CN105356812A - Starting circuit and starting method of permanent magnet synchronous motor - Google Patents

Abstract

The invention discloses a starting circuit and a starting method of a permanent magnet synchronous motor. The starting circuit of the permanent magnet synchronous motor comprises an inverter circuit, three current sensors, a motor and a master control panel, wherein the inverter circuit comprises three groups of IGBT modules; the three groups of IGBT modules are electrically connected with the motor through three leads respectively; the three current sensors are respectively located on the three leads; and the master control panel comprises a rotating speed control module, a starting current instruction generation module, a current control module, a rotating speed estimation unit, an integrator unit, a position signal switching unit, an IPARK unit, a CLARK unit, a PARK unit and an SVPWM unit. The starting circuit and the starting method have the characteristics that the starting process can be quickened; the angle difference between a given rotating coordinate system and an actual rotating coordinate system is reduced; and smooth switching from rotating speed open loop starting to double closed-loop sensorless vector control operation of rotating speed current is ensured.

Description

Permagnetic synchronous motor start-up circuit and starting method

Technical field

The present invention relates to motor control technology field on the whole, specifically refers to a kind ofly to realize starting without sensing and the permagnetic synchronous motor start-up circuit that takes over seamlessly and starting method.

Background technology

Permagnetic synchronous motor has that volume is little, power density is high, respond the intrinsic advantages such as fast, in recent years along with permanent magnet material, power electronics are integrated, the development of high-performance microprocessor, the PMSM Drive System based on vector control technology is widely applied in fields such as household electrical appliance, Digit Control Machine Tool, industrial robot, electric automobiles.

In recent years, rotor-position and the velocity estimation of multiple position-sensor-free is proposed.In the position-sensor-free commercial Application of permagnetic synchronous motor, simple back-emf method is still main flow.These methods are according to the voltage and current signal of motor, and the back electromotive force based on motor estimates rotor-position and speed.The subject matter of the method is that motor is when zero-speed or low speed, because back electromotive force is less, is difficult to detect.Therefore, how permagnetic synchronous motor starts smoothly and be steadily switched to two close cycles pattern under the condition without position rotary speed information becomes a major challenge controlled without sensing vector.

It is the simple implementation efficiently of one that permagnetic synchronous motor starts without sensing that single current closed-loop starts.Traditional single current closed-loop startup is divided into three processes: initial alignment, synchronous averaging and Open-closed-loop switch.In the synchronous averaging stage, given current controller instruction current phasor phase place is fixed.In this case, given rotating coordinate system d in start-up course ^*q ^*and there is differential seat angle Δ θ between actual rotating coordinate system dq, as shown in Figure 1.Δ θ size is indefinite, by given starting current amplitude determine with load characteristic.When directly switching, due to the existence of differential seat angle Δ θ, the saltus step of Current Control amount and angle of transformation θ can be caused, generation current pulsation and rotating speed shake.

Start the switching jitter problem existed for tradition list electric current loop, propose some improvement projects, as the switching transition scheme changed based on current amplitude.By progressively reducing current amplitude mode adjust the size of differential seat angle Δ θ, make Δ θ progressively narrow down to 0.The program can realize the switching of control mode, but the running status of system can be placed in the rim condition in " torque one merit angle self-balancing " region in the moment switched due to the program, and motor has the risk of step-out.In addition, this method operates in " quasi-stable state " to keep motor, and need longer Current adjustment process, reliability and engineering practicability are not strong.

Chinese patent mandate publication number: CN102969946A, authorize publication date on March 13rd, 2013, disclose a kind of high load motor starting method, comprise auxiliary drive motor and main drive motor, described auxiliary drive motor is high-speed electric expreess locomotive, described main drive motor is slowspeed machine, connect carrying out isolation by magnetic speed changer between described auxiliary drive motor and described main drive motor, first described auxiliary drive motor is started, now main drive motor is in unloaded zero-speed starting state, then main drive motor is driven to operate by described auxiliary drive motor by magnetic speed changer, when the rotating speed of main drive motor reaches a half of working speed, start described main drive motor.The weak point of this invention is, function singleness, cannot be used for permagnetic synchronous motor and start.

