CN102684595A - Self-anti-interference starting method for permanent magnetic synchronous motor - Google Patents

Abstract

The invention relates to a self-anti-interference starting method for a permanent magnetic synchronous motor, and belongs to the technical field of motor driving. The method comprises the steps as follows: detecting and judging the bus current and counter-electromotive force of a permanent magnetic synchronous motor inverter in real time to enable the permanent magnetic synchronous motor inverter to execute waiting, compulsive stop instruction or to be switched into a pre-start mode; setting periodic start time Tn and restart times w to enable the permanent magnetic synchronous motor to be started at a time after the periodic start time Tn, the start times of the permanent magnetic synchronous motor is less than or equal to the restart times w, and fault information is sent to the permanent magnetic synchronous motor if the start fails; and as regards an initial position detection module, exerting a series of voltage pulse with the same size and different directions to a stator winding and detecting the corresponding current of the stator winding to acquire an initial position. The starting method improves the start reliability of the permanent magnetic synchronous motor, reduces damages to the motor caused by frequent controller start, increases the angle control precision of a wireless sensor, and improves the performances of a motor control system.

Description

A kind of permagnetic synchronous motor active disturbance rejection startup method

Technical field

The present invention relates to a kind of permagnetic synchronous motor active disturbance rejection startup method, belong to the motor-driven technical field.

Background technology

Permagnetic synchronous motor is to replace a kind of novel synchronous motor that excitation winding constituted with rare-earth permanent magnet.It is simple in structure, volume is little, in light weight, efficient is high, power factor is high, rotor does not have heating problem, and big overload capacity is arranged, little moment of inertia and little advantages such as torque pulsation.The motion control of permagnetic synchronous motor needs accurate rotor-position and rate signal to remove to realize field orientation.In traditional kinetic control system, adopt resolver or photoelectric encoder to come the position and the speed of detection rotor usually.Yet these extra transducers, connector, cable etc. have increased the cost of system, and have reduced the reliability of system.Therefore, eliminating these devices can improve the reliability of system and reduce cost.

The control system for permanent-magnet synchronous motor of position-sensor-free need be through the position of algorithm estimated rotor; Especially the initial position of rotor is a very important amount; If the initial position estimation is inaccurate; Counter-rotating then possibly take place when electric motor starting or cause the electric motor starting failure, and influence the runnability after system's starting.Existing control system for permanent-magnet synchronous motor block diagram is as shown in Figure 1.

Summary of the invention

The objective of the invention is to propose a kind of permagnetic synchronous motor active disturbance rejection startup method; Startup to PMSM designs the software module that an active disturbance rejection starts; Directly to be used for start-up mode such as open-loop start-up or high frequency injection, realize the soft starter for motor function, effectively control the motor operation.

The permagnetic synchronous motor active disturbance rejection startup method that the present invention proposes may further comprise the steps:

(1) on the field orientation coordinate, the current phasor of motor is decomposed into the excitation current component i of generation magnetic flux _dWith the torque current component i that produces torque _q, and make excitation current component i _dWith torque current component i _qOrthogonal;

(2) establishing permagnetic synchronous motor is threephase stator winding mode, A wherein, and B, C are the threephase stator winding of 120 ° of angle mutual deviations, establish U _a, U _b, U _cPhase voltage for the threephase stator winding then has:

The resultant vector of threephase stator voltage is U _s, resultant vector U _sTrack be a circle, that is:

U _s=U _a+a*U _b+a ²*U _c=U _msinωt-jU _mcosωt=U _me ^-jωt

Wherein, U _mBe the phase voltage amplitude of threephase stator winding, ω is the rotor angular frequency;

