CN105186956A - Sensorless permanent-magnet synchronous motor starting control method and corresponding system - Google Patents
Sensorless permanent-magnet synchronous motor starting control method and corresponding system Download PDFInfo
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- CN105186956A CN105186956A CN201510549258.1A CN201510549258A CN105186956A CN 105186956 A CN105186956 A CN 105186956A CN 201510549258 A CN201510549258 A CN 201510549258A CN 105186956 A CN105186956 A CN 105186956A
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Abstract
The invention relates to a sensorless permanent-magnet synchronous motor starting control method and a corresponding system. The method comprises the following steps of (1) setting a current command I of a q axis of a permanent-magnet synchronous motor stator side in vector control to be 0, and controlling a current command I of a d axis within a rated current value of a set multiple; (2) gradually increasing a given value Angle of a planned rotor angle to 360 degrees from 0 degree; and (3) judging whether starting of a permanent-magnet synchronous motor is completed or not; if the motor starting is completed, entering the vector control of a voltage outer ring and a current inner ring; if the motor starting is not completed, returning back to the step (1) and starting again. A method based on current closed-loop control is used for zero correction on a motor rotor, the permanent-magnet synchronous motor is controlled according to the currents of the q axis and the d axis of the permanent-magnet synchronous motor stator side, and the over-current is prevented since the currents of the q axis and the d axis can be controlled; the motor can be ensured to be prevented from being out-of-step during the starting process by planning the rotor angle and reasonably using constant angle acceleration step size.
Description
Technical field
The invention belongs to motor servo control field, be specifically related to a kind of system starting control method and correspondence without transducer permagnetic synchronous motor.
Background technology
Permagnetic synchronous motor because of its power density large, loss is little, reliability high is widely used in industrial control field.The control of permagnetic synchronous motor needs to obtain reliable rotor position information, and existing multiplex rotor-position sensor is as the measurement device such as resolver or encoder.These devices can increase system cost, and installation difficulty is large.Therefore, sensorless strategy method becomes study hotspot, if but control improperly to there will be the problem such as step-out and overcurrent.Conventional permagnetic synchronous motor sensorless strategy method has " back electromotive force method ", " High Frequency Injection " etc.
Because permagnetic synchronous motor back electromotive force under zero speed conditions is 0, under slow-speed of revolution condition, be difficult to accurate measurement.Therefore " back electromotive force method " is suitable for middle high rotary speed system, is not suitable as electric motor starting control method." High Frequency Injection " is to claw pole type motor successful, but bad to Non-Salient-Pole Motor effect.Poor universality and algorithm is complicated.And, be easy to the problem occurring step-out.
Summary of the invention
The object of this invention is to provide a kind of system starting control method and correspondence without transducer permagnetic synchronous motor, start the problem of control method step-out in order to solve permagnetic synchronous motor of the prior art.
For achieving the above object, the solution of the present invention comprises:
A kind of without transducer permagnetic synchronous motor startup control method, comprise the following steps:
(1) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within the load current value of setting multiple;
(2) the rotor angle Angle set-point planned progressively is increased to 360 ° from 0 °;
(3) judge whether permagnetic synchronous motor has started; If electric motor starting completes, enter the vector control of outer voltage, current inner loop; If motor is not activated, returns step (1) and restart.
Before carrying out step (1), carry out following steps: judge whether permagnetic synchronous motor carries out rotor zero correction; If rotor has carried out zero correction, then carry out step (1); If rotor does not carry out zero correction, then first rotor zero correction is carried out to motor.
Setting multiple in described step (1) is 1.2 times.
Judge that the mode whether permagnetic synchronous motor starts is in described step (3): it is n that the reference of setting permagnetic synchronous motor starts rotating speed, if the actual speed value of permagnetic synchronous motor is greater than n, then judge that permagnetic synchronous motor normally starts; If the actual speed value of permagnetic synchronous motor is less than or equal to n, then judge that permagnetic synchronous motor is not activated.
