CN105071731A - Efficient acceleration control method for permanent-magnet synchronous motor - Google Patents
Efficient acceleration control method for permanent-magnet synchronous motor Download PDFInfo
- Publication number
- CN105071731A CN105071731A CN201510471021.6A CN201510471021A CN105071731A CN 105071731 A CN105071731 A CN 105071731A CN 201510471021 A CN201510471021 A CN 201510471021A CN 105071731 A CN105071731 A CN 105071731A
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- synchronous motor
- motor
- control
- speed
- 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 Ac Motors In General (AREA)
Abstract
The invention relates to an efficient acceleration control method for a permanent-magnet synchronous motor. The efficient acceleration control method comprises the steps as follows: the rotating speed of the permanent-magnet synchronous motor is detected in real time and is compared with a target rotating speed; when the rotating speed of the motor is less than k (k is less than or equal to 1) times of the target rotating speed, the permanent-magnet synchronous motor enters an efficient acceleration control mode; the torque axis current iq reaches the maximum stator current value ilim under the limiting conditions of an inverter and the permanent-magnet synchronous motor to obtain the maximum electromagnetic torque, so that the motor always approaches the target rotating speed at the maximum acceleration; the steps are an open-loop control stage; when the rotating speed of the motor reaches k times or more of the target rotating speed, the permanent-magnet synchronous motor quits the efficient acceleration control mode, enters a stable control mode, and is switched into a vector control strategy of id=0; and the permanent-magnet synchronous motor enters double closed-loop control of the current and the rotating speed, so that the motor relatively stably approaches the target rotating speed; and the system stably runs at the expected rotating speed. According to the method, when the permanent-magnet synchronous motor is started or the preset rotating speed greatly changes, the target rotating speed can be reached as soon as possible; the acceleration time of the motor is greatly shortened; and the efficient acceleration control method is simple in structure and easy to realize.
Description
Technical field
The invention belongs to motor control technology field, relate to a kind of permagnetic synchronous motor and efficiently add speed control method.
Background technology
Along with novel power transistor GTO, the appearance of IGBT etc. has made Speed-controlled System of Synchronous Motor develop into new stage, speed-adjustment System of Permanent has good static and dynamic c haracteristics, is applicable to being applied to lathe, in robot and flexible manufacturing system.The rotor of motor adopts permanent magnet excitation, eliminates rotor-exciting loss.Nowadays permagnetic synchronous motor is widely used because it have easy to maintenance, controllability is strong, affected by environment little, electric efficiency is high and it is a little many to have High Power Factor etc.Permagnetic synchronous motor develops to high-power, high rotating speed, high efficiency and miniaturization.The world today has developed power density more than 1KW/kg and the rated efficiency minitype permanent magnetism synchronous motor that is greater than 90%, and meets the traction control requirement of low-speed big and high speed constant power.
Classical motor control method mainly contains: vector control, direct torque control double-closed-loop control, and the speed ring of vector control and electric current loop adopt classical PI to control simultaneously; Modern control theory mainly adds Sliding mode variable structure control at speed ring and electric current loop; Intelligent Control Theory then adds the control strategies such as fuzzy control, neural net, expert system in two close cycles.
But, existing various motor control strategy also also exists various deficiency, vector control technology algorithm structure more complicated, need to carry out uneoupled control to the cross, straight shaft current of motor, implement more difficult, require higher to controller, and it is comparatively slow to the response of speed, poor anti jamming capability; Speed governing poor performance under Study on direct torque control technology low speed; The research of modern control theory and Based Intelligent Control rests on theory stage more.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of permagnetic synchronous motor efficiently to add speed control method, the method can accelerate its response to speed on the basis of vector control strategy.
