CN102545742A - Position sensorless control device and control method for permanent magnet synchronous motor - Google Patents
Position sensorless control device and control method for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a position sensorless control device for a permanent magnet synchronous motor. The position sensorless control device comprises a closed loop negative feedback control system, an open loop control system, a switching judger and a switch, wherein the switching judger is used for at least controlling switching of the switch between the open loop control system and the closed loop negative feedback control system based on rotation speed of the synchronous motor; when judged not to reach a set speed, the synchronous motor is switched to the open loop control system to perform open loop dragging control over the synchronous motor; and when judged to move to over the set speed, the synchronous motor is switched to the closed loop negative feedback control system to perform closed loop control on the synchronous motor, wherein electric phase fed back by the closed loop negative feedback control system and a presumption value of the rotation speed meet predetermined accuracy requirement when the synchronous motor runs to the set speed. The invention also discloses a corresponding control method thereby. Through the scheme, the synchronous motor can stably and reliably operate at high speed and low speed, so that the working efficiency of the motor is increased.
Description
Technical field
The present invention relates to permanent magnet synchronous motor, particularly a kind of position-sensorless control device of permanent magnet synchronous motor and control method.
Background technology
Motor is commonly used in the occasion that needs high-speed driving; For example in the PCB processing industry; The user requires increasingly highly to " little and thin " of position, hole, and this just requires the rotary speed of spindle motor also increasingly high, so the rotary speed of drive unit motor also requires increasingly high.Yet for the high-speed driving device, the holding position transducer is the very thing of difficulty of part on the rotor of motor, therefore is necessary motor is adopted the control mode of position-sensor-free.Induction machine does not need position transducer just can easily drive; Existing ultrahigh speed drives and adopts induction machine to drive mostly, and still, Induction Motor Drive is for permanent magnet synchronous motor drives; Efficient is low and be unfavorable for energy-conservation; Moreover control mode is the standard-sized sheet ring, when processing receives impact load, can't stablize the speed of motor.Therefore, existing many researchs are to control to the no transducer of permanent magnet synchronous motor.Relevant document for example; " Sensorless Speed Estimation of PMSM Using a Hybrid Method ", Y.Liu, J.Liu; L.Dai and C.Yu; Proceedings of the 7th World Congress on Intelligent Control and Automation, pp.3451-3454,2008.From electric motor starting up to its whole process in high velocity operation, through detecting the electric current that flows through on the motor winding, infer the position of magnetic pole, motor is implemented close loop negative feedback control.Yet, do not have the transducer controlling schemes according to this permanent magnet synchronous motor, during motor starting, because the big cause of position deduction error of magnetic pole is prone to cause take off and transfers the step-out phenomenon.
Summary of the invention
Main purpose of the present invention is exactly the deficiency to prior art, and the position-sensorless control device and the method for permanent magnet synchronous motor is provided, and guarantees that motor can both reliablely and stablely move at high low speed, and raises the efficiency to greatest extent, reaches energy-saving effect.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of permanent magnet synchronous motor position-sensorless control device; Comprise close loop negative feedback control system, open-loop control system, switching judging device and diverter switch; Said switching judging device is used for controlling said diverter switch based on the rotating speed of synchronous motor at least and between said open-loop control system and said close loop negative feedback control system, switches; When judging that synchronous motor does not reach setting speed; Switch to said open-loop control system and drag control, judging that synchronous motor moves to setting speed when above, switches to said close loop negative feedback control system so that synchronous motor is carried out closed-loop control so that synchronous motor is carried out open loop; Wherein, the electric phase place of said close loop negative feedback control system feedback and the presumed value of rotary speed satisfy the predetermined accuracy requirement when synchronous motor runs to said setting speed.
A kind of permanent magnet synchronous motor method for controlling position-less sensor may further comprise the steps:
Judge whether synchronous motor operates on the setting speed; When judging that synchronous motor does not reach setting speed; Through open-loop control system synchronous motor is carried out open loop and drag control; Judging that synchronous motor moves to setting speed when above; Through the close loop negative feedback control system synchronous motor is carried out closed-loop control, wherein said setting speed preestablishes according to following condition: the electric phase place that said close loop negative feedback control system is fed back when synchronous motor runs to said setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
Beneficial technical effects of the present invention is:
Adopt permanent magnet synchronous motor position-sensorless control device/method of the present invention; Through judging the speed of service of synchronous motor; When low speed, synchronous motor is carried out open loop and drag control;, motor utilize the electric phase place and the rotary speed (position of magnetic pole and speed) of inferring to carry out close-loop feedback control after running to certain speed again; Compare with existing permanent magnet synchronous motor driving; The present invention has effectively eliminated under the low speed situation instability that adopts closed-loop control to bring greatly owing to the presumed value error, has been prone to cause the phenomenon of taking off the accent step-out, and the assurance motor can both reliablely and stablely move when high low speed, helps increasing work efficiency to greatest extent and reaching good energy-saving effect.
