CN104506103B - A kind of initial position detection method for permanent magnet synchronous electric motor rotor - Google Patents
A kind of initial position detection method for permanent magnet synchronous electric motor rotor Download PDFInfo
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- CN104506103B CN104506103B CN201410601992.3A CN201410601992A CN104506103B CN 104506103 B CN104506103 B CN 104506103B CN 201410601992 A CN201410601992 A CN 201410601992A CN 104506103 B CN104506103 B CN 104506103B
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Abstract
The present invention provides a kind of initial position detection method for permanent magnet synchronous electric motor rotor,This method is according to three-phase windings high frequency electric response amplitude size with the rule that rotor position angle is different and changes,By injecting symmetrical high-frequency voltage signal to permanent-magnetic synchronous motor stator three-phase windings,Detect high frequency electric response signal,Utilize three-phase high frequency electric response amplitude relation,Rotor-position is locked in 30 ° of interval range,Rotor d shaft position information is then calculated by amplitude progress mathematical analysis of the linear approximation method directly to three-phase stator winding current responsing signal,Again to detecting that the both ends of d axis carry out impulses injection,Detect response current size,N is distinguished according to d axis magnetic circuit saturabilities principle,S poles,This method can not only be accurate,Reliably,It is quickly detected from permanent-magnetic synchronous motor rotor initial position message,And algorithm is simple,Operand is small.
Description
Technical field
The present invention relates to a kind of initial position detection method for permanent magnet synchronous electric motor rotor, is especially compiled with increment photoelectric
Code device, and the permanent magnet synchronous motor control field required to electric motor starting stationarity.
Background technology
At present, the domestic research to permanent magnet synchronous motor initial position detection method is very much, but has its shortcoming.Based on electricity
The method for detecting position computational methods of machine back-emf are simple, reliable, but its deficiency is low speed operation or motor is anti-during zero-speed
Potential very little is zero, so as to be unfavorable for position detection or can not carry out the detection of motor initial position at all.Common high frequency letter
Number injection method solves the problems, such as the position detection when operation of Based on Back-EMF Method low speed or zero-speed, contains rotor in its high frequency response signal
Positional information, but its demodulating algorithm to high frequency response signal is very complicated, and operand is big, and theoretical property is strong, and practical application is often
More problems.Pulse signal injection method detection initial position of rotor method is simple, but detection time is longer, and in detection process
Middle rotor is easily influenced and rotated by injected pulse signal.
The content of the invention
The technical problem to be solved in the invention is：It is full in order to solve the problems, such as permanent magnet synchronous motor initial position detection
Sufficient permanent magnet synchronous motor starts the requirement of stationarity, and this programme provides a kind of permanent-magnetic synchronous motor rotor initial position detection side
Method.This method can not only accurately, it is reliable, be quickly detected from permanent-magnetic synchronous motor rotor initial position message, and algorithm
Simply, operand is small.
The technical solution adopted by the present invention to solve the technical problems is：The first step, gives permanent-magnetic synchronous motor stator A, B, C
Three-phase (by taking three-phase as an example) winding injects the corresponding symmetrical high-frequency voltage signal of phase sequence.Second step, detects the electric current of three-phase windings
Response signal, records the size of A, B, C three-phase windings response current amplitude respectively.3rd step, according to three-phase response current amplitude
It is too small to calculate rotor d shaft positions with the rule that rotor-position is different and changes.4th step, according to d axis saturability principles
Impulses injection is carried out to d axis the two poles of the earth respectively, according to the difference of impulse response size of current, you can N, S pole are distinguished, so that, push away
Calculate the initial position message of rotor.
The beneficial effects of the invention are as follows：Permanent-magnetic synchronous motor rotor initial position is examined using High Frequency Injection
Survey, compared to general High Frequency Injection, this method is directly right by detecting three-phase stator winding high frequency electric response signal
The signal carries out mathematical analysis, obtains rotor d shaft position information by simple mathematical computations and linear approximation, is satisfied by d axis
N, S pole are distinguished with property principle.Processing of this method to high frequency response current signal, eliminates at coordinate transform and complicated signal
Process, the detection times such as reason shorten, and this method calculating initial position of rotor error is small.
Brief description of the drawings
When Fig. 1 rotors are in a certain position (21 ° of electrical angles), when being passed through high-frequency voltage signal in three-phase stator winding
High frequency electric response.
The amplitude of Fig. 2 stator A, B, C three-phase windings high frequency electric response is different with rotor position angle (electrical angle) and changes
Rule.
