CN102427322A - Method for detecting initial position of rotor of gearless tractor for elevator - Google Patents

Method for detecting initial position of rotor of gearless tractor for elevator Download PDF

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Publication number
CN102427322A
CN102427322A CN2011103313998A CN201110331399A CN102427322A CN 102427322 A CN102427322 A CN 102427322A CN 2011103313998 A CN2011103313998 A CN 2011103313998A CN 201110331399 A CN201110331399 A CN 201110331399A CN 102427322 A CN102427322 A CN 102427322A
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China
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current
stator
rotor
loop
axle
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CN2011103313998A
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Inventor
王高林
于泳
杨荣峰
徐殿国
吴芳
张国强
李刚
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Harbin Institute of Technology
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Harbin Institute of Technology
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Priority to CN2011103313998A priority Critical patent/CN102427322A/en
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Abstract

The invention discloses a method for detecting initial position of a rotor of a gearless tractor for an elevator. According to the method, the problem that when adopting an auxiliary signal injection method to obtain the initial position information of the rotor of the gearless tractor for the elevator at present, misjudging is easy to make so as to cause a control system to be out of control, is solved. The method comprises the steps of: firstly, obtaining the initial judge value [theta]e (first) of the rotor pole position of the tractor to be detected; then successively injecting pulse voltage vector into two directions, wherein one direction is in the angle of the initial judge value [theta]e (first) of the rotor pole position of the tractor to be detected and the other direction is in the angle of the sum of the initial judge value [theta]e (first) of pol position of the rotor with [pi]; obtaining d-shaft open loop current id2 and q-shaft open loop current iq2 of the tractor to be detected under a two-phase synchronous revolution coordinate system; judging the sizes of two id2 after the pulse voltage is injected; and obtaining the initial position angle of the rotor for the tractor to be detected by computing. The method for detecting initial position of rotor of gearless tractor for elevator is suitable for detecting the initial position of the rotor of the tractor for the elevator.

Description

Elevator gearless machine method for detecting initial position of rotor
Technical field
The present invention relates to a kind of elevator gearless machine method for detecting initial position of rotor, belong to the electric machines control technology field.
Background technology
Along with being on the increase of skyscraper, elevator has become indispensable vertical transport instrument, and this is to the demands for higher performance of elevator governing system.Compare with AC induction motor; Permanent magnetic synchronous traction machine be applied to elevator traction system have simple in structure, save characteristics such as space, system effectiveness height and control performance are good; In today that energy problem becomes increasingly conspicuous, the energy-saving significance of permanent magnetic synchronous traction machine seems more outstanding.Therefore, adopt the traction system of permagnetic synchronous motor to become the main flow that new elevator systems develops.
Continuous development along with traction permagnetic synchronous motor control technology; Desire further to reduce the cost of permagnetic synchronous motor drive system; Usually adopt less expensive incremental encoder to detect motor rotor position information, this scheme need accurately detect initial position of rotor before the motor operation, because under vector control mode; The maximum starting torque that can produce depends on the order of accuarcy at the rotor magnetic pole initial position angle that obtains; If the initial position angle error is excessive, will causes the motor load capacity to be restricted, even the phenomenon of counter-rotating occur.Therefore, for the traction permanent magnet synchronous motor vector control system that adopts incremental encoder detection position information, accurately obtaining of initial position angle of rotor is very important.
At present, the location technology that multiple permanent-magnetic synchronous motor rotor initial position occurred.A kind of simple effective method is exactly the current phasor that applies certain amplitude in motor windings, lets the sufficiently long time of current phasor effect, makes the rotor rotation and navigates to the direction that is provided with in advance; A kind of in addition method is to motor the occasion of incremental encoder to be installed, and its adopts the thought of closed-loop control, through detecting the minor variations amount of the incremental encoder feedback signal of installing, rotor is carried out fine motion control and realize detecting position of magnetic pole.Yet; In elevator traction system; Before the elevator operation; Because the effect of band-type brake made rotor be in static state fully when elevator was shut down, motor was not allow to let rotor-position any small variations occur before the normal starting operation in addition, and therefore above-mentioned two kinds of methods all can't be used in the control occasion of elevator starter.
In order under the complete static situation of motor, to obtain initial position of rotor information, can adopt the method for injecting auxiliary signal that rotor magnetic pole position is detected.This auxiliary signal injection method need be judged pole polarity; Be used for the position of magnetic pole that correct detection arrives; If taking place, the disconnected position probing angle that will cause of erroneous judgement has 180 ° error; To cause vector control system can't realize normal decoupling zero control, and cause system to become positive feedback system, thereby phenomenon out of control takes place.
Summary of the invention
Obtain elevator traction machine initial position of rotor information in order to solve the existing auxiliary signal injection method that adopts, it is disconnected and then cause control system problem out of control to be prone to erroneous judgement, and a kind of elevator gearless machine method for detecting initial position of rotor is provided.
