CN104579081A - Position-sensorless control method of sliding mode of permanent magnet synchronous motor for air compressor - Google Patents
Position-sensorless control method of sliding mode of permanent magnet synchronous motor for air compressor Download PDFInfo
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- CN104579081A CN104579081A CN201410834582.3A CN201410834582A CN104579081A CN 104579081 A CN104579081 A CN 104579081A CN 201410834582 A CN201410834582 A CN 201410834582A CN 104579081 A CN104579081 A CN 104579081A
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Abstract
The invention discloses a position-sensorless control method of the sliding mode of a permanent magnet synchronous motor for an air compressor. The method avoids the d-axis inductance easy for suffering saturation effect, an observation model does not contain speed information, and the model is used for the medium and high speed of the permanent magnet synchronous motor for the air compressor and has good observation property. A two-filter series mode adopted during counter electromotive force collection can effectively and accurately obtain the phase displacement, caused by a filter, for angle compensation. The method has high robustness, and can be suitable for the operating condition that the load is continuously changed during the starting of the compressor. The position-sensorless control method reduces the manufacture cost and simplifies the production technology.
Description
Technical field
The present invention relates to permagnetic synchronous motor technical field, particularly relate to a kind of permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor.
Background technology
At present, so that its high efficiency small volume is lightweight etc., advantage is widely used in many industrial circles to permagnetic synchronous motor, and it have also been obtained the extensive concern of industrial quarters and scholar in air compressor field.Because of the reason of air compressor machine operational environment, permagnetic synchronous motor cannot installation site transducer, so usually adopt the control method of position-sensor-free.Tradition is based on the Sensorless Control Technique of back-emf method, sliding formwork observation has excellent performance in high speed, but its observation effect under lower-speed state especially Ultra-Low Speed situation is poor, be not suitable in air compressor machine full speed range, being all in the work requirements that band carries state.
Summary of the invention
The object of the invention is to, by one permagnetic synchronous motor sliding formwork used for air compressor method for controlling position-less sensor, solve the problem that above background technology part is mentioned.
For reaching this object, the present invention by the following technical solutions:
A kind of permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor, it comprises:
The stator current estimated in the stator actual current of collection and observer compares by A, sliding mode observer, and wherein, sliding-mode surface Sn is defined as
with actual current i
α, i
βdifference, error is by gathering the real-time correction observation model of saturation function;
B, employing constant current frequency conversion (I-F) control strategy start permagnetic synchronous motor;
C, when permagnetic synchronous motor runs to the middling speed stage switching control strategy, under the mode of coordinate transform during switching switches to rotor flux linkage orientation synchronous coordinate system controlled quentity controlled variable total state, adopt the mode on slope that d shaft current is reduced to 0 after handover simultaneously.
Especially, in described steps A for eliminate saturation function continuous saturated time the buffeting that brings, the α β component E of vector E
αwith E
βobtain by adopting low-pass first order filter.
Especially, in described steps A by two identical firstorder filter series connection to obtain the phase shift produced owing to adopting first-order low-pass ripple, without the need to rotary speed information; The rotor position information of permagnetic synchronous motor is obtained by the azimuth of measurement vector E.
Especially, constant current variable frequency control strategy is adopted to start permagnetic synchronous motor in described step B, specifically comprise: adopt constant current variable frequency control strategy that permanent-magnetic synchronous motor stator current phasor is oriented to synchronous rotating frame Q axle, the instruction of Q shaft current is nominal current magnitude, the instruction of D shaft current is 0, frequency adopts the form of slope instruction, from 0 traction to instruction frequency.
The permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor that the present invention proposes has avoided the d axle inductance of easy saturated impact, and not containing velocity information in observation model, the high speed that model is used for compressor permanent magnet synchronous electric motor has good observation performance.The mode of the double filter series connection adopted when back electromotive force gathers, can obtain phase shift that filter causes effectively, accurately for angle compensation.The present invention has stronger robustness, can adapt to the operating mode that load constantly changes in compressor start process.Method for controlling position-less sensor of the present invention has saved manufacturing cost, simplifies production technology, can be suitable for industrial popularization.
Accompanying drawing explanation
The permagnetic synchronous motor sliding formwork method for controlling position-less sensor principle schematic used for air compressor that Fig. 1 provides for the embodiment of the present invention;
The sliding mode positioning observer principle schematic that Fig. 2 provides for the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not full content, unless otherwise defined, all technology used herein and scientific terminology are identical with belonging to the implication that those skilled in the art of the present invention understand usually.The object of term used in the description of the invention herein just in order to describe specific embodiment, is not intended to be restriction the present invention.
