CN104639000A - Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro - Google Patents
Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro Download PDFInfo
- Publication number
- CN104639000A CN104639000A CN201410804821.0A CN201410804821A CN104639000A CN 104639000 A CN104639000 A CN 104639000A CN 201410804821 A CN201410804821 A CN 201410804821A CN 104639000 A CN104639000 A CN 104639000A
- Authority
- CN
- China
- Prior art keywords
- output
- phase
- mems gyro
- speed
- synchronous motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a permanent magnet synchronous motor vector control speed regulating method based on an MEMS (micro electro mechanical system) gyro. The MEMS gyro is used for providing rotor position information required by permanent magnet synchronous motor vector control speed regulation. In speed loop control, the output of the MEMS gyro is read and is used as speed loop feedback, and the output of a speed loop is generated by combining the speed loop giving and adopting a control method. In the current loop control, the output of the MEMS gyro is integrated by combining the time interval of each control period, and the rotor position information is obtained. The current loop output is generated by combining the rotor position information, the speed loop output, phase current signals and the control method. According to an initial position obtaining method during the MEMS gyro output integration, an A phase upper bridge and B and C phase lower bridges are conducted, a stator winding coincident with an axial line of an A phase winding is formed, and a d axle of a two-phase rotating coordinate system is attracted to the axial line of the A phase winding. The moment is used as a zero-degree position of the angle during the control.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor vector control speed regulating method based on MEMS gyro.
Background technology
Permagnetic synchronous motor adopts permanent magnet produce air-gap flux and do not need external excitation, has the advantages such as the high power density of excellent efficiency characteristic and torque ratio of inertias, becomes the first-selection of servo-control system.Vector control take rotor flux linkage vector as reference coordinate, excitation component and torque component is divided into by stator current to carry out independent control respectively, no matter in motor low cruise district or having good performance of noiseproof in high speed operation of motor district starts braking ability and stability, be widely used in Permanent-magnet Synchronous-motor Speed Servo System.Position transducer on the one hand for the vector in vector control provides angle information, on the other hand for speed regulating control provides feedback speed information.
Potentiometer is that the signal of output is containing disturbing, and reliability is poor in early days for the position transducer of governing system.Digital encoder is that current Permanent-magnet Synchronous-motor Speed Servo System adopts the widest position transducer, and the speed-measuring method of its correspondence has M method, T method, M/T method.Velocity feedback information exists certain delayed, and precision under lower-speed state is poor.Severe operational environment, makes digital encoder and potentiometer easily break down, and reduces the performance of governing system.Sensorless Control Technique is a kind of mentality of designing breaking away from hardware, but the filtering in electric current, voltage acquisition process, positional information can be made to exist delayed, and precision is poor.In recent years, micro mechanical system (Micro-Electro-Mechanical Systems, MEMS) significant progress is obtained, MEMS gyro moves towards microminiaturized, intelligent, multi-functional and high integration gradually, for the measurement of permagnetic synchronous motor vector control speed-governing rotor positional information provides brand-new approach.
Summary of the invention
The invention provides a kind of permagnetic synchronous motor vector control speed regulating method based on MEMS gyro, utilize the output of MEMS gyro to provide positional information required for vector control speed governing and velocity information.
The technical solution adopted for the present invention to solve the technical problems is: MEMS gyro be arranged on the rotor of permagnetic synchronous motor, as the transducer of rotor position information.In conjunction with the feature of MEMS gyro output speed signal, the velocity feedback information using the output of MEMS gyro as governing system.Integration is carried out in the output of MEMS gyro instrument, the angle signal obtained, as the park conversion in vector control and the angle information required for park inverse transformation.
Speed regulating method provided by the invention, comprises following link:
1) to the lower bridge conducting of bridge, B phase and C phase in A phase, form the stator winding with the dead in line of A phase winding, attract the d axle of two-phase rotating coordinate system to A phase winding axis.This moment is as the zero degree position of angle when controlling.
2) the output w of MEMS gyro is read as the feedback of speed ring, given in conjunction with speed ring, and the control method adopted, produce the output of speed ring.
3) in conjunction with the time interval of each control cycle, the output w of MEMS gyro is carried out integration, obtains rotor position information.In conjunction with the output of this rotor position information, speed ring, phase current signal, control method, the output of generation current ring.
The invention has the beneficial effects as follows:
1) wide region spinner velocity information is provided.According to the speed adjustable range of governing system, can select the MEMS gyro of different range, test the speed under overcoming current Permanent-magnet Synchronous-motor Speed Servo System lower-speed state difficult problem.
2) instantaneously spinner velocity information is provided.MEMS gyro carries out the instantaneous feature tested the speed, and the velocity information that institute's extracting method measurement is obtained does not exist lag issues.
3) instantaneously spinner velocity information is provided.Utilize the instantaneous velocity information integration obtained to obtain instantaneous angle, the problem that angle information resolution is low can be overcome.
