CN103856139B - Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods - Google Patents
Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods Download PDFInfo
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Abstract
The invention discloses a kind of Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods, use " two-step method " that rotor magnetic pole initial position is identified: one, for rotor magnetic pole initial position pre-identification, the salient pole nature utilizing permagnetic synchronous motor (hidden pole type, salient pole type) establishes magnetic pole position, and error is 180 ° of electrical angles；Two, identify again for rotor magnetic pole initial position, utilize the magnetic circuit saturated characteristic of synchrodrive to establish direction, final magnetic pole place." two-step method " rotor magnetic pole initial position pre-identification step have employed sector and judges to calculate with current angle to judge dual determination methods, it is determined that the rotor magnetic pole direction in the range of 180 °, improves the precision of rotor magnetic pole direction pre-identification；In rotor magnetic pole initial position identification step again, it is filled with amplitude to motor relatively big, the voltage vector pulse that the cycle is longer, saturated to guarantee motor stator magnetic circuit, thus confirm rotor magnetic pole position more accurately.It is simple that the present invention has recognition methods, reliable and stable advantage.
Description
Technical field
The present invention relates to motor and drive field, be specifically related at the beginning of a kind of Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole
Beginning location recognition method.
Background technology
Permagnetic synchronous motor is due to advantages such as its efficiency, power density height, and the most slowly replacing conventional asynchronous induction machine should
For more and more driving occasion.The high performance vector control strategy of permagnetic synchronous motor to be realized must obtain rotor in real time
Velocity information, usual way is equipped with encoder.It is not usually required to rotor initial in the application of conventional asynchronous induction machine
Location recognition, the initial position of rotor of asynchronous induction machine can be defaulted as zero, because rotor flux is at magnetic by stator magnetic linkage
Rotary inductive in Chang and generate, therefore conventional asynchronous induction machine only needs to be equipped with common incremental encoder and just can realize
High performance vector controls.And permagnetic synchronous motor is due to the existence of permanent magnet pole, if stator magnetic linkage direction applies mistake, will
Cause the most expected rotation of permagnetic synchronous motor, step-out, or even start unsuccessfully.And the incremental encoder generally used is not
Possess rotor magnetic pole initial position identification ability, high performance permagnetic synchronous motor vector controlled will be realized and must be equipped with turning
The encoder of sub-magnetic pole initial position identification ability, such as absolute type encoder, UVW encoder, sine and cosine encoder, rotation become
Depressor etc..But the use of these encoders while bringing high accuracy control performance to permagnetic synchronous motor, also give drivetrain
System brings the problems such as relatively costly, code-disc fault rate is high.Therefore, for cost-effective, take into account system stability and performance simultaneously,
If adaptive common incremental encoder just needs extra initial position of rotor recognizer cooperating therewith.Certainly, it is possible to adopt
Using Permanent Magnet Synchronous Motor Speed Sensorless vector control scheme, this is also required to the support of initial position of rotor recognizer.Cause
This, rotor magnetic pole initial position of permanent magnet synchronous machine identification technology is low side encoder/encoderless permagnetic synchronous motor vector
The critical support technology controlled.
The acquisition of rotor magnetic pole initial position signal can only be passed through motor body by Permanent Magnet Synchronous Motor Speed Sensorless
Characteristic carry out calculate obtain.Conventional method substantially has: inductance measuring (patent publication No. CN1350720A), high-frequency signal
Injection method (patent publication No. CN1539195A, CN1489822A) and impulses injection method.Owing to High Frequency Injection is to motor
Body parameter is strong according to patience, and to electric current, voltage sample required precision height, algorithm engineering realizes the shortcomings such as complicated, applies in reality
In actually rare, be only limitted to theoretical research.Impulses injection rule is broadly divided into current impulse injection method and potential pulse injection method,
Wherein potential pulse injection method is simple due to Project Realization, has obtained most commonly used application.