Please refer to shown in Fig. 1, the permagnetic synchronous motor sliding formwork method for controlling position-less sensor principle schematic used for air compressor that Fig. 1 provides for the embodiment of the present invention.
In the present embodiment, permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor specifically comprises:
The stator current estimated in the stator actual current of collection and observer compares by S101, sliding mode observer, and wherein, sliding-mode surface Sn is defined as
with actual current i
α, i
βdifference, error is by gathering the real-time correction observation model of saturation function.
In the present embodiment for eliminate saturation function continuous saturated time the buffeting that brings, the α β component E of vector E
αwith E
βby adopting low-pass first order filter to obtain, but low-pass first order filter inevitably brings phase shift, and the rotating speed of permagnetic synchronous motor (IPMSM) is constantly change simultaneously, therefore, and E
αwith E
βfrequency is also constantly change, and the phase shift of low-pass first order filter changes with the change of speed, in the present embodiment by two identical firstorder filter series connection to obtain the phase shift produced owing to adopting first-order low-pass ripple, without the need to rotary speed information; As shown in Figure 2, the rotor position information of permagnetic synchronous motor is obtained by the azimuth of measurement vector E.In figure, IPMSM represents permagnetic synchronous motor, and SMO represents speed observer, and PI represents pi controller, Park and Park Transformation.Internal permanent magnet synchronous motor stator voltage model equation is as follows:
Wherein, p is differential operator; E
α, E
βbe respectively the value of back electromotive force α, β coordinate system;
it is the measured value of electric current.Observer is compared by the stator current estimated in the stator actual current and the observer that gather, and error revises observation model as formula (2) in real time by employing saturation function.Saturation function in observation model is:
S102, employing constant current variable frequency control strategy start permagnetic synchronous motor.Constant current variable frequency control strategy can realize stable level and smooth control when multi-load in the present embodiment.Adopt constant current variable frequency control strategy that permanent-magnetic synchronous motor stator current phasor is oriented to synchronous rotating frame Q axle, the instruction of Q shaft current is nominal current magnitude, and the instruction of D shaft current is 0, and frequency adopts the form of slope instruction, from 0 traction to instruction frequency.Load angle changes with the change of load.
S103, when permagnetic synchronous motor runs to the middling speed stage switching control strategy, under the mode of coordinate transform during switching switches to rotor flux linkage orientation synchronous coordinate system controlled quentity controlled variable total state, adopt the mode on slope that d shaft current is reduced to 0 after handover simultaneously.
The schematic flow sheet of whole control of the present invention as shown in Figure 1.Switch a, b, c are controlling tactic switch switches, and a is the given diverter switch of d shaft current; B is q shaft current diverter switch; C is the given switch of rotor position angle.When switch is placed in 1, it is given that motor is in starting state d shaft current component
the given arrival nominal current magnitude in q shaft current given employing slope namely
be input to space vector pulse width modulation (SVPWM) module (not shown, to be embedded in three-phase inverter) with the voltage obtaining Ud, Uq in the actual electric current loop PI recorded and obtain after coordinate transform rest frame and produce motor drive signal; When switch is placed in 2, motor is in vector control mode, given speed W
refit is given as q shaft current that the velocity feedback difference estimated with sliding formwork is input to speed outer shroud pi regulator.D shaft current is given as 0, and other are decided to be 1 with state.Only give partial parameters lexical or textual analysis in the present embodiment, other parameter is general knowledge known in this field, does not repeat them here.
Technical scheme of the present invention has avoided the d axle inductance of easy saturated impact, and not containing velocity information in observation model, the high speed that model is used for compressor permanent magnet synchronous electric motor has good observation performance.The mode of the double filter series connection adopted when back electromotive force gathers, can obtain phase shift that filter causes effectively, accurately for angle compensation.The present invention has stronger robustness, can adapt to the operating mode that load constantly changes in compressor start process.Method for controlling position-less sensor of the present invention has saved manufacturing cost, simplifies production technology, can be suitable for industrial popularization.
Note, above are only preferred embodiment of the present invention and institute's application technology principle.Skilled person in the art will appreciate that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute and can not protection scope of the present invention be departed from.Therefore, although be described in further detail invention has been by above embodiment, the present invention is not limited only to above embodiment, when not departing from the present invention's design, can also comprise other Equivalent embodiments more, and scope of the present invention is determined by appended right.
