CN104967382B - A kind of permagnetic synchronous motor method for controlling position-less sensor - Google Patents
A kind of permagnetic synchronous motor method for controlling position-less sensor Download PDFInfo
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Abstract
The invention discloses a kind of permagnetic synchronous motor method for controlling position-less sensor.Wherein, including one is used to correct the stabilization of speed ring of voltage resultant vector speed, and a voltage magnitude conditioning ring for being used to realize vector controlled.Permagnetic synchronous motor method for controlling position-less sensor designed by the present invention, inherently solves the problems, such as easy step-out collapse in motor operation course, a kind of new control strategy algorithm for realizing vector controlled is proposed simultaneously, so as to realize PMSM Drive System stabilization, reliable, Effec-tive Function.
Description
Technical field
The present invention relates to a kind of permagnetic synchronous motor method for controlling position-less sensor, belong to Motor Control Field.
Background technology
More efficient control system, power electronics and control are applied in growing energy expenditure requirement in industrial equipment
Technology processed can effectively lift current most of industrial drives system effectivenesies.Permagnetic synchronous motor because its high efficiency, high power density,
The series of advantages such as high dynamic response are paid attention in the industry, thus are gradually used widely in industrial equipment.For some
The device long lasting for operating, such as the load of blower fan, pump, compressor class are needed, if there can be lifting in efficiency, will be saved huge
Energy.Permagnetic synchronous motor is applied to these occasions, energy utilization rate can be obviously improved, saves the energy.
The control method of permagnetic synchronous motor mainly has：1) vector controlled, including Current Vector Control, field orientation control
System, Direct Torque Control and magnetic linkage control etc., these control strategies have higher dynamic property, and control accuracy is high, anti-interference
Ability is stronger.2) scalar is controlled, including conventional V/f is controlled, with V/f controls for stablizing conditioning ring etc., this kind of control strategy
Implement relatively simple, strong robustness, but dynamic responding speed is not high.In past 10 years, position Sensorless Control has obtained greatly
Power develops, and essentially consists in and saves position sensor and help to reduce cost, while avoids and trembled under signal interference and fast state
Sensor measurement caused by shaking is forbidden and Its Failures.Correlative study, which concentrates on, considers improving performance and can on the basis of cost
By property, control accuracy and dynamic response are lifted.
By the permagnetic synchronous motor position-sensor-free drive system applications controlled based on scalar V/f in fan-type occasion,
It is a kind of current high-quality selection, it is not high to dynamic performance requirements essentially consists in this kind of load.It is well known that permagnetic synchronous motor turns
The Damper Winding manufactured and designed on son can ensure that spinner velocity is synchronous with the holding of stator electricity frequency.And in design and manufacture
Difficult and cost, Damper Winding is not installed on existing most of permanent-magnetic synchronous motor rotors, thus uses traditional open loop
V/f control strategies can not just ensure the synchronism stability operation of motor.In addition, for applied fields such as blower fan, water pump, compressors
Close, the efficiency and capacity of drive system are a big focus, in the past for permagnetic synchronous motor position Sensorless Control
Research does not produce enough concerns also mostly to it, study V/f based on position-sensor-free technology control realize it is similar
The effect of Current Vector Control, tool are of great significance.
The content of the invention
For problems of the prior art, the application provides a kind of permagnetic synchronous motor position-sensor-free control
Method processed, wherein studied and be related to by the concrete structure and its set-up mode of stabilizing ring and voltage magnitude conditioning ring,
The operation of motor synchronism stability and vector controlled are more easily than with existing product, is provided simultaneously with certain startup load capacity.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of permagnetic synchronous motor position-sensor-free
Control method, specifically include following steps：
Step (1)：Angular rate command signal is given, and target angular rate is inputted, with certain rising or decline
Slope presses linear function relationship change to new target angular rate from former angular rate command signal, wherein, ωe0 *It is defined as
Target angular rate, ωeThe angular rate instruction being defined as in change procedure；
Step (2)：Voltage resultant vector us *And θv *Determination；
Step (3)：The voltage resultant vector determined using step (2) is handled, for driving permagnetic synchronous motor；
Step (4)：Measure permagnetic synchronous motor two-phase stator current iAAnd iB, carry out stabilization of speed ring and voltage magnitude repaiied
Positive ring control, is finally completed the control to permagnetic synchronous motor position-sensor-free.
