculating and revised rotor actual bit angle setting waveform.
Fig. 2 is the rotor position angle waveform of the phase shift of calculating and the enlarged diagram of revised rotor actual bit angle setting waveform.
Fig. 3 carries out filtering to rotor position angle again for calculating first rotor position angle,
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 and controls magneto without transducer, method for detecting position of rotor of permanent 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 method for detecting position of rotor of permanent 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 often to commutate.Like this, one side is the position of detection rotor in real time, and control precision is lower, and motor larger error can occur after operation a period of time on the other hand, need to 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,
Figure 890892DEST_PATH_IMAGE002
The axle back-emf and 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 indirectly obtains
Figure 273146DEST_PATH_IMAGE002
The axle back-emf and
Figure 342469DEST_PATH_IMAGE003
Detect again the rotor-position of magneto behind the axle back-emf.For those skilled in the art, the ABC coordinate system of magneto, 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,
Figure 200518DEST_PATH_IMAGE010
For
Figure 341649DEST_PATH_IMAGE002
Shaft voltage,
Figure 839627DEST_PATH_IMAGE011
For
Figure 424323DEST_PATH_IMAGE003
Shaft voltage,
Figure 437278DEST_PATH_IMAGE012
For
Figure 319784DEST_PATH_IMAGE002
Shaft current, For
Figure 490182DEST_PATH_IMAGE003
Shaft current,
Figure 928117DEST_PATH_IMAGE014
For
Figure 158853DEST_PATH_IMAGE002
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, For
Figure 465835DEST_PATH_IMAGE020
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, can indirectly calculate Under the coordinate system 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 the engineering of reality is used, 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 such as the assorted letter of hardware circuit, sample circuit disturbs, the error of calculation, and the problems such as numerical precision, so that
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 (such as 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, so that calculate
Figure 724559DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf can produce (Fig. 1 pair of serious local oscillation
Figure 578562DEST_PATH_IMAGE002
The axle back-emf is illustrated), above-mentioned problem will inevitably affect 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, solve back-emf result of calculation inaccurate, cause rotor-position to detect inaccurate problem; The second, guaranteeing that rotor-position detects accurately simultaneously, this detection method is insensitive to the variation of the parameter of electric machine, strengthens the scope of application of the method.
For 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
Figure 262780DEST_PATH_IMAGE002
The waveform similarity of axle back-emf, thus only right among Fig. 1
Figure 659257DEST_PATH_IMAGE002
The axle back-emf illustrates, the purpose of first-order filtering is to remove as shown in Figure 1
Figure 908973DEST_PATH_IMAGE002
The axle back-emf (
Figure 956564DEST_PATH_IMAGE003
The axle back-emf) the assorted letter in the result of calculation is so that filtered
Figure 79372DEST_PATH_IMAGE002
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
Figure 399309DEST_PATH_IMAGE024
, amplitude-frequency characteristic
Figure 754067DEST_PATH_IMAGE025
, phase-frequency characteristic
If through n first-order filtering, frequency filtering is followed successively by
Figure 109711DEST_PATH_IMAGE027
,
Figure 823589DEST_PATH_IMAGE028
...,
Figure 681955DEST_PATH_IMAGE029
, then amplitude-frequency characteristic is followed successively by
Figure 77164DEST_PATH_IMAGE030
,
Figure 688274DEST_PATH_IMAGE031
...,
Figure 776316DEST_PATH_IMAGE032
, phase-frequency characteristic is followed successively by
Figure 856398DEST_PATH_IMAGE033
,
Figure 117615DEST_PATH_IMAGE034
...,
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 adopts is higher, after the filtering
Figure 843181DEST_PATH_IMAGE002
The axle back-emf and
Figure 59398DEST_PATH_IMAGE003
Axle back-emf amplitude attenuation is larger, after the filtering
Figure 4220DEST_PATH_IMAGE002
The axle back-emf and
Figure 172683DEST_PATH_IMAGE003
The axle counter potential waveform is more level and smooth, 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 again the computational accuracy of rotor-position (dephased rotor-position).Therefore, from The axle back-emf and After the filtering of axle back-emf under the considering of smoothness and computational accuracy, after the filtering
Figure 194494DEST_PATH_IMAGE002
The axle back-emf and
Figure 583887DEST_PATH_IMAGE003
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 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 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 The axle back-emf (
Figure 215331DEST_PATH_IMAGE003
The axle back-emf) phase place lags behind and 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, the waveform of the rotor position angle that therefore detects is more near straightway, and the precision that rotor-position detects is also relatively high.
Again referring to Fig. 1 and Fig. 2, by right
Figure 311463DEST_PATH_IMAGE002