Calculation error caused by the approximate linearization computational methods that Fig. 3 is used when calculating rotor position angle is estimated.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
The high-frequency voltage signal of three-phase symmetrical is injected in permanent-magnetic synchronous motor stator three-phase windings, will in three-phase windings
Corresponding current responsing signal is produced, as shown in Figure 1.As it can be seen that the electric current produced at this time in motor stator three-phase windings A, B, C is rung
It is different to answer amplitude, and corresponding current rotor-position, there is Ia ＞ Ic ＞ Ib.The motor three-phase windings electricity according to theory analysis
Inductance value can change with rotor-position difference, and the difference of inductance value will cause the difference of high frequency electric response amplitude.Pass through
Experiment and emulation can be drawn as rotor position angle (electrical angle) is different, stator A, B, C three-phase windings current-responsive amplitude
Changing rule is as shown in Figure 2.It can be seen that 360 ° (electrical angle) model week inner stator three-phase windings current-responsive amplitude with rotor
Position angle change is regular：(1) the Ia ＞ Ic ＞ Ib in the range of 0 ° -30 °；(2) the Ic ＞ Ia ＞ in the range of 30 ° -60 °
Ib；(3) the Ic ＞ Ib ＞ Ia in the range of 60 ° -90 °；(4) the Ib ＞ Ic ＞ Ia in the range of 90 ° -120 °；(5) at 120 ° -150 °
In the range of Ib ＞ Ia ＞ Ic；(6) the Ia ＞ Ib ＞ Ic in the range of 150 ° -180 °；At (7) 180 ° -360 ° with 0 ° of -180 ° of situation phase
Together.
In this way, rotor position angle can be determined in 180 ° of (electric angles according to Ia, Ib, Ic three-phase current response amplitude size
Degree) before or after two 30 ° in the range of.Wherein, difference lies in the angle judged before and after 180 ° correspond to N
Pole or S poles, it is assumed that to N, S extremely first without distinguishing, it is believed that rotor N poles are in some 30 ° before 180 °.Under
Formula (mathematical linear approximation method) calculates rotor position angle (1) θ=(Ic-Ib)/* 30 ° of (Ia-Ib) at 0 ° -30 °；
(2) θ=(Ic-Ia)/* 30 °+30 ° of (Ic-Ib) at 30 ° -60 °；(3) θ=(Ib-Ia)/* 30 ° of (Ic-Ia) at 60 ° -90 °
+60°；(4) θ=(Ib-Ic)/* 30 °+90 ° of (Ib-Ia) at 90 ° -120 °；(5) at 120 ° -150 ° θ=(Ia-Ic)/
(Ib-Ic)*30°+120°；(6) θ=(Ia-Ib)/* 30 °+150 ° of (Ia-Ic) at 150 ° -180 °.Counted using above formula
Calculate, its error (three-phase current amplitude in Fig. 2 is considered as sinusoidal variations rule with the rule that rotor-position changes) be approximately Δ θ=
θ-(Ic-Ib)/* 30 ° of (Ia-Ib) (exemplified by when 0 ° -30 °, remaining situation is similar, and calculation error is identical), as shown in Figure 3.Can
It is no more than 0.56 ° (electrical angle) to calculate its error, illustrates that this mathematical linear approximation method will not bring big meter in itself
Calculate error.This error brought by calculating, the startup control to permanent magnet synchronous motor, its influence can be ignored.
This method is illustrated by taking Fig. 1 as an example.As shown in Figure 1, Ia=4.583A at this time；Ib=2.719A；Ic=
3.939A, Ia ＞ Ic ＞ Ib, when not differentiating between N, S pole, rotor is in the range of 0 ° -30 °, passes through θ=(Ic-Ib)/(Ia-
Ib) 19.64 ° of θ ≈ can be calculated for * 30 °, and motor actual rotational angle is 21 ° at this time, its overall error is for 1.36 ° (comprising linear near
Like calculation error and the error of the method for detecting position in itself).
Finally, rotor N, S poles are distinguished, using d axis magnetic circuit saturations.D axis both directions to detecting respectively
Impulses injection is carried out, detects the size of response current value.The larger one end of response current value is N poles, and response current value is less
One end is S poles.Its principle is, when three-phase stator winding resultant current vector is in d direction of principal axis and when being directed toward N poles, armature-reaction
Rise and increase magnetic action, d axis main magnetic circuits degree of saturation is deepened, and causes d axle inductances to decline, thus impulse response current value becomes larger；When fixed
For sub- three-phase windings resultant current vector in d direction of principal axis and when being directed toward S poles, armature-reaction plays demagnetizing effect, d axis main magnetic circuit saturations
Degree reduces, and causes d axle inductances to strengthen, thus impulse response current value diminishes.