(3) detect the rotor velocity ω of permagnetic synchronous motor in real time _rWith position, angle θ, and detect the phase current i of any two phase stators of permagnetic synchronous motor in real time _aAnd i _b, and phase current carried out transform vector, obtain the i behind the transform vector _dAnd i _q, to i _dAnd i _qDistinguish the passing ratio integral controller, obtain the alternating current-direct current shaft voltage value u of permagnetic synchronous motor threephase stator _dAnd u _q, this magnitude of voltage u _dAnd u _qThrough after the coordinate transform, obtain the magnitude of voltage u of permagnetic synchronous motor threephase stator _αAnd u _β, utilize space vector duty ratio control method to magnitude of voltage u _αAnd u _βAfter handling, obtain being used to drive six tunnel pulse inverter control signals of permagnetic synchronous motor;

(4) above-mentioned six tunnel pulse inverter control signal driving switch pipes start permagnetic synchronous motor, detect the bus current i of permagnetic synchronous motor inverter _BusAnd back electromotive force, to bus current i _BusJudge with back electromotive force, if bus current i _BusAnd the value of back electromotive force is simultaneously non-vanishing; Then making the permagnetic synchronous motor inverter carry out wait or force ceases and desist order; Promptly send the reference voltage vector of a settings to permagnetic synchronous motor; The pressure rotor stops or locating, and the value of reference voltage vector is the constant axial vector of duty ratio, if bus current i _BusThe value that reaches back electromotive force is zero simultaneously, then makes the permagnetic synchronous motor inverter get into the pretrigger pattern;

(5) when the pretrigger of step (4) is failed, interval T start-up time is set _nWith restart number of times w, make the per interval T of permagnetic synchronous motor _nRestart once, start smaller or equal to w time altogether,, send fault message to the permagnetic synchronous motor inverter if start failure;

(6) under the coordinate system behind the transform vector, the matrix form of threephase stator voltage equation is:

$\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{pL}}_d& -\mathrm{\ω}{L}_q\\ {\mathrm{\ωL}}_d& R+{\mathrm{pL}}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ {\mathrm{\ω\ψ}}_f\end{array}\right]$

Matrix to the threephase stator voltage equation carries out transform vector, and the phasor coordinate system that is about to rotation synchronously is transformed into the phasor coordinate system static relatively with stator:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}{\cos \mathrm{\θ}}_r& -\sin {\mathrm{\θ}}_r\\ {\sin \mathrm{\θ}}_r& {\cos \mathrm{\θ}}_r\end{array}\right]\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]$

Then the cosine of position, the angle θ of permagnetic synchronous motor is obtained by computes:

$\cos \mathrm{\Δ\θ}\left(n\right)=\cos \mathrm{\Δ\θ}(n-1)+\frac{T_s}{\mathrm{\Φ}}\{v_x(n-1)-{\mathrm{Ri}}_x(n-1)-L\frac{i_x\left(n\right)-i_x(n-1)}{T_s}\}$

Be used to control position, the angle θ of permagnetic synchronous motor _MeObtain through computes:

θ _Me(n)=θ _Me(n)+tan ^-1{sinΔθ(n)/cosΔθ(n)}

Wherein, n is the sampling order of system to the permagnetic synchronous motor electric current, and Ts is the sampling time, and R is the resistance of permagnetic synchronous motor threephase stator, and L is the inductance of permagnetic synchronous motor threephase stator, Ψ _fBe the rotor flux of permagnetic synchronous motor,

Be the stator magnetic flux of permagnetic synchronous motor, V _xBe the driving voltage that inverter applies to permagnetic synchronous motor, i _xBe the exciting current that inverter applies to permagnetic synchronous motor, θ _MeIt is the position, angle that is used to control permagnetic synchronous motor.

The permagnetic synchronous motor active disturbance rejection startup method that the present invention proposes; Adopt to permagnetic synchronous motor, design the software module that an active disturbance rejection starts, directly to be used for start-up mode such as open-loop start-up or high frequency injection; Realize the soft starter for motor function, effectively control the motor operation.The permagnetic synchronous motor active disturbance rejection startup method that the present invention proposes; Improved the reliability that permagnetic synchronous motor starts; Reduce the infringement that the controller frequent starting causes motor, increased the angle control precision of no transducer control simultaneously, improved the electric machine control system performance.