Described rotor zero correction mode is as follows:
(I) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within the load current value of setting multiple;
(II) rotor angle Angle set-point is progressively decreased to 0 ° from 30 °, to drag permanent-magnetic synchronous motor rotor to theoretical zero-bit;
(III) judge whether permanent-magnetic synchronous motor rotor reaches final settling position, if arrive final settling position, rotor zero correction completes.
The final settling position of permanent-magnetic synchronous motor rotor was that Angle set-point equals 0 ° and now the variable quantity in rotor angle and a upper moment is less than the position of a certain threshold limit value in described step (III).
Described threshold limit value is 0.01 °.
What use above-mentioned permagnetic synchronous motor startup control method starts a control system without transducer permagnetic synchronous motor, comprises Electric Machine Control branch road, current feedback branch road, angle planning branch road and motor speed and calculates branch road; Described Electric Machine Control branch road is used for controlling permagnetic synchronous motor according to q, d shaft current of the permanent-magnetic synchronous motor stator side in given vector control; Described current feedback branch road is for gathering the phase current of permagnetic synchronous motor; Described rotor angle planning branch road provides angle to realize rotor zero degree and correct and electric motor starting controls for current closed-loop coordinate transform; Described rotating speed calculates branch road provides motor real-time rotate speed to judge whether motor normally starts for starting control without transducer permagnetic synchronous motor.
The invention has the beneficial effects as follows: by the method based on closed-loop current control, rotor zero correction is carried out to permagnetic synchronous motor; Control permagnetic synchronous motor by q, d shaft current of permanent-magnetic synchronous motor stator side, because q, d shaft current is controlled, there will not be flow problem; Can ensure that motor start-up procedure is out-of-step free by the planning of rotor angle and reasonable employment constant angle acceleration step-length.By the method based on closed-loop current control, electric motor starting control is carried out to permagnetic synchronous motor; Finally by judging whether permagnetic synchronous motor has started the startup achieved without transducer permagnetic synchronous motor and controlled.Of the present invention startup without transducer permagnetic synchronous motor is made to control simply, easily to implement.
Accompanying drawing explanation
Fig. 1 is that the permagnetic synchronous motor of the embodiment of the present invention starts Control system architecture figure
Fig. 2 is that the permagnetic synchronous motor of the embodiment of the present invention starts control method flow chart;
Fig. 3 is the break in service flow chart of the permagnetic synchronous motor startup control method of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
As shown in Figure 1, permagnetic synchronous motor of the present invention starts control system and comprises Electric Machine Control branch road, current feedback branch road, angle planning branch road and motor speed calculating branch road, and their form motor current ring control model.
Electric Machine Control branch road comprises current comparator, current loop controller, Park/Clark inverse converter and power amplifier device; Control permagnetic synchronous motor for q, d shaft current according to the permanent-magnetic synchronous motor stator side in given vector control, in given vector control, the q shaft current of permanent-magnetic synchronous motor stator side is 0, d shaft current is within the load current value of setting multiple.The current order of d, q axle is connected to Park/Clark inverse converter by current loop controller, rotating coordinate system d, q shaft current is converted to three-phase static coordinate system electric current, be connected to permagnetic synchronous motor through power amplifier device, realize the control to permagnetic synchronous motor.
Current feedback branch road comprises phase current transducer and Park/Clark converter, the input of phase current transducer is connected between the output of Electric Machine Control branch road and permagnetic synchronous motor, for gathering the phase current of permagnetic synchronous motor, phase current transducer is connected to comparator one end by Park/Clark converter, current loop controller is inputed to, as the control signal of motor after the current command value of d, q axle inputted with the comparator other end does logical operation.The three-phase static coordinate system current conversion that Park/Clark converter is used for phase current transducer to collect permagnetic synchronous motor is d, q electric current.
Rotor angle planning branch road provides angle for current closed-loop coordinate transform, corrects and electric motor starting control for rotor zero degree.This planning angle is used by Park/Clark coordinate transform and inverse transformation thereof.
Motor speed calculates branch road and provides motor real-time rotate speed, for judging whether motor normally starts for starting control without transducer permagnetic synchronous motor.Motor speed calculating method of the present invention uses based on counter electromotive force of motor method, but is not limited to the method.