Claims (1)
1. a kind of initial position detection method for permanent magnet synchronous electric motor rotor, high by injecting three-phase symmetrical into three-phase stator winding
Frequency sine voltage signal, according to three-phase stator winding high frequency electric response amplitude size with the rule that rotor position angle is different and changes
Rule, it is first determined 30 ° of interval ranges residing for rotor position angle, A, B, C three-phase windings high frequency are represented using Ia, Ib, Ic respectively
Current-responsive amplitude size, the judgment basis of its interval range are：(1) as Ia ＞ Ic ＞ Ib, in the range of 0 ° -30 °, (2)
As Ic ＞ Ia ＞ Ib, in the range of 30 ° -60 °, (3) as Ic ＞ Ib ＞ Ia, in the range of 60 ° -90 °, (4) are as Ib ＞ Ic
During ＞ Ia, in the range of 90 ° -120 °, (5) as Ib ＞ Ia ＞ Ic, in the range of 120 ° -150 °, (6) are as Ia ＞ Ib ＞ Ic
When, in the range of 150 ° -180 °, the situation and 0 ° of -180 ° of situation at (7) 180 ° -360 ° are corresponding identical；According to Ia, Ib, Ic
Size can determine rotor position angle in the range of two 30 ° before or after 180 ° of electrical angles, wherein before 180 ° and
Difference lies in the angle judged afterwards correspond to N poles or S poles；The specific judgement of 30 ° of sections internal rotor exact position angle θ
Method is：(1) θ=(Ic-Ib)/* 30 ° of (Ia-Ib) at 0 ° -30 °；(2) θ=(Ic-Ia)/(Ic-Ib) * at 30 ° -60 °
30°+30°；(3) θ=(Ib-Ia)/* 30 °+60 ° of (Ic-Ia) at 60 ° -90 °；(4) at 90 ° -120 ° θ=(Ib-Ic)/
(Ib-Ia)*30°+90°；(5) θ=(Ia-Ic)/* 30 °+120 ° of (Ib-Ic) at 120 ° -150 °；(6) θ at 150 ° -180 °
=(Ia-Ib)/* 30 °+150 ° of (Ia-Ic)；Finally N, S polarity are distinguished according to using magnetic circuit saturation principle.
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| CN201410601992.3A CN104506103B (en) | 2014-10-28 | 2014-10-28 | A kind of initial position detection method for permanent magnet synchronous electric motor rotor |
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| CN201410601992.3A CN104506103B (en) | 2014-10-28 | 2014-10-28 | A kind of initial position detection method for permanent magnet synchronous electric motor rotor |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105262401A (en) * | 2015-11-11 | 2016-01-20 | 苏州展宇电子有限公司 | A PMSM (permanent magnet synchronous motor) initial phase positioning method |
| CN110995104B (en) * | 2019-12-04 | 2021-07-23 | 东南大学 | Method for identifying initial position of permanent magnet synchronous motor rotor |
| CN111800052A (en) * | 2020-06-22 | 2020-10-20 | 珠海格力电器股份有限公司 | Rotor position detection method and device, compressor and air conditioner |
| CN113541557B (en) * | 2021-07-09 | 2023-04-21 | 深圳市福瑞电气有限公司 | High-speed air compressor starting method based on frequency converter |
| CN115001220B (en) * | 2022-06-30 | 2024-07-12 | 天津工业大学 | Planar inductance coil for detecting position of motor rotor |
| CN115441793A (en) * | 2022-09-13 | 2022-12-06 | 青岛斑科变频技术有限公司 | Novel permanent magnet synchronous motor rotor position identification method |
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| CN103051276A (en) * | 2012-08-27 | 2013-04-17 | 深圳市正弦电气股份有限公司 | Initial position distinguishing method of permanent magnet synchronous motor rotor |
| CN103780192A (en) * | 2014-02-25 | 2014-05-07 | 东南大学 | Method for detecting initial position of rotor of power robot |
| CN103986393A (en) * | 2014-04-21 | 2014-08-13 | 南京航空航天大学 | Method for detecting initial position of rotor of permanent magnet synchronous motor |
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| US9263979B2 (en) * | 2011-07-27 | 2016-02-16 | Carrier Corporation | Method for smooth motor startup |
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| CN103051276A (en) * | 2012-08-27 | 2013-04-17 | 深圳市正弦电气股份有限公司 | Initial position distinguishing method of permanent magnet synchronous motor rotor |
| CN103780192A (en) * | 2014-02-25 | 2014-05-07 | 东南大学 | Method for detecting initial position of rotor of power robot |
| CN103986393A (en) * | 2014-04-21 | 2014-08-13 | 南京航空航天大学 | Method for detecting initial position of rotor of permanent magnet synchronous motor |
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| 基于开关频率载波信号注入的永磁同步电动机转子位置辨识;万山明等;《微特电机》;20100828(第8期);第15-17页 * |
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