Impulses injection method is owing to being most widely used, and also existing many patent applications are made that and are discussed in detail, the openest
Number for CN101369796A patent document in disclose a kind of method detecting rotor magnetic pole initial position of permanent magnet synchronous machine
And system, this application provides a kind of preset-judges-three step identification rotor magnetic pole initial position methods that adjust, but the method
Adjusting during angle step, be likely to result in the rotation that permanent-magnetic synchronous motor rotor is unnecessary, this also will affect later stage identification
The accuracy judged；Judge to adjust angle step simultaneously because online, also will result in the not solid of rotor initial magnetic pole recognition time
Qualitative.
The accuracy of the rotor magnetic pole initial position identification of incremental encoder/Permanent Magnet Synchronous Motor Speed Sensorless is straight
Connect and affect permagnetic synchronous motor staring torque, and startup stability.Therefore, rotor magnetic pole initial position of permanent magnet synchronous machine is improved
Accuracy of identification has been increasingly becoming the important issue of this technical field.
Summary of the invention
The invention aims to overcome above deficiency, it is provided that one can solve the problem that at Speedless sensor or increment
The problem realizing rotor magnetic pole initial position of permanent magnet synchronous machine identification in the case of formula low side encoder, thus realize permanent-magnet synchronous
Electric motor starting moment, the Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position identification side of lifting of startup stability
Method.
The purpose of the present invention is achieved through the following technical solutions: a kind of Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic
Pole initial position recognition methods, comprises the following steps:
, obtained the biphase current of motor respectively by two current sensorsI sa 、I sb ,And calculate the by biphase current
Three-phase currentI sc ；
, by space voltage vector modulation module to permanent-magnetic synchronous motor stator winding inject amplitude beV m1 , pulsewidth isT m1 , pulse width interval isD m1 , direction is spaced six voltage vector pulses of 60 °V 1 ～V 6 ；
, respectively read inject six voltage vector pulse signals time six three-phase current signalsI sabc1 ～I sabc6 ,
And read the peak value of six three-phase current modulus value respectivelyI spk1 ～I spk6 ；
, three-phase current modulus value peak value in opposite direction for voltage vector be added two-by-two obtain motorA、B、COn axis
Three Current calculation valuesI SA 、I SB 、I SC , and by CLARK coordinate transform be converted toαβCoordinate system componentI Sα 、I Sβ , pass through
Arc tangent is asked for estimating rotor magnetic pole position angleθ s1 ,θ s1 It it is 0 ~ 180 °；
, respectively according to the voltage vector angle appliedθCarry out PARK coordinate transform, by sample rate currentI sabc Coordinate becomes
Shift toqShaft currentI sq , and when reading six voltage vector pulses of injection respectivelyqThe peak value of shaft currentI sqpk1 ～I sqpk6 ；
, contrast sixqThe size of shaft current peak value determines the voltage vector sector at rotor magnetic pole positionV n , will
Voltage vector sector is converted to 0~In the range of 180 °, estimate rotor magnetic pole position angleθ s2 ；
Vii, Δ is subtracted each other at the rotor magnetic pole initial position angle that the estimation of two kinds of criterion methods getsθ s =|θ s1 -θ s2 |,Work as Δθ s Show when≤30 ° that applied voltage vector pulse can effectively identify the rotor initial magnetic pole position angle letter in the range of 180 °
Number, enter step ix, otherwise, then key in step viii；
Viii, increasing injecting voltage amplitudeV m1 , reenter step ii；
Ix, it is respectively applied toθ s1 Withθ s1 +180°Two voltage vectors on directionV L WithV H , its amplitude isV m2 (> V m1 ), pulsewidth isT m2 (>T m1 ), pulse width interval isD m2 (>D m1 )；
The peak value of three-phase current modulus value on x, respectively two voltage vector directions of readingI spkL 、I spkH If, |I spkL - I spkH |＞ ΔI spk Then enter step xii, otherwise enter step xi；
Xi, increasing injecting voltage amplitudeV m2 After reenter step ix；
Xii, whenI spkL ＞ I spkH Time rotor magnetic pole initial position angle beθ s1 ；Otherwise, then rotor magnetic pole initial position angle isθ s1 +180°。
Further improvement of the present invention is: use " two-step method " rotor magnetic pole initial bit respectively to permagnetic synchronous motor
Put and carried out pre-identification and identified again, so that it is guaranteed that identify the accuracy of rotor magnetic pole initial position, in rotor magnetic pole initial bit
Putting in pre-identification, the method that have employed dual judgement pre-identification, at the beginning of the rotor magnetic pole that will be judged by voltage vector sector respectively
Interval, beginning position angle is compared with the rotor magnetic pole initial position angle value obtained by three-phase current magnitude calculation, thus
Realize dual judgement pre-identification, have employed the rotor magnetic pole initial position recognition methods again utilizing motor saturated characteristic, thus real
On the basis of present dual judgement pre-identification result, carry out identifying again to final rotor magnetic pole initial position, and then guaranteed to turn
The accuracy of sub-magnetic pole initial position.