Description of drawings

Fig. 1 is existing control system for permanent-magnet synchronous motor block diagram.

Fig. 2 is the FB(flow block) of the permagnetic synchronous motor active disturbance rejection startup method that proposes of the present invention.

Fig. 3 is permanent-magnetic synchronous motor stator space vector of voltage figure.

Fig. 4 is the potential pulse vector that is used for initial position of rotor that is produced by inverter.

The current waveform and the rate curve of electric motor starting when Fig. 5 and Fig. 6 are to use the present invention to start method respectively.

Embodiment

The permagnetic synchronous motor active disturbance rejection startup method that the present invention proposes, its FB(flow block) is as shown in Figure 2, may further comprise the steps:

On the field orientation coordinate, the current phasor of permagnetic synchronous motor is decomposed into the excitation current component i of generation magnetic flux _dWith the torque current component i that produces torque _q, and make excitation current component i _dWith torque current component i _qOrthogonal;

Fig. 3 is permanent-magnetic synchronous motor stator space vector of voltage figure.Used coordinate system has two kinds in the vector control, and a kind of is rest frame, and a kind of is rotating coordinate system.The threephase stator A-B-C coordinate system that constitutes based on three phase windings of threephase stator be rest frame by the α axle that is fixed on the A axle with the two phase stator alpha-beta coordinate systems that vertical with it β axle is formed.And the d-q vertical coordinate system that the d axle is fixed on the rotor axis is a rotating coordinate system.Through coordinate transform, make each physical quantity be transformed into the rotor synchronous rotating frame from rest frame.On synchronous rotating frame, make each space vector of motor all become static vector; Current/voltage has all become DC quantity; Calculate torque in real time and control each component value of needed controlled vector and control, just can reach the control performance of DC motor.Because these direct current specified rates are physically being fabricated; Therefore; Also must get back to rest frame from rotating coordinate system, be transformed into actual interchange specified rate to above-mentioned direct current specified rate again through the inverse transformation process of coordinate; On the threephase stator coordinate system, of ac is controlled, made its actual value equal set-point.

If permagnetic synchronous motor is a threephase stator winding mode, A wherein, B, C are the threephase stator winding of 120 ° of angle mutual deviations, establish U _a, U _b, U _cPhase voltage for the threephase stator winding then has:

The resultant vector of threephase stator voltage is U _s, resultant vector U _sTrack be a circle, that is:

U _s=U _a+a*U _b+a ²*U _c=U _msinωt-jU _mcosωt=U _me ^-jωt

Wherein, U _mBe the phase voltage amplitude of threephase stator winding, ω is the rotor angular frequency;

Detect the rotor velocity ω of permagnetic synchronous motor in real time _rWith position, angle θ, and detect the phase current i of any two phase stators of permagnetic synchronous motor in real time _aAnd i _b, and phase current carried out transform vector, obtain the i behind the transform vector _dAnd i _q, to i _dAnd i _qDistinguish the passing ratio integral controller, obtain the alternating current-direct current shaft voltage value u of permagnetic synchronous motor threephase stator _dAnd u _q, this magnitude of voltage u _dAnd u _qThrough after the coordinate transform, obtain the magnitude of voltage u of permagnetic synchronous motor threephase stator _αAnd u _β, utilize space vector duty ratio control method to magnitude of voltage u _αAnd u _βAfter handling, obtain being used to drive six tunnel pulse inverter control signals of permagnetic synchronous motor;

Six tunnel pulse inverter control signals start permagnetic synchronous motor, detect the bus current i of permagnetic synchronous motor inverter after the machine operation _BusAnd back electromotive force, to bus current i _BusJudge with back electromotive force, if bus current i _BusAnd the value of back electromotive force is simultaneously non-vanishing; Then making the permagnetic synchronous motor inverter carry out wait or force ceases and desist order; Promptly send the reference voltage vector of a settings to permagnetic synchronous motor; The pressure rotor stops or locating, and the value of reference voltage vector is the constant axial vector of duty ratio, if bus current i _BusThe value that reaches back electromotive force is zero simultaneously, then makes the permagnetic synchronous motor inverter get into the pretrigger pattern;