Description of drawings
Fig. 1-Fig. 4 is the system configuration sketch map of a plurality of embodiment of permanent magnet synchronous motor position-sensorless control device of the present invention.
Embodiment
Below combine accompanying drawing that the present invention is further specified through embodiment.
In an embodiment; The permanent magnet synchronous motor position-sensorless control device; Comprise close loop negative feedback control system, open-loop control system, switching judging device and diverter switch; Said switching judging device is used for controlling said diverter switch based on the rotating speed of synchronous motor at least and between said open-loop control system and said close loop negative feedback control system, switches; When judging that synchronous motor does not reach setting speed; Said diverter switch switches to said open-loop control system and drags control so that synchronous motor is carried out open loop, is judging that synchronous motor moves to setting speed when above, and said diverter switch switches to said close loop negative feedback control system so that synchronous motor is carried out closed-loop control; Wherein, said setting speed meets the following conditions: the electric phase place of said close loop negative feedback control system feedback and the presumed value of rotary speed satisfy the predetermined accuracy requirement when synchronous motor runs to said setting speed.
Shown in Figure 1 is a preferred embodiment of the present invention.Referring to Fig. 1, the sensor-less control device of permanent magnet synchronous motor comprises close loop negative feedback control system, open-loop control system, switching judging device and diverter switch at interior each several part, and the signal processing of various piece concerns as follows:
Subtract and calculate device 1, from given target velocity instruction ω<sup >*</sup>In deduct and infer speed omega<sub >s</sub>After obtain velocity deviation e.Speed control 2 carries out obtaining q shaft current instruction I after the PI calculation based on velocity deviation e<sub >q</sub><sup >*</sup>Current controller 3, based on the q-axis current command I <sub > q </sub> <sup > * </sup> and a given d-axis current command I <sub > d </sub> <sup > * </sup> and fed back q-axis current command I <sub > q </sub> and d-axis current command I <sub > d </sub> Calculus been closed d-axis voltage command V <sub > dc </sub> <sup > * </sup> and closed-loop q axis voltage command V <sub > qc </sub> <sup > * </sup>.Park inverse converter 5, the d, q-axis voltage command V <sub > d </sub> <sup > * </sup> and V <sub > q </sub> <sup > * </sup> is converted to α, β-axis voltage command v <sub > α </sub> <sup > * < / sup> and v <sub > β </sub> <sup > * </sup>.Clarke inverse converter 6 is with α, β shaft voltage instruction v<sub >α</sub><sup >*</sup>And v<sub >β</sub><sup >*</sup>Be converted to three-phase voltage instruction v<sub >u</sub><sup >*</sup>, v<sub >v</sub><sup >*</sup>And v<sub >w</sub><sup >*</sup>PWM inverter 7 instructs v with three-phase voltage<sub >u</sub><sup >*</sup>, v<sub >v</sub><sup >*</sup>And v<sub >w</sub><sup >*</sup>Convert three-phase PWM voltage v into<sub >u</sub>, v<sub >v</sub>And v<sub >w</sub>And it is outputed to synchronous motor 8.Current sensor 9, two phase or three-phase currents of detection synchronous motor 8, legend is depicted as and detects uw biphase current i<sub >u</sub>And i<sub >w</sub>Adder-subtracter 10 calculates v phase current i according to kirchhoff's principle<sub >v</sub>Clarke converter 11 is with three-phase current i<sub >u</sub>, i<sub >v</sub>And i<sub >w</sub>Be converted to α, β shaft current i<sub >α</sub>And i<sub >β</sub>Park converter 12, the α, β-axis current i <sub > α </sub> and i <sub > β </sub> is converted to d, q-axis current i <sub > d </sub> and i <sub > q </sub> and feedback to the current controller 3.Stationary coordinate system model based on the phase velocity observer 13, based on the synchronous motor 8 stationary coordinate system model equations, input α, β-axis current i <sub > α </sub> and i <sub > β </sub> and α, β-axis voltage command v <sub > α </sub> <sup > * </sup> and v <sub > β </sub> <sup > * </sup> calculate the presumed electrical phase θ <sub > es </sub> and the estimated speed synchronous motor 8 ω <sub > s </sub>; increase or other high-pass filter (HPF) and gain control (not shown), the high-pass filter consists of estimating the electrical phase θ <sub > es </sub> Calculate the speed of presumption of electrical ω <sub > es </sub>, and the gain is the presumed electrical speed ω <sub > es </sub> multiplying synchronous motor 8 pole pairs the reciprocal of the number of p to get the estimated speed synchronous motor 8 ω <sub > s </sub>.Integrator 17 instructs ω with target velocity<sup >*</sup>Obtain instruction θ in target location behind the integration<sup >*</sup>Multiplier (-icator) 18 instructs θ with the target location<sup >*</sup>The number of pole-pairs p that multiply by synchronous motor 8 obtains the electric phase theta of open loop<sub >Eo</sub>Open-loop voltage command generator 19, according to the target speed command ω <sup > * </sup> produces open-loop d-axis voltage command V <sub > do </sub> <sup > * </sup> and open-loop q-axis voltage command V <sub > qo </sub> <sup > * </sup>.Switching judging device 16 is according to target velocity instruction ω<sup >*</sup>, the electric phase theta of open loop<sub >Eo</sub>And infer electric phase theta<sub >Es</sub>Judge and send switching command.Diverter switch 4 is switched according to switching command.
