CN105186946A - High-efficiency driving circuit and driving method for permanent magnet synchronous motor - Google Patents
High-efficiency driving circuit and driving method for permanent magnet synchronous motor Download PDFInfo
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Abstract
The invention discloses a high-efficiency driving circuit and driving method for a permanent magnet synchronous motor. According to the driving method, a counter potential amplitude of one phase is estimated by sampling amplitude information of the voltage and the current of the phase in the permanent magnet synchronous motor; the estimated counter potential amplitude is compared with the counter potential amplitude which is obtained by a counter potential constant to generate an angle difference value signal; and a counter potential phase is controlled to be consistent with the current according to the angle difference value signal, so as to achieve maximum torque per ampere current. The permanent magnet synchronous motor disclosed by the invention does not need complicated coordinate transformation; the algorithm is simple and easy to achieve; a three-phase horseshoe modulated wave can be deduced only by sampling rotor voltage and current information of one phase; the circuit is simple; and the cost is low.
Description
Technical field
The present invention relates to motor control technology field, in particular, relate to a kind of drive circuit and driving method of high efficiency permagnetic synchronous motor.
Background technology
Permagnetic synchronous motor (PMSM) due to himself have lightweight, volume is little, structure is simple and the more high advantages of power density, play an important role in daily life, industrial and agricultural production and national economic development.Due to permanent magnetic material performance improve constantly and perfect, and the further developing of power electronic device, the application of permagnetic synchronous motor is more and more extensive.Wishing in some applications can the cost of control system to greatest extent, and position-sensor-free technology eliminates conventional position transducer, as the equipment such as photoelectric coded disk, resolver, greatly reduces the cost of system.The control program of the permagnetic synchronous motor of traditional position-sensor-free adopts vector control, and the vector control of position-sensor-free can realize good permagnetic synchronous motor and control, but there is algorithm complexity, and amount of calculation is large, needs higher processor.
Summary of the invention
In view of this, the present invention proposes a kind of drive circuit and driving method of high efficiency permagnetic synchronous motor, the back-emf amplitude of this phase is estimated by the amplitude information of the wherein voltage and current of a phase of permagnetic synchronous motor of sampling, then by the back-emf amplitude of estimation with utilize back electromotive-force constant to obtain back-emf amplitude to compare, to produce angle difference signal, according to described angle difference signal controlling, back-emf phase place is consistent with current phase, to realize the torque maximum of every Ampere currents.
According to the drive circuit of a kind of high efficiency permagnetic synchronous motor of the present invention, by controlling the on off state of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor, described drive circuit comprises speed detect circuit, phase difference calculating module, three-phase modulations wave generation circuit and three-phase PWM control circuit
Described speed detect circuit in order to detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value of rotor;
Described phase difference calculating module receives current amplitude signal and the voltage magnitude signal of a wherein phase stator of described permagnetic synchronous motor, and estimate the back-emf amplitude of this phase accordingly, the back-emf amplitude of estimation and the back-emf amplitude obtained by the back electromotive-force constant of motor are carried out difference operation, to produce an angle difference signal by described phase difference calculating module;
Each phase modulation wave generation circuit receives described rotating speed measured value and described angle difference signal, obtains one first shape of a hoof modulating wave according to described rotating speed measured value; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase;
Each phase pwm control circuit receives the first shape of a hoof modulating wave and a proportionality coefficient of a corresponding phase, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal is in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulate the electric current of described permagnetic synchronous motor, realize controlling the sine-wave current of described permagnetic synchronous motor.
Further, described phase difference calculating module comprises current amplitude sample circuit, voltage magnitude sample circuit, back-emf estimation block and counting circuit,
The stator current information of a wherein phase of permagnetic synchronous motor described in described current amplitude sampling circuit samples is to obtain the current amplitude signal of this phase;
Described voltage magnitude sample circuit receives the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of this phase;
Described back-emf estimation block receives described current amplitude signal and voltage magnitude signal, to estimate the back-emf amplitude of this phase accordingly;
The back-emf amplitude that described counting circuit receives described estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor, both are carried out mathematic interpolation to export described angle difference signal by described counting circuit.
Preferably, the estimation process of described back-emf amplitude specifically comprises: according to the equality of vector estimation back-emf amplitude size of described permagnetic synchronous motor, wherein, the equality of vector of permagnetic synchronous motor is:
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, X
d, X
qfor the inductance of permagnetic synchronous motor under d axle and q axle, Id, Iq are the electric current of permagnetic synchronous motor under d axle and q axle, rs is stator resistance, and is is stator current amplitude.