Elevator gearless machine method for detecting initial position of rotor according to the invention, said traction machine is a permagnetic synchronous motor, it may further comprise the steps:
Step 1: adopt current closed-loop to control the d shaft current and the q shaft current of tested traction machine stator, and in the stator winding of tested traction machine, inject high-frequency voltage signal u iCos ω iT is to obtain the tested Capstan rotor position of magnetic pole value of declaring θ just e(first); U in the formula iThe amplitude of expression high-frequency voltage signal, ω iThe frequency of expression high frequency voltage, the t express time;
Step 2: stop to inject high-frequency voltage signal u iCos ω iT adopts open loop to control tested traction machine then, at the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first) and the first value of the declaring θ of this rotor magnetic pole position e(first)+π both direction injected pulse successively voltage vector; The amplitude of the pulse voltage vector that this both direction injects is identical, pulsewidth equates, and injection length is spaced apart 3ms~5ms;
Step 3: the threephase stator open-loop current i under the three phase static coordinate system of the tested traction machine output under the collection open loop control A2, i B2And i C2, and with this threephase stator open-loop current i A2, i B2And i C2Convert the d axle open-loop current i under the two synchronised rotating coordinate systems to D2With q axle open-loop current i Q2
Step 4: judge at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of direction injected pulse voltage vector acquisition D2Absolute value, whether greater than at the first value of the declaring θ of this rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2Absolute value;
If, execution in step five; If not, execution in step six;
Step 5: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects;
Step 6: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects.
Obtain the tested Capstan rotor position of magnetic pole value of declaring θ just in the said step 1 e(first) concrete grammar is:
Step eleven: Initialize the measured d-axis stator tractor loop given current q-axis loop given current and tested hoisting machine rotor position angle given so that values are 0;
Step 1 two: with the given electric current of d axle closed loop of said stator D axle closed loop current value of feedback i with stator D1fAfter making difference, regulate the given voltage of d axle closed loop that forms stator through PI The given voltage of this d axle closed loop With high-frequency voltage signal u iCos ω iThe t stack, given voltage behind the formation stator d axle closed loop injection high-frequency voltage signal
Simultaneously with the given electric current of q axle closed loop of stator Q axle closed loop current feedback quantity i with stator Q1fAfter making difference, regulate the given voltage of q axle closed loop that forms stator through PI
Behind stator d axle closed loop injection high-frequency voltage signal; The given voltage of q axle closed loop of given voltage and stator is carried out two synchronised rotational coordinatess be tied to two conversions of rest frame mutually; The Voltage Reference amount and that obtain under the two phase rest frames export to tested traction machine with this Voltage Reference amount and through three phase inverter bridge, and said three phase inverter bridge adopts space vector width pulse modulation method to control;
Step 1 three: the threephase stator closed loop current i that gathers tested traction machine output A1, i B1And i C1, with this threephase stator closed loop current i A1, i B1And i C1Carry out the conversion that the three phase static coordinate is tied to two synchronised rotating coordinate systems, obtain the stator d axle close-loop feedback current i under the two synchronised rotating coordinate systems D1With stator q axle close-loop feedback current i Q1, said stator d axle close-loop feedback current i D1Behind LPF, obtain stator d axle close-loop feedback amount i respectively with stator q axle close-loop feedback current i q1 D1fWith stator q axle close-loop feedback amount i Q1f
Step 1 four: stator d axle close-loop feedback current i D1Obtain current i through behind the bandpass filtering D1i, stator q axle close-loop feedback current i Q1Obtain current i through behind the bandpass filtering Q1i, with current i D1iWith current i Q1i, multiplier forms current signal i after multiplying each other Mpy, this current signal i MpyBehind LPF, form current error signal i (Δ θ again e), Δ θ eRepresent its rotor magnetic pole position that tested Capstan rotor position actual value and observation the obtains value of declaring θ just e(first) difference, this current error signal i (Δ θ e) the given position angle of the tested Capstan rotor of output after PI regulates When PI regulates current error signal i (Δ θ e) be adjusted at 0 o'clock, the given position angle of the tested Capstan rotor of output As the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first):
θ e ( first ) = θ ^ e 1 .
The concrete grammar that adopts open loop to control tested traction machine in the said step 2 is:
Also the given voltage of this stator d axle open loop is carried out two synchronised rotational coordinatess with the given voltage of stator q axle open loop is tied to two conversions of rest frame mutually with the given voltage of stator q axle open loop to adopt the pulse voltage vector generator to form the given voltage of stator d axle open loop of two synchronised rotating coordinate systems; The stator voltage reference quantity and that obtain under the two phase rest frames export to tested traction machine with this stator voltage reference quantity and through three phase inverter bridge; Realize the control of tested traction machine, said three phase inverter bridge adopts space vector width pulse modulation method to control.
Advantage of the present invention is: the inventive method remains tested traction machine in the process of detection rotor initial position angle rotor is in static state; Inject high-frequency voltage signal at its stator winding earlier; Extract high-frequency current signal through filter, and carry out rotating coordinate transformation, through d axle and q shaft current component are done multiplying; Again through can obtaining the rotor position error signal behind the low pass filter, thereby obtain rotor magnetic pole position value of declaring just; And then toward two rightabout pulse voltage vectors of stator winding injection; Through comparing the size of its d axle open-loop current component; Judge rotor magnetic pole polarity; At last with the pole polarity information of judging to before the position of magnetic pole that obtains just the value of declaring proofread and correct, finally obtain initial position angle of rotor.
