CN105186946B - A kind of drive circuit and driving method of efficient permagnetic synchronous motor - Google Patents
A kind of drive circuit and driving method of efficient permagnetic synchronous motor Download PDFInfo
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- CN105186946B CN105186946B CN201510639499.5A CN201510639499A CN105186946B CN 105186946 B CN105186946 B CN 105186946B CN 201510639499 A CN201510639499 A CN 201510639499A CN 105186946 B CN105186946 B CN 105186946B
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Abstract
The invention discloses a kind of drive circuit and driving method of efficient permagnetic synchronous motor, the back-emf amplitude of the phase is estimated by the amplitude information for the wherein voltage and current of a phase for sampling permagnetic synchronous motor, then by the back-emf amplitude of estimation compared with obtaining back-emf amplitude using back electromotive-force constant, to produce angle difference signal, control the back-emf phase consistent with current phase according to the angle difference signal, to realize that the torque per Ampere currents is maximum.The permagnetic synchronous motor of the present invention does not need complicated coordinate transform, and algorithm is simple, is easily achieved, and the rotor voltage current information that need to only sample a phase can release the shape of a hoof modulating wave of three-phase, and circuit is simple, and cost is low.
Description
Technical field
The present invention relates to motor control technology field, in particular, is related to a kind of efficient permagnetic synchronous motor
Drive circuit and driving method.
Background technology
Permagnetic synchronous motor (PMSM) has in light weight, small volume, simple in construction and power density high etc. due to its own
Some advantages, played an important role in daily life, industrial and agricultural production and national economic development.Due to permanent-magnet material
The continuous improvement of performance and perfect, and the further development of power electronic devices, the application of permagnetic synchronous motor are more and more wider
It is general.The cost of control system to greatest extent is wished in some applications, and position-sensor-free technology eliminates conventional
Position sensor, such as photoelectric coded disk, rotary transformer equipment, greatly reduce the cost of system.Traditional passes without position
The control program of the permagnetic synchronous motor of sensor uses vector controlled, and the vector controlled of position-sensor-free can be realized preferably
Permagnetic synchronous motor controls, but algorithm complexity be present, computationally intensive, it is necessary to higher processor.
The content of the invention
In view of this, the present invention proposes a kind of drive circuit and driving method of efficient permagnetic synchronous motor, leads to
The amplitude information of the wherein voltage and current of a phase of over-sampling permagnetic synchronous motor estimates the back-emf amplitude of the phase, so
Afterwards by the back-emf amplitude of estimation compared with obtaining back-emf amplitude using back electromotive-force constant, to produce angle difference letter
Number, control the back-emf phase consistent with current phase according to the angle difference signal, turned with realizing per Ampere currents
Square is maximum.
According to a kind of drive circuit of efficient permagnetic synchronous motor of the present invention, opened by controlling in three-phase inverter
Close the on off state of pipe, to control the operating current of the permagnetic synchronous motor, the drive circuit include Rotating speed measring circuit,
Phase difference calculating module, three-phase modulations wave generation circuit and three-phase PWM control circuit,
The Rotating speed measring circuit is to detect the stator current information on the permagnetic synchronous motor, to obtain rotor
Rotating speed measured value；
The phase difference calculating module receive the permagnetic synchronous motor the wherein current amplitude signal of a phase stator and
Voltage magnitude signal, and estimate the back-emf amplitude of the phase accordingly, the phase difference calculating module is by the back-emf width of estimation
Value carries out difference operation with the back-emf amplitude obtained by the back electromotive-force constant of motor, to produce an angle difference signal；
Each phase modulation wave generation circuit receives the rotating speed measured value and the angle difference signal, according to the rotating speed
Measured value obtains one first shape of a hoof modulating wave；Then according to the angle difference Signal Regulation shape of a hoof modulating wave phase
Position, to cause the back-emf phase of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulation wave phase of three-phase is mutual
Poor 120 °；
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
Two shape of a hoof modulating waves, and second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal,
The pwm control signal is to control the turn-on and turn-off of the switching tube of a corresponding phase in inverter, so as to adjust the permanent magnetism
The electric current of synchronous motor, realize the sine-wave current control to the permagnetic synchronous motor.