Summary of the invention

Goal of the invention of the present invention is switching rough deficiency to overcome permagnetic synchronous motor of the prior art carrying a difficulty in starting, Open-closed-loop without band under sensed condition, provides a kind of realization without sensing startup and the permagnetic synchronous motor start-up circuit taken over seamlessly and starting method.

To achieve these goals, the present invention is by the following technical solutions:

A kind of permagnetic synchronous motor start-up circuit, comprises inverter circuit, 3 current sensors, motor and master control borads; Described inverter circuit comprises 3 groups of IGBT module, and 3 groups of IGBT module are connected with electric electromechanics respectively by 3 wires, and 3 current sensors lay respectively on 3 wires;

Described master control borad comprises rotational speed control module, starting current instruction generation module, current control module, turn count unit, integrator unit, position signalling switch unit, IPARK unit, CLARK unit, PARK unit, SVPWM unit; Rotational speed control module is connected with starting current instruction generation module, current control module sum-product intergrator unit respectively, starting current instruction generation module is connected with current control module, turn count unit, integrator unit, position signalling switch unit connect successively, current control module, IPARK unit, SVPWM unit connect successively, CLARK unit is connected with PARK unit, PARK unit is connected with current control module, and IPARK unit, CLARK unit are connected with turn count unit respectively; SVPWM unit is electrically connected with 3 groups of IGBT module respectively, and 3 current sensors are all electrically connected with CLARK unit.

The present invention can overcome the switching jitter problem that traditional single current closed-loop starting method causes due to the differential seat angle between given rotating coordinate system and actual rotating coordinate system, can realize the smooth of permagnetic synchronous motor under from zero load to full load conditions and start without sensing.In the synchronous averaging stage one, current phase linearly increases, and can shorten start-up time, accelerates the synchronous averaging process of permagnetic synchronous motor; In the synchronous averaging stage two, current phase self-adjusting, can make differential seat angle Step wise approximation between given rotating coordinate system and actual rotating coordinate system in zero, thus guarantee to be switched to speed and current double closed loop without sensing vector controlling run from rotating speed open-loop start-up smoothly.The accuracy of turn count is the prerequisite realizing controlling without sensing vector, proposing the accuracy and the stability that judge estimation by calculating turn count variance, can judge turn count performance simply, efficiently in the present invention.

Therefore, the present invention has and can realize permagnetic synchronous motor and carry starting without sensing in situation at band; Can start quickly process, and reduce the differential seat angle between given rotating coordinate system and actual rotating coordinate system, guarantee to be switched to the feature of speed and current double closed loop without sensing vector controlling run from rotating speed open-loop start-up smoothly.

As preferably, described rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Relative speed variation limiting unit is connected with starting current instruction generation module and position signalling switch unit respectively, and rotational speed control module is connected with current control module.

As preferably, described current control module comprises interconnective current-order switch unit and current control unit; Current-order switch unit respectively with rotational speed control module and starting current instruction generation model calling, current control unit is connected with IPARK unit.

As preferably, described starting current instruction generation module comprises the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order generating unit; First current phase generating unit and the parallel connection of the second current phase generating unit, the input of the first current phase generating unit is connected with rotational speed control module, the input of the second current phase generating unit is connected with rotational speed control module and current control module, first current phase generating unit is connected with current phase switch unit and current-order generating unit successively with the output of the second current phase generating unit, and current-order generating unit is connected with current control module.

A starting method for permagnetic synchronous motor start-up circuit, comprises the steps:

(5-1) initial alignment: SVPWM unit exports 6 road pwm signals, makes motor rotor be positioned electrical degree θ ₀position;

(5-2) the synchronous averaging stage one:

(5-2-1) starting current instruction generation module estimates load torque T according to operating mode _l, computational load electric current I _l; Arranging starting current amplitude is calculation expectation load angle _l0;

(5-2-3) rotational speed control module exports the rotating speed desired value ω of setting ^*, acceleration limiting parameter α ^*and speed reference to starting current instruction generation module, starting current instruction generation module is according to θ _l0, ω ^*and α ^*calculate current phase and linearly increase slope ω _s;

(5-2-4) starting current instruction generation module output current instructing phase θ _sync1=ω _st, according to θ _sync1and θ _l0magnitude relationship, setting θ _syncvalue;