It is as follows that concrete permagnetic synchronous motor starts control method.
As shown in Figure 2, permagnetic synchronous motor startup control method of the present invention is applicable to the permagnetic synchronous motor based on current loop control, comprises the following steps:
(1) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within 1.2 times of load current values;
The q shaft current order of given permanent-magnetic synchronous motor stator side is 0, the order of d shaft current controls within 1.2 times of load current values, the electromagnetic torque of suitable size can be produced, stator winding can not be burnt out because electric current is excessive, also can not cannot drag permanent-magnetic synchronous motor rotor because electric current is too small.
(2) the rotor angle Angle set-point planned progressively is increased to 360 ° from 0 °;
The rotor angle Angle set-point of planning is progressively increased to 360 ° from 0 °, and going round and beginning again, (if need reverse starting, angle planning value is progressively decreased to 0 ° from 360 °.Permanent-magnetic synchronous motor rotor is run by dragging under electromagnetic torque effect.
(3) judge whether permagnetic synchronous motor starts; If complete electric motor starting to complete, enter the vector control of outer voltage, current inner loop; If motor is not activated, returns step (1) and restart.
Judge whether permagnetic synchronous motor starts by motor speed.According to motor characteristic, it is n that the reference of setting permagnetic synchronous motor starts rotating speed, if the actual speed value of permagnetic synchronous motor is greater than n, then judges that permagnetic synchronous motor normally starts; If the actual speed value of permagnetic synchronous motor is less than or equal to n, then judge that permagnetic synchronous motor is not activated.
If electric motor starting completes, enter the vector control of outer voltage, current inner loop; If motor is not activated, returns step (1) and restart.
In the above-described embodiments, before carrying out step (1), following steps are carried out: judge whether permagnetic synchronous motor carries out rotor zero correction; If rotor has carried out zero correction, then carry out step (1); If rotor does not carry out zero correction, then first rotor zero correction is carried out to motor.
In the above-described embodiments, the setting multiple in described step (1) is 1.2 times.As other execution modes, described setting multiple is 1.1 other multiples such as grade.
In the above-described embodiments, judge that the mode whether permagnetic synchronous motor starts is in described step (3): it is n that the reference of setting permagnetic synchronous motor starts rotating speed, if the actual speed value of permagnetic synchronous motor is greater than n, then judge that permagnetic synchronous motor normally starts; If the actual speed value of permagnetic synchronous motor is less than or equal to n, then judge that permagnetic synchronous motor is not activated.As other execution modes, judge whether permagnetic synchronous motor starts by other means.
In the above-described embodiments, the mode of described rotor zero correction is as follows:
(I) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within 1.2 times of load current values;
The q shaft current order of given permanent-magnetic synchronous motor stator side is 0, the order of d shaft current controls within 1.2 times of load current values, the electromagnetic torque of suitable size can be produced, stator winding can not be burnt out because electric current is excessive, also can not cannot drag permanent-magnetic synchronous motor rotor because electric current is too small.
(II) rotor angle Angle set-point is progressively decreased to 0 ° from 30 °, to drag permanent-magnetic synchronous motor rotor to theoretical zero-bit;
Rotor angle is progressively decreased to 0 ° from 30 °, fixed step size can be used to reduce mode.In the process, even if rotor is in 180 ° of non-stable Angle Position, the change of torque direction also can ensure that permanent-magnetic synchronous motor rotor is dragged to theoretical zero-bit.
(III) judge whether permanent-magnetic synchronous motor rotor reaches final settling position, if arrive final settling position, rotor zero correction completes.
By closed-loop current control, if rotor angle Angle set-point equals 0 ° and now the variable quantity in rotor angle and a upper moment is less than 0.01 °, permanent-magnetic synchronous motor rotor reaches final settling position, and rotor zero correction completes.
The electric motor starting entered after rotor zero correction completes based on closed-loop current control controls.
As other execution modes, the mode of described rotor zero correction is other modes.