Further, the phase difference calculating module includes current amplitude sample circuit, voltage magnitude sample circuit, anti-electricity
Gesture estimation block and counting circuit,
The stator current information of a wherein phase for permagnetic synchronous motor described in the current amplitude sampling circuit samples is to obtain
Obtain the current amplitude signal of the phase；
The voltage magnitude sample circuit receives the stator voltage information of a corresponding phase, to obtain the voltage magnitude of phase letter
Number；
The back-emf estimation block receives the current amplitude signal and voltage magnitude signal, to estimate the phase accordingly
Back-emf amplitude；
The counting circuit receives the back-emf amplitude of the estimation and the anti-electricity for the back electromotive-force constant calculating for passing through motor
Both are carried out mathematic interpolation to export the angle difference signal by gesture amplitude, the counting circuit.
Preferably, the estimation process of the back-emf amplitude specifically includes：Vector according to the permagnetic synchronous motor etc.
Formula estimates back-emf amplitude size, 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, Xd、XqExist for permagnetic synchronous motor
D axles and inductance, Id, Iq under q axles are electric current of the permagnetic synchronous motor under d axles and q axles, and rs is stator resistance, and is is stator
Current amplitude.
Further, the phase difference calculating module includes the first mlultiplying circuit, described in first mlultiplying circuit receives
The back electromotive-force constant of rotating speed measured value and motor, the amplitude of back-emf is obtained after multiplying.
Further, the proportionality coefficient is produced by rotational speed regulation circuit, and the rotational speed regulation circuit receives the rotating speed
Measured value and reference rotation velocity value, an error signal is obtained through error calculation, the error signal passes through pid calculation
After obtain the proportionality coefficient.
Further, each phase pwm control circuit includes the second mlultiplying circuit and switching signal generation circuit,
Second mlultiplying circuit receives first shape of a hoof modulating wave and the proportionality coefficient, to generate the second horseshoe
Shape modulating wave；
The switching signal generation circuit receives second shape of a hoof modulating wave and the triangular signal, to produce
Pwm control signal is stated, wherein, the triangular signal is provided by circuit for generating triangular wave.
Preferably, the stator voltage information of corresponding phase is sampled to obtain the voltage magnitude signal, it is described corresponding mutually with adopting
Sample stator current information is mutually the phase of identical one.
Preferably, the drive circuit also includes the 3rd mlultiplying circuit, and the 3rd mlultiplying circuit receives sine wave letter
Number and the proportionality coefficient, the voltage magnitude signal is produced after multiplying, wherein, the sine wave signal and described the
One shape of a hoof modulation wave phase is identical.
According to a kind of driving method of efficient permagnetic synchronous motor of the present invention, opened by controlling in three-phase inverter
The on off state of pipe is closed, to control the operating current of the permagnetic synchronous motor, is comprised the following steps：
The stator current information on the permagnetic synchronous motor is detected, to obtain the rotating speed measured value of rotor；
The current amplitude signal and voltage magnitude signal of a wherein phase stator for the permagnetic synchronous motor are received, and accordingly
The back-emf amplitude of the phase is estimated, by the back-emf amplitude of estimation and the back-emf width of the back electromotive-force constant calculating by motor
Value carries out difference operation, to produce an angle difference signal；
The rotating speed measured value and the angle difference signal are received, one first horseshoe is obtained according to the rotating speed measured value
Shape modulating wave；Then according to the angle difference Signal Regulation shape of a hoof modulating wave phase, to cause a corresponding phase
Back-emf phase is consistent with current phase, wherein, 120 ° of first shape of a hoof modulation wave phase mutual deviation of three-phase；
First shape of a hoof modulating wave and a proportionality coefficient are received, to obtain the second shape of a hoof modulating wave, and by described in
Second shape of a hoof modulating wave and a triangular wave are compared, and to produce pwm control signal, the pwm control signal is controlling
The turn-on and turn-off of the switching tube of a corresponding phase, so as to adjust the electric current of the permagnetic synchronous motor, are realized to institute in inverter
State the sine-wave current control of permagnetic synchronous motor.
