CN103916065A - Estimation method for static initial position of electro-magnetic synchronous motor rotor of no-position sensor - Google Patents
Estimation method for static initial position of electro-magnetic synchronous motor rotor of no-position sensor Download PDFInfo
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Abstract
The invention relates to an estimation method for the static initial position of an electro-magnetic synchronous motor rotor of a no-position sensor. According to the method, exciting voltage is exerted on the electro-magnetic synchronous motor rotor, the voltage space vector is exerted on a stator many times, the maximum current response values iA, iB and iC on the stator are collected in the exerting process of each time, the current response values of the three-phase stator are calculated to obtain currents id` under a d`q` coordinate system through coordinate transmission, an included angle between the voltage space vector corresponding to the currents id` and an axis A of the motor static coordinate system is obtained according to the id`, and therefore an initial position value of the electro-magnetic synchronous motor rotor is estimated. The estimation method has the advantage of being capable of reducing errors caused by rotor excitation linkage fluctuation when an electro-magnetic synchronous motor estimates the initial position of the rotor by utilizing the inductance saturation effect.
Description
Technical field
The invention belongs to alternating current machine transmission control technology field, be specifically related to a kind of electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free,
Background technology
The initial position (N utmost point position) of rotor is a very important amount in the driving control of electric excitation synchronous motor, and inaccurate initial position can cause the problems such as the decline of motor carrying load ability and reversion.The conventional detecting apparatus for rotor position such as photoelectric encoder, resolver, Hall element, due to the error of mechanical erection, cannot directly obtain the initial position of rotor conventionally; The installation of position transducer also can increase cost, the volume and weight of system, causes the decline of system reliability, and under some occasion, the installation of position transducer is unallowed or cannot realizes.Due to the restriction of electric excitation synchronous motor installation and use occasion, many times need to the in the situation that of stationary rotor, obtain initial position.
At present, the method for original position of electric motor's rotator estimation has a lot, but is mainly for permagnetic synchronous motor, and simple and practical method mainly contains two kinds below:
(1) apply constant voltage vector method.On stator, apply constant space vector of voltage, thereby make rotor turn to specific position.But, requiring motor under quiescent conditions, to obtain the occasion of initial position of rotor, this method is just no longer applicable, and constant space vector of voltage can produce very large stator current simultaneously, likely motor body is caused to damage.
(2) utilizing the saturation effect detection rotor initial position of stator inductance is a kind of method of commonly using.This method is simple, and the space vector of voltage of the amplitudes such as (360 ° of electrical degrees) that applies a week on stator gathers stator three-phase current simultaneously, estimates rotor-position by calculating more corresponding current response value.But because the magnetic linkage of electric excitation synchronous motor rotor field coil does not have the permanent magnetism magnetic linkage of permanent-magnetic synchronous motor rotor stable, so while directly using the method, have larger estimation error.
Theoretically, the estimation precision of this method improves along with the raising of space vector of voltage segmentation degree.But when actual use, due to detecting element error, the existence of switching tube Dead Time etc., makes only to be segmented and be difficult to further improve estimation precision by space vector of voltage, in the occasion that is not therefore suitable for initial position of rotor to have relatively high expectations.
Summary of the invention
The technical problem solving
For fear of the deficiencies in the prior art part, the present invention proposes a kind of electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free, the method that solution utilizes inductor saturation effect to detect permanent-magnetic synchronous motor rotor initial position is applied to the problem that electric excitation synchronous motor accuracy of detection is lower, fluctuate in the estimation error of bringing reducing electric excitation synchronous motor rotor-exciting magnetic linkage, can, under certain space vector of voltage sub-divided condition, further improve the estimation precision of initial position of rotor.
