CN102882449B - 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.Due to the characteristic that it is low in energy consumption, noise is little, various household electrical appliance all instead of induction machine in the past with permagnetic synchronous motor, as the compressor, forced draft fan etc. of refrigerator, air-conditioning, 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 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 input is reverse into three-phase alternating voltage, just can rotates by drive motors.Permagnetic synchronous motor, compared to other motor, has high efficiency, the advantage of low noise, and these advantages are based upon on the basis of the rational control algolithm of use and drive system.Because its back-emf is sinusoidal wave, therefore its three-phase drive voltage also must be all sinusoidal voltage.The phase place of the given three phase sine voltage of 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 apply to keep the three phase sine voltage of certain voltage-frequency ratio just can to rotate by drive motors to it, permagnetic synchronous motor open loop constant voltage and frequency ratio (VVVF) control technology that Here it is.Constant voltage constant frequency control method belongs to opened loop control, and the physical location of control system not detection rotor in rotary course, therefore motor just may cause step-out once meet with comparatively heavy load torque disturbance.In practical application, control system also needs rotor position information to carry out closed-loop control.
The rotor-position sensor that permagnetic synchronous motor is conventional has resolver, orthogonal encoder, hall position sensor.Wherein the advantage of resolver and orthogonal encoder is that precision is very high, but needs on motor, install extra equipment additional; Hall element can be directly installed on motor internal, simple and convenient, and shortcoming is that precision is low.As shown in Figure 1, when rotor at the uniform velocity rotates, hall position sensor provides three tunnel duty ratios to be 50% to the three-phase position signal that three-phase hall position sensor provides, the square-wave signal that phase place mutual deviation is 120 °.The electric cycle of one 360 ° has been divided into 6 intervals by the rising and falling edges of three road square-wave signals, and each interval is 60 ° of electrical degrees.Therefore the resolution of hall position sensor only has the electrical degree of 60 °, and the rotor particular location in each interval then needs to rely on location-estimation algorithm to estimate.
Existing patent is discussed the relevant position estimation technique of permagnetic synchronous motor based on hall position sensor, if number of patent application is 201010219066.1, 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 electric angle angle value of sinusoidal phase needed for control algolithm is interval corresponding with 6 of three-phase Hall element, the moment started in each interval, this corresponding each interval of set point order was respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 ° using the initial angle angle value of a set point as this interval;
2, the angle change within an interval is obtained by 60*t/T estimation, and wherein, between single lane place, corresponding electrical degree is ideally constantly equal to 60 °; T is program control cycle institute's elapsed time in current interval, resets after changing district at every turn; T is motor the turns over time of each electrical degree required for the interval of 60 °, in other words, T is the time corresponding to electrical degree that motor turns over 60 °, this time be continuously the multiple motor of statistics turn over 60 ° interval time the time used to be averaged filtered value.Due to motor uniform motion, along with the change of time, the angle variable quantity in certain lane place can at the uniform velocity increase, as t=0, angle changing value is also 0, as t=T, an interval end, next interval being about to starts, and angle variable quantity reaches maximum 60 °.Therefore, interval interior angle excursion is 0 °--60 °;
3, initial angle angle value is added the changing value of angle in an interval finally obtains the multiple angle values in the electrical degree cycle.
Above scheme solves and adopts the very low hall position sensor of precision how to calculate rotor-position in real time, but, the mechanical precision installed due to hall position sensor does not often reach requirement, the three road square-wave signal phase differences that its hall position sensor is passed back are not accurately equal 120 °, particularly when the number of pole-pairs of motor is a lot of time, the error of mechanical precision often causes the error of several times electrical degree.In addition, because rotor permanent magnet cannot accomplish magnetic pole full symmetric, therefore also may there is 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 operating between 6 lane place distribution of lengths be uneven, be not 60 ° of electrical degrees ideally, siding-to-siding block length difference is maximum reaches 10 ° more than.