Further, specific steps caused by the angle difference signal include：
The stator current information of a wherein phase for the permagnetic synchronous motor is sampled to obtain the current amplitude signal of the phase；
The stator voltage information of a corresponding phase is received, to obtain the voltage magnitude signal of the phase；
The current amplitude signal and voltage magnitude signal are received, to estimate the back-emf amplitude of the phase accordingly；
The back-emf amplitude of the estimation and the back-emf amplitude for the back electromotive-force constant calculating for passing through motor are received, incite somebody to action both
Mathematic interpolation is carried out to export the angle difference signal.
According to the drive circuit and driving method of above-mentioned efficient permagnetic synchronous motor, by sampling permanent magnet synchronous electric
The amplitude information of the wherein voltage and current of a phase of machine estimates the back-emf amplitude of the phase, then by the back-emf of estimation
Amplitude is compared with the back-emf amplitude obtained using back electromotive-force constant, to produce angle difference signal, according to the angle
Difference signal controls the back-emf phase consistent with current phase, to realize that the torque per Ampere currents is maximum.The present invention's
Permagnetic synchronous motor does not need complicated coordinate transform, and algorithm is simple, is easily achieved, and need to only sample the rotor voltage electricity of a phase
Stream information can release the shape of a hoof modulating wave of three-phase, and circuit is simple, and cost is low.
Brief description of the drawings
Fig. 1 show the circuit block diagram of the first embodiment of the drive circuit of the permagnetic synchronous motor according to the present invention；
Fig. 2 show the polar plot in torque maximum of the permagnetic synchronous motor according to the present invention；
Fig. 3 show the circuit block diagram of the second embodiment of the drive circuit of the permagnetic synchronous motor according to the present invention；
Embodiment
Several preferred embodiments of the present invention are described in detail below in conjunction with accompanying drawing, but the present invention is not restricted to
These embodiments.The present invention covers any replacement, modification, equivalent method and side made in the spirit and scope of the present invention
Case.Thoroughly understand in order that the public has to the present invention, be described in detail in present invention below preferred embodiment specific thin
Section, and description without these details can also understand the present invention completely for a person skilled in the art.
With reference to figure 1, the circuit block of the first embodiment of the drive circuit of permagnetic synchronous motor according to the present invention is shown
Figure；Three-phase inverter 11 receives external voltage signal Vbus, to be converted to three-phase alternating voltage signal supply permagnetic synchronous motor
(PMSM), the drive circuit is according to the stator current and information of voltage of the permagnetic synchronous motor, to produce pwm control signal
The on off state of switching tube in the inverter of the permagnetic synchronous motor is controlled, so as to control the work of the permagnetic synchronous motor
Electric current.As shown in fig. 1, the three-phase alternating voltage signal that the three-phase inverter 11 exports is designated as A phases, B phases and C phases respectively.
In embodiments of the present invention, the drive circuit includes Rotating speed measring circuit 16, phase difference calculating module, three-phase tune
Wave generation circuit and three-phase PWM control circuit processed, the Rotating speed measring circuit 16 is detecting on the permagnetic synchronous motor
Stator current information, to obtain the rotating speed measured value n of rotore.Specifically, what the Rotating speed measring circuit 16 was obtained using sampling
The waveform of phase current obtains the rotating speed of electronics.When motor stabilizing operates, in each cycle, stator current all can be one complete
Sine wave, the cycle for 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, the running speed of motor can be calculated, the running speed of the motor is above-mentioned rotor
Rotary speed.