Starting current instruction generation module utilizes formula $\begin{array}{c}{I}_{dc}^{*}=\left|{\stackrel{\→}{I}}_s\right|{\mathrm{cos\θ}}_{sync}\\ I_{qc}^{*}=\left|{\stackrel{\→}{I}}_s\right|{\mathrm{sin\θ}}_{sync}\end{array}$ Calculate current-order with

(5-2-5) current control module calculates the differential seat angle Δ θ between given rotating coordinate system and actual rotating coordinate system; According to with 0.05 ω _nbetween magnitude relationship, Δ θ and θ _thmagnitude relationship, turn count variance S and s _thbetween magnitude relationship, setting or wherein, ω _nfor the rated speed of motor, θ _thfor the differential seat angle judgment threshold of setting, s _thfor the turn count variance threshold values of setting, for the d shaft current command value of setting, for the q shaft current command value that rotational speed control module exports;

(5-2-6) current control module is according to input instruction with feedback command I _d, I _q, adopt PI controller calculate and export control voltage with

Will be input to integrator unit, integrator unit exports θ ₁, position signalling switch unit according to with 0.05 ω _nbetween magnitude relationship, Δ θ and θ _thmagnitude relationship, turn count variance S and s _thbetween magnitude relationship, determine the value of θ;

(5-2-7) IPARK unit calculates the U in α β coordinate system _α, U _β, U _α, U _βbe input to SVPWM unit, generate corresponding PWM ripple and output to 3 groups of IGBT module, control IGBT break-make;

(5-2-8) three-phase current of 3 current sensor detections is input to CLARK unit, and CLARKE unit calculates α β coordinate system electric current I _αand I _β, PARK unit calculates feedback current I _d, I _q;

(5-2-9) U of IPARK unit output _α, U _βi is exported with CLARK unit _α, I _βbe sent to turn count unit, turn count unit adopts sliding mode observer method, estimates rotor rotating speed according to the signal of telecommunication

(5-3) the synchronous averaging stage two:

(5-3-1) θ is worked as _sync1>=θ _l0time, starting current instruction generation module makes θ _sync=θ _sync2, utilize formula obtain exporting θ to the Δ θ integration of input _sync2; Wherein, k is the integration gain factor of setting;

(5-3-2) repeat step (5-2-4) to (5-2-9), enter the phase auto-adjustment stage;

(5-4) rotating speed Open-closed-loop switches

(5-4-1) when and Δ θ < θ _thand S < s _thtime, current-order switch unit switches, and current control module and starting current instruction generation module are disconnected, then and the control module that cuts in frequency, make be cut into speed closed loop pattern, rotational speed control module is according to the instruction of input with turn count value adopt PI controller to calculate to export pI controller integration initial value is set to switching instant final value;

(5-4-2) when and Δ θ < θ _thand S < s _thtime, position signalling switch unit connects integrator unit, makes θ=θ ₂;

(5-4-3), after repeating step (5-2-6) to (5-2-9), motor enters normal speed and current double closed loop without sensing vector controlling run.

The present invention is the starting problem that solution permagnetic synchronous motor controls without sensing vector, and the single current closed-loop proposing a kind of improvement starts scheme.Whole start-up course is divided into four-stage: initial alignment, synchronous averaging stage one, synchronous averaging stage two, rotating speed Open-closed-loop switch.The initial alignment stage is identical with conventional method; Change the changeless mode of conventional method synchronous averaging stage current phase, in the synchronous averaging stage one, setting current phase linearly increases to set slope, thus accelerates synchronous averaging process; In the synchronous averaging stage two, automatically adjust to current phase, make the differential seat angle between given rotating coordinate system and actual rotating coordinate system approach zero, thus reduce shake when rotating speed Open-closed-loop switches, handoff procedure is level and smooth, reduces handoff failure risk.