For achieving the above object, the invention provides following technical scheme:
A kind of permagnetic synchronous motor efficiently adds speed control method, comprises the following steps:
The actual speed ω of step one, in real time detection permagnetic synchronous motor
tand retrieval system;
Step 2, by motor actual speed and rotating speed of target ω
rk (k≤1) doubly contrast, judge the control mode of permagnetic synchronous motor: efficiently accelerate control model or steady control model;
If step 3 ω
t< k ω
r, then motor enters and efficiently accelerates control model, makes torque axis current i
qfor the maximum stator current value i under the hardware constraints conditions such as inverter and permagnetic synchronous motor itself
lim, through current regulator Driving Torque shaft voltage u
qrefand through Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT, three-phase current when making it export maximum electromagnetic torque, maximum electromagnetic torque is obtained to make motor, make motor approach rotating speed of target with the peak acceleration that can reach, this stage is opened loop control;
Step 4, when the k that motor speed reaches rotating speed of target doubly and above time, i.e. ω
t>=k ω
rtime, then motor exits and efficiently accelerates control model, enters steady control model, switches to i
dthe vector control strategy of=0, form the double closed-loop control system of rotating speed and electric current, system returns actual speed ω
twith rotating speed of target ω
rform the margin of error, through the initial value i of speed control Driving Torque shaft current
qref, i
qrefcurrent error value is formed with electric current return value, then through current regulator adjustment, Driving Torque shaft voltage u
qref, through Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT and exports three-phase current, and make motor approach rotating speed of target more stably, this stage is closed-loop control;
Under step 5, permagnetic synchronous motor are finally stabilized in rotating speed of target, system operates in steady control model always, if permagnetic synchronous motor operating condition changes, under closed-loop control, system also can adjust rapidly, and systematic steady state runs.
Further, in step one, by a transducer actual speed of motor detected in real time and return control system.
Further, in step 2, the value of k (k≤1) sets according to the different demand of different purposes of hardware device condition and permagnetic synchronous motor, thus tackles multiple different demand.
Further, in step 3, according to inverter and the hardware condition of permagnetic synchronous motor own to stator maximum current i
limset.
Further, in step 3 and four, by vector control algorithm controlling torque shaft current and flux current; K and i
limvalue, only once need set system.
Beneficial effect of the present invention is: at the beginning of permagnetic synchronous motor startup or when larger change occurs rotating speed of target, motor actual speed and rotating speed of target have comparatively big difference, the shortcoming that existing vector control system has response speed slow, the present invention can accelerate response speed on the basis of vector control, accelerate with the peak acceleration that can reach under hardware condition, greatly shorten the accelerating time of motor, to adapt to the various demands of different purposes motor under different operating mode.
Accompanying drawing explanation
In order to make object of the present invention, technical scheme and beneficial effect clearly, the invention provides following accompanying drawing and being described:
Fig. 1 is the flow chart that permagnetic synchronous motor efficiently adds speed control method;
Fig. 2 is the structured flowchart that in embodiment, permagnetic synchronous motor efficiently adds speed control method;
Fig. 3 is the motor speed simulation curve adopted in embodiment under general vector control method;
Fig. 4 adopts the motor speed simulation curve efficiently added under speed control method in embodiment;
Fig. 5 is the motor torque shaft current simulation curve adopted in embodiment under general vector control method;
Fig. 6 adopts the motor torque shaft current simulation curve efficiently added under speed control method in embodiment.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
As depicted in figs. 1 and 2, permagnetic synchronous motor of the present invention efficiently adds flow chart and the structured flowchart of speed control method, and it is as follows that the method for the invention specifically comprises step:
First following parameter amount is defined:
In the present embodiment, system parameter settings value is: rotating speed of target ω
r=2500r/min, k=0.7, stator poles threshold currents i
lim=95A.
Step (a): detected by the positional information of transducer to motor, then positional information is carried out differential to the time, obtain motor actual speed ω
tand return the system of bringing into;
Step (b): by ω
twith k times of k ω of system input speed
rcontrast, here k ω
r=1750r/min, judges the control mode of permagnetic synchronous motor, efficient acceleration control mode or steadily control mode;
Step (c): if k is ω
rduring < 1750r/min; Motor enters efficient acceleration and controls control mode, as shown in Figure 2, makes torque axis current i
q=95A, through current regulator Driving Torque shaft voltage u
qrefthrough Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT and exports three-phase current, obtains maximum electromagnetic torque to make motor, make motor approach rotating speed of target with the peak acceleration that can reach, this stage is opened loop control;
Step (d): after motor accelerates a period of time, the k that rotating speed reaches rotating speed of target doubly and above time, i.e. ω
tduring>=1750r/min, as shown in Figure 2, motor exits and efficiently accelerates control model, enters steady control model, switches to i
dthe vector control strategy of=0, form the double closed-loop control system of rotating speed and electric current, system returns actual speed ω
twith rotating speed of target ω
rform the margin of error, through the initial value i of speed control Driving Torque shaft current
qref, i
qrefcurrent error value is formed with electric current return value, then through current regulator adjustment, Driving Torque shaft voltage u
qref, through Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT and exports three-phase current, and make motor approach rotating speed of target more stably, this stage is closed-loop control;
Step (e): under permagnetic synchronous motor is finally stabilized in rotating speed of target, system operates in steady control model always, if permagnetic synchronous motor operating condition changes, under closed-loop control, system also can adjust rapidly, and systematic steady state runs.