The phase difference calculating module further comprises current amplitude sample circuit 12, voltage magnitude sample circuit 13, anti-
Potential estimation block 14 and counting circuit 15, the current amplitude sample circuit 12 sample wherein the one of the permagnetic synchronous motor
The stator current information of phase is to obtain the current amplitude signal Via of the phase；The voltage magnitude sample circuit 13 receives corresponding one
The stator voltage information of phase, to obtain the voltage magnitude signal Ua of the phase, illustrated here exemplified by sampling A phases.The back-emf
Estimation block receives the current amplitude signal Via and voltage magnitude signal Ua, to estimate the back-emf amplitude of the phase accordingly,
Here amplitude is designated as V1, the back electromotive-force constant that the counting circuit 15 receives the back-emf amplitude V1 of the estimation and passes through motor
Both are carried out mathematic interpolation with output angle difference signal Δ θ by the back-emf amplitude (being designated as V2) of calculating, the counting circuit.
In the present embodiment, three-phase modulations wave generation circuit all same, by taking A phases as an example, modulation wave generation circuit 16-1 is received
The rotating speed measured value neWith the angle difference signal delta θ, the modulation of one first shape of a hoof is obtained according to the rotating speed measured value
Ripple, first shape of a hoof modulating wave are half-wave, as shown in fig. 1；Then the horse according to the angle difference Signal Regulation
The phase of ungulate modulating wave, to cause the back-emf phase of a corresponding phase consistent with current phase, wherein, three-phase modulations ripple produces
Circuit produces three-phase first shape of a hoof modulating wave, and 120 ° of first shape of a hoof modulation wave phase mutual deviation 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
Two shape of a hoof modulating waves, and second shape of a hoof modulating wave and a triangular wave are compared, to produce pwm control signal,
The pwm control signal is to control the turn-on and turn-off of the switching tube of a corresponding phase in inverter, so as to adjust the permanent magnetism
The electric current of synchronous motor, realize the sine-wave current control to the permagnetic synchronous motor.Specifically, each phase PWM controls electricity
Road includes the second mlultiplying circuit and switching signal generation circuit, and here, the second mlultiplying circuit of A phases is multiplier X2-1, switch
Signal generating circuit is comparator C-1, and the second multiplier X2-1 receives first shape of a hoof modulating wave and the ratio
COEFFICIENT K, to generate the second shape of a hoof modulating wave；The comparator C-1 receives second shape of a hoof modulating wave and the triangle
Ripple signal, to produce the pwm control signal, wherein, the triangular signal is provided by circuit for generating triangular wave.
Wherein, the phase difference calculating module further comprises the first mlultiplying circuit X1, and first mlultiplying circuit receives
The rotating speed measured value neWith the back electromotive-force constant Kt of motor, after multiplying obtain back-emf amplitude V2, motor it is anti-
Potential constant Kt is known constant.
In the present embodiment, Proportional coefficient K is produced by rotational speed regulation circuit 17, and the rotational speed regulation circuit 17 receives described turn
Fast measured value neWith reference rotation velocity value nref, an error signal is obtained through error calculation, the error signal passes through PID regulator
Pid calculation after obtain the Proportional coefficient K.
Angle difference signal delta θ detailed calculating process is described in detail below：When permagnetic synchronous motor at steady state
During operation, its vector form is：
Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, Xd、XqExist for permagnetic synchronous motor
D axles and inductance, Id, Iq under q axles are electric current of the permagnetic synchronous motor under d axles and q axles, and rs is that stator resistance is is electronics electricity
Flow amplitude.
For permagnetic synchronous motor, skilled person will appreciate that, when the back-emf phase is consistent with current phase,
It is maximum per Ampere currents torque, at this moment it is the control for realizing id=0, and in the case of id=0, general stator resistance can be compared with
Small, 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：
Had according to formula (2), the calculating of the amplitude of back-emf can be transformed into scalar, had,
Us 2≈Em 2+(Xqiq)2=Em 2+(ωLqis)2 (3)
According in formula (3), after the voltage magnitude Us for detecting a phase, current amplitude is, it is using Pythagorean theorem then
Back-emf amplitude during id=0 under present case can be calculated, 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：
Em=Kt×n (4)
Back-emf amplitude is obtained by formula (4) and is designated as V2.