Preferably, the step (2) specifically includes following steps：
Step (21)：The angular rate obtained in step (1) is instructed into ωeBy a proportional component, proportionality coefficient is
Permanent magnetism chain λm, export and obtain rotor back-emf es；
Step (22)：The processing of voltage resultant vector amplitude, is specifically included：
Step (221)：The e that step (21) is obtaineds, initial start booster tension u0With the output of voltage magnitude conditioning ring
Voltage Δ u is added, and output quantity is voltage magnitude us；
Step (222)：The voltage magnitude u that step (221) is obtainedsAmplitude limiting processing is carried out, the amplitude limit link upper limit is
Wherein, the DC bus-bar voltage for defining inverter bridge input is Udc, amplitude limit link lower limit is 0, and output quantity is voltage resultant vector width
Value us *；
Step (23)：The processing of voltage resultant vector angle, is specifically included：
Step (231)：By the ω described in step (1)eWith the output angular rate amount Δ ω of stabilization of speed ringe, pass through one
Individual subtracter, the angular rate value ω of output voltage vectore *；
Step (232)：The angular rate ω that step (231) is obtainede *Integrated by integral element, obtain voltage conjunction
Into azimuth angle value θv *。
Preferably, the step (3) specifically includes following steps：
Step (31)：The voltage resultant vector amplitude u that step (2) is obtaineds *With angle value θv *, carry out polar coordinate system amount
To the conversion of rectangular co-ordinate α β shaftings, the voltage specified rate for obtaining α axles and β axles is designated as u respectivelyα *、uβ *；
Step (32)：To the voltage set-point u in step (31)α *、uβ *SVPWM modulation is carried out, obtains three phase full bridge inversion
The drive signal of six switching tubes in bridge, above-mentioned inverter bridge are used to drive permagnetic synchronous motor.
Preferably, the step (4) specifically includes following steps：
Step (41)：Measure permanent-magnetic synchronous motor stator biphase current iAAnd iB, by measured two-phase stator current iAWith
iBConvert to obtain the electric current i under the static right angle alpha-beta coordinate system of two-phase by ClarkαAnd iβ；
Step (42)：The voltage specified rate u obtained using step (31)α *、uβ *, and the electric current i that step (41) obtainsα、iβ,
Input power calculating is carried out, calculates the active-power P and reactive power Q of input motor respectively；
Step (43)：Stabilization of speed ring control is carried out using the motor input active-power P of step (42) output, it is specific to go back
Including following processing：
Step (431)：The motor is inputted into active-power P, by a single order high-pass filter, obtains inputting motor
Disturbance active power Δ p；
Step (432)：The disturbance active power Δ p obtained using step (431), is k by a proportionality coefficientp
Amplifying element, output obtain the output angular rate amount Δ ω of stabilization of speed ringe；
Step (44)：The motor input active-power P and reactive power Q and step (231) obtained using step (42)
Export obtained voltage vector angular rate ωe *Voltage magnitude conditioning ring control is carried out, specifically also includes following processing：
Step (441)：The electricity that the motor input active-power P and step (231) output obtained using step (42) is obtained
Press vector angular rate ωe *, pass through QrefLink is calculated, output motor is calculated and existsTorque capacity electric current ratio, id=0
Instruction reactive power Q under control strategyref；
Step (442)：The instruction reactive power Q obtained using step (441) outputrefThe input obtained with step (42)
The reactive power Q of motor, by a subtracter, output obtains reactive power deviation Δ Q；
Step (443)：The reactive power deviation Δ Q obtained using step (442), control is adjusted by pi regulator
System, output obtain the output voltage amount Δ u of voltage magnitude conditioning ring.
In general, according to above-mentioned technical concept of the invention compared with prior art, it is excellent mainly to possess following technology
Point：
1st, hardware is implemented to require few, only need to gather two-phase stator current, small to the dependence of the parameter of electric machine, amount of calculation is small.
Simultaneously by suitably lifting startup voltage, system possesses certain startup load capacity；
2nd, start with from the essential reason of motor desynchronizing collapse, propose to add stabilization of speed ring, solve motor in high frequency
The problem of synchronism stability can not being kept to run when domain or load changing；
3rd, it is break-through point from the reactive power of control input motor, proposesTorque capacity electric current ratio (MTPA),
id=0 isovector control strategy algorithm, voltage magnitude conditioning ring is added, finally realizes vector controlled.
Brief description of the drawings
Fig. 1 is the control structure and principle frame of the permagnetic synchronous motor method for controlling position-less sensor designed by the present invention
Figure.