Further, described phase difference calculating module comprises the first mlultiplying circuit, and described first mlultiplying circuit receives the back electromotive-force constant of described rotating speed measured value and motor, obtains the amplitude of back-emf after multiplying.
Further, described proportionality coefficient is produced by rotational speed regulation circuit, described rotational speed regulation circuit receives described rotating speed measured value and reference rotation velocity value, obtains an error signal through error calculation, and described error signal obtains described proportionality coefficient after pid calculation.
Further, each phase pwm control circuit described comprises the second mlultiplying circuit and switching signal produces circuit,
Described second mlultiplying circuit receives described first shape of a hoof modulating wave and described proportionality coefficient, to generate the second shape of a hoof modulating wave;
Described switching signal produces circuit and receives described second shape of a hoof modulating wave and described triangular signal, and to produce described pwm control signal, wherein, described triangular signal is provided by circuit for generating triangular wave.
Preferably, the stator voltage information of corresponding phase of sampling is to obtain described voltage magnitude signal, and described correspondence is an identical phase with sampling stator current information mutually.
Preferably, described drive circuit also comprises the 3rd mlultiplying circuit, and described 3rd mlultiplying circuit receives a sine wave signal and described proportionality coefficient, produces described voltage magnitude signal after multiplying, wherein, described sine wave signal is identical with described first shape of a hoof modulating wave phase place.
According to the driving method of a kind of high efficiency permagnetic synchronous motor of the present invention, by controlling the on off state of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor, comprise the following steps:
Detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value of rotor;
Receive current amplitude signal and the voltage magnitude signal of a wherein phase stator of described permagnetic synchronous motor, and estimate the back-emf amplitude of this phase accordingly, the back-emf amplitude of estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor are carried out difference operation, to produce an angle difference signal;
Receive described rotating speed measured value and described angle difference signal, obtain one first shape of a hoof modulating wave according to described rotating speed measured value; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase;
Receive described first shape of a hoof modulating wave and a proportionality coefficient, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal is in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulate the electric current of described permagnetic synchronous motor, realize controlling the sine-wave current of described permagnetic synchronous motor.
Further, the concrete steps that described angle difference signal produces comprise:
Sample the stator current information of a wherein phase of described permagnetic synchronous motor to obtain the current amplitude signal of this phase;
Receive the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of this phase;
Receive described current amplitude signal and voltage magnitude signal, to estimate the back-emf amplitude of this phase accordingly;
Both are carried out mathematic interpolation to export described angle difference signal by the back-emf amplitude receiving described estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor.
According to drive circuit and the driving method of above-mentioned high efficiency permagnetic synchronous motor, the back-emf amplitude of this phase is estimated by the amplitude information of the wherein voltage and current of a phase of permagnetic synchronous motor of sampling, then the back-emf amplitude of estimation and the back-emf amplitude utilizing back electromotive-force constant to obtain are compared, to produce angle difference signal, according to described angle difference signal controlling, back-emf phase place is consistent with current phase, to realize the torque maximum of every Ampere currents.Permagnetic synchronous motor of the present invention does not need complicated coordinate transform, and algorithm is simple, be easy to realize, and the rotor voltage current information of a phase of only need sampling can release the shape of a hoof modulating wave of three-phase, and circuit is simple, and cost is low.
Accompanying drawing explanation
Figure 1 shows that the circuit block diagram of the first embodiment of the drive circuit according to permagnetic synchronous motor of the present invention;
Figure 2 shows that the polar plot when torque maximum according to permagnetic synchronous motor of the present invention;
Figure 3 shows that the circuit block diagram of the second embodiment of the drive circuit according to permagnetic synchronous motor of the present invention;
Embodiment
Below in conjunction with accompanying drawing, several preferred embodiment of the present invention is described in detail, but the present invention is not restricted to these embodiments.The present invention contain any make on marrow of the present invention and scope substitute, amendment, equivalent method and scheme.To have the present invention to make the public and understand thoroughly, in the following preferred embodiment of the present invention, describe concrete details in detail, and do not have the description of these details also can understand the present invention completely for a person skilled in the art.