Counting circuit 15 compares amplitude V1 and amplitude V2 size, and in the ideal case, in id=0, two amplitudes should
It is equal, it is Δ θ=0, when both are unequal, then the phase of modulating wave can be adjusted by modulating wave generation circuit, such as will modulation
Wavefront moves or rear shifting, make it that both are equal with final.It is to realize id=0, that is to say and realize per Ampere currents torque maximum
Control.
As shown in figure 1, the pwm control signal of each phase is respectively controlling the conducting of switching tube and pass in three-phase inverter
It is disconnected, to control the operating current of the permagnetic synchronous motor as sine-wave current.Therefore, in embodiments of the present invention, by adopting
The phase voltage of sample A phases and the amplitude information of phase current are obtained with the back-emf amplitude information of A phases.The present invention will be by that will estimate
Back-emf amplitude with using back electromotive-force constant obtain back-emf amplitude compared with, to produce angle difference signal, according to institute
Stating angle difference signal controls the back-emf phase consistent with current phase, to realize that the torque per Ampere currents is maximum, electricity
Machine operating efficiency is high.The permagnetic synchronous motor of the present invention does not need complicated coordinate transform, and algorithm is simple, is easily achieved, and only
The stator voltage current information of a phase, which need to be sampled, can release the shape of a hoof modulating wave of three-phase, and circuit is simple, and cost is low, efficiency
It is high.
Preferably, voltage sampling signal of the invention can also be obtained by way of calculating, and foundation is shown with reference to figure 3
The present invention permagnetic synchronous motor drive circuit second embodiment circuit block diagram, the present embodiment except phase voltage sampling with
Embodiment one differs, and other are identical with embodiment one, and in the present embodiment, the drive circuit also includes the 3rd multiplication electricity
Road X3, the 3rd mlultiplying circuit receive a sine wave signal Vsin and the Proportional coefficient K, after multiplying described in generation
Voltage sampling signal Ua, wherein, the sine wave signal is identical with first shape of a hoof modulation wave phase.Here, the electricity
Pressure sampled signal Ua is direct proportionality with the voltage signal sampled in embodiment one, and proportionality coefficient is K/Vbus.
By the drive circuit of above-mentioned permagnetic synchronous motor, the present invention by sample the wherein phase voltage of a phase and
The amplitude information of phase current is obtained with the back-emf amplitude information of the phase.It can be obtained according to the tachometric survey value information of acquisition
To the shape of a hoof modulating wave of three-phase, the phase of shape of a hoof modulating wave can be controlled according to back-emf amplitude signal, is often pacified with realizing
It is maximum to train the torque of electric current, operating efficiency height.The rotary speed information of rotor is detected in the present invention without position sensor, and only
The wherein phase voltage of a phase and phase current, which need to be sampled, can release the rotary speed information of other two-phases, technical scheme letter
Single, cost is low.
Finally, the invention also discloses a kind of driving method of efficient permagnetic synchronous motor, by controlling three contraries
Become the on off state of switching tube in device, to control the operating current of the permagnetic synchronous motor, the driving method includes following
Step：The stator current information on the permagnetic synchronous motor is detected, to obtain the rotating speed measured value of rotor；
The current amplitude signal and voltage magnitude signal of a wherein phase stator for the permagnetic synchronous motor are received, and accordingly
The back-emf amplitude of the phase is estimated, by the back-emf amplitude of estimation and the back-emf width of the back electromotive-force constant calculating by motor
Value carries out difference operation, to produce an angle difference signal；
The rotating speed measured value and the angle difference signal are received, the of a half-wave is obtained according to the rotating speed measured value
One shape of a hoof modulating wave；Then according to the angle difference Signal Regulation shape of a hoof modulating wave phase, with cause correspondingly
The back-emf phase of one phase is consistent with current phase, wherein, 120 ° of first shape of a hoof modulation wave phase mutual deviation of three-phase；
First shape of a hoof modulating wave and a proportionality coefficient are received, to obtain the second shape of a hoof modulating wave, and by described in
Second shape of a hoof modulating wave and a triangular wave are compared, and to produce pwm control signal, the pwm control signal is controlling
The turn-on and turn-off of the switching tube of a corresponding phase, so as to adjust the electric current of the permagnetic synchronous motor, are realized to institute in inverter
State the sine-wave current control of permagnetic synchronous motor.
