CN103560724A - Method for determining initial position of synchronous motor - Google Patents
Method for determining initial position of synchronous motor Download PDFInfo
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- CN103560724A CN103560724A CN201310449888.2A CN201310449888A CN103560724A CN 103560724 A CN103560724 A CN 103560724A CN 201310449888 A CN201310449888 A CN 201310449888A CN 103560724 A CN103560724 A CN 103560724A
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Abstract
The invention discloses a method for determining the initial position of a synchronous motor. According to the method, both the current of a stator winding and the current of a rotor winding are under closed-loop control. The rotor winding is controlled to form a stable magnetic field first, then, the given angels of a stator magnetic field are sequentially a positive angle, a zero degree angle, a negative angle and a zero degree angle, encoder degrees are recorded at the zero degree angle respectively, and finally the zero degree initial position which has been compensated for is obtained after calculation correction. The method for determining the initial position of the synchronous motor has the advantages of being fast and safe to use, high in precision, capable of improving control performance of the synchronous motor and the like.
Description
Technical field
The present invention is mainly concerned with the control field of synchronous machine, refers in particular to a kind of initial position that is applicable to synchronous machine and determines method.
Background technology
Electric excitation synchronous motor (ESM) has the advantages such as moment of inertia is little, overload capacity is strong, efficiency is high, power factor is adjustable, and extensive application on large-scale drive apparatus, is one of the main development direction in the field of high power AC speed governing in recent years.
The ESM synchronous machine of high accuracy, high dynamic response is controlled generally all needs the detection that adopts encoder to carry out rotor angular position information to carry out field orientation.The initial angle of synchronous machine is the requisite part of positional information, and its precision directly has influence on stability, torque, efficiency and the power factor etc. of control system.Therefore, the precision of raising initial alignment has very large Practical significance.
The initial position of synchronous machine (claiming again 0) implication is: when motor stator resultant magnetic field overlaps in A phase axis, rotor passes into constant magnetic field, under stator and rotor magnetic fields, and rotor-position when rotor field overlaps with the complete magnetic field of stator is desirable.Initial alignment is exactly by adopting suitable method or means detection rotor initial position.
At present the general encoder that adopts carries out position measurement, and what current application was more is optical-electricity encoder, and optical-electricity encoder can be divided into two kinds of increment type and absolute types.When motor rotates, drive code-disc rotation.Incremental encoder output has A, B, Z signal, can not directly read positional information, and each controller powers on and all needs to reorientate.This traditional direct localization method, exists larger error, and inconvenient operation, and control precision neither be very accurate.
There is practitioner to propose a kind of " ac synchronous motor rotor zero-frequency position control method " (number of patent application: 20121005366.0), the method provides a kind of method that adopts absolute type encoder to position electric excitation synchronous motor, its method is: in static situation, pass into exciting current to rotor winding, to stator, pass to direct current again, rotor is along with the acting in conjunction of stator field and the rotor field position stopping of finally moving is synchronous machine initial angle position, absolute type encoder records this numerical value and then passes to control system, complete the location of synchro angle.The method is very simple, is the basic principle that has adopted electric excitation synchronous motor positioning control.But also come with some shortcomings: (1) stator current does not have closed-loop control, operates dangerous; (2) do not realize location fast; (3) there is no corrective action, location does not turn true.
Separately there is practitioner to propose a kind of " a kind of method of measurement of permanent-magnet synchronous motor rotor position offset angle and system " (number of patent application: 20121059464.1), the method adopts voltage source frequency converter, for permagnetic synchronous motor location, comprise that key step comprises:
(1) set stator field field orientation angle Tha, making d shaft voltage component instruction value is 0, the q shaft voltage component instruction value that input can make permagnetic synchronous motor enter zero-speed lock shaft state, then by coordinate transform formation voltage vector, drives permagnetic synchronous motor to rotate to settling position; Obtain the angle K1 that the absolute value encoder installed on rotor now reads.
(2) set stator field field orientation angle (Tha+90), by calculating the magnitude of voltage command value under d, q axle, then by coordinate transform formation voltage vector, drive permagnetic synchronous motor to rotate to settling position; Obtain the angle K2 that the absolute value encoder installed on rotor now reads.
