CN102882449A - Hall position sensor-based position estimation and compensation method for permanent magnet synchronous motor - Google Patents
Hall position sensor-based position estimation and compensation method for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention relates to a three-phase sinusoidal voltage control driving system for a permanent magnet synchronous motor, in particular to a Hall position sensor-based position estimation and compensation method for the permanent magnet synchronous motor. The method comprises the following steps of: driving the permanent magnet synchronous motor to rotate at constant speed in a VVVF manner by a controller, and detecting a position signal transmitted back by a Hall sensor to obtain the distribution proportion of six position intervals under an electrical angle of 360 degrees; obtaining a position interval with a calculation number i according to the distribution proportion, and estimating a correction coefficient V[i] of an angle change value; and correcting T in an angle estimation formula 60*t/T to finally obtain a corrected angle estimation formula 60*t/(V[i]*T), wherein i is the number of the position interval, and V[i]*T in the corrected angle estimation formula is time actually required by the rotation of the motor by the position interval with the number i. A position angle change value calculated according to the formula in the interval always changes linearly within 0 to 60 degrees regardless of an electrical angle actually corresponding to the position interval.
Description
Technical field
The present invention relates to permagnetic synchronous motor three phase sine voltage control drive system, particularly based on the permagnetic synchronous motor location estimation compensation method of hall position sensor.
Background technology
Along with the development of motor technology, the range of application of permagnetic synchronous motor is more and more extensive.Because its characteristic low in energy consumption, that noise is little, various household electrical appliance have all replaced induction machine in the past with permagnetic synchronous motor, such as the compressor of refrigerator, air-conditioning, forced draft fan etc., in addition, state-of-the art electric automobile also adopts high power permanent magnet synchronous motor as its drive motors mostly.
Permagnetic synchronous motor is that a kind of rotor is permanent magnet, and back-emf is sinusoidal wave three phase alternating current motor.By drive system the bus direct voltage of inputting is reverse into three-phase alternating voltage, but just drive motors rotation.Permagnetic synchronous motor has high efficiency compared to other motor, and the advantage of low noise, these advantages are based upon on the basis of using rational control algolithm and drive system.Because its back-emf is sinusoidal wave, so its three-phase drive voltage also must be all sinusoidal voltage.The phase place of the given three phase sine voltage of the determining positions of rotor.The phase voltage amplitude of permagnetic synchronous motor and the ratio of its rotating speed keep constant in a big way, therefore it is applied the three phase sine voltage that keeps certain voltage-frequency ratio and just can rotate permagnetic synchronous motor open loop constant voltage and frequency ratio (VVVF) control technology that Here it is by drive motors.The constant voltage constant frequency control method belongs to open loop control, the control system physical location of detection rotor not in the rotary course, so motor is in case meet with and just may cause step-out than the heavy load torque disturbance.In the practical application, control system also needs rotor position information to carry out closed-loop control.
The rotor-position sensor that permagnetic synchronous motor is commonly used has resolver, orthogonal encoder, hall position sensor.Wherein the advantage of resolver and orthogonal encoder is that precision is very high, but need to install extra equipment additional at motor; Hall element can be directly installed on motor internal, and is simple and convenient, and shortcoming is that precision is low.The three-phase position signal that the three-phase hall position sensor provides as shown in Figure 1, three tunnel duty ratios are provided is 50% to hall position sensor when rotor at the uniform velocity rotates, the square-wave signal that the phase place mutual deviation is 120 °.The rising and falling edges of three road square-wave signals has been divided into 6 intervals with one 360 ° electric cycle, and each interval is 60 ° of electrical degrees.Therefore the resolution of hall position sensor only has 60 ° electrical degree, and the rotor particular location in each is interval then need rely on location-estimation algorithm estimation.
Existing patent is discussed based on the relevant position estimation technique of hall position sensor permagnetic synchronous motor, be 201010219066.1 such as number of patent application, the applying date is 2010.06.30, name is called the application for a patent for invention of " a kind of motor vector control method based on hall position sensor ", and its technical scheme is:
1, the electrical degree value of the required sinusoidal phase of control algolithm is corresponding with 6 intervals of three-phase Hall element, the moment that begins in each interval, as this interval initial angle value, this corresponding each interval of set point order was respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 ° with a set point;
2, the angle within interval changes by the 60*t/T estimation and obtains, and wherein, corresponding electrical degree ideally is constantly equal to 60 ° between single lane place; T is program control cycle institute's elapsed time in current interval, changes zero clearing behind the district at every turn; T is that to turn over each electrical degree be interval needed time of 60 ° to motor, in other words, T is that motor turns over 60 ° corresponding time of electrical degree, and this time is continuously that a plurality of motors of statistics turn over 60 ° and the used time average filtered value when interval.Because the motor uniform motion, along with the variation of time, the angle variable quantity between certain lane place can at the uniform velocity increase, when t=0, the angle changing value also is 0, when t=T, an interval end, next interval is about to begin, and angle variable quantity reaches 60 ° of maximums.Therefore, interval interior angle excursion is 0 °--60 °;
3, the changing value that the initial angle value is added angle in the interval finally obtains a plurality of angle values of an electrical degree in the cycle.