In the above-described embodiments, the threshold limit value in described step (III) is 0.01 °; As other execution modes, the precision of described threshold limit value adjusts depending on actual conditions.
Permagnetic synchronous motor of the present invention starts control method by (using digital signal processing chip DSP in the present invention at control chip, but be not limited to dsp chip) middle programming realization, the present embodiment provides a kind of concrete programming realization form, as shown in Figure 3, be the flow chart of an interrupt service routine, the mode of Interruption can be adopted.Permagnetic synchronous motor of the present invention starts control and controls two parts realization by control rotor zero correction and electric motor starting.
1. judge whether motor carries out rotor zero correction, reliable school zero is the prerequisite avoiding permagnetic synchronous motor out-of-step operation.
First judge whether rotor zero correction sign A ngle_Flag equals 1, equal 1 expression rotor zero correction and complete, equal 0 expression rotor zero correction and do not complete (this value is initialized as 0).If equal 1, enter electric motor starting and control, equal 0 and enter rotor zero correction program.
In rotor zero correction program, permanent-magnetic synchronous motor stator side q shaft current order Iq=0 in given vector control, d shaft current order Id controls within 1.2 times of load current values.
The rotor angle Angle set-point of planning is progressively decreased to 0 from 30 °, and permanent-magnetic synchronous motor rotor is dragged to theoretical zero-bit under electromagnetic torque effect.
The rotor angle Angle set-point angle of planning is progressively decreased to 0 from 30 °, and fixed step size can be used to reduce mode.Even if rotor is in 180 ° of non-stable Angle Position in the process, the change of torque direction also can ensure that permanent-magnetic synchronous motor rotor is dragged to theoretical zero-bit.
Pass through closed-loop current control, if Angle set-point equals 0 and now the variable quantity in rotor angle and a upper moment is less than 0.01 ° (the visual actual conditions of precision adjust), school zero Success Flag Angle_Flag set, rotor zero correction completes.
2. judge whether motor normally starts, in start-up course, will motor desynchronizing be prevented.
Judge whether electric motor starting complement mark Start_Flag equals 1, equal 1 expression electric motor starting and complete, equal 0 expression electric motor starting and do not complete (this value is initialized as 0).If equal 1, exit electric motor starting and control, equal 0 and enter electric motor starting control program.
In electric motor starting control program, permanent-magnetic synchronous motor stator side q shaft current order Iq=0 in given vector control, d shaft current order Id controls within 1.2 times of load current values.
The rotor angle Angle set-point of planning is progressively increased to 360 ° from 0, go round and begin again (if need reverse starting, angle planning value is progressively decreased to 0 from 360 °).Permanent-magnetic synchronous motor rotor is run by dragging under electromagnetic torque effect.
The planning of rotor angle can use constant angle acceleration step-length mode.Electric machine rotation inertia is larger, and choosing of angular acceleration step-length should be less, thus ensures that start-up course is out-of-step free.
By closed-loop current control, if motor Practical Calculation tachometer value is greater than motor with reference to starting rotating speed n, then judge that motor normally starts, start Success Flag Start_Flag set, electric motor starting completes simultaneously; If motor Practical Calculation tachometer value is less than or equal to motor with reference to starting rotating speed n, then judge that motor is not activated, start-up course continues.
Claims (8)
1. start a control method without transducer permagnetic synchronous motor, it is characterized in that: comprise the following steps:
(1) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within the load current value of setting multiple;
(2) the rotor angle Angle set-point planned progressively is increased to 360 ° from 0 °;
(3) judge whether permagnetic synchronous motor has started; If electric motor starting completes, enter the vector control of outer voltage, current inner loop; If motor is not activated, returns step (1) and restart.
2. according to claim 1 without transducer permagnetic synchronous motor startup control method, it is characterized in that: before carrying out step (1), carry out following steps: judge whether permagnetic synchronous motor carries out rotor zero correction; If rotor has carried out zero correction, then carry out step (1); If rotor does not carry out zero correction, then first rotor zero correction is carried out to motor.