Technical scheme
An electric excitation synchronous motor stationary rotor initial position evaluation method for position-sensor-free, is characterized in that step is as follows:
Step 1: electric excitation synchronous motor rotor is applied to exciting voltage;
Step 2: to applying a certain amplitude voltage space vector on stator, wait for that the electric current on stator is at 1 o'clock, again apply the space vector of voltage of this amplitude, cycle-index is greater than n and is greater than 24 times;
Described application time is that microcontroller is sent out PWM wave period; Described amplitude guarantees not damage motor body;
Step 3: gather and apply the maximum current response i on stator in process at every turn
a, i
b, i
c, calculate threephase stator current response value and obtain the current i under d ' q ' coordinate system by coordinate transform
d', obtain n i
d';
Wherein: θ is the space vector of voltage that at every turn applies and the angle of motor rest frame A axle
Step 4: obtain n i
d' in all i that are more than or equal to
d'
max-Δ i
d' i
d' electric current, and find out corresponding i
dthe θ value of ' electric current, obtains the maximum θ in all θ values
maxwith minimum value θ
min;
Described Δ i
d' be 5～10A;
Step 5: preresearch estimates electric excitation synchronous motor initial position of rotor value θ
r_temp:
1, work as θ
max-θ
minwhen 180 ° of <, θ
r_temp=(θ
max+ θ
min)/2;
2, work as θ
max-θ
min>=180 ° time,
If 360 °-θ
max>=θ
min, θ so
r_temp=(θ
max+ θ
min+ 360 °)/2,
If 360 °-θ
max< θ
min, θ so
r_temp=(θ
max+ θ
min-360 °)/2;
Step 6: work as θ
r_temp-90 °>=0 °, calculate intermediate variable θ
temp=θ
r_temp-90 °; Work as θ
r_temp0 ° of-90 ° of <, calculates intermediate variable θ
temp=θ
r_temp-90 °+360 °;
Step 7: make θ
k=360k/n, corresponding d ' shaft current is i
d' (θ
k), work as θ
k>=360 ° time, i
d' (θ
k)=i
d' (θ
k -n), work as θ
kwhen 0 ° of <, i
d' (θ
k)=i
d' (θ
k+n); Obtain and make | θ
k-θ
temp| minimum k value m, corresponding d ' shaft current is i
d' (θ
m); Wherein k is integer;
Step 8: make Δ i
d' (θ
m)=i
d' (θ
m)-i
d' (θ
m+n/2), Δ i
d' (θ
m+1)=i
d' (θ
m+1)-i
d' (θ
m+1+n/2) ..., Δ i
d' (θ
m+n/2-1)=i
d' (θ
m+n/2-1)-i
d' (θ
m+n/2-1+n/2);
Step 9: to discrete point (θ
m, Δ i
d' (θ
m)), (θ
m+1, Δ i
d' (θ
m+1)) ..., (θ
m+n/2-1, Δ i
d' (θ
m+n/2-1)) carrying out gaussian curve approximation, Gaussian function is y=Aexp ((x-μ)
2/ (2 σ
2)), obtain fitting coefficient μ; Because Gaussian function peak is representing the difference of rotor maximum, minimum response electric current in theory, corresponding the position of the rotor N utmost point, so the rotor position of estimation
r=μ, if μ>=360 °, the rotor position of estimation
r=μ-360 °; If 0 ° of μ <, the rotor position of estimation
r=μ+360 °.
Described 24≤n≤120.
Beneficial effect
The electric excitation synchronous motor stationary rotor initial position evaluation method of a kind of position-sensor-free that the present invention proposes, by electric excitation synchronous motor rotor is applied to exciting voltage, to repeatedly applying space vector of voltage on stator, gather and apply the maximum current response i on stator in process at every turn
a, i
b, i
c, calculate threephase stator current response value and obtain the current i under d ' q ' coordinate system by coordinate transform
d', then according to i
d' obtain corresponding i
dthe angle of the space vector of voltage of ' electric current and motor rest frame A axle, thereby estimation electric excitation synchronous motor initial position of rotor value.Beneficial effect: can reduce electric excitation synchronous motor in the time utilizing inductor saturation effect estimation initial position of rotor due to the rotor-exciting magnetic linkage error of bringing that fluctuates.
Accompanying drawing explanation
Fig. 1: the amplitude of space vector of voltage selects to require schematic diagram
Fig. 2: motor stator applies space vector of voltage schematic diagram
Fig. 3: d ' q ' coordinate system schematic diagram
Fig. 4: stator three-phase current response curve
Fig. 5: 72 space vector of voltage schematic diagrames that apply
Fig. 6: diverse location stator three-phase current response curve
Fig. 7: diverse location current i
d' curve
Fig. 8: θ
maxwith θ
minschematic diagram
Fig. 9: by coordinate points described point mapping curve
Figure 10: Gauss curve fitting curve
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
(1) electric excitation synchronous motor rotor is applied to exciting voltage.
(2) time of the zero vector inserting between amplitude, application time and adjacent two space vector of voltage of definite space vector of voltage applying.The amplitude of space vector of voltage increases gradually since 0, application time is that microcontroller is sent out PWM wave period, and the time of the zero vector inserting between adjacent two space vector of voltage determines according to the amplitude of space vector of voltage and application time, generally can start to increase gradually from 1ms.This step can have been observed by oscilloscope, guarantees that above-mentioned parameter can meet the requirement that does not damage motor body, should meet simultaneously and apply before space vector of voltage at every turn, and stator three-phase current has all decayed to zero, as shown in Figure 1.