The testing process of the inventive method can not cause moving of initial position of rotor, thereby it is disconnected erroneous judgement can not occur, and causes accuracy of detection low; Judgement to rotor magnetic pole polarity is simple; Judged result of the present invention is reliable, and practical value is high, can guarantee under the complete inactive state of traction machine, to estimate to obtain exactly the initial position of rotor magnetic pole.
Description of drawings
Fig. 1 is the flow chart of the inventive method;
Fig. 2 obtains the rotor magnetic pole position theory diagram of the value of declaring just for adopting current closed-loop to control tested traction machine;
Fig. 3 gathers the theory diagram that tested traction machine judgement rotor magnetic pole polarity is controlled in open loop for adopting;
Fig. 4 is the theory diagram that obtains tested Capstan rotor initial position angle;
Fig. 5 is the relativeness sketch map of two synchronised rotating coordinate systems and three phase static coordinate system;
Experimental waveform figure when Fig. 6 is 43.5 ° for tested Capstan rotor initial position angle;
Experimental waveform figure when Fig. 7 is 249.5 ° for tested Capstan rotor initial position angle.
Among Fig. 6 and Fig. 7, curve E representes tested Capstan rotor position actual value, and the tested Capstan rotor rotor magnetic pole position that curve F representes to obtain in the observation process is the value of declaring θ just e(first) reach the last initial position angle of rotor that obtains
Among Fig. 6 and Fig. 7, ordinate a phase current is illustrated in the inventive method testing process, gathers the stator closed loop current i of a phase in the threephase stator electric current that obtains A1With stator open-loop current i A2
Embodiment
Embodiment one: below in conjunction with Fig. 1 to Fig. 5 this execution mode is described, the said elevator gearless machine of this execution mode method for detecting initial position of rotor, said traction machine is a permagnetic synchronous motor, it may further comprise the steps:
Step 1: adopt current closed-loop to control the d shaft current and the q shaft current of tested traction machine stator, and in the stator winding of tested traction machine, inject high-frequency voltage signal u iCos ω iT is to obtain the tested Capstan rotor position of magnetic pole value of declaring θ just e(first); U in the formula iThe amplitude of expression high-frequency voltage signal, ω iThe frequency of expression high frequency voltage, the t express time;
Step 2: stop to inject high-frequency voltage signal u iCos ω iT adopts open loop to control tested traction machine then, at the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first) and the first value of the declaring θ of this rotor magnetic pole position e(first)+π both direction injected pulse successively voltage vector; The amplitude of the pulse voltage vector that this both direction injects is identical, pulsewidth equates, and injection length is spaced apart 3ms~5ms;
Step 3: the threephase stator open-loop current i under the three phase static coordinate system of the tested traction machine output under the collection open loop control A2, i B2And i C2, and with this threephase stator open-loop current i A2, i B2And i C2Convert the d axle open-loop current i under the two synchronised rotating coordinate systems to D2With q axle open-loop current i Q2
Step 4: judge at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of direction injected pulse voltage vector acquisition D2Absolute value, whether greater than at the first value of the declaring θ of this rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2Absolute value;
If, execution in step five; If not, execution in step six;
Step 5: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects;
Step 6: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects.
Embodiment two: below in conjunction with Fig. 2, Fig. 3 and Fig. 4 this execution mode is described, this execution mode obtains the tested Capstan rotor position of magnetic pole value of declaring θ just for to the further specifying of execution mode one in the said step 1 of this execution mode e(first) concrete grammar is:
Step eleven: Initialize the measured d-axis stator tractor loop given current q-axis loop given current and tested hoisting machine rotor position angle given so that values are 0;
Step 1 two: with the given electric current of d axle closed loop of said stator D axle closed loop current value of feedback i with stator D1fAfter making difference, regulate the given voltage of d axle closed loop that forms stator through PI The given voltage of this d axle closed loop With high-frequency voltage signal u iCos ω iThe t stack, given voltage behind the formation stator d axle closed loop injection high-frequency voltage signal
Simultaneously with the given electric current of q axle closed loop of stator Q axle closed loop current feedback quantity i with stator Q1fAfter making difference, regulate the given voltage of q axle closed loop that forms stator through PI
Behind stator d axle closed loop injection high-frequency voltage signal; The given voltage of q axle closed loop of given voltage and stator is carried out two synchronised rotational coordinatess be tied to two conversions of rest frame mutually; The Voltage Reference amount and that obtain under the two phase rest frames export to tested traction machine with this Voltage Reference amount and through three phase inverter bridge, and said three phase inverter bridge adopts space vector width pulse modulation method to control;
Step 1 three: the threephase stator closed loop current i that gathers tested traction machine output A1, i B1And i C1, with this threephase stator closed loop current i A1, i B1And i C1Carry out the conversion that the three phase static coordinate is tied to two synchronised rotating coordinate systems, obtain the stator d axle close-loop feedback current i under the two synchronised rotating coordinate systems D1With stator q axle close-loop feedback current i Q1, said stator d axle close-loop feedback current i D1With stator q axle close-loop feedback current i Q1Behind LPF, obtain stator d axle close-loop feedback amount i respectively D1fWith stator q axle close-loop feedback amount i Q1f
Step 1 four: stator d axle close-loop feedback current i D1Obtain current i through behind the bandpass filtering D1i, stator q axle close-loop feedback current i Q1Obtain current i through behind the bandpass filtering Q1i, with current i D1iWith current i Q1i, multiplier forms current signal i after multiplying each other Mpy, this current signal i MpyBehind LPF, form current error signal i (Δ θ again e), Δ θ eRepresent its rotor magnetic pole position that tested Capstan rotor position actual value and observation the obtains value of declaring θ just e(first) difference, this current error signal i (Δ θ e) the given position angle of the tested Capstan rotor of output after PI regulates When PI regulates current error signal i (Δ θ e) be adjusted at 0 o'clock, the given position angle of the tested Capstan rotor of output As the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first):
θ e ( first ) = θ ^ e 1 .