3. according to claim 1 without transducer permagnetic synchronous motor startup control method, it is characterized in that: the setting multiple in described step (1) is 1.2 times.
4. according to claim 1 without transducer permagnetic synchronous motor startup control method, it is characterized in that: in described step (3), judge that the mode whether permagnetic synchronous motor starts is: it is n that the reference of setting permagnetic synchronous motor starts rotating speed, if the actual speed value of permagnetic synchronous motor is greater than n, then judge that permagnetic synchronous motor normally starts; If the actual speed value of permagnetic synchronous motor is less than or equal to n, then judge that permagnetic synchronous motor is not activated.
5. according to claim 2 without transducer permagnetic synchronous motor startup control method, it is characterized in that: described rotor zero correction mode is as follows:
(I) the current order Iq=0 of permanent-magnetic synchronous motor stator side q axle in given vector control, the current order Id of d axle controls within the load current value of setting multiple;
(II) rotor angle Angle set-point is progressively decreased to 0 ° from 30 °, to drag permanent-magnetic synchronous motor rotor to theoretical zero-bit;
(III) judge whether permanent-magnetic synchronous motor rotor reaches final settling position, if arrive final settling position, rotor zero correction completes.
6. according to claim 5ly start control method without transducer permagnetic synchronous motor, it is characterized in that: the final settling position of permanent-magnetic synchronous motor rotor was that Angle set-point equals 0 ° and now the variable quantity in rotor angle and a upper moment is less than the position of a certain threshold limit value in described step (III).
7. according to claim 6 without transducer permagnetic synchronous motor startup control method, it is characterized in that: described threshold limit value is 0.01 °.
8. what use permagnetic synchronous motor startup control method described in the arbitrary claim of claim 1-7 starts a control system without transducer permagnetic synchronous motor, it is characterized in that: comprise Electric Machine Control branch road, current feedback branch road, angle planning branch road and motor speed and calculate branch road; Described Electric Machine Control branch road is used for controlling permagnetic synchronous motor according to q, d shaft current of the permanent-magnetic synchronous motor stator side in given vector control; Described current feedback branch road is for gathering the phase current of permagnetic synchronous motor; Described rotor angle planning branch road provides angle to realize rotor zero degree and correct and electric motor starting controls for current closed-loop coordinate transform; Described rotating speed calculates branch road provides motor real-time rotate speed to judge whether motor normally starts for starting control without transducer permagnetic synchronous motor.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108233812A (en) * | 2018-02-01 | 2018-06-29 | 顺丰科技有限公司 | A kind of permanent magnetic brushless rotor fixed position method, apparatus, equipment and storage medium |
| CN108964552A (en) * | 2018-08-02 | 2018-12-07 | 顺丰科技有限公司 | Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium |
| CN109327174A (en) * | 2018-11-14 | 2019-02-12 | 苏州绿控传动科技股份有限公司 | Rotating transformer of permanent magnet synchronous motor zero-bit automatic identifying method |
| CN111384878A (en) * | 2018-12-29 | 2020-07-07 | 苏州灵猴机器人有限公司 | Motor phase-finding precision determination method |
| CN113098339A (en) * | 2021-05-20 | 2021-07-09 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
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| WO2013166123A1 (en) * | 2012-05-01 | 2013-11-07 | Deere & Company | Method and system for controlling electric motors of a common assembly |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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| CN108964552A (en) * | 2018-08-02 | 2018-12-07 | 顺丰科技有限公司 | Unmanned plane current of electric closed loop dragging method, device, equipment and storage medium |
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| CN111384878A (en) * | 2018-12-29 | 2020-07-07 | 苏州灵猴机器人有限公司 | Motor phase-finding precision determination method |
| CN111384878B (en) * | 2018-12-29 | 2022-05-06 | 苏州灵猴机器人有限公司 | Motor phase-finding precision determination method |
| CN113098339A (en) * | 2021-05-20 | 2021-07-09 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
| CN113098339B (en) * | 2021-05-20 | 2022-12-20 | 神华准格尔能源有限责任公司 | Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment |
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