CN103916065B - A kind of electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free - Google Patents
A kind of electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free Download PDFInfo
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Abstract
The present invention relates to a kind of electric excitation synchronous motor stationary rotor initial position evaluation method of position-sensor-free, by applying exciting voltage to electric excitation synchronous motor rotor, repeatedly apply space vector of voltage on stator, gather the maximum current response i on stator in each applying process
a, i
b, i
c, calculating threephase stator current response value obtains the current i under d ' q ' coordinate system by coordinate transform
d', then according to i
d' obtain corresponding i
dthe space vector of voltage of ' electric current and the angle of motor rest frame A axle, thus estimation electric excitation synchronous motor initial position of rotor value.Beneficial effect: electric excitation synchronous motor can be reduced when utilizing inductor saturation effect to estimate initial position of rotor because rotor-exciting magnetic linkage fluctuates the error brought.
Description
Technical field
The invention belongs to variable frequency ac drive 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 (position, N pole) of rotor is a very important amount in the drived control of electric excitation synchronous motor, and inaccurate initial position can cause motor belt motor load capacity to decline and the problem such as reversion.The detecting apparatus for rotor position that photoelectric encoder, resolver, Hall element etc. are commonly used, due to the error of mechanical erection, directly cannot obtain the initial position of rotor usually; The installation of position transducer also can increase cost, the volume and weight of system, causes the decline of system reliability, and in some cases, the installation of position transducer is unallowed or cannot realizes.Because electric excitation synchronous motor is installed and the restriction of use occasion, many times need to obtain initial position when stationary rotor.
At present, the method for original position of electric motor's rotator estimation has a lot, but mainly for permagnetic synchronous motor, simple and practical method mainly contains two kinds below:
(1) constant voltage vector method is applied.Stator applies constant space vector of voltage, thus makes rotor turn to specific position.But requiring that motor obtains the occasion of initial position of rotor in a stationary situation, this method is just no longer applicable, and constant space vector of voltage can produce very large stator current, likely causes damage to motor body simultaneously.
(2) the saturation effect detection rotor initial position of stator inductance is utilized to be a kind of conventional method.This method is simple, and stator applies the space vector of voltage of amplitudes such as one week (360 ° of electrical degrees), gathers stator three-phase current simultaneously, estimates rotor-position by calculating more corresponding current response value.But the magnetic linkage due to electric excitation synchronous motor rotor field coil does not have the permanent magnet flux linkage of permanent-magnetic synchronous motor rotor to stablize, so when 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 actual when using, due to detecting element error, the existence of switching tube Dead Time etc., makes to be difficult to improve estimation precision further only by space vector of voltage segmentation, be not therefore suitable in the higher occasion of initial position of rotor requirement.
Summary of the invention
The technical problem solved
In order to avoid 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, solve the method utilizing inductor saturation effect to detect permanent-magnetic synchronous motor rotor initial position and be applied to the lower problem of electric excitation synchronous motor accuracy of detection, fluctuate while the estimation error brought reducing electric excitation synchronous motor rotor-exciting magnetic linkage, under certain space vector of voltage sub-divided condition, the estimation precision of initial position of rotor can be improved further.
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: exciting voltage is applied to electric excitation synchronous motor rotor;
Step 2: to stator applying a certain amplitude voltage space vector, when the electric current on wait stator is zero, 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 PWM wave period sent out by microcontroller; Described amplitude ensures not damage motor body;
Step 3: gather the maximum current response i on stator in each applying process
a, i
b, i
c, calculating threephase stator current response value obtains the current i under d ' q ' coordinate system by coordinate transform
d', obtain n i
d';
Wherein: θ is each space vector of voltage of applying and the angle of motor rest frame A axle
Step 4: obtain n i
d' in be allly more than or equal to i
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, θ is worked as
max-θ
minduring < 180 °, θ
r_temp=(θ
max+ θ
min)/2;
2, θ is worked as
max-θ
minwhen>=180 °,
If 360 ° of-θ
max>=θ
min, so θ
r_temp=(θ
max+ θ
min+ 360 °)/2,
If 360 ° of-θ
max< θ
min, so θ
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_temp-90 ° of < 0 °, calculate 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
kwhen>=360 °, i
d' (θ
k)=i
d' (θ
k -n), work as θ
kduring < 0 °, 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 represents in theory, rotor is maximum, the difference of minimum response electric current, correspond to the position of rotor N pole, so the rotor position of estimation
r=μ, if μ>=360 °, then the rotor position estimated
r=μ-360 °; If μ < 0 °, then the rotor position estimated
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 applying exciting voltage to electric excitation synchronous motor rotor, repeatedly apply space vector of voltage on stator, gather the maximum current response i on stator in each applying process
a, i
b, i
c, calculating threephase stator current response value obtains the current i under d ' q ' coordinate system by coordinate transform
d', then according to i
d' obtain corresponding i
dthe space vector of voltage of ' electric current and the angle of motor rest frame A axle, thus estimation electric excitation synchronous motor initial position of rotor value.Beneficial effect: electric excitation synchronous motor can be reduced when utilizing inductor saturation effect to estimate initial position of rotor because rotor-exciting magnetic linkage fluctuates the error brought.