(3) calculate offset angle Kc=K1+90-K2; Utilize rotor angle as the correction of angle calculation, as step (1) make Tha=0 time the K0 that reads, the zero degree information that working control is used is K0+Kc.
The method also comes with some shortcomings: (1) the method is directly to control voltage to produce magnetic field, does not carry out the closed-loop control of electric current, and system is dangerous.(2) the method is to proofread and correct by being offset 90 degree, and the problem of existence is because electric current is uncontrollable, and the bad control of voltage, causes corrected value inaccurate.(3) only realized rotor and rotated to a direction, do not realized bidirectional correcting, error is uncertain.
Summary of the invention
The technical problem to be solved in the present invention is just: the technical problem existing for prior art, the invention provides a kind of fast, safety, precision synchronous machine initial position high, that can improve synchronous motor control performance determines method.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
Initial position is determined a method, and stator, rotor winding current are all carried out to closed-loop control; First control rotor winding and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, the encoder number of degrees while writing given 0 angle down respectively, finally calculate the 0 degree initial position of revising after being compensated.
As a further improvement on the present invention: when synchronous machine is electric excitation synchronous motor, concrete steps are:
(1), given excitation winding 0.5*Ifn, Ifn is rated exciting current; DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measuring, and its quick break-make of controlling copped wave unit IGBT is exported adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field;
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2; A phase current effective value is given as 0.5*Isn, and Isn is rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage and rotor winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
As a further improvement on the present invention: when synchronous machine is permagnetic synchronous motor, concrete steps are:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable, and reading and store this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable; Reading and store this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
As a further improvement on the present invention: described θ
2value 10 degree～60 degree during for positive-angle, described θ
2degree～-60, value-10 degree during for negative angle.
Compared with prior art, the invention has the advantages that:
1, synchronous machine initial position of the present invention is determined localization method, according to current closed-loop, consider the thinking of position correction, no matter makes motor at an arbitrary position, all can realize kind fast, safety, convenience and initial alignment accurately.
2, the present invention in when location due to stator winding current closed-loop, so motor stator and rotor winding and peripheral switching device are not easy to cause overcurrent, control system safety.
3, the method that the present invention has adopted reciprocating positioning correcting, averaged, has effectively proofreaied and correct error.
4, the present invention has adopted one-touch automatic finder, only need, after user's input control parameter, to enter station-keeping mode algorithm and can automatically by step, complete position fixing process, location can stop electric current output automatically after finishing, and show initial angle position, very convenient and quick.
5, the present invention is applied widely, does some simple modification and applicable to permagnetic synchronous motor, locates.
6, the present invention have safety, high accuracy, fast, the advantage such as convenient, easily apply.
Accompanying drawing explanation
Fig. 1 is the principle schematic of stator and rotor magnetic field angle.
Fig. 2 is the principle schematic of the reciprocating four step positioning modes that adopt of the present invention.
Fig. 3 is the schematic flow sheet of the present invention while being specifically applied to electric excitation synchronous motor.
Fig. 4 is the control principle schematic diagram of the present invention's stator current closed-loop control when concrete application.
Fig. 5 is the principle schematic of the present invention's absolute type encoder when concrete application.
The link schematic diagram of Fig. 6 encoder that is the present invention when concrete application and controller.
Fig. 7 is the control framework schematic diagram of the present invention's voltage source frequency converter when concrete application.
Fig. 8 is the circuit theory schematic diagram of the present invention's inversion unit when concrete application.
Fig. 9 is the circuit theory schematic diagram of the present invention copped wave unit when concrete application.
Figure 10 is the schematic flow sheet of the present invention while being specifically applied to permagnetic synchronous motor.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
When synchronous electric motor rotor winding passes to constant excitation megnet electric current, will produce constant rotor field Φ
f.Stator winding passes into three-phase electricity and fails to be convened for lack of a quorum and produce stator resultant magnetic field Φ
s, stator and rotor magnetic field interaction produces torque; The size of torque is directly proportional to both size and angle.As shown in Figure 1, be the position view in stator and rotor magnetic field.