When pretrigger is failed, interval T start-up time is set _nWith restart number of times w, make the per interval T of permagnetic synchronous motor _nRestart once, start smaller or equal to w time altogether,, send fault message to the permagnetic synchronous motor inverter if start failure;

Under the coordinate system behind the transform vector, the matrix form of threephase stator voltage equation is:

$\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{pL}}_d& -\mathrm{\ω}{L}_q\\ {\mathrm{\ωL}}_d& R+{\mathrm{pL}}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ {\mathrm{\ω\ψ}}_f\end{array}\right]$

Matrix to the threephase stator voltage equation carries out transform vector, and the phasor coordinate system that is about to rotation synchronously is transformed into the phasor coordinate system static relatively with stator:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}{\cos \mathrm{\θ}}_r& -\sin {\mathrm{\θ}}_r\\ {\sin \mathrm{\θ}}_r& {\cos \mathrm{\θ}}_r\end{array}\right]\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]$

Then the cosine of position, the angle θ of permagnetic synchronous motor is obtained by computes:

$\cos \mathrm{\Δ\θ}\left(n\right)=\cos \mathrm{\Δ\θ}(n-1)+\frac{T_s}{\mathrm{\Φ}}\{v_x(n-1)-{\mathrm{Ri}}_x(n-1)-L\frac{i_x\left(n\right)-i_x(n-1)}{T_s}\}$

Be used to control position, the angle θ of permagnetic synchronous motor _MeObtain through computes:

θ _Me(n)=θ _Me(n)+tan ^-1{sinΔθ(n)/cosΔθ(n)}

Wherein, n is the sampling order of system to the permagnetic synchronous motor electric current, T _sBe the sampling time, R is the resistance of permagnetic synchronous motor threephase stator, and L is the inductance of permagnetic synchronous motor threephase stator, ψ _fBe the rotor flux of permagnetic synchronous motor,

Be the stator magnetic flux of permagnetic synchronous motor, V _xBe the driving voltage that inverter applies to permagnetic synchronous motor, i _xBe the exciting current that inverter applies to permagnetic synchronous motor, θ _MeIt is the position, angle that is used to control permagnetic synchronous motor.Fig. 4 is the potential pulse vector that is used for initial position of rotor that is produced by inverter, and the potential pulse vector through different angles apply obtains angles fed back information, as in two adjacent vectors, confirming 22.5 ° of scopes among Fig. 4.

The current waveform and the rate curve of electric motor starting when Fig. 5 and Fig. 6 are to use the present invention to start method respectively therefrom can be found out electric current rising and electric motor starting time less than 50ms, and motor can be accomplished the state that starts to stable operation effectively in 100ms simultaneously.

Claims (1)

1. permagnetic synchronous motor active disturbance rejection startup method is characterized in that this method may further comprise the steps:

(1) on the field orientation coordinate, the current phasor of motor is decomposed into the excitation current component i of generation magnetic flux _dWith the torque current component i that produces torque _q, and make excitation current component i _dWith torque current component i _qOrthogonal;

(2) establishing permagnetic synchronous motor is threephase stator winding mode, A wherein, and B, C are the threephase stator winding of 120 ° of angle mutual deviations, establish U _a, U _b, U _cPhase voltage for the threephase stator winding then has:

The resultant vector of threephase stator voltage is U _s, resultant vector U _sTrack be a circle, that is:

U _s=U _a+a*U _b+a ²*U _c=U _msinωt-jU _mcosωt=U _me ^-jωt

Wherein, U _mBe the phase voltage amplitude of threephase stator winding, ω is the rotor angular frequency;