With reference to figure 1, be depicted as the circuit block diagram of the first embodiment of the drive circuit according to permagnetic synchronous motor of the present invention; Three-phase inverter 11 receives external voltage signal V
busto be converted to three-phase alternating voltage signal supply permagnetic synchronous motor (PMSM), described drive circuit is according to the stator current of described permagnetic synchronous motor and information of voltage, to produce the on off state that pwm control signal controls the inverter breaker in middle pipe of described permagnetic synchronous motor, thus control the operating current of described permagnetic synchronous motor.As shown in fig. 1, the three-phase alternating voltage signal that described three-phase inverter 11 exports is designated as A phase, B phase and C phase respectively.
In embodiments of the present invention, described drive circuit comprises speed detect circuit 16, phase difference calculating module, three-phase modulations wave generation circuit and three-phase PWM control circuit, described speed detect circuit 16 in order to detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value n of rotor
e.Concrete, described speed detect circuit 16 utilizes the waveform of the phase current obtained of sampling to obtain the rotating speed of electronics.When motor stabilizing operates, in each cycle, stator current can be all a complete sine wave, the cycle calculating this electric current can obtain the frequency of electric current, the electric speed of motor can be calculated according to frequency, according to the relation of electric speed and mechanical speed, can calculate the running speed of motor, namely the running speed of described motor is the rotary speed of above-mentioned rotor.
Described phase difference calculating module comprises current amplitude sample circuit 12, voltage magnitude sample circuit 13, back-emf estimation block 14 and counting circuit 15 further, and described current amplitude sample circuit 12 samples the stator current information of a wherein phase of described permagnetic synchronous motor to obtain the current amplitude signal Via of this phase; Described voltage magnitude sample circuit 13 receives the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal Ua of this phase, here for A phase explanation of sampling.Described back-emf estimation block receives described current amplitude signal Via and voltage magnitude signal Ua, to estimate the back-emf amplitude of this phase accordingly, here amplitude is designated as V1, the back-emf amplitude V1 that described counting circuit 15 receives described estimation and the back-emf amplitude (being designated as V2) calculated by the back electromotive-force constant of motor, both are carried out mathematic interpolation to export angle difference signal Δ θ by described counting circuit.
In the present embodiment, three-phase modulations wave generation circuit is all identical, and for A phase, modulation wave generation circuit 16-1 receives described rotating speed measured value n
ewith described angle difference signal delta θ, obtain one first shape of a hoof modulating wave according to described rotating speed measured value, described first shape of a hoof modulating wave is half-wave, as shown in fig. 1; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, three-phase modulations wave generation circuit produces three-phase first shape of a hoof modulating wave, and first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase.
Afterwards, pwm control circuit receives the first shape of a hoof modulating wave and a Proportional coefficient K of a corresponding phase, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulates the electric current of described permagnetic synchronous motor, realizes controlling the sine-wave current of described permagnetic synchronous motor.Concrete, each phase pwm control circuit comprises the second mlultiplying circuit and switching signal produces circuit, here, second mlultiplying circuit of A phase is multiplier X2-1, it is comparator C-1 that switching signal produces circuit, described second multiplier X2-1 receives described first shape of a hoof modulating wave and described Proportional coefficient K, to generate the second shape of a hoof modulating wave; Described comparator C-1 receives described second shape of a hoof modulating wave and described triangular signal, and to produce described pwm control signal, wherein, described triangular signal is provided by circuit for generating triangular wave.
Wherein, described phase difference calculating module comprises the first mlultiplying circuit X1 further, and described first mlultiplying circuit receives described rotating speed measured value n
eback electromotive-force constant Kt with motor, obtains the amplitude V2 of back-emf after multiplying, and the back electromotive-force constant Kt of motor is known constant.
In the present embodiment, Proportional coefficient K is produced by rotational speed regulation circuit 17, and described rotational speed regulation circuit 17 receives described rotating speed measured value n
ewith reference rotation velocity value n
ref, obtain an error signal through error calculation, described error signal obtains described Proportional coefficient K after the pid calculation of PID adjuster.
Introduce the detailed computational process of angle difference signal delta θ below in detail: when permagnetic synchronous motor runs at steady state, its vector form is:
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, X
d, X
qfor the inductance of permagnetic synchronous motor under d axle and q axle, Id, Iq are the electric current of permagnetic synchronous motor under d axle and q axle, rs is stator resistance is is electronic current amplitude.