Embodiment
In order that control structure, technical scheme and the advantage of the present invention are more clearly understood, below in conjunction with accompanying drawing, to this hair
Bright further description.
Fig. 1 show control method theory diagram of the present invention, specifically includes：Angular rate instructs acceleration and deceleration ring
Section, the static α β of proportional component, voltage amplitude limit link, angular rate integral element, polar coordinate system/two-phase for calculating rotor back-emf
Coordinate system transformation, SVPWM modulation, three phase inverter, permagnetic synchronous motor, current sensor, three phase static ABC coordinate systems/
Power calculation link under the static α β coordinate system transformations of two-phase (Clark conversion), the static α β coordinate systems of two-phase, high-pass filter, turn
The stable proportional controller of speed,(MTPA、id=0) reactive power is instructed to calculate during control strategy, voltage magnitude amendment PI
Adjuster etc..
The present invention proposes a kind of permagnetic synchronous motor method for controlling position-less sensor, specifically includes and walks in detail below
Suddenly：
Step (1)：Angular rate command signal is given, and target angular rate is inputted, with certain rising or decline
Slope presses linear function relationship change to new target angular rate from former angular rate command signal, wherein, ωe0 *It is defined as
Target angular rate, ωeThe angular rate instruction being defined as in change procedure；
Step (2)：The determination of voltage resultant vector, specifically include following processing：
Step (21)：The ω that will be obtained in step (1)eBy a proportional component, proportionality coefficient is permanent magnetism chain λm, output
Obtain rotor back-emf es；
Step (22)：The processing of voltage resultant vector amplitude, is specifically included：
Step (221)：The e that step (21) is obtaineds, initial start booster tension u0With the output of voltage magnitude conditioning ring
Voltage Δ u is added, and output quantity is voltage magnitude us；
Step (222)：The voltage magnitude u that step (221) is obtainedsAmplitude limiting processing is carried out, the amplitude limit link upper limit is
Wherein, the DC bus-bar voltage for defining inverter bridge input is Udc, amplitude limit link lower limit is 0.Output quantity is voltage resultant vector width
Value us *；
Step (23)：The processing of voltage resultant vector angle, is specifically included：
Step (231)：The ω that step (1) is obtainedeWith the output angular rate amount Δ ω of stabilization of speed ringe, pass through one
Subtracter, the angular rate value ω of output voltage vectore *；
Step (232)：The angular rate ω that step (231) is obtainede *Integrated by integral element, obtain voltage conjunction
Into azimuth angle value θv *；
Step (3)：The voltage resultant vector determined using step (2) is handled, for driving permagnetic synchronous motor, tool
Body includes following processing：
Step (31)：The voltage resultant vector amplitude and angle value that step (2) is obtained, polar coordinate system amount is carried out to right angle
The conversion of coordinate α β shaftings, the voltage specified rate for obtaining α axles and β axles is respectively uα *、uβ *；
Step (32)：To the voltage set-point u in step (31)α *、uβ *SVPWM modulation is carried out, obtains three phase full bridge inversion
The drive signal of six switching tubes in bridge, above-mentioned inverter bridge are used to drive permagnetic synchronous motor；
Step (4)：Measure permagnetic synchronous motor two-phase stator current iAAnd iB, carry out stabilization of speed ring and voltage magnitude repaiied
Positive ring control, specifically includes following processing：
Step (41)：Measure permanent-magnetic synchronous motor stator biphase current iAAnd iB, by biphase current iAAnd iBBy Clark
Conversion obtains the electric current i under the static right angle alpha-beta coordinate system of two-phaseαAnd iβ；
Step (42)：The voltage specified rate u obtained using step (31)α *、uβ *, and the electric current i that step (41) obtainsα、iβ,
Input power calculating is carried out, calculates the active-power P and reactive power Q of input motor respectively；
Step (43)：Stabilization of speed ring control is carried out using the motor input active-power P of step (42) output, it is specific to go back
Including following processing：
Step (431)：The motor obtained using step (42) inputs active-power P, by a single order high-pass filter
(HPF), obtain inputting the disturbance active power Δ p of motor；
Step (432)：The disturbance active power Δ p of the input motor obtained using step (431), by a ratio system
Number is kpAmplifying element, output obtain the output angular rate amount Δ ω of stabilization of speed ringe.Wherein, kpValue is by solving analysis
The state transfer characteristic root of a matrix of motor mathematical model is obtained, i.e., under certain operating mode, k is selected by numerical analysis methodpValue, protect
The characteristic root of state transfer matrix is demonstrate,proved in the left half-court of s planes, so that it is guaranteed that stabilization of speed；
Step (44)：The motor input active-power P and reactive power Q and step (231) obtained using step (42)
Export obtained voltage vector angular rate ωe *Voltage magnitude conditioning ring control is carried out, specifically also includes following processing：
Step (441)：The electricity that the motor input active-power P and step (231) output obtained using step (42) is obtained