In this execution mode, in the detection of dynamic process, current error signal i (Δ θ e) the given position angle of the tested Capstan rotor of output after PI regulates As Δ θ eWhen non-vanishing, that is, the rotor magnetic pole position that observation obtains is the value of declaring θ just eWhen (first) having error with the rotor-position actual value, the given position angle of the rotor of output It is dynamic change; Regulate current error signal i (Δ θ through PI e), when the adjusting result is zero, can judge Δ θ this moment eBe zero, PI regulates the given position angle of the rotor of output Tend towards stability, this moment, PI regulated the given position angle of the tested Capstan rotor of back output Be the rotor magnetic pole position value of declaring θ just e(first).This rotor magnetic pole position is the value of declaring θ just e(first) can think and equate with the rotor-position actual value.
In whole decision process, if current error signal i (the Δ θ that PI regulates e) be not 0, then need return step 1 two and continue its process, up to current error signal i (the Δ θ of PI adjusting e) be 0, then this process finishes, and continues the judgement of back.
Among the present invention, the traction machine system can imitate the control of DC method traction machine is controlled.Under the situation that motor rotor position can be known,, can convert the Equivalent DC motor to and control by coordinate transform.As long as through the inventive method known original position of electric motor's rotator angle then the position of rotor any time all can obtain.
Permagnetic synchronous motor is the key link of ac synchronous governing system, and is as shown in Figure 5,
Getting rotor permanent magnet first-harmonic excitation field axis is the d axle, and the q axle is along leading d axle 90 degree of direction of rotation, and the d-q axle is with angular velocity omega in company with rotor rTogether rotation, the space coordinates at the given position angle of Capstan rotor is with d axle and the reference axis A angle of between centers mutually Representing that regulation A belongs to axle mutually---reference axis A axle mutually is zero degree.The rotor field of initial position angle of rotor when being initial and the reference axis A angle between the axle mutually then.
The electromagnetic torque of traction machine depends on the component of stator current on the q axle basically, and the component main application on the d axle is an excitation, and the present invention will carry out the initial position of detection rotor under the static state of motor, therefore, and i from start to finish Q1=0, carry out in the current closed-loop process, on the d axle, inject high-frequency voltage signal u iCos ω iT.
The present invention divides the two large divisions to confirm initial position angle of rotor First such as step 1 are said, obtain the rotor magnetic pole position value of declaring θ just e(first), second portion such as step 2 to step 4 is said, is the judgement to the polarity of rotor magnetic pole, and then obtains initial position angle of rotor Be step 5 or the described conclusion of step 6.Be elaborated below:
At first be the current closed-loop control procedure, referring to shown in Figure 2, in stator winding, inject high-frequency voltage signal, the present invention injects high-frequency voltage signal u with reference to the control of DC method at the d of motor axle iCos ω iT through the information of the relevant rotor magnetic pole position of q shaft current component extraction, thereby realizes the detection to position of magnetic pole.
Definite Capstan rotor initial position angle that the present invention proposes Method, inject given voltage behind the high frequency through control d axle closed loop With the given voltage of q axle closed loop Control stator three-phase current i indirectly a, i bAnd i c, controlled quentity controlled variable is a DC quantity, rather than the sinusoidal quantity under the three-phase current control model, and the generation of control signal is such complicated unlike producing sinusoidal signal, can as controlling direct current machine, control traction machine, and control method is simple, and the control effect is obvious.