As shown in Figure 2, the control method structured flowchart that the present invention specifically implements, this control method mainly comprises: the main modular such as control mode judge module, coordinate transformation module, SVPWM module, current controller.
What the speed control in instantiation of the present invention and current controller adopted is all PI control method.
Fig. 3 and Fig. 4 is respectively and adopts general vector control mode and the efficient velocity simulation curve accelerating control mode, if Fig. 3 is under general vector control mode, from electric motor starting, acceleration through 0.79s reaches rotating speed of target 2500r/min, as shown in Figure 4, under efficient acceleration control mode, motor reaches rotating speed of target 2500r/min through the acceleration of 0.44s, and contrast is lower clearly can embody beneficial effect of the present invention.Fig. 5 is the motor torque shaft current simulation curve adopted in embodiment under general vector control method, and Fig. 6 adopts the motor torque shaft current simulation curve efficiently added under speed control method in embodiment.
What finally illustrate is, above preferred embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although by above preferred embodiment to invention has been detailed description, but those skilled in the art are to be understood that, various change can be made to it in the form and details, and not depart from claims of the present invention limited range.
Claims (5)
1. permagnetic synchronous motor efficiently adds a speed control method, it is characterized in that: comprise the following steps:
The actual speed ω of step one, in real time detection permagnetic synchronous motor
tand retrieval system;
Step 2, by motor actual speed and rotating speed of target ω
rk (k≤1) doubly contrast, judge the control mode of permagnetic synchronous motor: efficiently accelerate control model or steady control model;
If step 3 ω
t< k ω
r, then motor enters and efficiently accelerates control model, makes torque axis current i
qfor the maximum stator current value i under the hardware constraints conditions such as inverter and permagnetic synchronous motor itself
lim, through current regulator Driving Torque shaft voltage u
qrefand through Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT, three-phase current when making it export maximum electromagnetic torque, maximum electromagnetic torque is obtained to make motor, make motor approach rotating speed of target with the peak acceleration that can reach, this stage is opened loop control;
Step 4, when the k that motor speed reaches rotating speed of target doubly and above time, i.e. ω
t>=k ω
rtime, then motor exits and efficiently accelerates control model, enters steady control model, switches to i
dthe vector control strategy of=0, form the double closed-loop control system of rotating speed and electric current, system returns actual speed ω
twith rotating speed of target ω
rform the margin of error, through the initial value i of speed control Driving Torque shaft current
qref, i
qrefcurrent error value is formed with electric current return value, then through current regulator adjustment, Driving Torque shaft voltage u
qref, through Park conversion input SVPWM module, SVPWM module exports six road PWM ripple control inverter IGBT and exports three-phase current, and make motor approach rotating speed of target more stably, this stage is closed-loop control;
Under step 5, permagnetic synchronous motor are finally stabilized in rotating speed of target, system operates in steady control model always, if permagnetic synchronous motor operating condition changes, under closed-loop control, system also can adjust rapidly, and systematic steady state runs.
2. a kind of permagnetic synchronous motor according to claim 1 efficiently adds speed control method, it is characterized in that: in step one, to be detected in real time and return control system by a transducer to the actual speed of motor.
3. a kind of permagnetic synchronous motor according to claim 1 efficiently adds speed control method, it is characterized in that: in step 2, the value of k (k≤1) sets according to the different demand of different purposes of hardware device condition and permagnetic synchronous motor, thus tackles multiple different demand.
4. a kind of permagnetic synchronous motor according to claim 1 efficiently adds speed control method, it is characterized in that: in step 3, according to inverter and the hardware condition of permagnetic synchronous motor own to stator maximum current i
limset.