Further, specific steps caused by the angle difference signal include：
The stator current information of a wherein phase for the permagnetic synchronous motor is sampled to obtain the current amplitude signal of the phase；
The stator voltage information of a corresponding phase is received, to obtain the voltage magnitude signal of the phase；
The current amplitude signal and voltage magnitude signal are received, to estimate the back-emf amplitude of the phase accordingly；
The back-emf amplitude of the estimation and the back-emf amplitude for the back electromotive-force constant calculating for passing through motor are received, incite somebody to action both
Mathematic interpolation is carried out to export the angle difference signal.
Further, the estimation process of the back-emf amplitude specifically includes：According to the vector of the permagnetic synchronous motor
Equation estimates back-emf amplitude size, 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, Xd、XqExist for permagnetic synchronous motor
D axles and inductance, Id, Iq under q axles are electric current of the permagnetic synchronous motor under d axles and q axles, and rs is stator resistance, and is is stator
Current amplitude.
Drive circuit to the efficient permagnetic synchronous motor according to the preferred embodiments of the present invention and driving side above
Method has carried out detailed description, those of ordinary skill in the art can deduce accordingly other technologies or structure and circuit layout,
Element etc. can be applied to the embodiment.
According to embodiments of the invention as described above, these embodiments do not have all details of detailed descriptionthe, not yet
It is only described specific embodiment to limit the invention.Obviously, as described above, can make many modifications and variations.This explanation
Book is chosen and specifically describes these embodiments, is in order to preferably explain the principle and practical application of the present invention, so that affiliated
Technical field technical staff can be used using modification of the invention and on the basis of the present invention well.The present invention is only by right
The limitation of claim and its four corner and equivalent.
Claims (11)
- A kind of 1. drive circuit of efficient permagnetic synchronous motor, by the switch shape for controlling switching tube in three-phase inverter State, to control the operating current of the permagnetic synchronous motor, it is characterised in that the drive circuit include Rotating speed measring circuit, Phase difference calculating module, three-phase modulations wave generation circuit and three-phase PWM control circuit,The Rotating speed measring circuit is to detect the stator current information on the permagnetic synchronous motor, to obtain the rotating speed of rotor Measured value；The phase difference calculating module receives the current amplitude signal and voltage of a wherein phase stator for the permagnetic synchronous motor Amplitude signal, and estimate the back-emf amplitude of the phase accordingly, the phase difference calculating module by the back-emf amplitude of estimation with The back-emf amplitude obtained by the back electromotive-force constant of motor carries out difference operation, to produce an angle difference signal；Each phase modulation wave generation circuit receives the rotating speed measured value and the angle difference signal, according to the tachometric survey Value obtains one first shape of a hoof modulating wave；Then according to the angle difference Signal Regulation shape of a hoof modulating wave phase, To cause the back-emf phase of a corresponding phase consistent with current phase, wherein, first shape of a hoof modulation wave phase mutual deviation of three-phase 120°；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 horse Ungulate modulating wave, and second shape of a hoof modulating wave and a triangular wave are compared, it is described to produce pwm control signal Pwm control signal is to control the turn-on and turn-off of the switching tube of a corresponding phase in inverter, so as to adjust the permanent-magnet synchronous The electric current of motor, realize the sine-wave current control to the permagnetic synchronous motor.