For permagnetic synchronous motor, those skilled in the art are known, when described back-emf phase place is consistent with current phase, namely at this moment every Ampere currents torque maximum be the control realizing id=0, and when id=0, general stator resistance can be less, the polar plot of such formula (1) can be reduced to shown in Fig. 2, the polar plot according to Fig. 2, and its vector form can be:
Have according to formula (2), the calculating of the amplitude of back-emf can be transformed into scalar, have,
U
s 2≈E
m 2+(X
qi
q)
2＝E
m 2+(ωL
qi
s)
2(3)
According in formula (3), when the voltage magnitude Us of a phase being detected, after current amplitude is, then namely back-emf amplitude when utilizing Pythagorean theorem can calculate id=0 under present case is above-mentioned back-emf amplitude V1.
And because back-emf amplitude can obtain according to the back electromotive-force constant of permagnetic synchronous motor:
E
m＝K
t×n(4)
Obtain back-emf amplitude by formula (4) and be designated as V2.
Counting circuit 15 compares the size of amplitude V1 and amplitude V2, in the ideal case, when id=0, two amplitudes should be equal, is namely Δ θ=0, when both are unequal, then modulate wave generation circuit and can regulate the phase place of modulating wave, such as by modulating wave reach or after move, finally to make both equal.Namely be realize id=0, that is to say the control realizing every Ampere currents torque maximum.
As shown in Figure 1, the pwm control signal of each phase respectively in order to control the turn-on and turn-off of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor for sine-wave current.Therefore, in embodiments of the present invention, the back-emf amplitude information of A phase just can be obtained by the phase voltage of sampling A phase and the amplitude information of phase current.The present invention by by the back-emf amplitude of estimation with utilize back electromotive-force constant to obtain back-emf amplitude to compare, to produce angle difference signal, according to described angle difference signal controlling, back-emf phase place is consistent with current phase, to realize the torque maximum of every Ampere currents, motor working efficiency is high.Permagnetic synchronous motor of the present invention does not need complicated coordinate transform, and algorithm is simple, be easy to realize, and the stator voltage current information of a phase of only need sampling can release the shape of a hoof modulating wave of three-phase, and circuit is simple, and cost is low, and efficiency is high.
Preferably, voltage sampling signal of the present invention can also be obtained by the mode calculated, reference Figure 3 shows that the circuit block diagram of the second embodiment of the drive circuit according to permagnetic synchronous motor of the present invention, the present embodiment except phase voltage sampling not identical with embodiment one, other are all identical with embodiment one, in the present embodiment, described drive circuit also comprises the 3rd mlultiplying circuit X3, described 3rd mlultiplying circuit receives a sine wave signal Vsin and described Proportional coefficient K, described voltage sampling signal Ua is generated after multiplying, wherein, described sine wave signal is identical with described first shape of a hoof modulating wave phase place.Here, the voltage signal of sampling in described voltage sampling signal Ua and embodiment one is direct proportionality, and proportionality coefficient is K/Vbus.
Known by the drive circuit of above-mentioned permagnetic synchronous motor, by sampling, wherein the phase voltage of a phase and the amplitude information of phase current just can obtain the back-emf amplitude information of this phase in the present invention.Can obtain the shape of a hoof modulating wave of three-phase according to the tachometric survey value information obtained, can control the phase place of shape of a hoof modulating wave according to back-emf amplitude signal, to realize the torque maximum of every Ampere currents, operating efficiency is high.Carry out the rotary speed information of detection rotor in the present invention without the need to position transducer, and the phase voltage of the wherein phase of only need sampling and phase current can release the rotary speed information of other two-phases, technical scheme of the present invention is simple, and cost is low.
Finally, the invention also discloses a kind of driving method of high efficiency permagnetic synchronous motor, by controlling the on off state of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor, described driving method comprises the following steps: detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value of rotor;
Receive current amplitude signal and the voltage magnitude signal of a wherein phase stator of described permagnetic synchronous motor, and estimate the back-emf amplitude of this phase accordingly, the back-emf amplitude of estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor are carried out difference operation, to produce an angle difference signal;
Receive described rotating speed measured value and described angle difference signal, obtain the first shape of a hoof modulating wave of a half-wave according to described rotating speed measured value; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase;
Receive described first shape of a hoof modulating wave and a proportionality coefficient, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal is in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulate the electric current of described permagnetic synchronous motor, realize controlling the sine-wave current of described permagnetic synchronous motor.
Further, the concrete steps that described angle difference signal produces comprise:
Sample the stator current information of a wherein phase of described permagnetic synchronous motor to obtain the current amplitude signal of this phase;
Receive the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of this phase;
Receive described current amplitude signal and voltage magnitude signal, to estimate the back-emf amplitude of this phase accordingly;
Both are carried out mathematic interpolation to export described angle difference signal by the back-emf amplitude receiving described estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor.