Switching judging device 16 is according to target velocity instruction ω
*And the electric phase theta of open loop
EoWith infer electric phase theta
EsExtent judges, and sends switching command to diverter switch 4 and change the control mode to synchronous motor 8.
On the one hand, target velocity instruction ω
*After being integrated, process integrator 17 becomes displacement of targets instruction θ
*, displacement of targets instruction θ
*Become the electric phase theta of open loop after being multiply by the number of pole-pairs p of synchronous motor 8 again
EoMeanwhile, the open-loop voltage command unit 19 according to the target speed command ω
* generation open-loop d-axis voltage command V
do * and open-loop q-axis voltage command V
qo * .The counter electromotive force of the motor increases with the speed, preferably, the open loop d-axis voltage command V
do * to set to a certain value, the open-loop q-axis voltage command V
qo * can be set as the target speed command ω
* of a function, or open-loop d-axis voltage command V
do * with open loop q axis voltage command V
qo * are set to the target speed command ω
* a linear function.Can let synthesized voltage vector always be difficult for taking off accent greater than back electromotive force like this.
On the other hand, speed control 2 is according to target velocity instruction ω
*With infer speed omega
sDifference produce q shaft current instruction I
q *At a given d-axis current command I
d * (usually given as 0), the d-axis current controller 3 according to current command I
d * and q-axis current command I
q * d-axis voltage command generated loop V
dc * and closed-loop q-axis voltage command V
qc * .
When the target speed command ω
* is small, the switching decision issued 16 directives allow open loop open loop switch 4 d-axis voltage V
do and open-loop q-axis voltage V
qo , respectively, then change to the d-axis voltage command V
d * and q-axis voltage command V
q * , while the open-loop electrical phase θ
eo grafting to the electrical phase θ
e .Then the electrical phase θ
e the d-axis voltage command V
d * and q-axis voltage command V
q * After Park after the inverse transform produces α-axis voltage command v
α * and β-axis voltage command v
β * , then the α-axis voltage command v
α * and β-axis voltage command v
β * After Clarke inverse transform generate three-phase voltage command v
u * , v
v * , v
w * .At last, three-phase voltage is instructed v
u *, v
v *, v
w *Output to the three-phase coil of synchronous motor 8 and produce rotating magnetic field and drive rotor and rotate synchronously through producing three-phase voltage after the inversion of PWM inverter, realized that promptly the open loop rotational voltage drags control.
Same therewith β, current sensor 9 detect the electric current that flows into synchronous motor 8.Generally detect any biphase current and get final product, can calculate the electric current of third phase according to kirchhoff's principle very simply.The three-phase current command i
u , i
v , i
w through Clarke transformation produces α-axis current i
α and β-axis current i
β , then the α-axis current i
α and β-axis current i
β through the Park transformation resulting from d-axis current I
d and q-axis current I
q .Stationary coordinate system model based on the phase velocity observer 13 Input α, β-axis voltage command v
α * , v
β * and α, β-axis current i
α , i
β , calculate the synchronous electric motor 8 presumption phase θ
es .At last, will infer electric phase theta
EsThrough obtaining inferring electrical speed ω behind the high pass filter (HPF) by differentiator and low pass filter be combined into
Es, will infer electrical speed ω again
EsObtain inferring speed omega behind the number of pole-pairs p divided by synchronous motor 8
s
When the target speed command ω
* exceeds a predetermined value, the switch 16 determines the closed-loop command to send the closed switch 4 d-axis voltage V
dc and closed-loop q-axis voltage V
qc , respectively, then change to the d-axis voltage command V
d * and q-axis voltage command V
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .Like this, when synchronous motor has been accomplished current phasor negative feedback control, also accomplished negative velocity feedback control.The size of said predetermined value can look the PWM inverter Dead Time length and decide.Preferably, for the long bigger predetermined value of dead band time setting.The words that Dead Time is long; Difference between the three-phase voltage of inverter output and the three-phase voltage instruction is also big; This just need let the motor open loop run to fair speed; So that increase the three-phase voltage instruction, reduces actual voltage and the relative error between the voltage instruction that is added on the motor, thereby the raising phase place infer precision.Preferably, switch under the prerequisite that satisfies speed of service condition, in the electric phase theta of open loop
EoWith infer electric phase theta
EsDifference less (as reach set less difference) time carry out, switch the impact that brings to reduce.