Accompanying drawing explanation
Fig. 1: the amplitude of space vector of voltage is selected 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 of applying
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 plotted versus curve
Figure 10: Gauss curve fitting curve
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
(1) exciting voltage is applied to electric excitation synchronous motor rotor.
(2) time of the zero vector inserted between the amplitude of the space vector of voltage applied, application time and adjacent two space vector of voltage is determined.The amplitude of space vector of voltage increases gradually from 0, application time is that PWM wave period sent out by microcontroller, and the time of the zero vector inserted between adjacent two space vector of voltage determines according to the amplitude of space vector of voltage and application time, generally can increase gradually from 1ms.This step can have been observed by oscilloscope, guarantees that above-mentioned parameter can meet the requirement not damaging motor body, and before should meeting each applying space vector of voltage, stator three-phase current decays to zero all, as shown in Figure 1 simultaneously.
The amplitude U of the space vector of voltage applied is determined in the present embodiment
m=0.3(modulation degree), application time 200us, the time of inserting zero vector between adjacent two space vector of voltage is 6ms.
(3) space vector of voltage number n(24≤n≤120 applied are selected), as shown in Figure 2 (for n=24), the space vector of voltage applied if each and the angle of motor rest frame A axle are θ.The number of space vector of voltage cannot very few (more than 24), otherwise estimation has comparatively big error.Require that space vector of voltage number is even number simultaneously.
Applied space vector of voltage number n=72 is selected, as shown in Figure 5 in the present embodiment.
(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 pole of d axle and rotor in the same way, θ
rrepresent the physical location of rotor, d ' q ' coordinate system is estimation coordinate system.The angle of d ' q ' coordinate system and rest frame A axle is made to be θ, d ' axle and the space vector of voltage U be applied on stator
sin the same way.For preventing electric machine rotation, space vector of voltage is applied (before ensureing each space vector of voltage effect to motor stator by the order 1 ~ 24 shown in Fig. 2, stator three-phase current is all reduced to 0), gather stator three-phase current by current sensor simultaneously, as shown in Figure 4, stator three-phase current response i corresponding when applying space vector of voltage is complete is each time taken out
a, i
b, i
c.
Press the order 1 ~ 72 shown in Fig. 5 in the present embodiment and apply space vector of voltage to motor stator, gather stator three-phase current by current sensor simultaneously, take out stator three-phase current response i corresponding when applying space vector of voltage is complete each time
a, i
b, i
c.The current response value of all positions as shown in Figure 6.
(5) the threephase stator current response value obtained is obtained 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, if the angle of the d axle at d ' q ' coordinate system and rotor axis place is δ, along with | δ | reduction, more and more by with stator d ' axle winding interlinkage of the excitation flux linkage that rotor windings produces under exciting voltage, make L
d' more and more less, therefore, compared to the space vector of voltage of the identical amplitude of other angles, this position current changing rate overlapped with d axle at d ' axle is maximum.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 applied in this part region obtains
d' be almost identical in error range.By comparing the maximum d ' shaft current i drawing and calculate in step (5)
d'
max, by current acquisition precision determination error delta i
d', obtain and be allly more than or equal to i
d'
max-Δ i
d' i
d' electric current, and find out corresponding θ value, compare the maximum θ drawn wherein
maxwith minimum value θ
min.
The present embodiment obtains i
d'
max=255A, determines Δ i
d'=6A, finds out and is allly more than or equal to i
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
minduring > 180 °, if 360 ° of-θ
max>=θ
min, so θ
r_temp=(θ
max+ θ
min+ 360 °)/2, if 360 ° of-θ
max< θ
min, so θ
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) θ is calculated
temp=θ
r_temp-90 °, if θ
r_temp-90 ° of < 0 °, so θ
temp=θ
r_temp-90 °+360 °.
The present embodiment calculates θ
temp=θ
r_temp-90 °+360 °=355 °.
(9) θ is made
k=360k/n, wherein n is the number of space vector of voltage, and k is integer.Corresponding d ' shaft current is i
d' (θ
k), work as θ
kwhen>=360 °, i
d' (θ
k)=i
d' (θ
k-n), work as θ
kduring < 0 °, 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) Δ i is made
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 see numerical analysis class teaching material), Gaussian function is y=Aexp (-(x-μ)
2/ (2 σ
2)), obtain fitting coefficient μ.Because Gaussian function peak represents in theory, rotor is maximum, the difference of minimum response electric current, correspond to the position of rotor N pole, so the rotor position of estimation
r=μ, if μ>=360 °, then the rotor position estimated
r=μ-360 °; If μ < 0 °, then the rotor position estimated
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)) plotted versus, 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 as shown in Figure 10.Because μ>=360 °, then the rotor position estimated
r=μ-360 °=84.8 °.
The rotor-position that the embodiment of the present invention is estimated differs 0.419 electrical degree with real electrical machinery rotor-position 84.381 °, can meet the requirement of drived control completely.
Claims (1)
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: exciting voltage is applied to electric excitation synchronous motor rotor;
Step 2: to stator applying a certain amplitude voltage space vector, when the electric current on wait stator is zero, applies voltage magnitude identical n space vector of voltage, wherein 24≤n≤120 according to first diagonal angle another mistake clockwise;
Described application time is that PWM wave period sent out by microcontroller; Described amplitude ensures not damage motor body;
Step 3: gather the maximum current response i on stator in each applying process
a, i
b, i
c, calculating threephase stator current response value obtains the current i under d ' q ' coordinate system by coordinate transform
d', obtain n i
d';
Wherein: θ is each space vector of voltage of applying and the angle of motor rest frame A axle
Step 4: obtain n i
d' in be allly more than or equal to i
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, θ is worked as
max-θ
minduring < 180 °, θ
r_temp=(θ
max+ θ
min)/2;
2, θ is worked as
max-θ
minwhen>=180 °,
If 360 ° of-θ
max>=θ
min, so θ
r_temp=(θ
max+ θ
min+ 360 °)/2,
If 360 ° of-θ
max< θ
min, so θ
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_temp-90 ° of < 0 °, calculate 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
kwhen>=360 °, i
d' (θ
k)=i
d' (θ
k -n), work as θ
kduring < 0 °, 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 represents in theory, rotor is maximum, the difference of minimum response electric current, correspond to the position of rotor N pole, so the rotor position of estimation
r=μ, if μ>=360 °, then the rotor position estimated
r=μ-360 °; If μ < 0 °, then the rotor position estimated
r=μ+360 °.
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| CN104167971B (en) * | 2014-08-22 | 2017-03-01 | 徐州中矿大传动与自动化有限公司 | A kind of electric excitation synchronous motor initial position of rotor detection means and detection method |
| 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 |
| 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 |
| CN106253783B (en) * | 2016-09-28 | 2018-07-03 | 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 |
| CN107036599B (en) * | 2017-04-20 | 2020-04-03 | 西北工业大学 | Permanent magnet synchronous motor rotor position detection method based on MEMS inertial device |
| 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 |
| JP7188169B2 (en) * | 2019-02-18 | 2022-12-13 | コニカミノルタ株式会社 | MOTOR CONTROL DEVICE, METHOD FOR ESTIMATING INITIAL POSITION OF ROTOR'S POLES, AND IMAGE FORMING DEVICE |
| 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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| JP5324159B2 (en) * | 2008-08-20 | 2013-10-23 | 三洋電機株式会社 | Motor control device |
| CN101783636B (en) * | 2009-01-21 | 2011-04-06 | 珠海格力电器股份有限公司 | Motor rotor position estimation method and motor drive control method |
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