4) the position transducer design of low cost.The low cost of MEMS gyro, makes the method have advantage in cost.
5) the position transducer design of high reliability.The high reliability of MEMS gyro, makes the method have advantage in reliability.
6) the position transducer design of small size.The small size of MEMS gyro, makes the method have advantage in size.
Accompanying drawing explanation
Fig. 1 is the permagnetic synchronous motor vector control speed governing block diagram based on MEMS gyro.
In figure, 1-permagnetic synchronous motor, 2-MEMS gyro, 3-current sample, 4-power conversion, 5-isolation and amplifier, 6-power conversion, 7-CPU, 8-input power, 9-isolated variable.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
The structure of the invention process example, with reference to Fig. 1, is made up of permagnetic synchronous motor 1, MEMS gyro 2, current sample 3, power conversion 4, isolation and amplifier 5, power conversion 6, CPU 7, input power 8, isolated variable 9.
The main performance of permagnetic synchronous motor 1 is as follows: brushless, rated current 2.1A, rated voltage 27V, rated speed 1800rpm, and working temperature-40 DEG C ~+80 DEG C, Nd-Fe-B selected by design of electrical motor magnet steel, and core material selects DW360.
The L3G4200D that MEMS gyro 2 adopts ST company to provide is three number of axle word gyroscopes, and key property is as follows: Interface for digital communication supports I
2c and SPI, configurable range is ± 250/500/2000dps.
Current sample 3 adopts Hall current sensor ACS712, realizes the isolation sampling of permagnetic synchronous motor phase current, for permagnetic synchronous motor controls to provide current signal.
Power drive 4 adopts discrete component to build.Select power MOSFET IRFR3412, there is the advantages such as input impedance is high, switching frequency is high, on state voltage is low, Heat stability is good, conducting resistance is low, volume is little, caloric value is little, protective circuit is simple.The maximum input current of this power switch pipe can up to 40A.Consider selected capacity motor and switching frequency demand, driving chip selects high-speed power field effect transistor driving chip IR2103S.
Control section and motor driving part divide mutually isolated by isolation and amplifier 5, prevent permagnetic synchronous motor from producing interference to the work of DSP, assurance device reliability of operation.Consider volume and the reliability of device, isolating chip adopts ADUM1401.
The power supply characteristic that input power 8 adopts is: rated voltage 27V, rated current 10A.The power supply that CPU needs is provided through isolated variable 9 by input power 8; Motor driving part divides the+5V power supply of needs and+15V power supply to be provided through power conversion 6 by input power 8.
CPU 10 adopts TMS320F2812 dsp chip, and clock frequency is 150MHz, makes full use of the peripheral circuit that the igh-speed wire-rod production line ability of dsp chip and Electric Machine Control are optimized, and the advantage such as control precision is high, antijamming capability strong and cost is lower.
In the invention process process, first need the zero-bit determining rotor.Namely give bridge, B phase and C phase in A phase lower bridge conducting, form the stator winding with the dead in line of A phase winding, attract the d axle of two-phase rotating coordinate system to A phase winding axis.With the position of this moment rotor, as the zero degree position of angle when controlling.The double-loop control principle of speed ring and electric current loop is: inner ring electric current loop, and the basic controlling cycle is 0.1ms; Outer shroud is speed ring, and the basic controlling cycle is 1ms.The time reference of 0.1ms, adopts the mode of timer interruption to produce.In the control of speed ring, read the output w of MEMS gyro as the feedback of speed ring, given in conjunction with speed ring, utilize PI control method to produce the output of speed ring.In the control of electric current loop, in conjunction with the time interval 0.1ms of each control cycle, the output w of MEMS gyro is carried out integration, obtains rotor position information.In conjunction with the output of this rotor position information, speed ring, phase current signal, control method, the output of generation current ring.
Claims (4)
1. based on the permagnetic synchronous motor vector control speed regulating method of MEMS gyro, it is characterized in that: utilize MEMS gyro to provide rotor position information required for the speed governing of permagnetic synchronous motor vector control.
2. the permagnetic synchronous motor vector control speed regulating method based on MEMS gyro described by claim 1, it is characterized in that: the feedback of output as speed ring reading MEMS gyro, given in conjunction with speed ring, and the control method adopted, produce the output of speed ring.
3. the permagnetic synchronous motor vector control speed regulating method based on MEMS gyro described by claim 1, is characterized in that: in conjunction with the time interval of each control cycle, the output w of MEMS gyro is carried out integration, obtains rotor position information.In conjunction with the output of this rotor position information, speed ring, phase current signal, control method, the output of generation current ring.