In sum; Though the estimation error of the electric phase place of synchronous motor and rotary speed is bigger during low speed; But drag control owing to adopt the electric phase place of open loop that synchronous motor is carried out the open loop rotational voltage, synchronous motor can be stabilized and is dragged to fair speed reliably.After getting into high velocity; The precision of inferring of the electric phase place of synchronous motor and rotary speed becomes higher; Adopt this moment and infer electric phase place and to infer rotary speed and carry out close loop negative feedback control and just can resist the impact that adds the load in man-hour and the operation of speed stabilizing ground; And owing to adopted vector control, the operating efficiency of synchronous motor can reach very high.
In the previous embodiment, on-off control system and closed-loop control system have all adopted vector control, but this only is an embodiment preferred, it will be appreciated by those skilled in the art that it also is feasible that control system does not adopt vector control.
Shown in Figure 2 is another preferred embodiment of the present invention.Referring to Fig. 2, present embodiment is compared with embodiment shown in Figure 1, and structurally other are all identical except following 2:
The one, open-loop current command generator 20 has replaced open-loop voltage command generator 19.According to the target speed command ω
* produces open-loop d-axis current command i
do * and open-loop q-axis current command i
qo * ;
The 2nd, diverter switch 4 is moved to before the current controller 3 by quilt after the current controller 3.
Switching judging device 16 is according to target velocity instruction ω
*Send switching command to diverter switch 4 and change control mode synchronous motor 8.
On the one hand, target velocity instruction ω
*After being integrated, process integrator 17 becomes displacement of targets instruction θ
*, displacement of targets instruction θ
*Become the electric phase theta of open loop after being multiply by the number of pole-pairs p of synchronous motor 8 again
EoAt the same time, open-loop current command unit 20 according to the target speed command ω
* generation open-loop d-axis current command I
do * and open-loop q-axis current command I
qo * .Given the motor torque is proportional to q-axis current approximation with almost nothing to do with the d-axis current, generally open loop d-axis current command I
do * can be set to 0, the open-loop q-axis current command I
qo * can be set as the target speed command ω
* a function of the differential value.Can let the moment of motor increase like this, not be prone to and take off the accent phenomenon with the increase of acceleration.
On the other hand, the speed controller 2 according to the target speed command ω
* and estimated speed ω
s difference between the q-axis closed loop current generated instruction I
qc * , while a given d-axis closed loop current command I
dc * (usually given as 0).
When the target speed command ω <sup > * </sup> is small, the switching decision issued 16 directives allow open loop open loop switch 4 d-axis current command I <sub > do </sub> <sup > * </sup> and open-loop q-axis current command I <sub > qo </sub> <sup > * </sup> respectively, then change to the d-axis current command I <sub > d </sub> <sup > * </sup> and q-axis current command I <sub > q </sub> <sup > * </sup>, while the open-loop electrical phase θ <sub > eo </sub> grafting to the electrical phase θ <sub > e </sub>.Then current controller 3 according to d-axis current command I <sub > d </sub> <sup > * </sup> and q-axis current command I <sub > q </sub> <sup > * </sup> generate d-axis voltage command V <sub > d </sub> <sup > * </sup> and q-axis voltage command V <sub > q </sub> <sup > * </sup>, and in accordance with the electrical phase θ <sub > e </sub> the d-axis voltage command V <sub > d </sub> <sup > * </sup> and q-axis voltage command V <sub > q </sub> <sup > * </sup> After Park after the inverse transform produces α-axis voltage command v <sub > α </sub> <sup > * < / sup> and β-axis voltage command v <sub > β </sub> <sup > * </sup>, then the α-axis voltage command v <sub > α </sub> <sup > * </sup> and β-axis voltage command v <sub > β </sub> <sup > * </sup> After Clarke inverse transform generates three-phase voltage command v <sub > u </sub> <sup > * </sup>, v <sub > v </sub> <sup > * </sup>, v <sub > w </sub> <sup > * </sup>.At last, three-phase voltage is instructed v<sub >u</sub><sup >*</sup>, v<sub >v</sub><sup >*</sup>, v<sub >w</sub><sup >*</sup>Output to the three-phase coil of synchronous motor 8 and produce rotating magnetic field and drive rotor and rotate synchronously through producing three-phase voltage after the inversion of PWM inverter.