As preferably, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Starting current instruction generation module comprises the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order generating unit; Step (5-2-1) comprises following concrete steps:

(6-1) the first current phase generating unit estimates load torque T according to operating mode _l, utilize formula calculate load current I _l, wherein K _tfor the torque constant of motor;

(6-2) the first current phase generating unit arranges starting current amplitude and is utilize formula calculate rough expectation load angle _l0;

Step (5-2-2) comprises following concrete steps:

Rotary speed instruction generating unit exports setting speed desired value ω ^*, relative speed variation limiting unit export acceleration restriction α ^*and speed reference to the first current phase generating unit, the first current phase generating unit is according to θ _l0, ω ^*and α ^*calculate current phase and linearly increase slope

As preferably, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Starting current instruction generation module comprises the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order generating unit; Judgement θ in step (5-2-4) _sync1and θ _l0magnitude relationship, setting θ _syncvalue comprise following concrete steps:

Work as θ _sync1< θ _l0time, current phase switch unit connects the first current phase generating unit, makes θ _sync=θ _sync1, otherwise current phase switch unit connects the second current phase generating unit, makes θ _sync=θ _sync2.

As preferably, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Current control module comprises interconnective current-order switch unit and current control unit; It is characterized in that,

The differential seat angle Δ θ that described step current control module calculates between given rotating coordinate system and actual rotating coordinate system is replaced by following step:

Formula is utilized in current-order switch unit calculate differential seat angle Δ θ between given rotating coordinate system and actual rotating coordinate system; Wherein, R is phase resistance, the L of motor _dand L _qbe respectively the d-axis and q-axis inductance of motor, with for export from current control unit the instruction of dq shaft voltage, I _dand I _qfor export from PARK unit feedback dq shaft current, for the speed reference that relative speed variation limiting unit exports.

As preferably, current control module comprises interconnective current-order switch unit and current control unit; Step (5-2-5) comprises following concrete steps:

When and Δ θ < θ _thand S < s _thtime, current-order switch unit making current instruction generation module, setting otherwise, setting

10. the starting method of the permagnetic synchronous motor start-up circuit according to claim 5 or 6 or 7 or 8 or 9, it is characterized in that, step (5-2-8) comprises following concrete steps:

The three-phase current I that 3 current sensors detect _u, I _v, I _wbe input to CLARK unit, CLARKE unit utilizes formula $\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{I}_u\\ I_v\\ I_w\end{array}\right]$ Calculate α β coordinate system electric current I _αand I _β, PARK unit utilizes formula $\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]=\left[\begin{array}{cc}cos\left(p\mathrm{\&theta;}\right)& sin\left(p\mathrm{\&theta;}\right)\\ -sin\left(p\mathrm{\&theta;}\right)& \cos \left(p\mathrm{\&theta;}\right)\end{array}\right]\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]$ Calculate feedback current I _di _q; Wherein, p is motor number of pole-pairs.

Therefore, the present invention has following beneficial effect: can realize permagnetic synchronous motor starting without sensing under band carries situation; By without the startup stage of sensing to the control of current phase and adjustment, can start quickly process, and the differential seat angle reduced between given rotating coordinate system and actual rotating coordinate system, thus guarantee to be switched to speed and current double closed loop without sensing vector controlling run from rotating speed open-loop start-up smoothly.

Accompanying drawing explanation

Fig. 1 is a kind of schematic diagram of given rotating coordinate system of the present invention and actual rotating coordinate system differential seat angle;

Fig. 2 is that one of the present invention simplifies hardware principle block diagram;

Fig. 3 is a kind of software module block diagram of master control borad of the present invention;

Fig. 4 is a kind of schematic diagram of initial alignment pwm signal of the present invention;

Fig. 5 is a kind of flow chart of embodiments of the invention.

In figure: inverter circuit 1, current sensor 2, motor 3, master control borad 4, IGBT module 5, rotary speed instruction generating unit 41, relative speed variation limiting unit 42, rotary speed controling unit 43, first current phase generating unit 44, second current phase generating unit 45, current phase switch unit 46, current-order generating unit 47, current-order switch unit 48, current control unit 49, turn count unit 410, integrator unit 411, position signalling switch unit 412, IPARK unit 413, CLARK unit 414, PARK unit 415, SVPWM unit 416, rotational speed control module 420, starting current instruction generation module 421, current control module 422.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention will be further described.