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 When the axle back-emf is enough level and smooth, the dephased rotor position angle waveform that rotation period of rotor calculates will approach the straight line with certain slope, again basis very much
Figure 548223DEST_PATH_IMAGE002
The axle back-emf (
Figure 797939DEST_PATH_IMAGE003
The axle back-emf) phase place lags behind, and revised rotor actual bit angle setting waveform also will approach the straight line with certain slope owing to only dephased rotor position angle waveform is carried out obtaining after the phase shift very much.
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 axle back-emf calculates the position of rotor, because
Figure 39061DEST_PATH_IMAGE002
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 in 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 serious distortion, at a lot of rotor-positions that constantly can't reflect.
This explanation, by simple processing mode, the rotor-position that detects 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 detect with real rotor-position, in Engineering Control, as long as controlling within the specific limits, error just can not affect the control of motor, in general, think that in Engineering Control the rotor-position that detects and real rotor position error just can not affect the control of motor at 30 ~ 40 degree (electrical degree), certainly, the less Electric Machine Control to precision of error is more favourable, also is the direction that Engineering Control is pursued.
The factor that affects the rotor-position accuracy of detection is a lot, and wherein the parameter of electric machine (resistance R, inductance L) is 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 of a lot of methods detections will produce very large error, this moment need to be to just verification or the correction of rotor-position that detects, 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 detect to rotor-position and bring very large difficulty.The undue rotor position detecting method that relies on the parameter of electric machine 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, the rotor-position that detects was also little with real rotor-position deviation, had greatly strengthened the scope of application of the method.Relevant reason is analyzed as follows:
For common electric machine,
Figure 390835DEST_PATH_IMAGE040
Be in close proximity to zero, this is right
Figure 310249DEST_PATH_IMAGE002
The axle back-emf and
Figure 4536DEST_PATH_IMAGE003
The impact of the result of calculation of axle back-emf can be ignored substantially, aforementioned calculating
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 With
Figure 497593DEST_PATH_IMAGE003
The axle back-emf
Figure 166472DEST_PATH_IMAGE015
Formula identical, the two is correlated with again, therefore from The axle back-emf Start with, analyze under the method for employing of the present invention, the parameter of electric machine is on the impact of rotor-position:
Figure 795052DEST_PATH_IMAGE043
Figure 380754DEST_PATH_IMAGE044
Wherein,
Figure 358069DEST_PATH_IMAGE045
Be rotor position angle, ,
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 Phase place and the phase difference of rotor position angle fix, so we with The axle back-emf
Figure 652708DEST_PATH_IMAGE014
The zero crossing place analyzes:
Order , then
Figure 744477DEST_PATH_IMAGE050
（
Figure 743974DEST_PATH_IMAGE052
）
Substitution gets
Figure 950965DEST_PATH_IMAGE053
Namely
Figure 877464DEST_PATH_IMAGE054
At motor Control is lower,
Figure 89319DEST_PATH_IMAGE012
With
Figure 229445DEST_PATH_IMAGE010
Differential seat angle
Figure 576112DEST_PATH_IMAGE048
Close to zero, therefore:
Figure 617636DEST_PATH_IMAGE057
Figure 799219DEST_PATH_IMAGE058
Figure 67520DEST_PATH_IMAGE059
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, Minor variations, very limited on the impact of phase place, following formula can be expressed as:
Figure 437770DEST_PATH_IMAGE063
Figure 593944DEST_PATH_IMAGE064
Figure 453316DEST_PATH_IMAGE065
Be illustrated in the parameter of electric machine accurately in the situation,
Figure 872272DEST_PATH_IMAGE002
The axle back-emf 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 on result's impact that rotor-position detects, and rotor-position mainly is subjected to magneto
Figure 853183DEST_PATH_IMAGE018
The axle inductance
Figure 634188DEST_PATH_IMAGE017
Impact.
Variation more than 50% generally can not occur 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 take positive and negative 50% error of the parameter of electric machine as example, when the analysis parameter of electric machine is inaccurate, on the impact 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, The axle back-emf
Figure 327305DEST_PATH_IMAGE014
The zero crossing place, the position angle of rotor.
Analyze
Figure 229402DEST_PATH_IMAGE072
And , judge when the parameter of electric machine has positive and negative 50% deviation the deviation of the rotor-position that detects 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 916156DEST_PATH_IMAGE084
This instruction card is shown in 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, the rotor-position that detects also can satisfy the demand of Electric Machine Control.And this law invention is at the parameter of electric machine accurately in the situation, can accurately detect rotor-position, and in the situation that the parameter of electric machine has larger error, 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 Practical Project, the substitution parameter of electric machine can obtain more accurately rotor-position, substantially need not debugging.