Further improvement of the present invention is: described " two-step method " first step is the identification of rotor magnetic pole initial position, for
Step i~Viii, utilizes the salient pole nature of permagnetic synchronous motor hidden pole type or salient pole type to establish magnetic pole position, and error is
180 ° of electrical angles, " two-step method " second step is that rotor magnetic pole initial position identifies again, for step ix~Xii, utilizes synchrodrive
Magnetic circuit saturated characteristic establishes direction, final magnetic pole place.
The present invention is compared with prior art had the advantage that and is known rotor magnetic pole initial position by " two-step method "
Other: " first step " is rotor magnetic pole initial position pre-identification, as shown in above-mentioned steps i～viii, utilize permagnetic synchronous motor (hidden
Pole formula, salient pole type) salient pole nature establish magnetic pole position (error is 180 ° of electrical angles)；" second step " is at the beginning of rotor magnetic pole
Beginning position identifies again, as shown in above-mentioned steps ix～xii, utilizes the magnetic circuit saturated characteristic of synchrodrive to establish final magnetic pole place side
To.The salient pole nature that in " two-step method ", the first step is relied on is generally present in salient-pole permanent-magnet synchronous motor, but hidden pole type is forever
Magnetic-synchro motor, during design, there is also slight salient pole nature, and the saturated characteristic that second step is relied on is no matter
It it is salient pole type or hidden pole type all exists this characteristic.Therefore, the Permanent Magnet Synchronous Motor Speed Sensorless rotor that the present invention provides
Magnetic pole initial position recognition methods is applicable not only to salient-pole permanent-magnet synchronous motor, applies also for non-salient pole permanent magnet synchronous motor,
There is certain general applicability.Have employed six voltage vectors in " two-step method " rotor magnetic pole initial position pre-identification step
Sector judges to calculate with current angle to judge dual judgement recognition methods, it is determined that the rotor magnetic pole direction in the range of 180 °, carries
The high precision of rotor magnetic pole direction pre-identification；In rotor magnetic pole initial position identification step again, it is filled with amplitude relatively to motor
Greatly, the voltage vector pulse that the cycle is longer, saturated to guarantee motor stator magnetic circuit, thus confirm rotor magnetic pole institute more accurately
In position, this recognition methods is simple, reliable and stable.
Accompanying drawing illustrates:
Fig. 1 is the flow process that Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods of the present invention realizes
Figure；
Fig. 2 is the spatial characteristics figure of permanent-magnetic synchronous motor stator phase inductance in the embodiment of the present invention；
Fig. 3 is in the embodiment of the present invention under permanent-magnetic synchronous motor stator A phase inductance, saturated conditions unsaturated at magnetic circuit respectively
Spatial characteristics figure；
Fig. 4 is permanent-magnetic synchronous motor stator three pole reactor space under stator core saturated conditions in the embodiment of the present invention
Distribution character figure；
Fig. 5 is six direction potential pulse vectogram in the embodiment of the present invention；
Detailed description of the invention:
Below in conjunction with the accompanying drawing in the embodiment of the present invention and formula, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.