In the present embodiment, determine the amplitude U of the space vector of voltage applying
m=0.3(modulation degree), application time 200us, the time of inserting zero vector between adjacent two space vector of voltage is 6ms.
(3) select space vector of voltage number n(24≤n≤120 that apply), (take n=24 as example) as shown in Figure 2, establishing the space vector of voltage that at every turn applies and the angle of motor rest frame A axle is θ.The number of space vector of voltage cannot very few (more than 24), otherwise estimation has larger error.Require space vector of voltage number is even number simultaneously.
In the present embodiment, select applied space vector of voltage number n=72, as shown in Figure 5.
(4) as shown in Figure 3, α β coordinate system is fixed on the stator winding of motor, and dq coordinate system is synchronous rotating frame, the N utmost point of d axle and rotor in the same way, θ
rrepresent the physical location of rotor, d ' q ' coordinate system is estimation coordinate system.Making the angle of d ' q ' coordinate system and rest frame A axle is θ, d ' axle be applied to the space vector of voltage U on stator
sin the same way.For preventing electric machine rotation, applying space vector of voltage by the order 1～24 shown in Fig. 2 to motor stator (guarantees before each space vector of voltage effect, stator three-phase current is all reduced to 0), gather stator three-phase current by current sensor simultaneously, as shown in Figure 4, take out and apply each time space vector of voltage corresponding stator three-phase current response i when complete
a, i
b, i
c.
In the present embodiment, apply space vector of voltage by the order 1～72 shown in Fig. 5 to motor stator, gather stator three-phase current by current sensor simultaneously, take out and apply each time space vector of voltage corresponding stator three-phase current response i when complete
a, i
b, i
c.The current response value of all positions as shown in Figure 6.
(5) the threephase stator current response value obtaining is obtained to the current i under d ' q ' coordinate system by coordinate transform
d', coordinate transform is shown below.
The present embodiment result as shown in Figure 7.
(6) as shown in Figure 3, the angle of establishing the d axle at d ' q ' coordinate system and rotor axis place is δ, along with | δ | reduce, more and more by with stator d ' axle winding interlinkage of the excitation flux linkage that rotor winding produces under exciting voltage, make L
d' more and more less, therefore, than the space vector of voltage of the identical amplitude of other angles, this position current changing rate maximum overlapping with d axle at d ' axle.Due to the fluctuation of electric excitation synchronous motor rotor flux, there is dash area as shown in Figure 3, the current response i that the space vector of voltage applying in this part region obtains
d' in error range, be almost identical.By relatively drawing the maximum d ' shaft current i calculating in step (5)
d'
max, by current acquisition determine precision error delta i
d', obtain all i of being more than or equal to
d'
max-Δ i
d' i
d' electric current, and find out corresponding θ value, relatively draw maximum θ wherein
maxwith minimum value θ
min.
The present embodiment is obtained i
d'
max=255A, determines Δ i
d'=6A, finds out all i of being more than or equal to
d'
max-Δ i
dthe i of '=249A
dthe angle value that ' electric current is corresponding, and obtain maximum θ wherein
max=95 ° and minimum value θ
min=75 °, as shown in Figure 8.
(7) preresearch estimates electric excitation synchronous motor initial position of rotor value: θ
r_temp=(θ
max+ θ
min)/2, work as θ
max-θ
minwhen 180 ° of >, if 360 °-θ
max>=θ
min, θ so
r_temp=(θ
max+ θ
min+ 360 °)/2, if 360 °-θ
max< θ
min, θ so
r_temp=(θ
max+ θ
min-360 °)/2.
The present embodiment preresearch estimates electric excitation synchronous motor initial position of rotor value: θ
r_temp=(θ
max+ θ
min)/2=85 °.
(8) calculate θ
temp=θ
r_temp-90 °, if θ
r_temp0 ° of-90 ° of <, θ so
temp=θ
r_temp-90 °+360 °.
The present embodiment calculates θ
temp=θ
r_temp-90 °+360 °=355 °.
(9) make θ
k=360k/n, the number that wherein n is space vector of voltage, k is integer.Corresponding d ' shaft current is i
d' (θ
k), work as θ
k>=360 ° time, i
d' (θ
k)=i
d' (θ
k-n), work as θ
kwhen 0 ° of <, i
d' (θ
k)=i
d' (θ
k+n).Obtain and make | θ
k-θ
temp| minimum k value m, corresponding d ' shaft current is i
d' (θ
m).