The moment expression formula that stator and rotor magnetic field forms is as follows:
T
n=k*Φf*Φs*sinθ
1 （1）
Wherein: k is a fixing ratio, θ
1angle for stator winding resultant magnetic field and rotor winding magnetic field.
According to Fig. 1 and formula (1), can find out, when positioning stablity ideally need meet: θ
1=0.
When both deads in line of stator and rotor, the rotor-position angle information that controller DSP is read is initial position angle.
At the two-phase rest frame θ that orders
2=0, by following formula (2), pass into voltage and can realize under stable situation, stator resultant magnetic field overlaps with the approximate of A phase axis.
u
α=A*cosθ
2
u
β=A*sinθ
2 （2）
By above-mentioned analysis, can find out two problems that mainly contain:
(1) according to moment formula (1), can find out, when both magnetic fields approach, angle is more and more less, and torque meeting is more and more less; When torque is less than frictional resistance, stiction, rotor-position can be motionless, easily causes two magnetic field axis not overlap completely, causes number of degrees error, causes actual θ
1be not equal to 0.
(2) θ
1being not equal at 0 o'clock, may be the leading rotor field of stator field, may be also that stator field falls behind rotor field, and system is not known.Therefore need to realize accurately location by improved control method.
The present invention adopts reciprocating four step localization methods, and referring to Fig. 2, its basic principle is: stator, rotor winding current are all carried out to closed-loop control, and the size principle of controlling electric current is for guaranteeing not damage motor winding, guarantee certain moment again; First control rotor winding and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, the encoder number of degrees while writing given 0 angle down respectively, then calculate the 0 degree initial position of revising after being compensated.
As shown in Figure 3, the initial alignment of electric excitation synchronous motor of take is example, and concrete steps of the present invention are as follows:
(1), given excitation winding 0.5*Ifn, i.e. 0.5 times of rated exciting current, Ifn is rated exciting current; DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measuring, and its quick break-make of controlling copped wave unit IGBT is exported adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field.
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2=30 degree (be for example 10 degree～60 degree, this example is got 30 degree); A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current, and Isn is rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field.DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step.
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field.DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K1, prepares to carry out next step.
(4), given stator winding resultant magnetic field angle is angle θ
2=-30 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field.DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step.
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn, i.e. 0.5 times of rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field.DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K2, prepares to carry out next step.
(6), DCU stops output stator winding voltage and rotor winding voltage, press formula (3) and calculate initial position:
K0=0.5*（K1+K2） （3）。
In said process, in figure, in empty frame, be that DCU procedure auto-control completes, without artificial participation, simplified artificial workload.By such method of measurement, can eliminate error, simultaneously because be that current closed-loop is controlled, accurate positioning systematic comparison safety.Initial alignment once after, after encoder machinery is constant, generally just do not need again to have located.
In the present invention, in order to guarantee quick, the trouble free service of system, stator and rotor electric current all adopts current closed-loop to control, and the output of pi regulator is to control voltage magnitude, and control block diagram as shown in Figure 4.In the present invention, adopt absolute type encoder, its principle is to engrave at code-disc higher slice binary numeral or the cyclic code (Gray's agate) that represents angle.Encoder is fixedly mounted on axle, and its inner concentric cover together rotates with motor, in each different position, can export different information.Show as Fig. 514 encoder information of totally 16 states.Normal controller all can have corresponding decoding circuit unit and encoder to carry out interface communication, and the information after decoding sends controller (as DSP) to again for controlling, as shown in Figure 6.
The device utilizing in the present invention is voltage source frequency converter, referring to Fig. 7.Wherein: rectification unit: be input as three-phase alternating voltage, adopt three-phase controlled rectifier (the IGBT circuit of two level or three level) to provide direct voltage for system.Inversion unit is input as direct voltage, output three-phase voltage and frequency all adjustable alternating voltage to SM stator winding.The input of copped wave unit is and direct voltage, exports adjustable direct voltage and receives in the excitation winding of SM and form rotor field.Rectification unit is identical with the structure that inversion unit adopts, and difference is that the input of rectification is three-phase alternating current, and output is direct current; Inversion unit is that input connects direct current, and output connects three-phase, and Fig. 8 is the circuit structure diagram of two level inverse conversion unit, and Fig. 9 is copped wave element circuit figure.The control of above-mentioned three unit is all to have DCU(controller) complete.It,, by according to given control requirement, detects electric current and voltage, controls IGBT device (T1 to T6) turn-on and turn-off.