Press vector angular rate ωe *, pass through the Q under certain control strategyrefLink is calculated, output motor is calculated and existsIt is maximum
Torque current ratio (MTPA), idInstruction reactive power Q under=0 control strategyref, specific point of following three kinds of situation discussion：
①
SelectingDuring as the control strategy that need to be realized, it is desirable to which the reactive power for finally entering motor is zero, i.e.,
Qref=0
2. torque capacity electric current ratio (MTPA)
Motor in stable operation,Its voltage equation is
vd=Rsid-wrLqiq (1)
vq=Rsiq+wr(λm+Ldid) (2)
The electromagnetic torque equation of motor is
Te=1.5piq[λm+(Ld-Lq)id] (3)
Wherein, (vd,vq), (id,iq) it is stator voltage and current component, RsIt is stator per phase resistance, Ld,LqIt is d respectively,
Q axle inductances, ωrIt is the angular rate of rotor.ωmIt is the mechanical angular speed of rotor, ωe *It is the electric angle speed of voltage resultant vector
Degree,It is power-factor angle.λmIt is permanent magnet flux linkage, TeIt is electromagnetic torque, p is motor number of pole-pairs.
The active-power P and reactive power Q of input motor are tried to achieve, wherein
P=1.5 (vdid+vqiq)=1.5Rsi2+ (4)
1.5wriq[λm+(Ld-Lq)id]
According to formula (3) and formula (4), by input active power calculate electromagnetic torque is
Convolution (1) (2) (3), can obtain motor needs to meet in maximum torque per ampere control
(7) are substituted into (5), reactive power can be obtained and be further represented as
Thus, when torque capacity electric current can must be used for into control strategy, reactive power is instructed
Combed, it is as follows to obtain the maximum instruction reactive power calculating flow turned according to electric current during than control：
③id=0
Under the premise of motor stabilizing operation,Using idDuring=0 control strategy, iq=i, then it is idle to input motor
Power is
Now electromagnetic torque is
Te=1.5p λmiq (11)
Thus, can must be by idDuring=0 conduct control strategy, reactive power is instructed
Combed, obtain idIt is as follows that instruction reactive power during=0 control calculates flow：
Step (442)：The instruction reactive power Q obtained using step (441) outputrefThe input obtained with step (42)
The reactive power Q of motor, by a subtracter, output obtains reactive power deviation Δ Q；
Step (443)：The reactive power deviation Δ Q obtained using step (442), control is adjusted by pi regulator
System, output obtain the output voltage amount Δ u of voltage magnitude conditioning ring.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (3)
1. a kind of permagnetic synchronous motor method for controlling position-less sensor, it is characterised in that this method comprises the following specific steps that：
Step (1)：Angular rate command signal is given, and target angular rate is inputted, with certain rising or descending slope
From former angular rate command signal by linear function relationship change to new target angular rate, wherein, ωe0 *It is defined as target
Angular rate, ωeThe angular rate instruction being defined as in change procedure；
Step (2)：Voltage resultant vector us *And θv *Determination；
Step (3)：The voltage resultant vector determined using step (2) is handled, for driving permagnetic synchronous motor；
Step (4)：Measure permagnetic synchronous motor two-phase stator current iAAnd iB, carry out stabilization of speed ring and voltage magnitude conditioning ring
Control, is finally completed the control to permagnetic synchronous motor position-sensor-free；
Wherein, the step (2) specifically includes following steps：
Step (21)：The angular rate obtained in step (1) is instructed into ωeBy a proportional component, proportionality coefficient is permanent magnetism chain
λm, export and obtain rotor back-emf es；
Step (22)：The processing of voltage resultant vector amplitude, is specifically included：
Step (221)：The e that step (21) is obtaineds, initial start booster tension u0With the output voltage of voltage magnitude conditioning ring
Amount Δ u is added, and output quantity is voltage magnitude us；
Step (222)：The voltage magnitude u that step (221) is obtainedsAmplitude limiting processing is carried out, the amplitude limit link upper limit isWherein,
The DC bus-bar voltage for defining inverter bridge input is Udc, amplitude limit link lower limit is 0, and output quantity is voltage resultant vector amplitude us *；
Step (23)：The processing of voltage resultant vector angle, is specifically included：
Step (231)：By the ω described in step (1)eWith the output angular rate amount Δ ω of stabilization of speed ringe, subtracted by one
Musical instruments used in a Buddhist or Taoist mass, the angular rate value ω of output voltage vectore *；
Step (232)：The angular rate ω that step (231) is obtainede *Integrated by integral element, obtain voltage synthesis
Azimuth angle value θv *。
2. control method as claimed in claim 1, it is characterised in that：The step (3) specifically includes following steps：
Step (31)：The voltage resultant vector amplitude u that step (2) is obtaineds *With angle value θv *, polar coordinate system amount is carried out to right angle
The conversion of coordinate α β shaftings, the voltage specified rate for obtaining α axles and β axles are designated as u respectivelyα *、uβ *；
Step (32)：To the voltage set-point u in step (31)α *、uβ *SVPWM modulation is carried out, is obtained in three phase full bridge inverter bridge
The drive signal of six switching tubes, above-mentioned inverter bridge are used to drive permagnetic synchronous motor.