Meanwhile, current sensor 9 detects the electric current that flows into synchronous motor 8.Generally detect any biphase current and get final product, follow the electric current that can calculate third phase according to kirchhoff's principle very simply.The three-phase current command i
u , i
v , i
w through Clarke transformation produces α-axis current i
α and β-axis current i
β , then the α-axis current i
α and β-axis current i
β through the Park transformation resulting from d-axis current I
d and q-axis current I
q .Stationary coordinate system model based on the phase velocity observer 13 According to αβ axis voltage command v
α * , v
β * and αβ axis current i
α , i
β calculated synchronous electric motor 8 presumption phase θ
es .At last, will infer electric phase theta
EsThrough obtaining inferring electrical speed ω behind the high pass filter (HPF) by differentiator and low pass filter be combined into
Es, will infer electrical speed ω again
EsObtain inferring speed omega behind the number of pole-pairs p divided by synchronous motor 8
s
When the target speed command ω
* exceeds a certain value, the switch 16 determines the closed-loop command to send the closed switch 4 d-axis current command I
dc * and closed-loop q-axis current command I
qc * respectively, then change to the d-axis current command I
d * and q-axis current command I
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .Like this, when synchronous motor has been accomplished current phasor negative feedback control, also accomplished negative velocity feedback control.
In sum; The estimation error of the electric phase place of permanent magnet synchronous motor and rotary speed is bigger during low speed; Though stabilizing, current closed-loop but drag control owing to adopt the electric phase place of open loop that synchronous motor is carried out the open loop rotatory current, synchronous motor be dragged to fair speed reliably.After getting into high velocity; The precision of inferring of the electric phase place of synchronous motor and rotary speed becomes higher; Adopt this moment and infer electric phase place and to infer rotary speed and carry out close loop negative feedback control and just can resist the impact that adds the load in man-hour and the operation of speed stabilizing ground; And owing to adopted vector control, the operating efficiency of synchronous motor can reach very high.
Shown in Figure 3 is another preferred embodiment of the present invention.Referring to Fig. 3, present embodiment is compared with embodiment shown in Figure 1, and structurally other are all identical except following.
In the embodiment shown in Figure 1, the stationary coordinate system model based on the phase velocity observer 13 inputs α, β-axis voltage command v
α * , v
β * and α, β-axis current i
α , i
β calculated synchronous electric motor 8 presumption phase θ
es and estimated speed ω
s ; while in the present embodiment, the coordinate system based on the rotation speed of the model based on the phase synchronous motor 14 Observer 8 rotating coordinate system model equations, the input d, q-axis voltage command V
d * , V
q * and d, q-axis current I
d , I
q calculate the estimated speed synchronous motor 8 ω
s .At last, will infer speed omega
sThe number of pole-pairs p that multiply by synchronous motor 8 behind the integration obtains inferring electric phase theta
Es
Shown in Figure 4 is another preferred embodiment of the present invention.Referring to Fig. 4, present embodiment is compared with embodiment shown in Figure 2, and structurally other are all identical except following.
In the embodiment shown in Figure 2, the stationary coordinate system model based on the phase velocity observer 13 inputs α, β-axis voltage command v
α * , v
β * and α, β-axis current i
α , i
β calculated synchronous electric motor 8 presumption phase θ
es and estimated speed ω
s .In this embodiment, the model based on the speed of the rotating coordinate system phase synchronous motor based observer 14 8 rotating coordinate system model equations, the input d, q-axis voltage command V
d * , V
q * and d, q-axis current i
d , i
q calculate the estimated speed synchronous motor 8 ω
s .At last, will infer speed omega
sThe number of pole-pairs p that multiply by synchronous motor 8 behind the integration obtains inferring electric phase theta
Es
On the other hand, the present invention also provides a kind of permanent magnet synchronous motor method for controlling position-less sensor, in one embodiment, said method comprising the steps of:
Judge whether synchronous motor operates on the setting speed; When judging that synchronous motor does not reach setting speed; Through open-loop control system synchronous motor is carried out open loop and drag control; Judging that synchronous motor moves to setting speed when above; Through the close loop negative feedback control system synchronous motor is carried out closed-loop control, wherein said setting speed preestablishes according to following condition: the electric phase place that said close loop negative feedback control system is fed back when synchronous motor runs to said setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
The specific embodiment that it will be understood by those skilled in the art that control method of the present invention can be optimized with reference to the detailed features of the various preferred embodiments of apparatus of the present invention.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (10)
1. permanent magnet synchronous motor position-sensorless control device; Comprise the close loop negative feedback control system; It is characterized in that; Also comprise open-loop control system, switching judging device and diverter switch; Said switching judging device is used for controlling said diverter switch based on the rotating speed of synchronous motor at least and between said open-loop control system and said close loop negative feedback control system, switches; When judging that synchronous motor does not reach setting speed, switch to said open-loop control system and drag control so that synchronous motor is carried out open loop, judging that synchronous motor moves to setting speed when above; Switch to said close loop negative feedback control system so that synchronous motor is carried out closed-loop control, wherein the electric phase place of said close loop negative feedback control system feedback and the presumed value of rotary speed satisfy the predetermined accuracy requirement when synchronous motor runs to said setting speed.