Based on the embodiment in the present invention, it is all that those of ordinary skill in the art are obtained under not making creative work premise
Other embodiments, broadly falls into the scope of protection of the invention.
As Fig. 1 shows a kind of Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods, including
Following steps:
, obtained the biphase current of motor respectively by two current sensorsI sa 、I sb ,And calculate the by biphase current
Three-phase currentI sc ；
, by space voltage vector modulation module to permanent-magnetic synchronous motor stator winding inject amplitude beV m1 , pulsewidth isT m1 , pulse width interval isD m1 , direction is spaced six voltage vector pulses of 60 °V 1 ～V 6 ；
, respectively read inject six voltage vector pulse signals time six three-phase current signalsI sabc1 ～I sabc6 ,
And read the peak value of six three-phase current modulus value respectivelyI spk1 ～I spk6 ；
, three-phase current modulus value peak value in opposite direction for voltage vector be added two-by-two obtain motorA、B、COn axis
Three Current calculation valuesI SA 、I SB 、I SC , and by CLARK coordinate transform be converted toαβCoordinate system componentI Sα 、I Sβ , pass through
Arc tangent is asked for estimating rotor magnetic pole position angleθ s1 ,θ s1 It it is 0 ~ 180 °；
, respectively according to the voltage vector angle appliedθCarry out PARK coordinate transform, by sample rate currentI sabc Coordinate becomes
Shift toqShaft currentI sq , and when reading six voltage vector pulses of injection respectivelyqThe peak value of shaft currentI sqpk1 ～I sqpk6 ；
, contrast sixqThe size of shaft current peak value determines the voltage vector sector at rotor magnetic pole positionV n , will
Voltage vector sector is converted to 0~In the range of 180 °, estimate rotor magnetic pole position angleθ s2 ；
Vii, Δ is subtracted each other at the rotor magnetic pole initial position angle that the estimation of two kinds of criterion methods getsθ s =|θ s1 -θ s2 |,Work as Δθ s Show when≤30 ° that applied voltage vector pulse can effectively identify the rotor initial magnetic pole position angle letter in the range of 180 °
Number, enter step ix, otherwise, then key in step viii；
Viii, increasing injecting voltage amplitudeV m1 , reenter step ii；
Ix, it is respectively applied toθ s1 Withθ s1 +180°Two voltage vectors on directionV L WithV H , its amplitude isV m2 (> V m1 ), pulsewidth isT m2 (>T m1 ), pulse width interval isD m2 (>D m1 )；
The peak value of three-phase current modulus value on x, respectively two voltage vector directions of readingI spkL 、I spkH If, |I spkL - I spkH |＞ ΔI spk Then enter step xii, otherwise enter step xi；
Xi, increasing injecting voltage amplitudeV m2 After reenter step ix；
Xii, whenI spkL ＞ I spkH Time rotor magnetic pole initial position angle beθ s1 ；Otherwise, then rotor magnetic pole initial position angle isθ s1 +180°。
There are two kinds of saliency in permagnetic synchronous motor: one is structure saliency, and one is saturated saliency.Logical
Normal structure saliency is asymmetric caused by the asymmetric of rotor and magnetic circuit, this to from the point of view of salient-pole machine very
Substantially.This is presented as the spatial characteristics of stator phase self-induction.As shown in following formula 1:
Formula 1
Can make according to formula 1:
Formula 2
In formula,
L 0 Self-induction for first-harmonic air gap flux linkage；
L s For armature leakage inductance；
L 2 For the magnetic linkage self-inductance relevant to rotor-position；
L sa0 、L sb0 、L sc0 It is respectively the threephase stator phase inductance in the case of magnetic circuit unsaturation.