Certainly, unless the present invention is only right
Figure 909519DEST_PATH_IMAGE002
The axle back-emf and
Figure 476898DEST_PATH_IMAGE003
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 adopts both can be identical, also can be different.
For the present invention, when motor is in non-steady state (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 procedure, 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, for so that the angle of the dephased rotor-position hysteresis rotor physical location that calculate to obtain in the whole control procedure remain unchanged, the predetermined frequency filtering that each first-order filtering adopts with
Figure 887151DEST_PATH_IMAGE002
The axle back-emf and The ratio of axle back-emf frequency should remain unchanged, namely when motor because rotation speed change so that
Figure 678837DEST_PATH_IMAGE002
The axle back-emf and
Figure 204497DEST_PATH_IMAGE003
When the Frequency generated of axle back-emf changes, the predetermined frequency filtering that each first-order filtering adopts should with The axle back-emf and
Figure 608986DEST_PATH_IMAGE003
The frequency of axle back-emf is carried out the variation of equal proportion.If right
Figure 442950DEST_PATH_IMAGE002
The axle back-emf and
Figure 393589DEST_PATH_IMAGE003
The axle back-emf adopts repeatedly first-order filtering, when the predetermined frequency filtering that each first-order filtering adopts is identical again, should revise the predetermined frequency filtering that each first-order filtering adopts.
For above-mentioned content and the characteristic of first-order filtering, better 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 place has lagged behind
Figure 652980DEST_PATH_IMAGE086
, namely new amplitude is former amplitude , the new phase angular lag
Figure 504709DEST_PATH_IMAGE086
The like, if process
Figure 791334DEST_PATH_IMAGE088
Inferior same processing procedure, so The axle back-emf and
Figure 947302DEST_PATH_IMAGE003
The new amplitude of axle back-emf is former amplitude
Figure 422145DEST_PATH_IMAGE089
, the new phase angular lag
Figure 450144DEST_PATH_IMAGE090
Like this, calculate dephased rotor-position after, can be adapted to very easily rotor actual position rotor.Consider aforesaid
Figure 444776DEST_PATH_IMAGE002
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 The axle back-emf and
Figure 965887DEST_PATH_IMAGE003
The cut-off frequency of axle back-emf is so that predetermined obtaining of frequency filtering becomes unusually easy.
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
Process 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,
Figure 680869DEST_PATH_IMAGE094
Represent upper one and constantly be worth, for those skilled in the art, 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 processed, again to after the discretization The axle back-emf With after the discretization
Figure 20846DEST_PATH_IMAGE003
The axle back-emf Carry out the first-order filtering of identical pre-determined number, corresponding time first-order filtering adopts identical filter factor.
Each discrete constantly dephased rotor position angle
Figure 805448DEST_PATH_IMAGE097
, wherein For filtered
Figure 853487DEST_PATH_IMAGE002
The axle back-emf,
Figure 225562DEST_PATH_IMAGE099
For being filtered
Figure 296286DEST_PATH_IMAGE003
Axle back-emf, again basis The axle back-emf
Figure 61910DEST_PATH_IMAGE095
With
Figure 542570DEST_PATH_IMAGE003
The axle back-emf
Figure 913639DEST_PATH_IMAGE096
Phase place lags behind, and can obtain each discrete constantly position of rotor.
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, for so that the angle of the dephased rotor-position hysteresis rotor physical location that calculate to obtain in the whole control procedure remain unchanged, when motor because rotation speed change so that The axle back-emf and
Figure 43586DEST_PATH_IMAGE003
When the Frequency generated of axle back-emf changes, the predetermined filter factor that each first-order filtering adopts 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 right
Figure 207348DEST_PATH_IMAGE002
The axle back-emf and The axle back-emf adopts repeatedly first-order filtering, when the predetermined filter factor that each first-order filtering adopts is identical again, should revise the predetermined filter factor that each first-order filtering adopts.
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,
Figure 56105DEST_PATH_IMAGE006
Be the control algolithm frequency.Like this, identical with the processing mode of non-discretization, every through a first-order filtering
Figure 297731DEST_PATH_IMAGE002
The axle back-emf and
Figure 385903DEST_PATH_IMAGE003
The axle back-emf decays to former amplitude
Figure 29374DEST_PATH_IMAGE087
, the new phase angular lag
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 The axle back-emf and
Figure 607937DEST_PATH_IMAGE003
The cut-off frequency of axle back-emf, in the situation that the control algolithm frequency is constant, predetermined filter factor also is easy to obtain.
Above demonstration 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 above-described embodiment 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 140342DEST_PATH_IMAGE101
Figure 85165DEST_PATH_IMAGE101
Figure 437648DEST_PATH_IMAGE101