The present embodiment is obtained and is made | θ
k-θ
temp| minimum k value m=71, corresponding d ' shaft current is i
d' (θ
71).
(10) make Δ i
d' (θ
m)=i
d' (θ
m)-i
d' (θ
m+n/2), Δ i
d' (θ
m+1)=i
d' (θ
m+1)-i
d' (θ
m+1+n/2) ..., Δ i
d' (θ
m+n/2 -1)=i
d' (θ
m+n/2-1)-i
d' (θ
m+n/2-1+n/2).
The present embodiment makes Δ i
d' (θ
71)=i
d' (θ
71)-i
d' (θ
107), Δ i
d' (θ
72)=i
d' (θ
72)-i
d' (θ
108) ..., Δ i
d' (θ
106)=i
d' (θ
106)-i
d' (θ
142).
(11) to discrete point (θ
m, Δ i
d' (θ
m)), (θ
m+1, Δ i
d' (θ
m+1)) ..., (θ
m+n/2-1, Δ i
d' (θ
m+n/2-1)) carrying out gaussian curve approximation (gaussian curve approximation method can referring to numerical analysis class teaching material), Gaussian function is y=Aexp ((x-μ)
2/ (2 σ
2)), obtain fitting coefficient μ.Because Gaussian function peak is representing the difference of rotor maximum, minimum response electric current in theory, corresponding the position of the rotor N utmost point, so the rotor position of estimation
r=μ, if μ>=360 °, the rotor position of estimation
r=μ-360 °; If 0 ° of μ <, the rotor position of estimation
r=μ+360 °.
By (θ
71, Δ i
d' (θ
71)), (θ
72, Δ i
d' (θ
72)) ..., (θ
106, Δ i
d' (θ
106)) described point mapping, as shown in Figure 9, can find out, its shape approximation, in Gaussian Profile, therefore selects Gaussian function to carry out matching to data.By gaussian curve approximation, try to achieve μ=444.8, σ=35.1, A=47.07, fitting result is as shown in figure 10.Because μ>=360 °, the rotor position of estimation
r=μ-360 °=84.8 °.
84.381 ° of the rotor-position that the embodiment of the present invention is estimated and real electrical machinery rotor-positions differ 0.419 electrical degree, can meet drive the requirement of controlling completely.
Claims (2)
1. an electric excitation synchronous motor stationary rotor initial position evaluation method for position-sensor-free, is characterized in that step is as follows:
Step 1: electric excitation synchronous motor rotor is applied to exciting voltage;
Step 2: to applying a certain amplitude voltage space vector on stator, wait for that the electric current on stator is at 1 o'clock, again apply the space vector of voltage of this amplitude, cycle-index is greater than n and is greater than 24 times;
Described application time is that microcontroller is sent out PWM wave period; Described amplitude guarantees not damage motor body;
Step 3: gather and apply the maximum current response i on stator in process at every turn
a, i
b, i
c, calculate threephase stator current response value and obtain the current i under d ' q ' coordinate system by coordinate transform
d', obtain n i
d';
Wherein: θ is the space vector of voltage that at every turn applies and the angle of motor rest frame A axle
Step 4: obtain n i
d' in all i that are more than or equal to
d'
max-Δ i
d' i
d' electric current, and find out corresponding i
dthe θ value of ' electric current, obtains the maximum θ in all θ values
maxwith minimum value θ
min;
Described Δ i
d' be 5～10A;
Step 5: preresearch estimates electric excitation synchronous motor initial position of rotor value θ
r_temp:
1, work as θ
max-θ
minwhen 180 ° of <, θ
r_temp=(θ
max+ θ
min)/2;
2, work as θ
max-θ
min>=180 ° time,
If 360 °-θ
max>=θ
min, θ so
r_temp=(θ
max+ θ
min+ 360 °)/2,
If 360 °-θ
max< θ
min, θ so
r_temp=(θ
max+ θ
min-360 °)/2;
Step 6: work as θ
r_temp-90 °>=0 °, calculate intermediate variable θ
temp=θ
r_temp-90 °; Work as θ
r_temp0 ° of-90 ° of <, calculates intermediate variable θ
temp=θ
r_temp-90 °+360 °;
Step 7: make θ
k=360k/n, corresponding d ' shaft current is i
d' (θ
k), work as θ
k>=360 ° time, i
d' (θ
k)=i
d' (θ
k -n), work as θ
kwhen 0 ° of <, i
d' (θ
k)=i
d' (θ
k+n); Obtain and make | θ
k-θ
temp| minimum k value m, corresponding d ' shaft current is i
d' (θ
m); Wherein k is integer;
Step 8: make Δ i
d' (θ
m)=i
d' (θ
m)-i
d' (θ
m+n/
2), Δ i
d' (θ
m+1)=i
d' (θ
m+1)-i
d' (θ
m+1+n/
2) ..., Δ i
d' (θ
m+n/2-1)=i
d' (θ
m+n/2-1)-i
d' (θ
m+n/2-1+n/
2);
Step 9: to discrete point (θ
m, Δ i
d' (θ
m)), (θ
m+1, Δ i
d' (θ
m+1)) ..., (θ
m+n/2-1, Δ i
d' (θ
m+n/2-1)) carrying out gaussian curve approximation, Gaussian function is y=Aexp ((x-μ)
2/ (2 σ
2)), obtain fitting coefficient μ; Because Gaussian function peak is representing the difference of rotor maximum, minimum response electric current in theory, corresponding the position of the rotor N utmost point, so the rotor position of estimation
r=μ, if μ>=360 °, the rotor position of estimation
r=μ-360 °; If 0 ° of μ <, the rotor position of estimation
r=μ+360 °.