Above solution adopt the very low hall position sensor of precision how to calculate in real time rotor-position, but, because the mechanical precision that hall position sensor is installed does not often reach requirement, three road square-wave signal phase differences that its hall position sensor is passed back are not accurately to equal 120 °, particularly when the number of pole-pairs of motor was a lot of, the error of mechanical precision tended to cause the error of several times electrical degree.In addition, because rotor permanent magnet can't be accomplished the magnetic pole full symmetric, so also may there be error in each road square-wave signal duty ratio relative 50% of hall position sensor.As shown in Figure 2, the result that these problems cause be motor when at the uniform velocity turning round between 6 lane place distribution of lengths be inhomogeneous, be not 60 ° of electrical degrees ideally, siding-to-siding block length difference maximum can reach 10 ° more than.
For example, the initial angle value is 120 ° between certain lane place, interval actual corresponding electrical degree is 55 °, among the formula 60*t/T, when this interval closes to an end, suppose t=t1, then the corresponding motor of t1 turns over 55 ° of electrical degree required times, and T to be continuously a plurality of motor of the statistics unit of turning over put that the interval used time averages filtered value, the error that T can not cause along with above-mentioned installation accuracy or rotor symmetry and changing, still corresponding motor turns over 60 ° of used times of electrical degree.Therefore, this interval angle excursion of calculating of t1＜T, formula 60*t/T is approximately 0 °-55 °.During interval the end, total position angle is 120+55=175 ° to this position, but when beginning between next lane place, and position angle becomes 180 ° of the initial angle values in next interval, and 5 ° position angle saltus step has occured.In like manner, if certain interval actual corresponding electrical degree greater than 60 °, the position angle changing value that estimates by formula 60*t/T also can surpass 60 °, the angle of arrival saltus step at last.
Although prior art limits the maximum of formula 60*t/T result of calculation---if the result surpasses 60 °, then equals 60 °.So when certain interval actual corresponding electrical degree during greater than 60 °, the position angle of calculating saltus step can not occur, be zero step but a slope over 10 can occur.And certain interval actual corresponding electrical degree is during less than 60 °, still can the angle of arrival saltus step.The signal of saltus step and step is drawn as shown in Figure 2.
Adopt the technology of above-mentioned patent, if saltus step occurs at the estimated position angle, carry out location estimation and will certainly cause the sinusoidal voltage waveform distorted that is input to permagnetic synchronous motor, increase torque ripple, affect the Electric Machine Control effect.
Summary of the invention
The present invention is for solving in the existing permagnetic synchronous motor control, location-estimation algorithm is subjected to hall position sensor installation accuracy and rotor magnetic steel magnetic pole symmetry to affect the larger technical problem of error, a kind of new permagnetic synchronous motor location estimation compensation method based on hall position sensor is proposed, the method can be revised the time T among the formula 60*t/T according to the developed width in current location interval, thereby can guarantee that the position angle that estimates is uniformly continuous, saltus step or step can not appear, greatly reduce the three phase sine voltage waveform distortion, reduced torque pulsation and noise.
Realize that technical scheme of the present invention is as follows:
Permagnetic synchronous motor location estimation compensation method based on hall position sensor is characterized in that process is as follows:
A, controller at first use permagnetic synchronous motor open loop constant voltage and frequency ratio (VVVF) mode to drive permagnetic synchronous motor and at the uniform velocity turn round, and then detect the position signalling that Hall element is passed back, obtain the distribution proportion between 6 lane place under 360 ° of electrical degrees;
B, obtain calculating the correction factor V[i that (i is a code name, and span is 1-6, all needs between all lane place to calculate) between the lane place that sequence number is i estimates angle changing value according to the distribution proportion of steps A];
C, the motor among the angle estimation formulas 60*t/T is turned over the interval required time T of current location revise, finally obtain revised angle estimation formula 60*t/ (V[i] * T), wherein i is sequence number between the lane place, V[i after revising] * T will be that motor turns over real required time between the lane place that sequence number is i, assurance is no matter how many actual corresponding electrical degrees is between the lane place, and the interval interior position angle changing value that calculates according to formula changes 0-60 ° of internal linear all the time; Wherein, t is institute's elapsed time in current interval, changes zero clearing behind the district at every turn; T be motor to turn over each electrical degree be interval needed time of 60 °, that is, T is that motor turns over 60 ° corresponding time of electrical degree, this time is continuously that a plurality of motors of statistics turn over 60 ° and the used time average filtered value when interval.
Initial angle value corresponding between described 6 lane place is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °.
In fact, greatest problem is that the T of formula 60*t/T is a mean value in the background technology, is equal to motor and at the uniform velocity turns over 60 ° of electrical degree required times.
Major technique thought of the present invention is when the not corresponding 60 ° of electrical degrees of position interval width, according to the developed width in current location interval the time T among the formula 60*t/T is revised.