(3) detect the rotor velocity ω of permagnetic synchronous motor in real time _rWith position, angle θ, and detect the phase current i of any two phase stators of permagnetic synchronous motor in real time _aAnd i _b, and phase current carried out transform vector, obtain the i behind the transform vector _dAnd i _q, to i _dAnd i _qDistinguish the passing ratio integral controller, obtain the alternating current-direct current shaft voltage value u of permagnetic synchronous motor threephase stator _dAnd u _q, this magnitude of voltage u _dAnd u _qThrough after the coordinate transform, obtain the magnitude of voltage u of permagnetic synchronous motor threephase stator _αAnd u _β, utilize space vector duty ratio control method to magnitude of voltage u _αAnd u _βAfter handling, obtain being used to drive six tunnel pulse inverter control signals of permagnetic synchronous motor;

(4) above-mentioned six tunnel pulse inverter control signal driving switch pipes start permagnetic synchronous motor, detect the bus current i of permagnetic synchronous motor inverter _BusAnd back electromotive force, to bus current i _BusJudge with back electromotive force, if bus current i _BusAnd the value of back electromotive force is simultaneously non-vanishing; Then making the permagnetic synchronous motor inverter carry out wait or force ceases and desist order; Promptly send the reference voltage vector of a settings to permagnetic synchronous motor; The pressure rotor stops or locating, and the value of reference voltage vector is the constant axial vector of duty ratio, if bus current i _BusThe value that reaches back electromotive force is zero simultaneously, then makes the permagnetic synchronous motor inverter get into the pretrigger pattern;

(5) when the pretrigger of step (4) is failed, interval T start-up time is set _nWith restart number of times w, make the per interval T of permagnetic synchronous motor _nRestart once, start smaller or equal to w time altogether,, send fault message to the permagnetic synchronous motor inverter if start failure;

(6) under the coordinate system behind the transform vector, the matrix form of threephase stator voltage equation is:

$\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]=\left[\begin{array}{cc}R+{\mathrm{pL}}_d& -\mathrm{\ω}{L}_q\\ {\mathrm{\ωL}}_d& R+{\mathrm{pL}}_q\end{array}\right]\left[\begin{array}{c}{i}_d\\ i_q\end{array}\right]+\left[\begin{array}{c}0\\ {\mathrm{\ω\ψ}}_f\end{array}\right]$

Matrix to the threephase stator voltage equation carries out transform vector, and the phasor coordinate system that is about to rotation synchronously is transformed into the phasor coordinate system static relatively with stator:

$\left[\begin{array}{c}{u}_{\mathrm{\α}}\\ u_{\mathrm{\β}}\end{array}\right]=\left[\begin{array}{cc}{\cos \mathrm{\θ}}_r& -\sin {\mathrm{\θ}}_r\\ {\sin \mathrm{\θ}}_r& {\cos \mathrm{\θ}}_r\end{array}\right]\left[\begin{array}{c}{u}_d\\ u_q\end{array}\right]$

Then the cosine of position, the angle θ of permagnetic synchronous motor is obtained by computes:

$\cos \mathrm{\Δ\θ}\left(n\right)=\cos \mathrm{\Δ\θ}(n-1)+\frac{T_s}{\mathrm{\Φ}}\{v_x(n-1)-{\mathrm{Ri}}_x(n-1)-L\frac{i_x\left(n\right)-i_x(n-1)}{T_s}\}$

Be used to control position, the angle θ of permagnetic synchronous motor _MeObtain through computes:

θ _Me(n)=θ _Me(n)+tan ^-1{sinΔθ(n)/cosΔθ(n)}

Wherein, n is the sampling order of system to the permagnetic synchronous motor electric current, and Ts is the sampling time, and R is the resistance of permagnetic synchronous motor threephase stator, and L is the inductance of permagnetic synchronous motor threephase stator, Ψ _fBe the rotor flux of permagnetic synchronous motor,

Be the stator magnetic flux of permagnetic synchronous motor, V _xBe the driving voltage that inverter applies to permagnetic synchronous motor, i _xBe the exciting current that inverter applies to permagnetic synchronous motor, θ _MeIt is the position, angle that is used to control permagnetic synchronous motor.

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