Therefore, the spatial characteristics of threephase stator phase inductance is as shown in Figure 2.As seen from the figure, stator phase inductance is rotor
The function of position.As a example by A phase, in the case of motor is not powered on stream, rotor magnetic pole N pole or alignment stator A phase axis direction, S pole
Time, the magnetic flux that permanent magnet produces is most with the crosslinking of stator A phase winding, and magnetic circuit will be caused saturated, and saturation is the highest；And rotor magnetic
During pole N extreme direction orthogonal stator A phase axis, permanent magnet to stator A phase axis without any magnetic flux contribute (S pole, N pole effect mutually support
Disappear), saturation is minimum.When magnetic circuit saturation height,L ma Minimum, thenL sa0 Minimum, otherwiseL sa0 Maximum.Therefore, as rotor magnetic pole N
When pole/S pole is equidirectional with this phase axis, now phase inductance is minimum, and time orthogonal with this phase axis, now phase inductance value is maximum.Cause
This, phase inductance is 2 frequency multiplication SIN functions in the range of 360 ° of electrical angles, as shown in formula 1, Fig. 2.
And from the point of view of for non-salient pole permanent magnet synchronous motor, although permanent magnet is uniformly to be attached on rotor axial plane, but permanent magnet
Between there is metal bridge.The purpose of metal bridge is to improve rotor mechanical stability, and just metal bridge existsqOn direction of principal axis, thereforeqAxle inductanceL q It is larger thandAxle inductanceL d .Therefore, even for non-salient pole permanent magnet synchronous motor, due to the existence of metal bridge, on permanent magnet
Still there is a little structure saliency, therefore formula 1 and Fig. 2 characteristic are equally applicable to non-salient pole permanent magnet synchronous motor.
According to Fig. 3L sa0 For the A phase inductance function waveform in the case of magnetic circuit unsaturation, can be less by injecting amplitude
Voltage pulse signal, it is ensured that in the case of electric current does not cause magnetic circuit saturated, by the sampling to electric current, it is achieved rotor N/S magnetic
The pre-identification of extreme direction, this is the first step of " two-step method " of the present invention: rotor magnetic pole initial position pre-identification.But, as
Understanding shown in Fig. 3, the result of this pre-identification has two answers, 180 ° of electrical angles of they mutual deviations, and this is the space due to phase inductance
Distribution function is the relation of 2 frequencys multiplication.Now, to obtain the position of rotor magnetic pole further, need to use permagnetic synchronous motor
Saturated saliency identifies further.
Convex/non-salient pole the structure of the saturated saliency and motor of permagnetic synchronous motor self is unrelated, depends on stator core
Degree of saturation.As a example by stator A phase winding, when stator A phase axis is passed through the bigger DC current of amplitude, as rotor magnetic pole N
When pole is identical with stator A phase axis direction, winding current will make winding magnetic linkage increase, thus cause stator core degree of saturation to increase
Add, also can be slightly reduced and stator equivalence phase inductance meanwhile.Otherwise, when rotor magnetic pole S pole is identical with stator A phase axis direction
Time, winding current will make winding magnetic linkage reduce, thus reduce degree of saturation unshakable in one's determination, meanwhile, also can slightly increase stator phase inductance.
Owing to the stator phase inductance value of rotor magnetic pole N pole, the present position of S pole is different, the differentiation of N/S pole therefore can be realized.
Still as a example by stator A equivalent inductance, it is illustrated in figure 3 A equivalent phase inductance unsaturated in stator core
(L sa0 ) and saturated conditions under (L sa ) contrast waveform.As seen from the figure, present position, magnetic pole S pole phase inductance is saturated and unsaturated
In the case of all without especially change.But, in the case of the phase inductance unsaturation to be significantly less than of present position, magnetic pole N pole
Phase inductance, be also significantly less than the phase inductance value of present position, magnetic pole S pole simultaneously.Therefore, can be at saturation condition, it is achieved to turning
The final identification of sub-position.This is the second step of " two-step method " of the present invention: rotor magnetic pole initial position identifies again.