4. the permagnetic synchronous motor vector control speed regulating method based on MEMS gyro described by claim 1, it is characterized in that: initial position acquisition methods when integration is carried out in the output of MEMS gyro is for time bridge conducting of bridge, B phase and C phase A phase in, form the stator winding with the dead in line of A phase winding, attract the d axle of two-phase rotating coordinate system to A phase winding axis.This moment is as the zero degree position of angle when controlling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410804821.0A CN104639000A (en) | 2014-12-12 | 2014-12-12 | Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410804821.0A CN104639000A (en) | 2014-12-12 | 2014-12-12 | Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104639000A true CN104639000A (en) | 2015-05-20 |
Family
ID=53217405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410804821.0A Pending CN104639000A (en) | 2014-12-12 | 2014-12-12 | Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104639000A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199634A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | A kind of direct current biasing error inhibition method of phase current reconstruction technology |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3735836B2 (en) * | 2000-01-02 | 2006-01-18 | 有限会社シー・アンド・エス国際研究所 | Vector control method for permanent magnet synchronous motor |
| CN103513123A (en) * | 2012-06-28 | 2014-01-15 | 西门子公司 | Device and method for measuring servo drive bandwidth |
-
2014
- 2014-12-12 CN CN201410804821.0A patent/CN104639000A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3735836B2 (en) * | 2000-01-02 | 2006-01-18 | 有限会社シー・アンド・エス国際研究所 | Vector control method for permanent magnet synchronous motor |
| CN103513123A (en) * | 2012-06-28 | 2014-01-15 | 西门子公司 | Device and method for measuring servo drive bandwidth |
Non-Patent Citations (6)
| Title |
|---|
| 周好: "永磁同步电机矢量控制调速系统研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 周好: "永磁同步电机矢量控制调速系统研究", 《大连理工大学硕士学位论文》 * |
| 微机械陀螺仪的新进展及发展趋势;许昕，何杰，王文，卜继军;《压电与声光》;20140830;第36卷(第4期);全文 * |
| 永磁同步电机矢量控制调速系统研究;周好;《大连理工大学硕士学位论文》;20101114;正文第1-32页 * |
| 许昕，何杰，王文，卜继军: "微机械陀螺仪的新进展及发展趋势", 《压电与声光》 * |
| 魏华: "基于MEMS陀螺的自动驾驶仪设计", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199634A (en) * | 2018-01-08 | 2018-06-22 | 哈尔滨工业大学 | A kind of direct current biasing error inhibition method of phase current reconstruction technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103501151B (en) | A kind of Unposition sensor for permanent magnet linear motor | |
| CN101615825B (en) | Calibration and zero adjustment system of rotating transformer of permanent magnet synchronous motor and operation method thereof | |
| CN103219933B (en) | A kind of permagnetic synchronous motor starts smooth-switching method | |
| CN101702607A (en) | Stator flux linkage set method of brushless DC motor direct torque control | |
| CN102495645B (en) | Gyro-stabilized platform for high-speed rolling carrier and control method thereof | |
| CN106330046A (en) | Novel five-phase fault tolerant permanent magnet motor sensorless control method based on specific load | |
| CN107707172B (en) | A kind of CMG low speed frame quickly wide torque range, high-precision driving control system | |
| CN101741309B (en) | Directional control device and control method for magnetic field of permanent magnet synchronous motor | |
| CN101964624A (en) | Sensorless control system of permanent magnet synchronous motor | |
| CN101734379B (en) | FPGA-based highly-integrated high-precision control system for micro flywheel | |
| CN108183651A (en) | A kind of control method of permanent magnet linear synchronous motor position-sensor-free | |
| CN101207362A (en) | Controllable weak magnetic technique combining magnetic structure with vector control of permanent magnet motor | |
| CN105227025A (en) | A kind of permagnetic synchronous motor low carrier is than control system without position sensor and control method thereof | |
| CN105429545A (en) | Soft measurement-based control method for sensorless permanent magnet synchronous motor | |
| CN102427325A (en) | Minimum loss control system and method for linear motor based on system loss model method | |
| CN108696187A (en) | Construction method of suspension system for observing parameters of bearingless synchronous reluctance motor | |
| CN108631663A (en) | A method of analyzing accurately and quickly magneto electromagnetic performance | |
| CN202351714U (en) | Gyroscope stabilization platform for high-speed rolling carrier | |
| CN102684588B (en) | Starting detection device and starting method for permanent magnetic synchronous motor speed sensorless | |
| CN103780184B (en) | The Direct Torque of a kind of 12/8 pole simplex winding bearing-free switch reluctance motor and direct suspending power control method | |
| CN102801377B (en) | Simple position sensor fine-adjustment system and adjustment method thereof | |
| CN104639000A (en) | Permanent magnet synchronous motor vector control speed regulating method based on MEMS (micro electro mechanical system) gyro | |
| CN104022707B (en) | Based on asynchronous machine speed control device and the implementation method of rotor flux observer | |
| CN107592046B (en) | Sensorless DTC control method and sensorless DTC control system for synchronous reluctance motor | |
| CN203883653U (en) | Brushless DC motor assembly for spaceborne control moment gyro |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150520 |
|
| RJ01 | Rejection of invention patent application after publication |