Localization method of the present invention not only can be used for electric excitation synchronous motor to be controlled, and also can be used for permagnetic synchronous motor location.When being applied to permagnetic synchronous motor, just do not need to control exciting current.In another concrete application example, when being applied to the location of permagnetic synchronous motor, its flow process as shown in figure 10.That is:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable, and reading and store this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable; Reading and store this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
Below be only the preferred embodiment of the present invention, protection scope of the present invention is also not only confined to above-described embodiment, and all technical schemes belonging under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, should be considered as protection scope of the present invention.
Claims (4)
1. synchronous machine initial position is determined a method, it is characterized in that, stator, rotor winding current are all carried out to closed-loop control; First control rotor winding and form stable magnetic field, then make stator field given angle be followed successively by: positive-angle, 0 degree, negative angle, 0 degree, the encoder number of degrees while writing given 0 angle down respectively, finally calculate the 0 degree initial position of revising after being compensated.
2. synchronous machine initial position according to claim 1 is determined method, it is characterized in that, when synchronous machine is electric excitation synchronous motor, concrete steps are:
(1), given excitation winding 0.5*Ifn, Ifn is rated exciting current; DCU carries out closed-loop control according to given electric current and the feedback excitation electric current measuring, and its quick break-make of controlling copped wave unit IGBT is exported adjustable exciting voltage, and this voltage is added in excitation winding, forms stable rotor field;
(2), given stator winding resultant magnetic field angle is certain positive-angle θ
2; A phase current effective value is given as 0.5*Isn, and Isn is rated secondary current; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, A phase current effective value is given as 0.5*Isn; DCU calculates stator voltage automatically according to given stator current, given magnetic field angle and feedback stator electric current, and the IGBT break-make of this given voltage by inversion unit controlled to be added to and on stator winding, formed stator field; DCU reads position angle information constantly by encoder, and after positional information is stable, reading and store this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage and rotor winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
3. synchronous machine initial position according to claim 1 is determined method, it is characterized in that, when synchronous machine is permagnetic synchronous motor, concrete steps are:
(1), given stator winding resultant magnetic field angle is certain positive-angle θ
2; Start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, carries out next step;
(3), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable, and reading and store this angle information is K1, prepares to carry out next step;
(4), given stator winding resultant magnetic field angle is negative angle θ
2, start stator current closed loop, wait for that rotor-position is basicly stable; DCU reads position angle information constantly by encoder, after positional information is basicly stable, prepares to carry out next step;
(5), given stator winding resultant magnetic field angle is angle θ
2=0 degree, starts stator current closed loop, waits for that rotor-position is basicly stable; Reading and store this angle information is K2, prepares to carry out next step;
(6), DCU stops output stator winding voltage, is calculated as follows initial position:
K0=0.5*（K1+K2）。
4. according to the synchronous machine initial position described in claim 2 or 3, determine method, it is characterized in that, described θ
2value 10 degree～60 degree during for positive-angle, described θ
2degree～-60, value-10 degree during for negative angle.
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| CN107482984A (en) * | 2016-10-12 | 2017-12-15 | 宝沃汽车（中国）有限公司 | Motor initial position angle automatic Calibration angle compensation process and system |
| CN107482984B (en) * | 2016-10-12 | 2019-09-20 | 宝沃汽车（中国）有限公司 | Motor initial position angle automatic Calibration angle compensation process and system |
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| CN106602969B (en) * | 2017-01-17 | 2019-06-07 | 河南师范大学 | A kind of the self calibration positive system and method for exoskeleton robot motor |
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| CN110932636B (en) * | 2019-12-16 | 2021-11-02 | 合肥阳光电动力科技有限公司 | Method and system for identifying initial position of permanent magnet synchronous motor |
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