CN102128949A - Method and module for determining rotation speed of motor - Google Patents

Abstract

The invention provides a method for determining the rotation speed of a motor. The method comprises the following step of: calculating omega 1 according to the formula that omega 1 is equal to KP-omega(-delta theta)+KI-omega Sigma(-delta theta), wherein the omega 1 is the rotation speed; KP-omega is a speed derived proportional gain determined according to experiments; the KI-omega is a speed derived integral gain determined according to the experiments; the delta theta is the difference between the practical position and the estimated position of a motor; the delta theta is calculated according to the formula; delta idc-d(n) is the nth sampled exciting current error; E0*(n-1) is the (n-1)th expansion induced voltage; Ts is a sampling period; and Ld is d-axis inductance.

Description

Be used for determining the method and the module of rotating speed of motor

Technical field

The present invention relates in general to machine field, more specifically, relates to the method and the module that are used for determining rotating speed of motor.

Background technology

At present, not by Hall element feedback position signal, but infer poor Δ θ=θ dc-θ d of the position θ dc that estimates with actual position θ d with control system by voltage and current, and, be called permagnetic synchronous motor position-sensor-free detection method by the method that this site error Δ θ infers the position of rotor.Yet,, can not directly try to achieve that Δ θ with the form of calculation formula for prominent polar form motor (D axle inductance and Q axle inductance are unequal) situation.

Popular being used at present asks the algorithm of Δ θ as follows:

$\mathrm{\Δ}{\mathrm{\θ}}_c={\tan }^{-1}\left[\frac{v_{\mathrm{dc}}-r\·i_{\mathrm{dc}}+{\mathrm{\ω}}_1{L}_q\·i_{\mathrm{qc}}}{v_{\mathrm{qc}}-r\·i_{\mathrm{qc}}-{\mathrm{\ω}}_1{L}_q\·i_{\mathrm{dc}}}\right]...\left(10\right)$

Δ θ herein _cBe meant the approximate evaluation value of axis error Δ θ.

The current forecasting error mode of tradition control, handlebar Δ θ makes the mode of original equation establishment as 0 approximate processing in the impedance formation.

Also there is the problem of following three aspects in traditional reckoning mode:

(1) axis error when the high load capacity low-speed running calculates and can not be effectively suppressed.

(2) run-in synchronism period can not the detection position.

(3) Kong Zhi response characteristics can not be designed

Summary of the invention

In order to solve the problems of the technologies described above, the present invention proposes a kind of method that is used for determining rotating speed of motor, comprising: calculate as follows

ω ₁＝K _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Wherein, ω 1 is a rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of motor and estimated position.

Wherein, Δ θ calculates according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Δ i _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the n-1 time expansion induced voltage; T _sBe the sampling period; L _dBe d axle inductance.

Wherein, motor is the permanent-magnet synchronous brshless DC motor.

In addition, also provide a kind of module that is used for determining rotating speed of motor, comprising: the revolution speed calculating submodule is used for calculating as follows

ω ₁＝ω _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Wherein, ω ₁Be rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of motor and estimated position.

Wherein, also comprise Δ θ calculating sub module, be used for calculating Δ θ according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Ai _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the n-1 time expansion induced voltage; T _sBe the sampling period; L _dBe d axle inductance.

Wherein, motor is the permanent-magnet synchronous brshless DC motor.

The method that the present invention proposes has following advantage:

(1) axis error in the time of can effectively being suppressed at the high load capacity low-speed running calculates.

(2) period can the detection position in run-in synchronism.

(3) Kong Zhi response characteristics can design.

Other features and advantages of the present invention will be set forth in the following description, and, partly from instructions, become apparent, perhaps understand by implementing the present invention.Purpose of the present invention and other advantages can realize and obtain by specifically noted structure in the instructions of being write, claims and accompanying drawing.

Description of drawings

Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:

Fig. 1 shows the block diagram that is used for the module of definite rotating speed of motor according to of the present invention.

Embodiment

Describe embodiments of the invention in detail below in conjunction with accompanying drawing.

The present invention proposes a kind of method (not shown) that is used for determining rotating speed of motor, comprising:

Calculate as follows

ω ₁＝K _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Wherein, ω ₁Be rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of motor and estimated position.

Preferably, Δ θ calculates according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Δ i _Dc-d=i _Dc-i _d^, Δ i _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the expansion induced voltage of last (the n-1 time); T _sBe the sampling period; L _dBe d axle inductance, the actual rotating coordinate system of symbolic representation lags behind the supposition rotating coordinate system.

Preferably, motor is the permanent-magnet synchronous brshless DC motor.

In addition, the present invention also provides a kind of module 100 that is used for determining rotating speed of motor, and comprising: revolution speed calculating submodule 102 is used for calculating as follows

ω ₁＝K _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Preferably, ω ₁Be rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of motor and estimated position.

Preferably, also comprise Δ θ calculating sub module 104, be used for calculating Δ θ according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Δ i _Dc-d=i _Dc-i _d^, Δ i _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the expansion induced voltage of last (the n-1 time); T _sBe the sampling period; L _dBe d axle inductance, the actual rotating coordinate system of symbolic representation lags behind the supposition rotating coordinate system.

Preferably, motor is the permanent-magnet synchronous brshless DC motor.

The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (6)

1. a method that is used for determining rotating speed of motor is characterized in that, comprising:

Calculate as follows

ω ₁＝K _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Wherein, ω ₁Be described rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of described motor and estimated position.

2. method according to claim 1 is characterized in that, Δ θ calculates according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Δ i _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the n-1 time expansion induced voltage; T _sBe the sampling period; L _dBe d axle inductance.

3. method according to claim 1 and 2 is characterized in that, described motor is the permanent-magnet synchronous brshless DC motor.

4. a module that is used for determining rotating speed of motor is characterized in that, comprising:

The revolution speed calculating submodule is used for calculating as follows

ω ₁＝K _P-ω(-Δθ)+K _I-ω∑(-Δθ)

Wherein, ω ₁Be described rotating speed, K _P-ωBe the speed estimating proportional gain of determining according to experiment, K _I-ωBe that the speed estimating storage gain determined according to experiment, Δ θ are the poor of the physical location of described motor and estimated position.

5. module according to claim 4 is characterized in that, also comprises Δ θ calculating sub module, is used for calculating Δ θ according to following formula:

$\mathrm{\Δ}{\mathrm{\θ}}_n={\sin }^{-1}(\frac{{-L}_d}{T_s\·E_{0x}(n-1)}\·{\mathrm{\Δi}}_{\mathrm{dc}-d}\left(n\right))$

Wherein, Δ i _Dc-d(n) be n sub-sampling exciting current error, E _0x(n-1) be the n-1 time expansion induced voltage; T _sBe the sampling period; L _dBe d axle inductance.

6. according to claim 4 or 5 described modules, it is characterized in that described motor is the permanent-magnet synchronous brshless DC motor.

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