Said two synchronised rotational coordinatess convert to two phase static coordinate by formula the coordinate transform formula shown in (1) carry out:
u α 1 * u β 1 * = cos θ ^ e 1 - sin θ ^ e 1 sin θ ^ e 1 cos θ ^ e 1 u q 1 * u d 1 * * . - - - ( 1 )
Thereby be implemented under the traction machine inactive state and inject high-frequency voltage signal toward stator winding.The high-frequency voltage signal that is injected will motivate corresponding high-frequency current component according to electric machine structure salient pole property and magnetic saturation characteristic on stator winding; Comprised the information relevant in the high-frequency current component that is produced, detected link to q axle close-loop feedback current i through rotor magnetic pole position with rotor magnetic pole position Q1Carry out signal processing and can obtain the position of rotor magnetic pole, detected position is the position of the N utmost point or the S utmost point of rotor magnetic pole.
The current detecting link is sent to control system through sensor motor stator electric current with measurement result.What sampling obtained is the threephase stator current i A1, i B1And i C1, also can only detect two phases wherein, according to the three-phase current instantaneous value be 0 to calculate the third phase electric current.Then by formula coordinate transform is carried out in (2):
i d 1 i q 1 = 2 3 cos θ ^ e 1 cos ( θ ^ e 1 - 2 3 π ) cos ( θ ^ e 1 + 2 3 π ) - sin θ ^ e 1 - sin ( θ ^ e 1 - 2 3 π ) - sin ( θ ^ e 1 + 2 3 π ) i a 1 i b 1 i c 1 , - - - ( 2 )
With the threephase stator closed loop current i under the three phase static coordinate system A1, i B1And i C1Convert the d axle close-loop feedback current i under the two synchronised rotating coordinate systems to D1With q axle close-loop feedback current i Q1, respectively through forming d axle close-loop feedback amount i behind the LPF D1fWith q axle close-loop feedback amount i Q1fLPF filtering described herein be high-frequency current excitation components and PWM HF switch noise.
The d axle and the q axle close-loop feedback current i that earlier sampling are obtained D1And i Q1Carry out bandpass filtering, filters low signal component and PWM HF switch noise signal composition, thus obtain by injecting the current signal i that the high-frequency voltage signal excitation produces DliAnd i Qli, can be expressed as:
i dli = BPF ( i d 1 ) = u i cos ω i t ω i L d L q ( ΣL + Δ L cos 2 Δ θ e ) ,
i qli = BPF ( i q 1 ) = u i cos ω i t ω i L d L q ( Δ L sin 2 Δθ e ) , - - - ( 3 )
In the formula: L dBe d axle inductance, L qBe q axle inductance, Expression average inductance, Expression difference inductance.
Then with current i DliWith i QliDo multiplying, can obtain:
i dli · i qli = ( u i ω i L d L q ) 2 · 1 - cos 2 ω i t 2 ΔL ( Σ L sin 2 Δ θ e + 1 2 Δ L sin 4 Δθ e ) - - - ( 4 )
Again with signal i DliI QliCarry out LPF,, obtain one and rotor magnetic pole position detection error delta θ the radio-frequency component filtering of formula (4) eBecome error signal i (the Δ θ of SIN function relation e), this error signal can be expressed as:
i ( Δ θ e ) = LPF ( i dli · i qli ) = 1 2 ΔL ( u i ω i L d L q ) 2 ( Σ L sin 2 Δ θ e + 1 2 Δ L sin 4 Δθ e ) . - - - ( 15 )
Detect under the less situation of error ratio i (Δ θ at position of magnetic pole e) can Approximate Equivalent and Δ θ eBe directly proportional, with i (Δ θ e) carry out the PI adjusting as the margin of error, regulate the given position angle that is output as rotor through ratio and integration Regulate error signal i (Δ θ through carrying out PI e) when being adjusted to 0, Also will converge to the physical location of rotor magnetic pole, obtain rotor magnetic pole position value of declaring just At this moment, θ e(first) magnetic pole of indication possibly be the N utmost point, also possibly be the S utmost point, i.e. the first value of the declaring θ of initial position angle of rotor e(first) direction vector of indication maybe be identical with the actual direction indication in rotor field, also maybe be just in time opposite, differ 180 degree, based on there being above-mentioned two kinds of situation, so the polarity of rotor magnetic pole will be specifically judged in second portion open loop control.
When be used to adjust PI that position of magnetic pole detects error regulate output reach stable after, i.e. i (Δ θ e)=0, Behind the numerical stability, stop current closed-loop control, let system works, stop to inject high-frequency voltage signal toward the d axle in the open loop state of a control.
At the first value of the declaring θ of rotor magnetic pole position e(first) and θ e(first)+and the π both direction is taken up in order of priority the injected pulse voltage vector, because excitation field direction and rotor magnetic pole direction are point-blank, can not produce torque, and therefore, motor still remains static, and can not rotate.
The amplitude of said two pulse voltage vectors is identical, pulsewidth equates; In order to guarantee that the electric current that first pulse excitation produces before applying second pulse has dropped to 0; The injection length of two pulse voltage vectors should be selected 3ms~5ms greater than 3ms at interval in this execution mode.