Beneficial effect of the present invention is as follows:
Adopt method of the present invention, no matter the position signalling error that hall position sensor is passed back how, can both guarantee that the position angle that estimates is uniformly continuous, saltus step or step can not occur, greatly reduce the three phase sine voltage waveform distortion, reduced torque pulsation and noise.
Description of drawings
Fig. 1 is the desirable three-phase hall sensor signal schematic diagram of permagnetic synchronous motor in the background technology
Fig. 2 is saltus step, the step schematic diagram that the three-phase hall sensor signal under the non-ideality and prior art estimation rotor position angle occurs in the background technology
Fig. 3 adopts the rotor position angle schematic diagram of estimating after the compensation technique of the present invention
Embodiment
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with paying and embodiment, the present invention is further elaborated.
1, interval sequence number i and the interval initial angle value of definition three-phase hall sensor signal as shown in Figure 1, are 1 when establishing ABC three-phase hall signal high level, are 0 during low level.
ABC=101:i=1, interval initial angle value: 0 °
ABC=100:i=2, interval initial angle value: 60 °
ABC=110:i=3, interval initial angle value: 120 °
ABC=010:i=4, interval initial angle value: 180 °
ABC=011:i=5, interval initial angle value: 240 °
ABC=001:i=6, interval initial angle value: 300 °
2, driving the permagnetic synchronous motor open loop in VVVF constant voltage and frequency ratio mode at the uniform velocity turns round with fixed speed, the rising on each road of three-phase hall sensor signal and trailing edge all trigger an interruption, an electric cycle is always met together and triggers 6 interruptions, respectively between 6 lane place in the corresponding step 2.With the time x[i between every adjacent twice interruption of timer record], wherein i is sequence number between the lane place described in the step 1.X[i] be that motor turns over actual required time between this lane place, so x[i]=V[i] T.X[i] size reflected the situation of angle uneven distribution between each lane place.
3, order
, then S is that motor at the uniform velocity turns over (360 a °) required time in complete electrical degree cycle.Because T is that motor at the uniform velocity turns over 60 ° of times that electrical degree is required, so S=6*T.
4, be between the lane place of i to sequence number, have
, so far obtained the correction-compensation parameter of angle changing value estimation equation between each lane place.
5, the parameter vector that step 4 is calculated is saved to the memory block of control chip, withdraw from VVVF open loop operational mode, can use existing permagnetic synchronous motor control technology, in conjunction with change in location estimation formulas 60*t/ in interval after the compensation (V[i] * T), use the closed-loop vector control mode instead and realize permagnetic synchronous motor steady running with the location estimation compensation.Adopt the rotor position information of compensation method acquisition as shown in Figure 3.
Claims (2)
1. based on the permagnetic synchronous motor location estimation compensation method of hall position sensor, it is characterized in that process is as follows:
A, controller at first drive permagnetic synchronous motor with permagnetic synchronous motor open loop constant voltage and frequency ratio mode and at the uniform velocity turn round, and then detect the position signalling that Hall element is passed back, obtain the distribution proportion between 6 lane place under 360 ° of electrical degrees;
B, obtain calculating between the lane place that sequence number is i and estimate the correction factor V[i of angle changing value according to the distribution proportion of steps A];
C, the motor among the angle estimation formulas 60*t/T is turned over the interval required time T of current location revise, finally obtain revised angle estimation formula 60*t/ (V[i] * T), wherein i is sequence number between the lane place, V[i after revising] * T will be that motor turns over real required time between the lane place that sequence number is i, assurance is no matter how many actual corresponding electrical degrees is between the lane place, and the interval interior position angle changing value that calculates according to formula changes 0-60 ° of internal linear all the time; Wherein, t is institute's elapsed time in current interval, changes zero clearing behind the district at every turn; T be motor to turn over each electrical degree be interval needed time of 60 °, that is, T is that motor turns over 60 ° corresponding time of electrical degree, this time is continuously that a plurality of motors of statistics turn over 60 ° and the used time average filtered value when interval.
2. the permagnetic synchronous motor location estimation compensation method based on hall position sensor according to claim 1 is characterized in that: initial angle value corresponding between described 6 lane place is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °.
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| CN111884547A (en) * | 2020-07-02 | 2020-11-03 | 华中科技大学 | Method for detecting position of rotor of brushless direct current motor |
| CN112511060A (en) * | 2020-08-09 | 2021-03-16 | 昆明理工大学 | Hidden pole type permanent magnet brushless hub motor position estimation calibration method |
| CN116260370A (en) * | 2023-05-16 | 2023-06-13 | 广汽埃安新能源汽车股份有限公司 | Interrupt control method and device for motor, electronic equipment and storage medium |
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Effective date of registration: 20180426 Address after: 610000 18 West core road, hi-tech West District, Chengdu, Sichuan Patentee after: Dongfang Electric Co., Ltd. Address before: 610036 Shu Han Road, Jinniu District, Chengdu, Sichuan Province, No. 333 Patentee before: Dongfang Electric Corporation |