- 2. drive circuit according to claim 1, it is characterised in that the phase difference calculating module is adopted including current amplitude Sample circuit, voltage magnitude sample circuit, back-emf estimation block and counting circuit,The stator current information of a wherein phase for permagnetic synchronous motor described in the current amplitude sampling circuit samples is to be somebody's turn to do The current amplitude signal of phase；The voltage magnitude sample circuit receives the stator voltage information of a corresponding phase, to obtain the voltage magnitude signal of the phase；The back-emf estimation block receives the current amplitude signal and voltage magnitude signal, to estimate the anti-of the phase accordingly Potential amplitude；The counting circuit receives the back-emf amplitude of the estimation and the back-emf width for the back electromotive-force constant calculating for passing through motor Both are carried out mathematic interpolation to export the angle difference signal by value, the counting circuit.
- 3. drive circuit according to claim 2, it is characterised in that the estimation process of the back-emf amplitude is specifically wrapped Include：Back-emf amplitude size is estimated according to the equality of vector of the permagnetic synchronous motor, wherein, vector of permagnetic synchronous motor etc. Formula is：Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, Xd、XqIt is permagnetic synchronous motor in d axles It is electric current of the permagnetic synchronous motor under d axles and q axles with the inductance under q axles, Id, Iq, rs is stator resistance, and is is stator current Amplitude.
- 4. drive circuit according to claim 1, it is characterised in that the phase difference calculating module further comprises first Mlultiplying circuit,First mlultiplying circuit receives the back electromotive-force constant of the rotating speed measured value and motor, and anti-electricity is obtained after multiplying The amplitude of gesture.
- 5. drive circuit according to claim 1, it is characterised in that the proportionality coefficient is produced by rotational speed regulation circuit,The rotational speed regulation circuit receives the rotating speed measured value and reference rotation velocity value, and an error signal is obtained through error calculation, The error signal obtains the proportionality coefficient after pid calculation.
- 6. drive circuit according to claim 1, it is characterised in that each phase pwm control circuit multiplies including second Method circuit and switching signal generation circuit,Second mlultiplying circuit receives first shape of a hoof modulating wave and the proportionality coefficient, is adjusted with generating second shape of a hoof Ripple processed；The switching signal generation circuit receives second shape of a hoof modulating wave and the triangular signal, with described in generation Pwm control signal, wherein, the triangular signal is provided by circuit for generating triangular wave.
- 7. drive circuit according to claim 2, it is characterised in that the stator voltage information of the corresponding phase of sampling is to obtain Voltage magnitude signal is stated, the corresponding phase and sampling stator current information are mutually the phase of identical one.
- 8. drive circuit according to claim 5, it is characterised in that the drive circuit also includes the 3rd mlultiplying circuit, 3rd mlultiplying circuit receives a sine wave signal and the proportionality coefficient, and the voltage magnitude letter is produced after multiplying Number, wherein, the sine wave signal is identical with first shape of a hoof modulation wave phase.
- A kind of 9. driving method of efficient permagnetic synchronous motor, by the switch shape for controlling switching tube in three-phase inverter State, to control the operating current of the permagnetic synchronous motor, it is characterised in that comprise the following steps：The stator current information on the permagnetic synchronous motor is detected, to obtain the rotating speed measured value of rotor；The current amplitude signal and voltage magnitude signal of a wherein phase stator for the permagnetic synchronous motor are received, and is estimated accordingly Go out the back-emf amplitude of the phase, the back-emf amplitude of estimation is entered with the back-emf amplitude calculated by the back electromotive-force constant of motor Row difference operation, to produce an angle difference signal；The rotating speed measured value and the angle difference signal are received, obtaining one first shape of a hoof according to the rotating speed measured value adjusts Ripple processed；Then according to the angle difference Signal Regulation shape of a hoof modulating wave phase, to cause the anti-electricity of a corresponding phase Gesture phase is consistent with current phase, wherein, 120 ° of first shape of a hoof modulation wave phase mutual deviation of three-phase；First shape of a hoof modulating wave and a proportionality coefficient are received, to obtain the second shape of a hoof modulating wave, and by described second Shape of a hoof modulating wave and a triangular wave are compared, and to produce pwm control signal, the pwm control signal is controlling inversion The turn-on and turn-off of the switching tube of a corresponding phase in device, so as to adjust the electric current of the permagnetic synchronous motor, realize to it is described forever The sine-wave current control of magnetic-synchro motor.