Claims (1)

1. method for detecting position of rotor of permanent is characterized in that: to magneto
Figure 2011100246328100001DEST_PATH_IMAGE001
Under the coordinate system
Figure 767815DEST_PATH_IMAGE002
The axle back-emf and
Figure 2011100246328100001DEST_PATH_IMAGE003
The axle back-emf carries out respectively identical predetermined filter times, and the first-order filtering of corresponding the identical predetermined frequency filtering of employing is according to filtered
Figure 927401DEST_PATH_IMAGE003
The axle back-emf with
Figure 963490DEST_PATH_IMAGE002
The arc-tangent value of axle back-emf ratio is calculated dephased rotor-position, again according to predetermined frequency filtering and the impact of the filter times of being scheduled on rotor phase, obtains the physical location of rotor.
2. method for detecting position of rotor of permanent as claimed in claim 1 is characterized in that: rotor is relevant
Figure 527327DEST_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 former amplitude.
3. method for detecting position of rotor of permanent as claimed in claim 1 or 2 is characterized in that: in whole control procedure, when The axle back-emf and
Figure 214408DEST_PATH_IMAGE003
When axle back-emf Frequency generated changes, the predetermined frequency filtering that each first-order filtering adopts with
Figure 308266DEST_PATH_IMAGE002
The axle back-emf and Axle back-emf frequency is carried out equal proportion and is changed.
4. method for detecting position of rotor of permanent as claimed in claim 1 or 2, it is characterized in that: described frequency filtering is
Figure 369948DEST_PATH_IMAGE001
The cut-off frequency of back-emf under the coordinate system is when described frequency filtering is
Figure 12282DEST_PATH_IMAGE001
During the cut-off frequency of back-emf, described predetermined filter times is 2 times or 3 times under the coordinate system.
5. method for detecting position of rotor of permanent is characterized in that: with magneto
Figure 678756DEST_PATH_IMAGE001
Under the coordinate system
Figure 771346DEST_PATH_IMAGE002
The axle back-emf and
Figure 336319DEST_PATH_IMAGE003
After the axle back-emf carries out discretization, right again
Figure 503383DEST_PATH_IMAGE002
The axle back-emf and
Figure 102992DEST_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 710690DEST_PATH_IMAGE003
The axle back-emf with The arc-tangent value of axle back-emf ratio is calculated dephased rotor-position, again according to predetermined filter factor and the impact of the filter times of being scheduled on rotor phase, obtains each discrete rotor-position constantly.
6. method for detecting position of rotor of permanent as claimed in claim 5 is characterized in that: rotor is relevant
Figure 668468DEST_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 former amplitude.
7. such as claim 5 or 6 described method for detecting position of rotor of permanents, it is characterized in that: in whole control procedure, when
Figure 840692DEST_PATH_IMAGE002
The axle back-emf and When axle back-emf Frequency generated changes, the predetermined filter factor that each first-order filtering adopts with
Figure 690017DEST_PATH_IMAGE002
The axle back-emf and
Figure 212265DEST_PATH_IMAGE003
Axle back-emf frequency is carried out equal proportion and is changed.
8. such as claim 5 or 6 described method for detecting position of rotor of permanents, it is characterized in that: described filter factor is
Figure 520886DEST_PATH_IMAGE004
, wherein,
Figure 2011100246328100001DEST_PATH_IMAGE005
For
Figure 188497DEST_PATH_IMAGE002
The axle back-emf and
Figure 949780DEST_PATH_IMAGE003
Axle back-emf cut-off frequency,
Figure 990898DEST_PATH_IMAGE006
Be the control algolithm frequency, when described filter factor is
Figure 154026DEST_PATH_IMAGE004
The time, described predetermined filter times is 2 times or 3 times.
CN2011100246328A 2011-01-24 2011-01-24 Method for detecting position of rotor of permanent magnet motor Active CN102045020B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2011100246328A CN102045020B (en) 2011-01-24 2011-01-24 Method for detecting position of rotor of permanent magnet motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2011100246328A CN102045020B (en) 2011-01-24 2011-01-24 Method for detecting position of rotor of permanent magnet motor