It is illustrated in figure 4 three pole reactor spatial distribution curve under stator core saturated conditions.As can be seen from Figure, three-phase
The inductance inductance value minimum when rotor magnetic pole N present position, pole respectively.
In implementing, during carrying out rotor magnetic pole initial position pre-identification, only need to apply six amplitudes less
Voltage vector as it is shown in figure 5,V 1 、V 2 、V 3 、V 4 、V 5 、V 6 It is respectively angle and is spaced six voltage vectors of 60 °.WhereinV 1 With motor
A phase axis overlaps,V 3 Overlap with motor B phase axis,V 5 Overlap with motor C phase axis.As it is shown in figure 5, now rotor magnetic pole is initial
Position angle isθ 0 .Motor is obtained as shown in Equation 3 for being added two-by-two by three-phase current modulus value peak value in opposite direction for voltage vectorA、 B、CThree Current calculation values on axisI SA 、I SB 、I SC :
Formula 3
Formula 4 can be obtained by CLARK conversion:
Formula 4
Estimation rotor magnetic pole position angle can be calculated according to formula 4θ s1
Formula 5
Meanwhile, by comparing sixqThe size of shaft current peak value determines the voltage vector fan at rotor magnetic pole position
DistrictV n , by the estimation rotor magnetic pole position angle in the range of voltage vector sector reduced value 0 ~ 180 °θ s2 .As shown in Figure 5, it may be determined that
Sector residing for rotor magnetic pole position is voltage vectorV 2 Sector, place.
Difference Δ when estimation rotor magnetic pole position angleθ s= |θ s1 -θ s2 | during ＞ 30 °, show that pre-identification angle is incorrect, need
The amplitude strengthening applied six direction voltage vector pulse distinguishes direction residing for rotor magnetic pole with correct.When estimation rotor magnetic
The difference Δ of pole position angleθ s= |θ s1 -θ s2 | when≤30 °, show that the result obtained by two kinds of angle estimation modes is close, it was demonstrated that
The correctness of pre-identification angle, just can enter identification step again, to realize finally determining of rotor magnetic pole initial position angle.
In the identification step again of rotor magnetic pole initial position angle, need the rotor magnetic pole obtained during pre-identification respectively
On initial position angular direction (θ s1 ) and in the reverse direction (θ s1 +180°) apply amplitude relatively big (V m2 ) voltage vector so that permanent magnetism
Synchronous motor magnetic circuit is saturated, thus distinguishes the extremely residing angle of rotor magnetic pole N.
As it is shown in figure 5, rotor magnetic pole initial position angle identify again applied in two voltage vectors be respectivelyV L WithV H 。
Due in the pre-identification of rotor magnetic pole initial position angle to obtain rotor magnetic pole location angle, therefore initial at rotor magnetic pole
Direction residing for voltage vector direction applied in position angle identification process again and rotor magnetic pole is close, even if therefore applying amplitude
Bigger voltage vector also will not cause rotor-position to change.
" two-step method " of the present invention has carried out pre-knowledge to the rotor magnetic pole initial position of permagnetic synchronous motor respectively
And again do not identify, so that it is guaranteed that identify the accuracy of rotor magnetic pole initial position.In rotor magnetic pole initial position pre-identification, adopt
By the method for dual judgement pre-identification, the rotor magnetic pole initial position interval angle that will be judged by voltage vector sector respectively
Compare with the rotor magnetic pole initial position angle value obtained by three-phase current magnitude calculation, thus it is pre-to realize dual judgement
Identify.Have employed the rotor magnetic pole initial position recognition methods again utilizing motor saturated characteristic, thus realize pre-in dual judgement
On the basis of recognition result, carry out identifying again to final rotor magnetic pole initial position, and then guaranteed rotor magnetic pole initial position
Accuracy.Compared with traditional recognition method, the used method of the present invention does not results in rotor during identifying need not
The rotation wanted, recognition time is short, and accuracy of identification is high, simple, reliable and stable, improves permagnetic synchronous motor vector controlled
Startability.