- 10. driving method according to claim 9, it is characterised in that specific steps caused by the angle difference signal Including：The stator current information of a wherein phase for the permagnetic synchronous motor is sampled to obtain the current amplitude signal of the phase；The stator voltage information of a corresponding phase is received, to obtain the voltage magnitude signal of the phase；The current amplitude signal and voltage magnitude signal are received, to estimate the back-emf amplitude of the phase accordingly；The back-emf amplitude of the estimation and the back-emf amplitude for the back electromotive-force constant calculating for passing through motor are received, both are carried out Mathematic interpolation is to export the angle difference signal.
- 11. driving method according to claim 10, it is characterised in that the estimation process of the back-emf amplitude is specifically wrapped Include：Back-emf amplitude size is estimated according to the equality of vector of the permagnetic synchronous motor, wherein, vector of permagnetic synchronous motor etc. Formula is：Wherein, Us is predetermined electric moter voltage, and Em is the back-emf of permagnetic synchronous motor, Xd、XqIt is permagnetic synchronous motor in d axles It is electric current of the permagnetic synchronous motor under d axles and q axles with the inductance under q axles, Id, Iq, rs is stator resistance, and is is stator current Amplitude.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510639499.5A CN105186946B (en) | 2015-09-30 | 2015-09-30 | A kind of drive circuit and driving method of efficient permagnetic synchronous motor |
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| CN201510639499.5A CN105186946B (en) | 2015-09-30 | 2015-09-30 | A kind of drive circuit and driving method of efficient permagnetic synchronous motor |
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| CN105186946A CN105186946A (en) | 2015-12-23 |
| CN105186946B true CN105186946B (en) | 2017-12-05 |
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| CN201510639499.5A Active CN105186946B (en) | 2015-09-30 | 2015-09-30 | A kind of drive circuit and driving method of efficient permagnetic synchronous motor |
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| CN108448981B (en) * | 2018-03-30 | 2020-09-15 | 歌尔股份有限公司 | Motor control method and device |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20070022862A (en) * | 2007-01-11 | 2007-02-27 | 인터내쇼널 렉티파이어 코포레이션 | Start-up method and system for permanent magnet synchronous motor drive |
| CN102005993A (en) * | 2010-11-02 | 2011-04-06 | 中颖电子股份有限公司 | Method and device for controlling permanent magnet direct current brushless without hall motor |
| CN102611370A (en) * | 2012-03-19 | 2012-07-25 | 杭州矽力杰半导体技术有限公司 | Control method and control circuit for modulating sine waves of permanent-magnet synchronous motor |
| CN103904973A (en) * | 2014-03-24 | 2014-07-02 | 合肥工业大学 | Method for controlling salient pole permanent magnet synchronous machine in speed sensorless mode |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20070022862A (en) * | 2007-01-11 | 2007-02-27 | 인터내쇼널 렉티파이어 코포레이션 | Start-up method and system for permanent magnet synchronous motor drive |
| CN102005993A (en) * | 2010-11-02 | 2011-04-06 | 中颖电子股份有限公司 | Method and device for controlling permanent magnet direct current brushless without hall motor |
| CN102611370A (en) * | 2012-03-19 | 2012-07-25 | 杭州矽力杰半导体技术有限公司 | Control method and control circuit for modulating sine waves of permanent-magnet synchronous motor |
| CN103904973A (en) * | 2014-03-24 | 2014-07-02 | 合肥工业大学 | Method for controlling salient pole permanent magnet synchronous machine in speed sensorless mode |
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