With threephase stator open-loop current i A2, i B2And i C2Convert the d axle open-loop current i under the two synchronised rotating coordinate systems to D2With q axle open-loop current i Q2By formula carry out (6):
i d 2 i q 2 = 2 3 cos θ ^ e 1 cos ( θ ^ e 1 - 2 3 π ) cos ( θ ^ e 1 + 2 3 π ) - sin θ ^ e 1 - sin ( θ ^ e 1 - 2 3 π ) - sin ( θ ^ e 1 + 2 3 π ) i a 2 i b 2 i c 2 , - - - ( 6 )
Rotor given position angle in the formula (6) Get θ respectively e(first) and θ e(first)+π.
Nonlinear magnetism saturation characteristic according to stator core; The magnetic saturation situation that can reflect stator core through the rate of change of judging the d shaft current; The electric current of paramagnetic direction is bigger than the absolute value of the electric current of contrary magnetic direction in the stator winding; When the voltage direction that is applied was consistent with rotor N extreme direction, the electric current in the stator winding reached maximum, judges the polarity of rotor magnetic pole according to this rule.
The d axle open-loop current i that obtains after the coordinate transform D2Be used to judge the polarity of rotor magnetic pole, when at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of the pulse voltage vector acquisition of direction injection D2Absolute value is greater than at the first value of the declaring θ of rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2, show θ e(first) voltage direction that applies of direction is a paramagnetic, θ e(first) magnetic pole of indication is the N utmost point, then initial position angle of rotor On the contrary, at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of the pulse voltage vector acquisition of direction injection D2Absolute value is less than at the first value of the declaring θ of rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2, show θ e(first) voltage direction that applies of direction is against magnetic, θ e(first) magnetic pole of indication is the S utmost point, then initial position angle of rotor θ ^ e = θ e ( First ) + π .
When concrete the realization, adopt position compensation value generator to carry out position correction, referring to shown in Figure 4, position compensation value generator identifies P according to position compensation SignValue produce θ eThe position compensation value of (first) proofreading and correct When at the first d axle open-loop current i that obtains of the pulse voltage vector that injects of the value of declaring θ e (first) direction of rotor magnetic pole position D2Absolute value is greater than at the first value of the declaring θ of rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2The time, outgoing position compensation sign P Sign=0, position compensation value then Initial position angle of rotor When at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of the pulse voltage vector acquisition of direction injection D2Absolute value is less than at the first value of the declaring θ of rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2The time, outgoing position compensation sign P Sign=1, position compensation value then Initial position angle of rotor
Embodiment three: below in conjunction with Fig. 3 this execution mode is described, this execution mode is for to the further specifying of execution mode one or two, and the concrete grammar that adopts open loop to control tested traction machine in the said step 2 of this execution mode is:
Also the given voltage of this stator d axle open loop is carried out two synchronised rotational coordinatess with the given voltage of stator q axle open loop is tied to two conversions of rest frame mutually with the given voltage of stator q axle open loop to adopt the pulse voltage vector generator to form the given voltage of stator d axle open loop of two synchronised rotating coordinate systems; The stator voltage reference quantity and that obtain under the two phase rest frames export to tested traction machine with this stator voltage reference quantity and through three phase inverter bridge; Realize the control of tested traction machine, said three phase inverter bridge adopts space vector width pulse modulation method to control.
Embodiment four: this execution mode is for further specifying said high-frequency voltage signal u to execution mode one, two or three iCos ω iThe frequency range of t is 500Hz~2kHz, the amplitude u of high-frequency voltage signal iBe 15%~60% of tested traction machine rated voltage amplitude.
This execution mode medium-high frequency voltage signal u iCos ω iThe frequency of t is much larger than the specified running frequency of tested traction machine.
High-frequency voltage signal u iCos ω iThe optional frequency of t is selected as 1kHz, the amplitude u of high-frequency voltage signal iBe chosen as 30% of tested traction machine rated voltage.
Embodiment five: below in conjunction with Fig. 6 and Fig. 7 this execution mode is described, this execution mode is for to the further specifying of execution mode one, two, three or four, and is said at the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first) and the first value of the declaring θ of this rotor magnetic pole position e(first)+and the amplitude of the pulse voltage vector that the π both direction successively injects is 40%~70% of a tested traction machine rated voltage amplitude, the pulsewidth of the pulse voltage vector that this both direction injects is 700 μ s~900 μ s.
Experimental waveform below in conjunction with Fig. 6 and Fig. 7 specifies, and the elevator traction machine of 11.7kW has been carried out the test experience of initial position of rotor.The PWM switching frequency is made as 10kHz, the high-frequency voltage signal u that is injected iCos ω iThe amplitude u of t iBe 30% of rated voltage, frequency is 1kHz, and the amplitude of the pulse voltage vector that injects during open loop control is 50% of a rated voltage, and the pulsewidth time is 800 μ s.
Among Fig. 6; Actual initial position angle of rotor is given as 43.5 °; When current closed-loop control reached stable state, the detection position that obtain this moment of PI adjusting output was the position of the S utmost point.And then toward stator winding to inject azimuth respectively be 222.1 ° and 42.1 ° of two voltage vector pulses, through the size of current of twice acquisition of comparison, obtaining the final detected value of rotor-position is 42.1 °.