The inventive method is in addition to being applicable to without sensor PMSM Drive System, moreover it is possible to be applicable to similar nothing
Brushless motor drive system.It should be noted that control strategy between said apparatus and intrasystem each unit, performed
The contents such as journey, due to the inventive method embodiment based on same design, particular content can be found in the inventive method embodiment
Narration.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Completing instructing relevant hardware by program, this program can be stored in a computer-readable recording medium, storage
Medium may include that flash memory (Flash Memory), read only memory (ROM, Read Only Memory), random access memory
Device (RAM, Random Access Memory), disk or CD etc..
The Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position provided the embodiment of the present invention above is known
Other method, is described in detail, and principle and the embodiment of the present invention are set forth by specific case used herein,
The explanation of above example is only intended to help to understand method and the core concept thereof of the present invention；Simultaneously for this area one
As technical staff, according to the thought of the present invention, the most all will change, to sum up institute
Stating, this specification content should not be construed as limitation of the present invention.
Claims (3)
1. a Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods, it is characterised in that include with
Lower step:
, obtained the biphase current of motor respectively by two current sensorsI sa 、I sb ,And calculate third phase by biphase current
Electric currentI sc , thus obtain three-phase current signalI sabc ；
, by space voltage vector modulation module to permanent-magnetic synchronous motor stator winding inject amplitude beV m1 , pulsewidth isT m1 , arteries and veins
Wide interval isD m1 , direction is spaced six voltage vector pulses of 60 °V 1 ~V 6 ；
, respectively read inject six voltage vector pulse signals time six three-phase current signalsI sabc1 ～I sabc6 , and point
Du Qu the peak value of six three-phase current modulus valueI spk1 ～I spk6 ；
, three-phase current modulus value peak value in opposite direction for voltage vector be added two-by-two obtain motorA、B、COn axis three
Current calculation valueI SA 、I SB 、I SC , and by CLARK coordinate transform be converted toαβCoordinate system componentI Sα 、I Sβ , by anyway
Cut and ask for estimating rotor magnetic pole position angleθ s1 ,θ s1 It it is 0 ~ 180 °；
, respectively according to the voltage vector angle appliedθCarry out PARK coordinate transform, by sample rate currentI sabc Coordinate transform is extremelyq
Shaft currentI sq , and when reading six voltage vector pulses of injection respectivelyqThe peak value of shaft currentI sqpk1 ～I sqpk6 ；
, contrast sixqThe size of shaft current peak value determines the voltage vector sector at rotor magnetic pole positionV n , by voltage
Vector sector is converted to 0~In the range of 180 °, estimate rotor magnetic pole position angleθ s2 ；
Vii, Δ is subtracted each other at the rotor magnetic pole initial position angle that the estimation of two kinds of criterion methods getsθ s =|θ s1 -θ s2 |,Work as Δθ s ≤
Show when 30 ° that applied voltage vector pulse can effectively identify the rotor initial magnetic pole position angle signal in the range of 180 °,
Enter step ix, otherwise, then key in step viii；
Viii, increasing injecting voltage amplitudeV m1 , reenter step ii；
Ix, it is respectively applied toθ s1 Withθ s1 +180°Two voltage vectors on directionV L WithV H , its amplitude isV m2 , pulsewidth isT m2 , pulse width interval isD m2 , whereinV m2 >V m1 , T m2 >T m1 , D m2 >D m1 ；
The peak value of three-phase current modulus value on x, respectively two voltage vector directions of readingI spkL 、I spkH If, |I spkL -I spkH |＞
ΔI spk Then enter step xii, otherwise enter step xi；
Xi, increasing injecting voltage amplitudeV m2 After reenter step ix；
Xii, whenI spkL ＞ I spkH Time rotor magnetic pole initial position angle beθ s1 ；Otherwise, then rotor magnetic pole initial position angle isθ s1 + 180°, thus finally determine initial position angle of rotor.