Further, the estimation process of described back-emf amplitude specifically comprises: according to the equality of vector estimation back-emf amplitude size of described permagnetic synchronous motor, wherein, the equality of vector of permagnetic synchronous motor is:
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, X
d, X
qfor the inductance of permagnetic synchronous motor under d axle and q axle, Id, Iq are the electric current of permagnetic synchronous motor under d axle and q axle, rs is stator resistance, and is is stator current amplitude.
Carried out detailed description to according to the drive circuit of high efficiency permagnetic synchronous motor of the preferred embodiments of the present invention and driving method above, those of ordinary skill in the art can know other technologies or structure and circuit layout, element etc. accordingly by inference and all can be applicable to described embodiment.
According to embodiments of the invention as described above, these embodiments do not have all details of detailed descriptionthe, do not limit the specific embodiment that this invention is only described yet.Obviously, according to above description, can make many modifications and variations.This specification is chosen and is specifically described these embodiments, is to explain principle of the present invention and practical application better, thus makes art technical staff that the present invention and the amendment on basis of the present invention can be utilized well to use.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (11)
1. the drive circuit of a high efficiency permagnetic synchronous motor, by controlling the on off state of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor, it is characterized in that, described drive circuit comprises speed detect circuit, phase difference calculating module, three-phase modulations wave generation circuit and three-phase PWM control circuit
Described speed detect circuit in order to detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value of rotor;
Described phase difference calculating module receives current amplitude signal and the voltage magnitude signal of a wherein phase stator of described permagnetic synchronous motor, and estimate the back-emf amplitude of this phase accordingly, the back-emf amplitude of estimation and the back-emf amplitude obtained by the back electromotive-force constant of motor are carried out difference operation, to produce an angle difference signal by described phase difference calculating module;
Each phase modulation wave generation circuit receives described rotating speed measured value and described angle difference signal, obtains one first shape of a hoof modulating wave according to described rotating speed measured value; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase;
Each phase pwm control circuit receives the first shape of a hoof modulating wave and a proportionality coefficient of a corresponding phase, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal is in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulate the electric current of described permagnetic synchronous motor, realize controlling the sine-wave current of described permagnetic synchronous motor.
2. drive circuit according to claim 1, is characterized in that, described phase difference calculating module comprises current amplitude sample circuit, voltage magnitude sample circuit, back-emf estimation block and counting circuit,
The stator current information of a wherein phase of permagnetic synchronous motor described in described current amplitude sampling circuit samples is to obtain the current amplitude signal of this phase;
Described voltage magnitude sample circuit receives the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of this phase;
Described back-emf estimation block receives described current amplitude signal and voltage magnitude signal, to estimate the back-emf amplitude of this phase accordingly;
The back-emf amplitude that described counting circuit receives described estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor, both are carried out mathematic interpolation to export described angle difference signal by described counting circuit.
3. drive circuit according to claim 2, is characterized in that, the estimation process of described back-emf amplitude specifically comprises: according to the equality of vector estimation back-emf amplitude size of described permagnetic synchronous motor, wherein, the equality of vector of permagnetic synchronous motor is:
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, X
d, X
qfor the inductance of permagnetic synchronous motor under d axle and q axle, Id, Iq are the electric current of permagnetic synchronous motor under d axle and q axle, rs is stator resistance, and is is stator current amplitude.
4. drive circuit according to claim 1, is characterized in that, described phase difference calculating module comprises the first mlultiplying circuit further,
Described first mlultiplying circuit receives the back electromotive-force constant of described rotating speed measured value and motor, obtains the amplitude of back-emf after multiplying.
5. drive circuit according to claim 1, is characterized in that, described proportionality coefficient is produced by rotational speed regulation circuit,
Described rotational speed regulation circuit receives described rotating speed measured value and reference rotation velocity value, obtains an error signal through error calculation, and described error signal obtains described proportionality coefficient after pid calculation.
6. drive circuit according to claim 1, is characterized in that, each phase pwm control circuit described comprises the second mlultiplying circuit and switching signal produces circuit,
Described second mlultiplying circuit receives described first shape of a hoof modulating wave and described proportionality coefficient, to generate the second shape of a hoof modulating wave;
Described switching signal produces circuit and receives described second shape of a hoof modulating wave and described triangular signal, and to produce described pwm control signal, wherein, described triangular signal is provided by circuit for generating triangular wave.