Among Fig. 7; Actual initial position angle of rotor is given as 249.5 °; When current closed-loop control reached stable state, the detection position that obtain this moment of PI adjusting output was the position of the N utmost point.And then toward stator winding to inject azimuth respectively be 245.4 ° and 65.4 ° of two voltage vector pulses, through the size of current of twice acquisition of comparison, obtaining the final detected value of rotor-position is 245.4 °.
Can be obtained by Fig. 6 and waveform shown in Figure 7, error in judgement of the present invention is minimum, and judged result is reliable.
All angles of being mentioned among the present invention are electrical degree,

Claims (5)

1. elevator gearless machine method for detecting initial position of rotor, said traction machine is a permagnetic synchronous motor, it is characterized in that: it may further comprise the steps:
Step 1: adopt current closed-loop to control the d shaft current and the q shaft current of tested traction machine stator, and in the stator winding of tested traction machine, inject high-frequency voltage signal u iCos ω iT is to obtain the tested Capstan rotor position of magnetic pole value of declaring θ just e(first); U in the formula iThe amplitude of expression high-frequency voltage signal, ω iThe frequency of expression high frequency voltage, the t express time;
Step 2: stop to inject high-frequency voltage signal u iCos ω iT adopts open loop to control tested traction machine then, at the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first) and the first value of the declaring θ of this rotor magnetic pole position e(first)+π both direction injected pulse successively voltage vector; The amplitude of the pulse voltage vector that this both direction injects is identical, pulsewidth equates, and injection length is spaced apart 3ms~5ms;
Step 3: the threephase stator open-loop current i under the three phase static coordinate system of the tested traction machine output under the collection open loop control A2, i B2And i C2, and with this threephase stator open-loop current i A2, i B2And i C2Convert the d axle open-loop current i under the two synchronised rotating coordinate systems to D2With q axle open-loop current i Q2
Step 4: judge at the first value of the declaring θ of rotor magnetic pole position e(first) the d axle open-loop current i of direction injected pulse voltage vector acquisition D2Absolute value, whether greater than at the first value of the declaring θ of this rotor magnetic pole position e(first)+d axle open-loop current i that π direction injected pulse voltage vector obtains D2Absolute value;
If, execution in step five; If not, execution in step six;
Step 5: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects;
Step 6: obtaining tested Capstan rotor initial position angle is:
accomplishes tested Capstan rotor initial position and detects.
2. elevator gearless machine method for detecting initial position of rotor according to claim 1 is characterized in that: obtain the tested Capstan rotor position of magnetic pole value of declaring θ just in the said step 1 e(first) concrete grammar is:
Step eleven: Initialize the measured d-axis stator tractor loop given current q-axis loop given current and tested hoisting machine rotor position angle given so that values are 0;
Step 1 two: with the given electric current of d axle closed loop of said stator D axle closed loop current value of feedback i with stator D1fAfter making difference, regulate the given voltage of d axle closed loop that forms stator through PI The given voltage of this d axle closed loop With high-frequency voltage signal u iCos ω iThe t stack, given voltage behind the formation stator d axle closed loop injection high-frequency voltage signal
Simultaneously with the given electric current of q axle closed loop of stator Q axle closed loop current feedback quantity i with stator Q1fAfter making difference, regulate the given voltage of q axle closed loop that forms stator through PI
Behind stator d axle closed loop injection high-frequency voltage signal; The given voltage of q axle closed loop of given voltage and stator is carried out two synchronised rotational coordinatess be tied to two conversions of rest frame mutually; The Voltage Reference amount and that obtain under the two phase rest frames export to tested traction machine with this Voltage Reference amount and through three phase inverter bridge, and said three phase inverter bridge adopts space vector width pulse modulation method to control;
Step 1 three: the threephase stator closed loop current i that gathers tested traction machine output A1, i B1And i C1, with this threephase stator closed loop current i A1, i B1And i C1Carry out the conversion that the three phase static coordinate is tied to two synchronised rotating coordinate systems, obtain the stator d axle close-loop feedback current i under the two synchronised rotating coordinate systems D1With stator q axle close-loop feedback current i Q1, said stator d axle close-loop feedback current i D1With stator q axle close-loop feedback current i Q1Behind LPF, obtain stator d axle close-loop feedback amount i respectively D1fWith stator q axle close-loop feedback amount i Q1f
Step 1 four: stator d axle close-loop feedback current i D1Obtain current i through behind the bandpass filtering D1i, stator q axle close-loop feedback current i Q1Obtain current i through behind the bandpass filtering Q1i, with current i D1iWith current i Q1i, multiplier forms current signal i after multiplying each other Mpy, this current signal i MpyBehind LPF, form current error signal i (Δ θ again e), Δ θ eRepresent its rotor magnetic pole position that tested Capstan rotor position actual value and observation the obtains value of declaring θ just e(first) difference, this current error signal i (Δ θ e) the given position angle of the tested Capstan rotor of output after PI regulates When PI regulates current error signal i (Δ θ e) be adjusted at 0 o'clock, the given position angle of the tested Capstan rotor of output As the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first):
θ e ( first ) = θ ^ e 1 ,
3. elevator gearless machine method for detecting initial position of rotor according to claim 2 is characterized in that: the concrete grammar that adopts open loop to control tested traction machine in the said step 2 is:
Also the given voltage of this stator d axle open loop is carried out two synchronised rotational coordinatess with the given voltage of stator q axle open loop is tied to two conversions of rest frame mutually with the given voltage of stator q axle open loop to adopt the pulse voltage vector generator to form the given voltage of stator d axle open loop of two synchronised rotating coordinate systems; The stator voltage reference quantity and that obtain under the two phase rest frames export to tested traction machine with this stator voltage reference quantity and through three phase inverter bridge; Realize the control of tested traction machine, said three phase inverter bridge adopts space vector width pulse modulation method to control.