The most according to claim 1, Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods, it is special
Levy and be: use " two-step method " rotor magnetic pole initial position respectively to permagnetic synchronous motor to carry out pre-identification and identified again,
So that it is guaranteed that identify the accuracy of rotor magnetic pole initial position, in rotor magnetic pole initial position pre-identification, have employed and dual sentence
The method of disconnected pre-identification, respectively by the rotor magnetic pole initial position interval angle judged by voltage vector sector with pass through three-phase
Electric current modulus value calculated rotor magnetic pole initial position angle value compares, thus realizes dual judgement pre-identification, uses
Utilize the rotor magnetic pole initial position recognition methods again of motor saturated characteristic, thus realize in dual judgement pre-identification result
On the basis of, carry out identifying again to final rotor magnetic pole initial position, and then guaranteed the accuracy of rotor magnetic pole initial position.
The most according to claim 2, Permanent Magnet Synchronous Motor Speed Sensorless rotor magnetic pole initial position recognition methods, it is special
Levy and be: described " two-step method " first step is the identification of rotor magnetic pole initial position, for step i~Viii, utilizes permanent-magnet synchronous
The salient pole nature of motor hidden pole type or salient pole type establishes magnetic pole position, and error is 180 ° of electrical angles, " two-step method " second step
Identify again for rotor magnetic pole initial position, for step ix~Xii, utilizes the magnetic circuit saturated characteristic of synchrodrive to establish final magnetic pole institute
In direction.
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| CN106100486A (en) * | 2016-07-01 | 2016-11-09 | 东南大学 | Permagnetic synchronous motor initial position based on amphiorentation voltage vector determines method |
| KR101813963B1 (en) * | 2016-07-07 | 2018-01-03 | 현대모비스 주식회사 | Method for synchronization of mdps motor and motor position sensor and apparatus thererof |
| CN108880388A (en) * | 2018-07-12 | 2018-11-23 | 华中科技大学 | A kind of permanent magnet synchronous motor initial position discrimination method and device |
| CN109560729A (en) * | 2018-11-07 | 2019-04-02 | 长沙市日业电气有限公司 | A method of improving permanent magnet synchronous motor initial position identification precision |
| EP3667894B1 (en) * | 2018-12-12 | 2022-03-23 | Siemens Gamesa Renewable Energy A/S | Method for determining the rotational position of a rotor in a permanent magnet synchronous machine |
| CN109861617B (en) * | 2019-03-27 | 2021-03-30 | 上海新时达电气股份有限公司 | Self-learning method for initial position of magnetic pole of permanent magnet synchronous motor |
| CN110007228B (en) * | 2019-04-04 | 2022-01-21 | 江苏吉泰科电气股份有限公司 | Permanent magnet synchronous motor calibration method based on torque and reactive power measurement |
| CN110160577A (en) * | 2019-06-20 | 2019-08-23 | 广东工业大学 | A kind of angle displacement measurement method of incremental rotary encoder, device and equipment |
| CN110855209A (en) * | 2019-10-23 | 2020-02-28 | 惠州拓邦电气技术有限公司 | Method and device for detecting initial position of rotor of non-inductive permanent magnet synchronous motor, storage medium, electronic equipment and permanent magnet synchronous motor |
| CN111010059B (en) * | 2019-12-16 | 2023-05-30 | 小华半导体有限公司 | Detection system, equipment and method for initial position of permanent magnet synchronous motor |
| CN111193452B (en) * | 2020-02-27 | 2021-09-28 | 东南大学 | Rotor pre-positioning method for avoiding permanent magnet synchronous motor from reversing |
| CN111578970B (en) * | 2020-05-21 | 2022-05-03 | 哈尔滨理工大学 | Angle precision division method and device for multi-pair-electrode magnetoelectric encoder based on nucleic acid sequence comparison idea |
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