7. drive circuit according to claim 2, is characterized in that, the stator voltage information of corresponding phase of sampling is to obtain described voltage magnitude signal, and described correspondence is an identical phase with sampling stator current information mutually.
8. drive circuit according to claim 5, it is characterized in that, described drive circuit also comprises the 3rd mlultiplying circuit, described 3rd mlultiplying circuit receives a sine wave signal and described proportionality coefficient, described voltage magnitude signal is produced after multiplying, wherein, described sine wave signal is identical with described first shape of a hoof modulating wave phase place.
9. a driving method for high efficiency permagnetic synchronous motor, by controlling the on off state of three-phase inverter breaker in middle pipe, to control the operating current of described permagnetic synchronous motor, is characterized in that, comprising the following steps:
Detect the stator current information on described permagnetic synchronous motor, to obtain the rotating speed measured value of rotor;
Receive current amplitude signal and the voltage magnitude signal of a wherein phase stator of described permagnetic synchronous motor, and estimate the back-emf amplitude of this phase accordingly, the back-emf amplitude of estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor are carried out difference operation, to produce an angle difference signal;
Receive described rotating speed measured value and described angle difference signal, obtain one first shape of a hoof modulating wave according to described rotating speed measured value; Then the phase place of shape of a hoof modulating wave according to described angle difference Signal Regulation, to make the back-emf phase place of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulating wave phase place mutual deviation 120 ° of three-phase;
Receive described first shape of a hoof modulating wave and a proportionality coefficient, to obtain the second shape of a hoof modulating wave, and described second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal, described pwm control signal is in order to the turn-on and turn-off of the switching tube of a phase corresponding in control inverter, thus regulate the electric current of described permagnetic synchronous motor, realize controlling the sine-wave current of described permagnetic synchronous motor.
10. driving method according to claim 9, is characterized in that, the concrete steps that described angle difference signal produces comprise:
Sample the stator current information of a wherein phase of described permagnetic synchronous motor to obtain the current amplitude signal of this phase;
Receive the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of this phase;
Receive described current amplitude signal and voltage magnitude signal, to estimate the back-emf amplitude of this phase accordingly;
Both are carried out mathematic interpolation to export described angle difference signal by the back-emf amplitude receiving described estimation and the back-emf amplitude calculated by the back electromotive-force constant of motor.
11. driving methods according to claim 10, is characterized in that, the estimation process of described back-emf amplitude specifically comprises: according to the equality of vector estimation back-emf amplitude size of described permagnetic synchronous motor, wherein, the equality of vector of permagnetic synchronous motor is:
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, X
d, X
qfor the inductance of permagnetic synchronous motor under d axle and q axle, Id, Iq are the electric current of permagnetic synchronous motor under d axle and q axle, rs is stator resistance, and is is stator current amplitude.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107745655A (en) * | 2017-10-11 | 2018-03-02 | 珠海英搏尔电气股份有限公司 | A kind of control method, control unit and the electric car of electronic vehicle drive circuit |
| CN108448981A (en) * | 2018-03-30 | 2018-08-24 | 歌尔股份有限公司 | Motor control method and equipment |
| CN109495027A (en) * | 2018-12-28 | 2019-03-19 | 苏州英威腾电力电子有限公司 | Permanent magnet synchronous motor magnetic pole position estimation method and system with LC filter |
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| CN107745655A (en) * | 2017-10-11 | 2018-03-02 | 珠海英搏尔电气股份有限公司 | A kind of control method, control unit and the electric car of electronic vehicle drive circuit |
| CN107745655B (en) * | 2017-10-11 | 2024-02-06 | 珠海英搏尔电气股份有限公司 | Control method and control unit of electric vehicle driving circuit and electric vehicle |
| CN108448981A (en) * | 2018-03-30 | 2018-08-24 | 歌尔股份有限公司 | Motor control method and equipment |
| CN108448981B (en) * | 2018-03-30 | 2020-09-15 | 歌尔股份有限公司 | Motor control method and device |
| CN109495027A (en) * | 2018-12-28 | 2019-03-19 | 苏州英威腾电力电子有限公司 | Permanent magnet synchronous motor magnetic pole position estimation method and system with LC filter |
| CN109495027B (en) * | 2018-12-28 | 2020-11-17 | 苏州英威腾电力电子有限公司 | Permanent magnet synchronous motor magnetic pole position estimation method and system with LC filter |
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