3. control method as claimed in claim 1, it is characterised in that：The step (4) specifically includes following steps：
Step (41)：Measure permanent-magnetic synchronous motor stator biphase current iAAnd iB, by measured two-phase stator current iAAnd iBThrough
Clark is crossed to convert to obtain the electric current i under the static right angle alpha-beta coordinate system of two-phaseαAnd iβ；
Step (42)：The voltage specified rate u obtained using step (31)α *、uβ *, and the electric current i that step (41) obtainsα、iβ, carry out
Input power calculates, and calculates the active-power P and reactive power Q of input motor respectively；
Step (43)：Stabilization of speed ring control is carried out using the motor input active-power P of step (42) output, is specifically also included
Following processing：
Step (431)：The motor is inputted into active-power P, by a single order high-pass filter, obtains inputting disturbing for motor
Dynamic active power Δ p；
Step (432)：The disturbance active power Δ p obtained using step (431), is k by a proportionality coefficientpPut
Big link, output obtain the output angular rate amount Δ ω of stabilization of speed ringe；
Step (44)：The motor input active-power P and reactive power Q that are obtained using step (42) and step (231) output
Obtained voltage vector angular rate ωe *Voltage magnitude conditioning ring control is carried out, specifically also includes following processing：
Step (441)：The voltage arrow that the motor input active-power P and step (231) output obtained using step (42) is obtained
Measure angular rate ωe *, pass through QrefLink is calculated, output motor is calculated and existsTorque capacity electric current ratio, id=0 control
Instruction reactive power Q under strategyref；
Step (442)：The instruction reactive power Q obtained using step (441) outputrefThe input motor obtained with step (42)
Reactive power Q, by a subtracter, output obtains reactive power deviation Δ Q；
Step (443)：The reactive power deviation Δ Q obtained using step (442), control is adjusted by pi regulator,
Output obtains the output voltage amount Δ u of voltage magnitude conditioning ring.
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| CN107134954B (en) * | 2017-07-03 | 2019-08-20 | 中山长峰智能自动化装备研究院有限公司 | Permanent magnet synchronous motor control system and method |
| CN107508520B (en) * | 2017-09-14 | 2020-04-24 | 南京航空航天大学 | Permanent magnet motor control method and device |
| CN107919832A (en) * | 2017-11-24 | 2018-04-17 | 浙江理工大学 | Synchronous magnetic resistance motor sensorless control system and method based on power back-off |
| CN108336936A (en) * | 2018-03-29 | 2018-07-27 | 深圳市英威腾电气股份有限公司 | A kind of control method of linear motor, apparatus and system |
| CN109391189B (en) * | 2018-10-17 | 2020-09-29 | 浙江大华技术股份有限公司 | Stepping motor rotation angle compensation method and device |
| CN109861613A (en) * | 2018-12-19 | 2019-06-07 | 无锡华宸控制技术有限公司 | A kind of calculation method, device and the electronic equipment of the output torque of motor |
| CN111064410A (en) * | 2019-12-27 | 2020-04-24 | 天津瑞能电气有限公司 | V/F stability control method for permanent magnet synchronous motor |
| CN112821829B (en) * | 2021-01-07 | 2022-08-09 | 大连理工大学 | Permanent magnet synchronous motor robust position control method considering current amplitude limiting |
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