2. the electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free according to claim 1, is characterized in that: described 24≤n≤120.
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| CN104300868A (en) * | 2014-10-14 | 2015-01-21 | 西北工业大学 | Estimation method for initial position of rotor of aerial three-level synchronous motor |
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| CN104300867B (en) * | 2014-10-14 | 2017-01-18 | 西北工业大学 | Initial angle detecting method for aviation three-level type synchronous motor rotor |
| CN106788082A (en) * | 2016-12-09 | 2017-05-31 | 西北工业大学 | The method for improving three-level formula synchronous electric motor rotor initial position detection precision |
| CN107036599A (en) * | 2017-04-20 | 2017-08-11 | 西北工业大学 | Permanent magnet synchronous motor rotor position detection method based on MEMS inertia devices |
| CN110138302A (en) * | 2018-02-02 | 2019-08-16 | 西安中车永电捷通电气有限公司 | The method and apparatus for obtaining the initial position angle of rotor of permanent magnet synchronous motor |
| CN111585494A (en) * | 2019-02-18 | 2020-08-25 | 柯尼卡美能达株式会社 | Motor control device, initial position estimation method, and image forming apparatus |
| CN115459664A (en) * | 2022-08-16 | 2022-12-09 | 西北工业大学 | Method for quickly estimating initial position of rotor of electrically excited synchronous motor |
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| CN104300868A (en) * | 2014-10-14 | 2015-01-21 | 西北工业大学 | Estimation method for initial position of rotor of aerial three-level synchronous motor |
| CN104300867B (en) * | 2014-10-14 | 2017-01-18 | 西北工业大学 | Initial angle detecting method for aviation three-level type synchronous motor rotor |
| CN104300868B (en) * | 2014-10-14 | 2017-01-25 | 西北工业大学 | Estimation method for initial position of rotor of aerial three-level synchronous motor |
| CN106253783A (en) * | 2016-09-28 | 2016-12-21 | 西北工业大学 | Initial position evaluation method under electric excitation synchronous motor rotor oscillation |
| CN106788082B (en) * | 2016-12-09 | 2019-01-11 | 西北工业大学 | The method for improving three-level formula synchronous electric motor rotor initial position detection precision |
| CN106788082A (en) * | 2016-12-09 | 2017-05-31 | 西北工业大学 | The method for improving three-level formula synchronous electric motor rotor initial position detection precision |
| CN107036599A (en) * | 2017-04-20 | 2017-08-11 | 西北工业大学 | Permanent magnet synchronous motor rotor position detection method based on MEMS inertia devices |
| CN110138302A (en) * | 2018-02-02 | 2019-08-16 | 西安中车永电捷通电气有限公司 | The method and apparatus for obtaining the initial position angle of rotor of permanent magnet synchronous motor |
| CN111585494A (en) * | 2019-02-18 | 2020-08-25 | 柯尼卡美能达株式会社 | Motor control device, initial position estimation method, and image forming apparatus |
| CN111585494B (en) * | 2019-02-18 | 2023-11-07 | 柯尼卡美能达株式会社 | Motor control device, initial position estimation method, and image forming apparatus |
| CN115459664A (en) * | 2022-08-16 | 2022-12-09 | 西北工业大学 | Method for quickly estimating initial position of rotor of electrically excited synchronous motor |
| CN115459664B (en) * | 2022-08-16 | 2024-03-08 | 西北工业大学 | Rapid estimation method for initial position of rotor of electro-magnetic synchronous motor |
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