4. according to claim 1,2 or 3 described elevator gearless machine method for detecting initial position of rotor, it is characterized in that: said high-frequency voltage signal u iCos ω iThe frequency range of t is 500Hz~2kHz, the amplitude u of high-frequency voltage signal iBe 15%~60% of tested traction machine rated voltage amplitude.
5. according to claim 1,2 or 3 described elevator gearless machine method for detecting initial position of rotor, it is characterized in that: said at the first value of the declaring θ of tested Capstan rotor position of magnetic pole e(first) and the first value of the declaring θ of this rotor magnetic pole position e(first)+and the amplitude of the pulse voltage vector that the π both direction successively injects is 40%~70% of a tested traction machine rated voltage amplitude, the pulsewidth of the pulse voltage vector that this both direction injects is 700 μ s~900 μ s.
CN2011103313998A 2011-10-27 2011-10-27 Method for detecting initial position of rotor of gearless tractor for elevator Pending CN102427322A (en)

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN104767451A (en) * 2015-03-01 2015-07-08 宁波申菱电梯配件有限公司 Detection method for elevator door motor unposition sensor motor rotor initial position
CN104767456A (en) * 2015-04-20 2015-07-08 上海力信电气技术有限公司 Method for correcting installation errors of rotary transformer of permanent magnet synchronous driving motor
CN107329101A (en) * 2017-07-12 2017-11-07 日立电梯(中国)有限公司 The bearing calibration of permanent magnetic synchronous traction machine magnetic pole code and system
CN107846166A (en) * 2016-09-20 2018-03-27 株式会社安川电机 The initial magnetic pole position detection method and device of motor, power-converting device
CN108322122A (en) * 2018-02-06 2018-07-24 浙江水利水电学院 A kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method
CN109004875A (en) * 2018-07-26 2018-12-14 联创汽车电子有限公司 Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method
CN109194228A (en) * 2018-10-15 2019-01-11 石磊 A kind of starting of salient pole type synchronous motor position-sensor-free and method for control speed

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WO2002039575A2 (en) * 2000-11-10 2002-05-16 Otis Elevator Company Method and apparatus for encoderless operation of a permanent magnet synchronous motor in an elevator
CN101630938A (en) * 2009-07-28 2010-01-20 哈尔滨工业大学 Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor
CN101714844A (en) * 2009-11-10 2010-05-26 哈尔滨工业大学 Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002039575A2 (en) * 2000-11-10 2002-05-16 Otis Elevator Company Method and apparatus for encoderless operation of a permanent magnet synchronous motor in an elevator
CN101630938A (en) * 2009-07-28 2010-01-20 哈尔滨工业大学 Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor
CN101714844A (en) * 2009-11-10 2010-05-26 哈尔滨工业大学 Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104767451A (en) * 2015-03-01 2015-07-08 宁波申菱电梯配件有限公司 Detection method for elevator door motor unposition sensor motor rotor initial position
CN104767456A (en) * 2015-04-20 2015-07-08 上海力信电气技术有限公司 Method for correcting installation errors of rotary transformer of permanent magnet synchronous driving motor
CN107846166B (en) * 2016-09-20 2021-08-06 株式会社安川电机 Method and device for detecting initial magnetic pole position of motor, and power conversion device
CN107846166A (en) * 2016-09-20 2018-03-27 株式会社安川电机 The initial magnetic pole position detection method and device of motor, power-converting device
CN107329101A (en) * 2017-07-12 2017-11-07 日立电梯(中国)有限公司 The bearing calibration of permanent magnetic synchronous traction machine magnetic pole code and system
CN108322122A (en) * 2018-02-06 2018-07-24 浙江水利水电学院 A kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method
CN109004875A (en) * 2018-07-26 2018-12-14 联创汽车电子有限公司 Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method
CN109004875B (en) * 2018-07-26 2020-10-23 上海汽车工业(集团)总公司 Method for calculating zero angle of permanent magnet synchronous motor rotor position sensor and calibration method
CN109194228A (en) * 2018-10-15 2019-01-11 石磊 A kind of starting of salient pole type synchronous motor position-sensor-free and method for control speed

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