Such as, between certain lane place, initial angle angle value is 120 °, interval actual corresponding electrical degree is 55 °, in 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 the multiple motor of statistics turn over unit the puts interval time used is averaged 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 electrical degree times used.Therefore, this interval angle excursion that t1<T, formula 60*t/T calculate is approximately 0 °-55 °.At the end of this interval, position, total position angle is 120+55=175 °, but to when starting between next lane place, position angle becomes next interval initial angle angle value 180 °, there occurs the position angle saltus step of 5 °.In like manner, if certain interval actual corresponding electrical degree is greater than 60 °, the position angle changing value estimated by formula 60*t/T finally also can more than 60 °, angle of arrival saltus step.
If although the maximum of prior art to formula 60*t/T result of calculation limits---result more than 60 °, then equals 60 °.So when certain interval actual corresponding electrical degree is greater than 60 °, the position angle calculated there will not be saltus step, but there will be the step that a slope over 10 is zero.And certain interval actual corresponding electrical degree is when being less than 60 °, still there will be angle 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 estimated position angle, carry out location estimation and the sinusoidal voltage waveform being input to permagnetic synchronous motor will certainly be caused to distort, increase torque ripple, affect Electric Machine Control effect.
Summary of the invention
The present invention is for solving in the control of existing permagnetic synchronous motor, location-estimation algorithm affects the larger technical problem of error by hall position sensor installation accuracy and rotor magnetic steel magnetic pole symmetry, a kind of permagnetic synchronous motor location estimation compensation method based on hall position sensor is newly proposed, the method can be revised the time T in formula 60*t/T according to the developed width in current location interval, thus can ensure that the position angle estimated is uniformly continuous, there will not be saltus step or step, greatly reduce three phase sine voltage waveform distortion, reduce torque pulsation and noise.
Realize technical scheme of the present invention as follows:
Based on the permagnetic synchronous motor location estimation compensation method of hall position sensor, it is characterized in that process is as follows:
First A, controller use permagnetic synchronous motor open loop constant voltage and frequency ratio (VVVF) mode to drive permagnetic synchronous motor at the uniform velocity to operate, 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 (i is a code name, and span is 1-6, all need between all lane place calculate) between lane place that sequence number is i according to the distribution proportion of steps A and estimate the correction factor V [i] of angle changing value;
C, the time T that the motor in angle estimation formulas 60*t/T turns over needed for current location interval to be revised, finally obtain revised angle estimation formula 60*t/ (V [i] * T), wherein i is sequence number between lane place, after revising, V [i] * T will be that motor turns over real required time between lane place that sequence number is i, ensure that no matter between lane place, actual corresponding electrical degree is how many, according to position angle changing value in formulae discovery interval out all the time 0-60 ° of internal linear change; Wherein, t is institute's elapsed time in current interval, resets after changing district at every turn; T is motor the turns over time of each electrical degree required for the interval of 60 °, that is, T is the time corresponding to electrical degree that motor turns over 60 °, this time be continuously the multiple motor of statistics turn over 60 ° interval time the time used to be averaged filtered value.
Initial angle angle value corresponding between described 6 lane place is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °.
In fact, in background technology, greatest problem is that the T of formula 60*t/T is a mean value, 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 that the developed width according to current location interval is revised the time T in formula 60*t/T when the not corresponding 60 ° of electrical degrees of position interval width.
Beneficial effect of the present invention is as follows:
Adopt method of the present invention, the position signalling error no matter hall position sensor is passed back how, can ensure that the position angle estimated is uniformly continuous, there will not be saltus step or step, greatly reduce three phase sine voltage waveform distortion, reduce torque pulsation and noise.
Accompanying drawing explanation
Fig. 1 is the three-phase hall sensor signal schematic diagram that in background technology, permagnetic synchronous motor is desirable
Fig. 2 be three-phase hall sensor signal in background technology under non-ideality and prior art estimation rotor position angle occur saltus step, step schematic diagram
Fig. 3 is the rotor position angle schematic diagram estimated after adopting compensation technique of the present invention
Embodiment
In order to make technical problem solved by the invention, technical scheme and beneficial effect clearly understand, below in conjunction with paying and embodiment, the present invention is further elaborated.