Embodiment is as shown in Figure 2 a kind of hardware elementary diagram that the present invention relates to, and comprises inverter circuit 1,3 current sensors 2, motor 3 and master control borads 4.Inverter circuit 1 comprises 3 groups of IGBT module, 5,3 groups of IGBT module and is connected with electric electromechanics respectively by 3 wires, and 3 current sensors lay respectively on 3 wires, detects the three-phase current of motor.Described master control borad comprises each large functional module implementing to control without sensing vector, specifically as shown in Figure 3.Mainly contain: rotational speed control module 420, starting current instruction generation module 421, current control module 422, turn count unit 410, integrator unit 411, position signalling switch unit 412, IPARK unit 413, CLARK unit 414, PARK unit 415, SVPWM unit 416; Rotational speed control module comprises again rotary speed instruction generating unit 41, relative speed variation limiting unit 42 and rotary speed controling unit 43 3 subelements, and three unit in rotational speed control module are sequentially connected in series;

Starting current instruction generation inside modules comprises after the first current phase generating unit 44, second current phase generating unit 45, current phase switch unit 46, current-order generating unit 47, first current phase generating unit and the second current phase generating unit are in parallel connects with current phase switch unit and current-order generating unit successively; Current control module comprises current-order switch unit 48 and current control unit 49, and both are interconnected.Rotational speed control module and starting current generation wired in parallel, be connected to current control module simultaneously; Current control module is connected with IPARK, SVPWM unit successively, and output pwm signal is connected in 3 groups of IGBT module of inverter.In Fig. 2, the three-phase current signal of 3 current sensor detections is connected to CLARK, PARK unit successively.

As shown in Figure 5, starting and smooth-switching method without transducer of a kind of permagnetic synchronous motor, mainly comprises following 4 processes:

Step 100, initial alignment

By configuration, make 6 road pwm signals shown in SVPWM unit output map 4, be equivalent to pass into the direct current that U phase flows into, V phase flows out to motor, the not conducting of W phase, rotor be positioned electrical degree-30 ° of positions.

Step 200, the synchronous averaging stage one

1. the first current phase generating unit estimates load torque T according to operating mode _l, utilize formula calculate load current I _l, wherein K _tfor the torque constant of motor;

2. the first current phase generating unit arranges starting current amplitude and is utilize formula calculate rough expectation load angle _l0;

3. rotary speed instruction generating unit exports setting speed desired value ω ^*, relative speed variation limiting unit export acceleration restriction α ^*and speed reference to the first current phase generating unit, the first current phase generating unit is according to θ _l0, ω ^*and α ^*calculate current phase and linearly increase slope ${\mathrm{\&omega;}}_s=\frac{2{\mathrm{\&theta;}}_{l0}}{{\mathrm{\&omega;}}^{*}/a^{*}};$

4. the first current phase generating unit output current instructing phase θ _sync1=ω _st;

5. carry out condition judgment in current phase switch unit: θ _sync1whether be less than θ _l0, work as θ _sync1< θ _l0time, current phase switch unit connects the first current phase generating unit, θ _sync1=θ _sync1, otherwise current phase switch unit connects the second current phase generating unit, θ _sync=θ _sync2, θ in the second current phase generating unit _sync2computational process explanation in step 300 below;

6. current-order generating unit is according to setting amplitude θ is exported with current phase switch unit _sync, utilize formula $\begin{array}{c}{I}_{dc}^{*}=\left|{\stackrel{\&RightArrow;}{I}}_s\right|{\mathrm{cos\&theta;}}_{sync}\\ I_{qc}^{*}=\left|{\stackrel{\&RightArrow;}{I}}_s\right|{\mathrm{sin\&theta;}}_{sync}\end{array}$ Calculate starting current instruction

7. the schematic diagram of given rotating coordinate system and actual rotating coordinate system differential seat angle as shown in Figure 1; Formula is utilized in current-order switch unit calculate differential seat angle Δ θ between given rotating coordinate system and actual rotating coordinate system.Wherein R is phase resistance, the L of motor _dand L _qbe respectively the d-axis and q-axis inductance of motor, with for export from current control unit the instruction of dq shaft voltage, I _dand I _qfor export from PARK unit feedback dq shaft current, for the speed reference that relative speed variation limiting unit exports;