2. control device as claimed in claim 1 is characterized in that,
-said close loop negative feedback control system comprises:
Subtract the calculation device, be used for from given target velocity instruction ω
*In deduct and infer speed omega
sAfter obtain velocity deviation e;
Speed control is used for carrying out obtaining q shaft current instruction I after the PI calculation based on velocity deviation e
q *
Current controller is used based on the q-axis current command I
q * and a given d-axis current command I
d * and q-axis current fed back I
q and d-axis current I
d calculus been closed d-axis voltage command V
dc * and q-axis closed loop voltage command V
qc * ;
Park inverse converter for converting the d, q-axis voltage command V
d * and V
q * is converted to α, β-axis voltage command v
α * and v
β * ;
The Clarke inverse converter is used for α, β shaft voltage instruction v
α *And v
β *Be converted to three-phase voltage instruction v
u *, v
v *And v
w *
The PWM inverter is used for three-phase voltage is instructed v
u *, v
v *And v
w *Convert three-phase PWM voltage v into
u, v
vAnd v
wAnd it is outputed to synchronous motor;
Current sensor and adder-subtracter, said current sensor are used to detect the biphase current i of synchronous motor
u, i
wAnd said adder-subtracter is used to calculate the third phase current i
vOr current sensor is used to detect the three-phase current i of synchronous motor
u, i
vAnd i
w
Clarke converter for the three-phase current i
u , i
v and i
w is converted to α, β-axis current i
α and i
β ; Park converter will α, β-axis current i
α and i
β is converted to d, q-axis current i
d and i
q and feedback to the current controller;
Stationary coordinate system model based on the phase velocity observer for synchronous motor based stationary coordinate system model equations, input α, β-axis current i
α and i
β and α, β-axis voltage command v
α * and v
β * calculate the presumed electrical phase θ
es and synchronous motor estimated speed ω
s ;
-said open-loop control system comprises:
Integrator is used for target velocity is instructed ω
*Obtain instruction θ in target location behind the integration
*
Multiplier (-icator) is used for θ is instructed in the target location
*The number of pole-pairs p that multiply by synchronous motor obtains the electric phase theta of open loop
Eo
Open-loop voltage command generator for the target speed command ω
* produces open-loop d-axis voltage command V
do * and open-loop q-axis voltage command V
qo * ; and
Said Park inverse converter, said Clarke inverse converter and said PWM inverter;
-said switching judging device receives the target velocity instruction ω of synchronous motor at least
*, and as said target velocity instruction ω
*When reaching preset value, judge that synchronous motor reaches said setting speed;
- The changeover switch at the target speed command ω
* has not reached the preset value, the open-loop d-axis voltage V
do and open-loop q-axis voltage V
qo , respectively, received d-axis voltage command V
d * and q-axis voltage command V
q * , while the open-loop electrical phase θ
eo receiving electrical phase θ
e , at the target speed command ω
* to achieve pre- set value, the loop d-axis voltage V
dc and closed-loop q-axis voltage V
qc , respectively, then switch to the d-axis voltage command V
d * and q-axis voltage command V
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .
3. control device as claimed in claim 1 is characterized in that,
-said close loop negative feedback control system comprises:
Subtract the calculation device, be used for from given target velocity instruction ω
*In deduct and infer speed omega
sAfter obtain velocity deviation e;
Speed control is used for carrying out obtaining q shaft current instruction I after the PI calculation based on velocity deviation e
q *
Current controller is used based on the q-axis current command I
q * and a given d-axis current command I
d * and q-axis current fed back I
q and d-axis current I
d calculus been closed d-axis voltage command V
dc * and q-axis closed loop voltage command V
qc * ;
Park inverse converter for converting the d, q-axis voltage command V
d * and V
q * is converted to α, β-axis voltage command v
α * and v
β * ;
The Clarke inverse converter is used for α, β shaft voltage instruction v
α *And v
β *Be converted to three-phase voltage instruction v
u *, v
v *And v
w *
The PWM inverter is used for three-phase voltage is instructed v
u *, v
v *And v
w *Convert three-phase PWM voltage v into
u, v
vAnd v
wAnd it is outputed to synchronous motor;
Current sensor and adder-subtracter, said current sensor are used to detect the biphase current i of synchronous motor
u, i
wAnd said adder-subtracter is used to calculate the third phase current i
vOr current sensor is used to detect the three-phase current i of synchronous motor
u, i
vAnd i
w
The Clarke converter is used for three-phase current i
u, i
vAnd i
wBe converted to α, β shaft current i
αAnd i
β
Park converter, is used to will α, β-axis current i
α and i
β is converted to d, q-axis current i
d and i
q and feedback to the current controller;
Model based on the speed of the rotating coordinate system phase observer for synchronous motor based on a rotating coordinate system model equations, the input d, q-axis voltage command V
d * , V
q * and d, q-axis current I
d , I
q calculated synchronous motor estimated speed ω
s and probable electrical phase θ
es ;
-said open-loop control system comprises:
Integrator is used for target velocity is instructed ω
*Obtain instruction θ in target location behind the integration
*
Multiplier (-icator) is used for θ is instructed in the target location
*The number of pole-pairs p that multiply by synchronous motor obtains the electric phase theta of open loop
Eo
Open-loop voltage command generator for the target speed command ω
* produces open-loop d-axis voltage command V
do * and open-loop q-axis voltage command V
qo * ; and
Said Park inverse converter, said Clarke inverse converter and said PWM inverter;
-said switching judging device receives the target velocity instruction ω of synchronous motor at least
*, and as said target velocity instruction ω
*When reaching preset value, judge that synchronous motor reaches said setting speed;
- The changeover switch at the target speed command ω
* has not reached the preset value, the open-loop d-axis voltage V
do and open-loop q-axis voltage V
qo , respectively, received d-axis voltage command V
d * and q-axis voltage command V
q * , while the open-loop electrical phase θ
eo receiving electrical phase θ
e , at the target speed command ω
* to achieve pre- set value, the loop d-axis voltage V
dc and closed-loop q-axis voltage V
qc , respectively, then switch to the d-axis voltage command V
d * and q-axis voltage command V
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .
4 as claimed in claim 2 or 3, wherein the control device, wherein said open loop d-axis voltage command V <sub > do </sub> <sup > * < / sup> is set to a certain value, the open-loop q-axis voltage command V <sub > qo </sub> <sup > * </sup> can be set as the target speed Directive ω <sup > * </sup> of a function, or the open-loop d-axis voltage command V <sub > do </sub> <sup > * </sup> with the open-loop q-axis voltage command V <sub > qo </sub> <sup > * </sup> are set to the target speed command ω <sup > * </sup> of a function.
5. control device as claimed in claim 1 is characterized in that,
-said close loop negative feedback control system comprises:
Subtract the calculation device, be used for from given target velocity instruction ω
*In deduct and infer speed omega
sAfter obtain velocity deviation e;
Speed control is used for carrying out obtaining closed loop q shaft current instruction I after the PI calculation based on velocity deviation e
Qc *
Current controller is used based on the q-axis current command I
q * , and d-axis current command I
d * and q-axis current fed back I
q and d-axis current I
d calculus to get the d-axis voltage command V
d * and q-axis voltage command V
q * ;
Park inverse converter for converting the d, q-axis voltage command V
d * and V
q * is converted to α, β-axis voltage command v
α * and v
β * ;
The Clarke inverse converter is used for α, β shaft voltage instruction v
α *And v
β *Be converted to three-phase voltage instruction v
u *, v
v *And v
w *
The PWM inverter is used for three-phase voltage is instructed v
u *, v
v *And v
w *Convert three-phase PWM voltage v into
u, v
vAnd v
wAnd it is outputed to synchronous motor;
Current sensor and adder-subtracter, said current sensor are used to detect the biphase current i of synchronous motor
u, i
wAnd said adder-subtracter is used to calculate the third phase current i
vOr current sensor is used to detect the three-phase current i of synchronous motor
u, i
vAnd i
w
The Clarke converter is used for three-phase current i
u, i
vAnd i
wBe converted to α, β shaft current i
αAnd i
β
Park inverter for converting the α, β-axis current i
α and i
β is converted to d, q-axis current i
d and i
q and feedback to the current controller;
Stationary coordinate system model based on the phase velocity observer for synchronous motor based stationary coordinate system model equations, input α, β-axis current i
α and i
β and α, β-axis voltage command v
α * and v
β * calculate the presumed electrical phase θ
es and synchronous motor estimated speed ω
s ;
-said open-loop control system comprises:
Integrator is used for target velocity is instructed ω
*Obtain instruction θ in target location behind the integration
*
Multiplier (-icator) is used for θ is instructed in the target location
*The number of pole-pairs p that multiply by synchronous motor obtains the electric phase theta of open loop
Eo
Open loop current command generator for the target speed command ω
* produces open-loop d-axis current command i
do * and open-loop q-axis current command i
qo * ; and
Said Park inverse converter, said Clarke inverse converter and said PWM inverter;
-said switching judging device receives the target velocity instruction ω of synchronous motor
*, and as said target velocity instruction ω
*When reaching preset value, judge that synchronous motor reaches said setting speed;
- The changeover switch at the target speed command ω
* has not reached the preset value, the open-loop d-axis current command I
do * and open-loop q-axis current command I
qo * respectively, then change to the d-axis current command I
d * and q-axis current command I
q * , while the open-loop electrical phase θ
eo grafting to the electrical phase θ
e , at the target speed command ω
* reaches the preset value, it will be closed d-axis current command I
dc * and closed-loop q-axis current command I
qc * respectively, then change to the d-axis current command I
d * and q-axis current command I
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .
6. control device as claimed in claim 1 is characterized in that, said close loop negative feedback control system comprises:
Subtract the calculation device, be used for from given target velocity instruction ω
*In deduct and infer speed omega
sAfter obtain velocity deviation e;
Speed control is used for carrying out obtaining closed loop q shaft current instruction I after the PI calculation based on velocity deviation e
Qc *
Current controller is used based on the q-axis current command I
q * , and d-axis current command I
d * and q-axis current fed back I
q and d-axis current I
d calculus to get the d-axis voltage command V
d * and q-axis voltage command V
q * ;
Park inverse converter for converting the d, q-axis voltage command V
d * and V
q * is converted to α, β-axis voltage command v
α * and v
β * ;
The Clarke inverse converter is used for α, β shaft voltage instruction v
α *And v
β *Be converted to three-phase voltage instruction v
u *, v
v *And v
w *
The PWM inverter is used for three-phase voltage is instructed v
u *, v
v *And v
w *Convert three-phase PWM voltage v into
u, v
vAnd v
wAnd it is outputed to synchronous motor;
Current sensor and adder-subtracter, said current sensor are used to detect the biphase current i of synchronous motor
u, i
wAnd said adder-subtracter is used to calculate the third phase current i
vOr current sensor is used to detect the three-phase current i of synchronous motor
u, i
vAnd i
w
The Clarke converter is used for three-phase current i
u, i
vAnd i
wBe converted to α, β shaft current i
αAnd i
β
Park inverter for converting the α, β-axis current i
α and i
β is converted to d, q-axis current i
d and i
q and feedback to the current controller;
Model based on the speed of the rotating coordinate system phase observer for synchronous motor based on a rotating coordinate system model equations, the input d, q-axis voltage command V
d * , V
q * and d, q-axis current I
d , I
q calculate the estimated speed synchronous motor ω
s and probable electrical phase θ
es ;
Said open-loop control system comprises:
Integrator is used for target velocity is instructed ω
*Obtain instruction θ in target location behind the integration
*
Multiplier (-icator) is used for θ is instructed in the target location
*The number of pole-pairs p that multiply by synchronous motor obtains the electric phase theta of open loop
Eo
Open loop current command generator for the target speed command ω
* produces open-loop d-axis current command i
do * and open-loop q-axis current command i
qo * ; and
Said Park inverse converter, said Clarke inverse converter and said PWM inverter;
-said switching judging device receives the target velocity instruction ω of synchronous motor
*, and as said target velocity instruction ω
*When reaching preset value, judge that synchronous motor reaches said setting speed;
- The changeover switch at the target speed command ω
* has not reached the preset value, the open-loop d-axis current command I
do * and open-loop q-axis current command I
qo * respectively, then change to the d-axis current command I
d * and q-axis current command I
q * , while the open-loop electrical phase θ
eo grafting to the electrical phase θ
e , at the target speed command ω
* reaches the preset value, it will be closed d-axis current command I
dc * and closed-loop q-axis current command I
qc * respectively, then change to the d-axis current command I
d * and q-axis current command I
q * , while the presumed electrical phase θ
es grafting to the electrical phase θ
e .
As claimed in claim 5 or 6, wherein the control device, wherein said open loop d-axis current command I <sub > do </sub> <sup > * < / sup> is set to 0, the open-loop q-axis current command I <sub > qo </sub> <sup > * </sup> Set the target speed command ω <sup > * </sup> a function of the differential value.
8. like each described control device of claim 2-7, it is characterized in that said switching judging device is also further according to the electric phase theta of open loop
EoAnd infer electric phase theta
EsJudge and send switching command, the said electric phase theta of open loop that switches in
EoWith infer electric phase theta
EsWhen not being higher than set point, difference do not carry out.
9. like each described control device of claim 2-7, it is characterized in that the said setting speed also length of the Dead Time of the said PWM inverter of foundation is set.
10. a permanent magnet synchronous motor method for controlling position-less sensor is characterized in that, may further comprise the steps:
Judge whether synchronous motor operates on the setting speed; When judging that synchronous motor does not reach setting speed; Through open-loop control system synchronous motor is carried out open loop and drag control; Judging that synchronous motor moves to setting speed when above; Through the close loop negative feedback control system synchronous motor is carried out closed-loop control, said setting speed preestablishes according to following condition: the electric phase place that said close loop negative feedback control system is fed back when synchronous motor runs to said setting speed and the presumed value of rotary speed are not less than predetermined accuracy.
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| CN201210047495.4A CN102545742B (en) | 2012-02-27 | 2012-02-27 | Position sensorless control device and control method for permanent magnet synchronous motor |
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| CN102545742B CN102545742B (en) | 2014-03-12 |
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