1, defining the interval sequence number i of three-phase hall sensor signal and interval initial angle angle value, as shown in Figure 1, if be 1 during ABC three-phase hall signal high level, is 0 during low level.
ABC=101:i=1, interval initial angle angle value: 0 °
ABC=100:i=2, interval initial angle angle value: 60 °
ABC=110:i=3, interval initial angle angle value: 120 °
ABC=010:i=4, interval initial angle angle value: 180 °
ABC=011:i=5, interval initial angle angle value: 240 °
ABC=001:i=6, interval initial angle angle value: 300 °
2, permagnetic synchronous motor open loop is driven at the uniform velocity to operate with fixed speed in VVVF constant voltage and frequency ratio mode, the rising on each road of three-phase hall sensor signal and trailing edge all trigger an interruption, an electric cycle is always met triggering together and interrupts for 6 times, between 6 lane place respectively in corresponding step 2.With the time x [i] of timer record often between adjacent twice interruption, wherein i is sequence number between lane place described in step 1.X [i] i.e. motor turns over actual required time between this lane place, therefore x [i]=V [i] T.The size of x [i] reflects the situation of angle uneven distribution between each lane place.
3, make
, then S at the uniform velocity turns over time needed for complete electrical degree cycle (360 °) for motor.Because T is the time that motor at the uniform velocity turns over needed for 60 ° of electrical degrees, therefore S=6*T.
4, to sequence number be i lane place between, have
, so far obtain the correction-compensation parameter of angle changing value estimation equation between each lane place.
5, the parameter vector that step 4 calculates is saved to the memory block of control chip, exit VVVF open loop operation mode, existing permagnetic synchronous motor control technology can be used, in conjunction with change in location estimation formulas 60*t/ (V [i] * T) in the interval after compensation, use the permagnetic synchronous motor steady running that closed-loop vector control mode realizes the compensation of band location estimation instead.Adopt the rotor position information of compensation method acquisition as shown in Figure 3.
Claims (2)
1., based on a permagnetic synchronous motor location estimation compensation method for hall position sensor, it is characterized in that process is as follows:
First A, controller drive permagnetic synchronous motor at the uniform velocity to operate by permagnetic synchronous motor open loop constant voltage and frequency ratio mode, 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, to obtain calculating according to the distribution proportion of steps A between lane place that sequence number is i and to estimate the correction factor V [i] of angle changing value;
C, the time T that the motor in angle estimation formulas 60*t/T turns over needed for current location interval to be revised, finally obtain revised angle estimation formula 60*t/ (V [i] * T), wherein i is sequence number between lane place, after revising, V [i] * T will be that motor turns over real required time between lane place that sequence number is i, ensure that no matter between lane place, actual corresponding electrical degree is how many, according to position angle changing value in formulae discovery interval out all the time 0-60 ° of internal linear change; Wherein, t is institute's elapsed time in current interval, resets after changing district at every turn; T is motor the turns over time of each electrical degree required for the interval of 60 °, that is, T is the time corresponding to electrical degree that motor turns over 60 °, this time be continuously the multiple motor of statistics turn over 60 ° interval time the time used to be averaged filtered value;
For step B, according to
obtain the correction factor V [i] of described angle changing value; Wherein, x [i] i.e. motor turns over actual required time between this lane place, and T is the time that motor at the uniform velocity turns over needed for 60 ° of electrical degrees, and S at the uniform velocity turns over the time needed for complete electrical degree cycle for motor.
2. the permagnetic synchronous motor location estimation compensation method based on hall position sensor according to claim 1, is characterized in that: initial angle angle value corresponding between described 6 lane place is respectively 0 °, 60 °, 120 °, 180 °, 240 °, 300 °.
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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 |