8. carry out condition judgment in current-order switch unit: a, judgement whether be greater than 0.05 ω _n, wherein ω _nfor the rated speed of motor; Differential seat angle judgment threshold θ is provided with in b, current-order switch unit _th, judge whether Δ θ is less than θ _th; Turn count variance S is calculated in c, current-order switch unit, and judge whether variance S is less than setting threshold S _th.When and Δ θ < θ _thand S < s _thtime, current-order switch unit connects starting current instruction generation module, otherwise,

9. position switch unit judges according to three conditions in (8) article equally, when and Δ θ < θ _thand S < s _thtime connect θ ₂, i.e. θ=θ ₂, θ ₂for velocity estimation value be input to the positional value that integrator unit obtains, otherwise connect θ ₁, i.e. θ=θ ₁, θ ₁for speed reference be input to the positional value that integrator unit integration exports;

10. current control unit is according to input instruction with feedback command I _d, I _q, adopt PI controller to export control voltage with

11.IPARK unit utilizes formula $\left[\begin{array}{c}{U}_{\mathrm{\&alpha;}}\\ U_{\mathrm{\&beta;}}\end{array}\right]=\left[\begin{array}{cc}cos\left(p\mathrm{\&theta;}\right)& -sin\left(p\mathrm{\&theta;}\right)\\ sin\left(p\mathrm{\&theta;}\right)& \cos \left(p\mathrm{\&theta;}\right)\end{array}\right]\left[\begin{array}{c}{U}_d^{*}\\ U_q^{*}\end{array}\right]$ Calculate the U in α β coordinate system _α, U _β, wherein p is motor number of pole-pairs.U _α, U _βbe input to SVPWM unit, generate corresponding PWM ripple and output to 3 groups of IGBT module, control IGBT break-make;

The three-phase current of 12.3 current sensor detections is input to CLARK unit, and CLARKE unit utilizes formula $\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{I}_u\\ I_v\\ I_w\end{array}\right]$ Calculate α β coordinate system electric current I _αand I _β, PARK unit utilizes formula $\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]=\left[\begin{array}{cc}cos\left(p\mathrm{\&theta;}\right)& sin\left(p\mathrm{\&theta;}\right)\\ -sin\left(p\mathrm{\&theta;}\right)& \cos \left(p\mathrm{\&theta;}\right)\end{array}\right]\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]$ Calculate feedback current I _d, I _q.

The U that 13.IPARK unit exports _α, U _βi is exported with CLARK unit _α, I _βbe sent to turn count unit, turn count unit adopts sliding mode observer method, estimates rotor rotating speed according to the signal of telecommunication

Step 300, the synchronous averaging stage two

1., as described in step 5 in step 200, work as θ _sync1>=θ _l0time, current phase switch unit connects the second current phase generating unit, i.e. θ _sync=θ _sync2.Second current phase generating unit, to the Δ θ integration of input, exports θ _sync2, integration initial value is set to θ _l0, integration initial time is current phase switch unit switching instant point, is designated as t1, namely wherein k is integration gain factor;

2. repeat step 6 in step 200 and, to 13, enter the phase auto-adjustment stage;

Step 400, rotating speed Open-closed-loop switches

1. as described in the step 8 of step 200, when and Δ θ < θ _thand S < s _thtime, current-order switch unit cuts in frequency control module, namely be cut into speed closed loop pattern, rotary speed controling unit is according to input speed reference value with turn count value adopt PI controller to calculate to export pI controller initial value for integral is set to current-order switch unit switching instant starting current instruction generating unit and exports final value, arrange

2. as described in step 200, when and Δ θ < θ _thand S < s _thtime, integrator unit is to speed estimate value integration, outgoing position value θ ₂, position signalling switch unit exports θ=θ ₂;

3. repeat the step 10 of step 200 to 13, motor carries out normal speed and current double closed loop without sensing vector controlling run.

Should be understood that the present embodiment is only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.