Claims (4)
1. a permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor, is characterized in that, comprising:
The stator current estimated in the stator actual current of collection and observer compares by A, sliding mode observer, and wherein, sliding-mode surface Sn is defined as
with actual current i
α, i
βdifference, error is by gathering the real-time correction observation model of saturation function;
B, employing constant current frequency conversion strategy start permagnetic synchronous motor;
C, when permagnetic synchronous motor runs to the middling speed stage switching control strategy, under the mode of coordinate transform during switching switches to rotor flux linkage orientation synchronous coordinate system controlled quentity controlled variable total state, adopt the mode on slope that d shaft current is reduced to 0 after handover simultaneously.
2. permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor according to claim 1, is characterized in that, in described steps A for eliminate saturation function continuous saturated time the buffeting that brings, the α β component E of vector E
αwith E
βobtain by adopting low-pass first order filter.
3. permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor according to claim 2, it is characterized in that, in described steps A by two identical firstorder filter series connection to obtain the phase shift produced owing to adopting first-order low-pass ripple, without the need to rotary speed information; The rotor position information of permagnetic synchronous motor is obtained by the azimuth of measurement vector E.
4. according to the permagnetic synchronous motor sliding formwork method for controlling position-less sensor used for air compressor one of claims 1 to 3 Suo Shu, it is characterized in that, constant current variable frequency control strategy is adopted to start permagnetic synchronous motor in described step B, specifically comprise: adopt constant current variable frequency control strategy that permanent-magnetic synchronous motor stator current phasor is oriented to synchronous rotating frame Q axle, the instruction of Q shaft current is nominal current magnitude, the instruction of D shaft current is 0, and frequency adopts the form of slope instruction, from 0 traction to instruction frequency.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105610369A (en) * | 2016-03-04 | 2016-05-25 | 合肥工业大学 | Sliding-mode observer based flux linkage observation method of asynchronous motor |
| CN105811843A (en) * | 2016-05-10 | 2016-07-27 | 北京泓慧国际能源技术发展有限公司 | Optional rotation speed quick starting method for permanent magnet synchronous motor |
| CN106208877A (en) * | 2016-08-15 | 2016-12-07 | 北京泓慧国际能源技术发展有限公司 | A kind of magnetic levitation energy storage flywheel is without sensor charge control method |
| CN110855208A (en) * | 2019-11-06 | 2020-02-28 | 中冶赛迪电气技术有限公司 | High-voltage frequency converter speedless sensor vector control system |
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| JPH10155299A (en) * | 1996-11-22 | 1998-06-09 | Matsushita Electric Ind Co Ltd | Power generating device and cleaner utilizing the device |
| CN103219933A (en) * | 2013-02-26 | 2013-07-24 | 常州信息职业技术学院 | Permanent-magnet synchronous motor start-up smooth switching method |
| CN103259472A (en) * | 2013-04-19 | 2013-08-21 | 上海交通大学 | Anti-oscillating self-adaptive restraining system of subsynchronous oscillation of large-size generator set |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
-
2014
- 2014-12-29 CN CN201410834582.3A patent/CN104579081A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10155299A (en) * | 1996-11-22 | 1998-06-09 | Matsushita Electric Ind Co Ltd | Power generating device and cleaner utilizing the device |
| CN103219933A (en) * | 2013-02-26 | 2013-07-24 | 常州信息职业技术学院 | Permanent-magnet synchronous motor start-up smooth switching method |
| CN103259472A (en) * | 2013-04-19 | 2013-08-21 | 上海交通大学 | Anti-oscillating self-adaptive restraining system of subsynchronous oscillation of large-size generator set |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105610369A (en) * | 2016-03-04 | 2016-05-25 | 合肥工业大学 | Sliding-mode observer based flux linkage observation method of asynchronous motor |
| CN105610369B (en) * | 2016-03-04 | 2018-05-29 | 合肥工业大学 | A kind of asynchronous machine Flux Observation Method based on sliding mode observer |
| CN105811843A (en) * | 2016-05-10 | 2016-07-27 | 北京泓慧国际能源技术发展有限公司 | Optional rotation speed quick starting method for permanent magnet synchronous motor |
| CN106208877A (en) * | 2016-08-15 | 2016-12-07 | 北京泓慧国际能源技术发展有限公司 | A kind of magnetic levitation energy storage flywheel is without sensor charge control method |
| CN110855208A (en) * | 2019-11-06 | 2020-02-28 | 中冶赛迪电气技术有限公司 | High-voltage frequency converter speedless sensor vector control system |
| CN110855208B (en) * | 2019-11-06 | 2021-05-11 | 中冶赛迪电气技术有限公司 | High-voltage frequency converter speedless sensor vector control system |
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