5. a kind of permagnetic synchronous motor according to claim 1 efficiently adds speed control method, it is characterized in that: in step 3 and four, by vector control algorithm controlling torque shaft current and flux current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510471021.6A CN105071731A (en) | 2015-08-04 | 2015-08-04 | Efficient acceleration control method for permanent-magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510471021.6A CN105071731A (en) | 2015-08-04 | 2015-08-04 | Efficient acceleration control method for permanent-magnet synchronous motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105071731A true CN105071731A (en) | 2015-11-18 |
Family
ID=54501036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510471021.6A Pending CN105071731A (en) | 2015-08-04 | 2015-08-04 | Efficient acceleration control method for permanent-magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105071731A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703683A (en) * | 2016-03-09 | 2016-06-22 | 广东美的制冷设备有限公司 | Air conditioner, method and device for controlling starting of compressor of air conditioner |
| CN106374432A (en) * | 2016-09-14 | 2017-02-01 | 广州视源电子科技股份有限公司 | Synchronous motor step-out detection method and device |
| CN106627251A (en) * | 2017-01-22 | 2017-05-10 | 北京新能源汽车股份有限公司 | Motor control method and device |
| CN106712632A (en) * | 2017-03-28 | 2017-05-24 | 核工业理化工程研究院 | Sensorless control device for AC permanent magnet synchronous motor and starting method of control device |
| CN108462428A (en) * | 2018-03-21 | 2018-08-28 | 上海小蚁科技有限公司 | Motor speed adjusting method and device, computer readable storage medium, terminal |
| CN108462421A (en) * | 2016-12-13 | 2018-08-28 | 成都阜特科技股份有限公司 | A kind of permanent magnet synchronous motor position and velocity estimation under low speed operation |
| CN109245623A (en) * | 2018-08-29 | 2019-01-18 | 广州市保伦电子有限公司 | The method and system of microphone synchronization lifting |
| CN109995298A (en) * | 2019-05-10 | 2019-07-09 | 中山大洋电机股份有限公司 | Vector control without position sensor permanent magnet synchronous motor smoothly starts control method |
| CN110138292A (en) * | 2019-04-30 | 2019-08-16 | 厦门汉印电子技术有限公司 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
| CN111193441A (en) * | 2018-11-14 | 2020-05-22 | 追创科技(苏州)有限公司 | Starting method of brushless direct current motor |
| TWI755246B (en) * | 2021-01-07 | 2022-02-11 | 財團法人工業技術研究院 | System and method for acceleration adjustment of machine tool in rapid traverse |
| CN115441781A (en) * | 2022-08-22 | 2022-12-06 | 陕西航空电气有限责任公司 | Starting function soft exit control method of starting and power generation integrated system |
| CN115664276A (en) * | 2022-10-17 | 2023-01-31 | 佛山市顺德区一拓电气有限公司 | SPWM-based BLDC driving method and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| US20150061556A1 (en) * | 2013-08-30 | 2015-03-05 | Regal Beloit America, Inc. | Method of controlling an electrical machine |
-
2015
- 2015-08-04 CN CN201510471021.6A patent/CN105071731A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| 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 |
| US20150061556A1 (en) * | 2013-08-30 | 2015-03-05 | Regal Beloit America, Inc. | Method of controlling an electrical machine |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703683B (en) * | 2016-03-09 | 2018-05-01 | 广东美的制冷设备有限公司 | The startup control method and device of air conditioner and its compressor |
| CN105703683A (en) * | 2016-03-09 | 2016-06-22 | 广东美的制冷设备有限公司 | Air conditioner, method and device for controlling starting of compressor of air conditioner |
| CN106374432B (en) * | 2016-09-14 | 2019-06-14 | 广州视源电子科技股份有限公司 | Synchronous motor step-out detection method and device |
| CN106374432A (en) * | 2016-09-14 | 2017-02-01 | 广州视源电子科技股份有限公司 | Synchronous motor step-out detection method and device |
| CN108462421A (en) * | 2016-12-13 | 2018-08-28 | 成都阜特科技股份有限公司 | A kind of permanent magnet synchronous motor position and velocity estimation under low speed operation |
| CN106627251A (en) * | 2017-01-22 | 2017-05-10 | 北京新能源汽车股份有限公司 | Motor control method and device |
| CN106712632A (en) * | 2017-03-28 | 2017-05-24 | 核工业理化工程研究院 | Sensorless control device for AC permanent magnet synchronous motor and starting method of control device |
| CN106712632B (en) * | 2017-03-28 | 2024-01-02 | 核工业理化工程研究院 | Control device without position sensor for AC permanent magnet synchronous motor and starting method thereof |