Claims (10)

1. a permagnetic synchronous motor start-up circuit, is characterized in that, comprises inverter circuit (1), 3 current sensors (2), motor (3) and master control borads (4); Described inverter circuit comprises 3 groups of IGBT module (5), and 3 groups of IGBT module are connected with electric electromechanics respectively by 3 wires, and 3 current sensors lay respectively on 3 wires;

Described master control borad comprises rotational speed control module (420), starting current instruction generation module (421), current control module (422), turn count unit (410), integrator unit (411), position signalling switch unit (412), IPARK unit (413), CLARK unit (414), PARK unit (415), SVPWM unit (416); Rotational speed control module is connected with starting current instruction generation module, current control module sum-product intergrator unit respectively, starting current instruction generation module is connected with current control module, turn count unit, integrator unit, position signalling switch unit connect successively, current control module, IPARK unit, SVPWM unit connect successively, CLARK unit is connected with PARK unit, PARK unit is connected with current control module, and IPARK unit, CLARK unit are connected with turn count unit respectively; SVPWM unit is electrically connected with 3 groups of IGBT module respectively, and 3 current sensors are all electrically connected with CLARK unit.

2. permagnetic synchronous motor start-up circuit according to claim 1, it is characterized in that, described rotational speed control module comprises the rotary speed instruction generating unit (41), relative speed variation limiting unit (42), the rotary speed controling unit (43) that connect successively; Relative speed variation limiting unit is connected with starting current instruction generation module and position signalling switch unit respectively, and rotary speed controling unit is connected with current control module.

3. permagnetic synchronous motor start-up circuit according to claim 1, is characterized in that, described current control module comprises interconnective current-order switch unit (48) and current control unit (49); Current-order switch unit respectively with rotational speed control module and starting current instruction generation model calling, current control unit is connected with IPARK unit.

4. the permagnetic synchronous motor start-up circuit according to claim 1 or 2 or 3, it is characterized in that, described starting current instruction generation module comprises the first current phase generating unit (44), the second current phase generating unit (45), current phase switch unit (46) and current-order generating unit (47); First current phase generating unit and the parallel connection of the second current phase generating unit, the input of the first current phase generating unit is connected with rotational speed control module, the input of the second current phase generating unit is connected with rotational speed control module and current control module, first current phase generating unit is connected with current phase switch unit and current-order generating unit successively with the output of the second current phase generating unit, and current-order generating unit is connected with current control module.

5. be applicable to a starting method for permagnetic synchronous motor start-up circuit according to claim 1, it is characterized in that, comprise the steps:

(5-1) initial alignment: SVPWM unit exports 6 road pwm signals, makes motor rotor be positioned electrical degree θ ₀position;

(5-2) the synchronous averaging stage one:

(5-2-1) starting current instruction generation module estimates load torque T according to operating mode _l, computational load electric current I _l; Arranging starting current amplitude is , calculation expectation load angle _l0;

(5-2-3) rotational speed control module exports the rotating speed desired value ω of setting ^*, acceleration limiting parameter α ^*and speed reference to starting current instruction generation module, starting current instruction generation module is according to θ _l0, ω ^*and α ^*calculate current phase and linearly increase slope ω _s;

(5-2-4) starting current instruction generation module output current instructing phase θ _sync1=ω _st, according to θ _sync1and θ _l0magnitude relationship, setting θ _syncvalue;

Starting current instruction generation module utilizes formula $\begin{array}{c}{I}_{dc}^{*}=\left|{\stackrel{\&RightArrow;}{I}}_s\right|{\mathrm{cos\&theta;}}_{sync}\\ I_{qc}^{*}=\left|{\stackrel{\&RightArrow;}{I}}_s\right|{\mathrm{sin\&theta;}}_{sync}\end{array}$ Calculate current-order with

(5-2-5) current control module calculates the differential seat angle Δ θ between given rotating coordinate system and actual rotating coordinate system; According to with 0.05 ω _nbetween magnitude relationship, Δ θ and θ _thmagnitude relationship, turn count variance S and S _thbetween magnitude relationship, setting or wherein, ω _nfor the rated speed of motor, θ _thfor the differential seat angle judgment threshold of setting, S _thfor the turn count variance threshold values of setting, for the d shaft current command value of setting, for the q shaft current command value that rotational speed control module exports;

(5-2-6) current control module is according to input instruction with feedback command I _d, I _q, adopt PI controller calculate and export control voltage with

Will be input to integrator unit, integrator unit exports θ _l, position signalling switch unit according to with 0.05 ω _nbetween magnitude relationship, Δ θ and θ _thmagnitude relationship, turn count variance S and S _thbetween magnitude relationship, determine the value of θ;