Publications (2)

Publication Number Publication Date
CN102045020A CN102045020A (en) 2011-05-04
CN102045020B true CN102045020B (en) 2013-01-23

Family

ID=43910882

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2011100246328A Active CN102045020B (en) 2011-01-24 2011-01-24 Method for detecting position of rotor of permanent magnet motor

Country Status (1)

Country Link
CN (1) CN102045020B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105531917A (en) * 2013-02-20 2016-04-27 密克罗奇普技术公司 Method and system for determining the position of a synchronous motor's rotor

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60233416D1 (en) * 2002-11-28 2009-10-01 St Microelectronics Srl Method for detecting the angular position of a commutatorless electric motor
JP4807165B2 (en) * 2006-07-04 2011-11-02 株式会社デンソー Rotor position detection circuit and motor drive device
CN201307843Y (en) * 2008-09-27 2009-09-09 刘瑜 Commutation point detection circuit of sensorless and brushless DC motor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105531917A (en) * 2013-02-20 2016-04-27 密克罗奇普技术公司 Method and system for determining the position of a synchronous motor's rotor
CN105531917B (en) * 2013-02-20 2018-02-06 密克罗奇普技术公司 For the method and system for the position for determining syncmotor rotor

Also Published As

Publication number Publication date
CN102045020A (en) 2011-05-04

Similar Documents

Publication Publication Date Title
CN102045020B (en) Method for detecting position of rotor of permanent magnet motor
CN106787992B (en) Permanent magnetic brushless Hall sensor fault tolerant control method
CN105048921B (en) Current phasor measurement diagnoses
CN105119549A (en) Motor stator resistor recognition method
CN106092524A (en) A kind of method using vibration signal accurately to extract tach signal
CN105262398B (en) The vector control method and device of permanent magnet synchronous motor based on Hall sensor
CN104218865B (en) Permanent magnet motor rotor position calculation method
CN103036499A (en) Detection method of permanent magnet motor rotor position
KR101394556B1 (en) Apparatus and method for rotor position sensor fault detection of permanent magnet synchronous motor
CN104009696B (en) Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control
KR101883530B1 (en) Method and device for determining the rotor position and speed of a rotating field machine
CN106849777A (en) A kind of permagnetic synchronous motor rotation becomes Zero correction method and system
CN109217758B (en) Online identification method for rotary transformer zero point, motor controller and storage medium
CN106817064B (en) The driving method of alternating current generator and the motor driver for applying it
CN110034709B (en) Rotor position estimation method suitable for surface-mounted permanent magnet synchronous motor
US20210044228A1 (en) Method and device for determining the rotational speed and the angle of rotation of a motor shaft of a mechanically commutated dc motor
CN111146980B (en) Deviation recognition and compensation method for hall sensor in different installation modes
CN105022345A (en) Servo system friction compensation method based on time Coulomb friction model
CN109756168B (en) Rotor angle and rotating speed control method and system of motor and automobile
CN106353528A (en) Apparatus and method for measuring motor speed
CN110518855A (en) Using the adaptive method controlled with straight feedback compensation permanent magnet synchronous motor angular speed
CN202856683U (en) Permanent magnet synchronous motor control device
CN106330016B (en) A kind of speed detection method and system of AC servo motor
KR101862111B1 (en) Apparatus and method for step motor stall detection
CN105827170B (en) Permagnetic synchronous motor rotating speed position detecting system and method based on Lyapunov stability

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant