CN104283469A - Rotor position detection method of synchronous motor speed control system using photoelectric pair tube - Google Patents

Rotor position detection method of synchronous motor speed control system using photoelectric pair tube Download PDF

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Publication number
CN104283469A
CN104283469A CN201410620587.6A CN201410620587A CN104283469A CN 104283469 A CN104283469 A CN 104283469A CN 201410620587 A CN201410620587 A CN 201410620587A CN 104283469 A CN104283469 A CN 104283469A
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China
Prior art keywords
rotor
position detection
detection method
photoelectric pair
rotor position
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Pending
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CN201410620587.6A
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Chinese (zh)
Inventor
范小斌
花为
赵桂书
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Haian Shenling Electrical Appliance Manufacturing Co Ltd
Southeast University
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Haian Shenling Electrical Appliance Manufacturing Co Ltd
Southeast University
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Priority to CN201410620587.6A priority Critical patent/CN104283469A/en
Publication of CN104283469A publication Critical patent/CN104283469A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention discloses a synchronous motor speed regulating system rotor position detection method with the adoption of photoelectric pair transistors, and relates to the technical field of rotor position detection on synchronous motor speed regulating systems driven by sine wave current. According to the rotor position detection method disclosed by the invention, at least two photoelectric pair transistors are sequentially arranged on the circumference, which is concentric with a rotor, at an equal interval, a speed measuring disc with tooth grooves having the same widths is fixed on a rotary shaft which is concentric with the rotor, and the tooth grooves of the speed measuring disc sequentially shelter the photoelectric pair transistors when the rotor rotates to enable the photoelectric pair transistors to output high electric level; with six positions in which an output signal of arbitrary one photoelectric pair transistor jumps in an electricity period as standard positions, the current position of the rotor theta is as follows: theta=theta<last>+omega t<step>+theta<cf>. Compared with a position detection method with the adoption of a photoelectric encoder or a rotary transformer, the rotor position detection method has the advantage of low cost. Compared with a hardware phase-locked loop (PLL) circuit-based rotor position detection method with the adoption of the photoelectric pair transistors, the rotor position detection method has the advantage of high interference resistance, high reliability, capability of accurately detecting a high-frequency input signal, high accuracy in rotor angular fine division and easiness in driving and controlling a circuit, and low cost.

Description

采用光电对管的同步电机调速系统转子位置检测方法Rotor position detection method of synchronous motor speed control system using photoelectric pair tube

技术领域 technical field

本发明涉及正弦波电流驱动的同步电机调速系统转子位置的检测技术领域。 The invention relates to the technical field of detecting the rotor position of a synchronous motor speed regulating system driven by a sine wave current.

背景技术 Background technique

同步电机分为电励磁同步电机、永磁同步电机和混合励磁同步电机,特别是稀土永磁同步电机具有损耗少、效率高、节电效果明显的优点,得到广泛应用。随着电子技术、控制理论和稀土永磁材料的快速发展,正弦波电流驱动的同步电机以其独有的精密驱动的特点,在伺服、驱动等领域的应用范围不断扩大,电机驱动系统的成本也得到了相关领域学者的关注,特别是在工业、民用等场合,低成本显得尤为重要。 Synchronous motors are divided into electric excitation synchronous motors, permanent magnet synchronous motors and hybrid excitation synchronous motors. In particular, rare earth permanent magnet synchronous motors have the advantages of less loss, high efficiency, and obvious power-saving effects, and are widely used. With the rapid development of electronic technology, control theory and rare earth permanent magnet materials, synchronous motors driven by sine wave currents have been widely used in servo, drive and other fields due to their unique precision drive characteristics. The cost of motor drive systems It has also attracted the attention of scholars in related fields, especially in industrial and civil applications, where low cost is particularly important.

现有的正弦波同步电机驱动系统中,转子位置检测通常采用光电编码器或旋转变压器,其成本较高,限制了该类型电机在一些对价格比较敏感的场合的进一步推广应用。 In the existing sine wave synchronous motor drive system, the rotor position detection usually uses a photoelectric encoder or a resolver, which has a high cost, which limits the further popularization and application of this type of motor in some price-sensitive occasions.

发明内容 Contents of the invention

为了降低正弦波同步电机调速系统的成本,本发明提出了一种采用光电对管的同步电机调速系统转子位置检测方法。 In order to reduce the cost of the sine wave synchronous motor speed control system, the invention proposes a rotor position detection method of the synchronous motor speed control system using a photoelectric pair tube.

本发明在与转子同心的圆周上依次等相距布置至少两个光电对管,在与转子同心的转轴上固定齿槽等宽的测速盘,转子转动时测速盘的齿槽依次遮挡光电对管,使光电对管输出高电平;以在一个电周期内任意一个光电对管的输出信号发生跳变的6个位置为标准位置; In the present invention, at least two photoelectric pair tubes are arranged at equal intervals in turn on the circumference concentric with the rotor, and a tachometer disk with the same width as the tooth groove is fixed on the rotating shaft concentric with the rotor. Make the photoelectric pair tube output high level; take the 6 positions where the output signal of any photoelectric pair tube jumps in one electrical cycle as the standard position;

则转子的当前位置θ为:θ=θ last +ωt step cf    Then the current position θ of the rotor is: θ=θ last + ω t step cf

其中,θ last 为上一时刻的转子位置; Among them, θ last is the rotor position at the last moment;

ω为当前的转子转速; ω is the current rotor speed;

t step 为时间间隔; t step is the time interval;

θ cf 为修正角。 θ cf is the correction angle.

本发明与采用光电编码器或旋转变压器的位置检测方法相比,具有成本低的优点。与采用光电对管的基于硬件锁相环(PLL)电路的转子位置检测方法相比,具有以下优点:一、抗干扰能力强,可靠性高,可准确检测高频输入信号;二、转子角度细分的精度很高;三、驱动控制电路简单、成本低。 Compared with the position detection method using photoelectric encoder or rotary transformer, the present invention has the advantage of low cost. Compared with the rotor position detection method based on the hardware phase-locked loop (PLL) circuit using photoelectric tubes, it has the following advantages: 1. Strong anti-interference ability, high reliability, and can accurately detect high-frequency input signals; 2. Rotor angle The subdivision precision is very high; 3. The driving control circuit is simple and the cost is low.

附图说明 Description of drawings

图1是转子位置检测子程序的流程图。 Figure 1 is a flow chart of the rotor position detection subroutine.

图2是转子位置检测装置的结构示意图。 Fig. 2 is a schematic structural diagram of a rotor position detection device.

具体实施方式 Detailed ways

以采用电流滞环控制策略的转子对极正弦波同步电机调速系统为例,该系统使用TI公司的TMS320F2812作为控制芯片,其位置检测部分的大致结构为: Take the rotor pole-to-pole sine wave synchronous motor speed control system using the current hysteresis control strategy as an example. The system uses TI's TMS320F2812 as the control chip. The general structure of its position detection part is:

如图2所示,在与转子4同心的圆周上依次相距15°地布置三个光电对管1,在与转子4同心且固定在转轴3上固定齿数为8的齿槽等宽测速盘2。在转子转动时,测速盘2上的各齿槽依次遮挡光电对管1。 As shown in Figure 2, three photoelectric pair tubes 1 are arranged at a distance of 15° from each other on the circumference concentric with the rotor 4, and a speed measuring disk 2 with the same width of the tooth slots and 8 teeth is fixed on the rotating shaft 3 concentric with the rotor 4 . When the rotor rotates, the tooth slots on the speed measuring disc 2 block the photoelectric pair tube 1 in sequence.

当测速盘2的齿挡住某一个光电对管光路时,该光电对管输出高电平,否则输出低电平。因为光电对管的输出信号发生跳变时,转子位置是唯一确定的,故定义在一个电周期(360°/8=45°)内任意一个光电对管的输出信号发生跳变的6个位置为标准位置。 When the teeth of the tachometer disc 2 block the optical path of a certain photoelectric pair tube, the photoelectric pair tube outputs a high level, otherwise it outputs a low level. Because the rotor position is uniquely determined when the output signal of the photoelectric pair tube jumps, so define 6 positions where the output signal of any photoelectric pair tube jumps within one electrical cycle (360°/8=45°) for the standard position.

控制器首先根据标准位置处广电对管输出的位置信号计算转子位置θ,实现转子位置的精确定位。 The controller first calculates the rotor position θ according to the position signal output by the radio and television tube at the standard position, so as to realize the precise positioning of the rotor position.

转子的当前位置θ为:θ=θ last +ωt step cf    The current position θ of the rotor is: θ=θ last + ω t step + θ cf

其中,θ last 为上一时刻的转子位置; Among them, θ last is the rotor position at the last moment;

ω为当前的转子转速; ω is the current rotor speed;

t step 为控制时间间隔; t step is the control time interval;

θ cf 为修正角。 θ cf is the correction angle.

检测时,首先根据标准位置处捕获的位置信号计算当前的转子转速,并赋值给当前的转子转速ω,然后根据上一时刻的转子位置θ last、 当前的转子转速ω、控制时间间隔t step 和修正角θ cf 计算当前的转子位置θDuring detection, first calculate the current rotor speed based on the position signal captured at the standard position, and assign it to the current rotor speed ω, then according to the rotor position θ last at the previous moment, the current rotor speed ω, the control time interval t step and The correction angle θ cf is calculated for the current rotor position θ .

其工作流程如图1所示。 Its workflow is shown in Figure 1.

Claims (1)

1.采用光电对管的同步电机调速系统转子位置检测方法,在与转子同心的圆周上依次等相距布置至少两个光电对管,在与转子同心的转轴上固定齿槽等宽的测速盘,转子转动时测速盘的齿槽依次遮挡光电对管,使光电对管输出高电平;以在一个电周期内任意一个光电对管的输出信号发生跳变的6个位置为标准位置; 1. The rotor position detection method of the synchronous motor speed control system using photoelectric pair tubes, arrange at least two photoelectric pair tubes at equal intervals on the circumference concentric with the rotor, and fix a speed measuring disc with the same width as the tooth groove on the rotating shaft concentric with the rotor , when the rotor rotates, the cogs of the tachometer disc cover the photoelectric pair tube in turn, so that the photoelectric pair tube outputs a high level; the 6 positions where the output signal of any photoelectric pair tube jumps in one electrical cycle are taken as the standard positions; 则转子的当前位置θ为:θ=θ last +ωt step cf    Then the current position θ of the rotor is: θ=θ last + ω t step cf 其中,θ last 为上一时刻的转子位置; Among them, θ last is the rotor position at the last moment; ω为当前的转子转速; ω is the current rotor speed; t step 为时间间隔; t step is the time interval; θ cf 为修正角。 θ cf is the correction angle.
CN201410620587.6A 2014-11-07 2014-11-07 Rotor position detection method of synchronous motor speed control system using photoelectric pair tube Pending CN104283469A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018032352A1 (en) * 2016-08-16 2018-02-22 Robert Bosch Gmbh An optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor
CN110995108A (en) * 2019-12-20 2020-04-10 阳光电源股份有限公司 Rotary transformer signal compensation method and device and rotary transformer
CN113965119A (en) * 2021-10-09 2022-01-21 西安交通大学 System for realizing real-time angle positioning of direct current motor based on FPGA and custom instruction set

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102361426A (en) * 2011-10-28 2012-02-22 常州华阳电子科技有限公司 Rotor angle subdivision method for switched reluctance motor speed regulation system
EP2439841A2 (en) * 2010-10-07 2012-04-11 Robert Bosch GmbH Electric motor with rotor position detection
CN105322844A (en) * 2014-07-23 2016-02-10 江苏风达为新能源科技有限公司 Synchronous motor speed adjustment system rotor position detecting device and detecting method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2439841A2 (en) * 2010-10-07 2012-04-11 Robert Bosch GmbH Electric motor with rotor position detection
CN102361426A (en) * 2011-10-28 2012-02-22 常州华阳电子科技有限公司 Rotor angle subdivision method for switched reluctance motor speed regulation system
CN105322844A (en) * 2014-07-23 2016-02-10 江苏风达为新能源科技有限公司 Synchronous motor speed adjustment system rotor position detecting device and detecting method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018032352A1 (en) * 2016-08-16 2018-02-22 Robert Bosch Gmbh An optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor
US10644574B2 (en) 2016-08-16 2020-05-05 Robert Bosch Gmbh Optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor
CN110995108A (en) * 2019-12-20 2020-04-10 阳光电源股份有限公司 Rotary transformer signal compensation method and device and rotary transformer
CN113965119A (en) * 2021-10-09 2022-01-21 西安交通大学 System for realizing real-time angle positioning of direct current motor based on FPGA and custom instruction set

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