| CN108462428A (en) * | 2018-03-21 | 2018-08-28 | 上海小蚁科技有限公司 | Motor speed adjusting method and device, computer readable storage medium, terminal |
| CN109245623A (en) * | 2018-08-29 | 2019-01-18 | 广州市保伦电子有限公司 | The method and system of microphone synchronization lifting |
| CN111193441A (en) * | 2018-11-14 | 2020-05-22 | 追创科技(苏州)有限公司 | Starting method of brushless direct current motor |
| CN111193441B (en) * | 2018-11-14 | 2021-03-16 | 追创科技(苏州)有限公司 | Starting method of brushless direct current motor |
| CN110138292A (en) * | 2019-04-30 | 2019-08-16 | 厦门汉印电子技术有限公司 | A kind of output torque control method, apparatus, equipment and the storage medium of stepper motor |
| CN109995298B (en) * | 2019-05-10 | 2020-11-10 | 中山大洋电机股份有限公司 | Position-sensor-free vector control permanent magnet synchronous motor smooth start control method |
| CN109995298A (en) * | 2019-05-10 | 2019-07-09 | 中山大洋电机股份有限公司 | Vector control without position sensor permanent magnet synchronous motor smoothly starts control method |
| TWI755246B (en) * | 2021-01-07 | 2022-02-11 | 財團法人工業技術研究院 | System and method for acceleration adjustment of machine tool in rapid traverse |
| US11675337B2 (en) | 2021-01-07 | 2023-06-13 | Industrial Technology Research Institute | System and method for acceleration adjustment of machine tool at rapid traverse |
| CN115441781A (en) * | 2022-08-22 | 2022-12-06 | 陕西航空电气有限责任公司 | Starting function soft exit control method of starting and power generation integrated system |
| CN115664276A (en) * | 2022-10-17 | 2023-01-31 | 佛山市顺德区一拓电气有限公司 | SPWM-based BLDC driving method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105071731A (en) | Efficient acceleration control method for permanent-magnet synchronous motor | |
| Sun et al. | An improved direct instantaneous torque control based on adaptive terminal sliding mode for a segmented-rotor SRM | |
| CN103414415B (en) | A kind of motor control method based on PI parameter self-tuning | |
| CN105634358B (en) | The field weakening control method and drive dynamic control device of permanent magnet synchronous motor | |
| KR101304665B1 (en) | Method for controlling ac motor | |
| CN109617483B (en) | Torque control method for permanent magnet synchronous motor | |
| CN107528511B (en) | Constant power control method and device for wind driven generators | |
| CN106655964B (en) | The full velocity shooting control mode of switched reluctance machines smoothly switches speed regulating method | |
| CN112886893A (en) | Switched reluctance motor torque control method and system based on turn-off angle optimization | |
| Karthik et al. | Analysis of scalar and vector control based efficiency-optimized induction motors subjected to inverter and sensor faults | |
| CN109660166A (en) | Consider the permanent magnet synchronous motor field weakening control method of input voltage fluctuation | |
| Sun et al. | Design and application of sliding mode controller in PMSM position tracking control based on adaptive backstepping | |
| CN115580195A (en) | IPMSM weak magnetic control system and control method based on novel sliding mode control | |
| CN113179061B (en) | Speed regulation method of electric automobile permanent magnet synchronous motor based on weak magnetic control | |
| Lisauskas et al. | Direct torque control of induction drive using fuzzy controller | |
| CN105629737B (en) | A kind of diesel locomotive asynchronous machine internal model control method | |
| CN110096077B (en) | Nonsingular rapid terminal sliding mode rotating speed control method and system for switched reluctance motor | |
| Ko et al. | Maximum torque control of an IPMSM drive using an adaptive learning fuzzy-neural network | |
| Xie et al. | Optimization research of FOC based on PSO of induction motors | |
| CN116743017A (en) | Reliable starting system for large-inertia load permanent magnet motor without position sensor control | |
| Li | Fuzzy DTC for induction motor with optimized command stator flux | |
| Ismail et al. | Improved torque ripple reduction method for surface-mounted permanent magnet synchronous motor in flux-weakening region | |
| Hassan et al. | Direct torque control of non-salient pole AFPMSMs with SVPWM inverter | |
| Li et al. | Phase back EMF space vector oriented control of brushless DC motor for torque ripple minimization | |
| CN111541410B (en) | Method for controlling direct power of open-winding brushless doubly-fed generator |
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: 20151118 |
|
| RJ01 | Rejection of invention patent application after publication |