(5-2-7) IPARK unit calculates the U in α β coordinate system _α, U _β, U _α, U _βbe input to SVPWM unit, generate corresponding PWM ripple and output to 3 groups of IGBT module, control IGBT break-make;

(5-2-8) three-phase current of 3 current sensor detections is input to CLARK unit, and CLARKE unit calculates α β coordinate system electric current I _αand I _β, PARK unit calculates feedback current I _d, I _q;

(5-2-9) U of IPARK unit output _α, U _βi is exported with CLARK unit _α, I _βbe sent to turn count unit, turn count unit adopts sliding mode observer method, estimates rotor rotating speed according to the signal of telecommunication

(5-3) the synchronous averaging stage two:

(5-3-1) θ is worked as _sync1>=θ _l0time, starting current instruction generation module makes θ _sync=θ _sync2, utilize formula obtain exporting θ to the Δ θ integration of input _sync2; Wherein, k is the integration gain factor of setting;

(5-3-2) repeat step (5-2-4) to (5-2-9), enter the phase auto-adjustment stage;

(5-4) rotating speed Open-closed-loop switches

(5-4-1) when and Δ θ < θ _thand S < S _thtime, current-order switch unit switches, and current control module and starting current instruction generation module are disconnected, then connects with rotational speed control module, makes be cut into speed closed loop pattern, rotary speed controling unit is according to the instruction of input with turn count value adopt PI controller to calculate to export pI controller integration initial value is set to switching instant final value;

(5-4-2) when and Δ θ < θ _thand S < S _thtime, position signalling switch unit connects integrator unit, makes θ=θ ₂;

(5-4-3), after repeating step (5-2-6) to (5-2-9), motor enters normal speed and current double closed loop without sensing vector controlling run.

6. the starting method of permagnetic synchronous motor start-up circuit according to claim 5, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Starting current instruction generation module comprises the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order generating unit; It is characterized in that, step (5-2-1) comprises following concrete steps:

(6-1) the first current phase generating unit estimates load torque T according to operating mode _l, utilize formula calculate load current I _l, wherein K _tfor the torque constant of motor;

(6-2) the first current phase generating unit arranges starting current amplitude and is utilize formula calculate rough expectation load angle _l0;

Step (5-2-2) comprises following concrete steps:

Rotary speed instruction generating unit exports setting speed desired value ω ^*, relative speed variation limiting unit export acceleration restriction α ^*and speed reference to the first current phase generating unit, the first current phase generating unit is according to θ _l0, ω ^*and α ^*calculate current phase and linearly increase slope ${\mathrm{\&omega;}}_s=\frac{2{\mathrm{\&theta;}}_{l0}}{{\mathrm{\&omega;}}^{*}/a^{*}}.$

7. the starting method of permagnetic synchronous motor start-up circuit according to claim 5, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Starting current instruction generation module comprises the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order generating unit; It is characterized in that, the judgement θ in step (5-2-4) _sync1and θ _l0magnitude relationship, setting θ _syncvalue comprise following concrete steps:

Work as θ _sync1< θ _l0time, current phase switch unit connects the first current phase generating unit, makes θ _sync=θ _sync1, otherwise current phase switch unit connects the second current phase generating unit, makes θ _sync=θ _sync2.

8. the starting method of permagnetic synchronous motor start-up circuit according to claim 5, rotational speed control module comprises the rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit that connect successively; Current control module comprises interconnective current-order switch unit and current control unit; It is characterized in that,

The differential seat angle Δ θ that described step current control module calculates between given rotating coordinate system and actual rotating coordinate system is replaced by following step:

Formula is utilized in current-order switch unit calculate differential seat angle Δ θ between given rotating coordinate system and actual rotating coordinate system; Wherein, R is phase resistance, the L of motor _dand L _qbe respectively the d-axis and q-axis inductance of motor, with for export from current control unit the instruction of dq shaft voltage, I _dand I _qfor export from PARK unit feedback dq shaft current, for the speed reference that relative speed variation limiting unit exports.

9. the starting method of permagnetic synchronous motor start-up circuit according to claim 5, current control module comprises interconnective current-order switch unit and current control unit; It is characterized in that, step (5-2-5) comprises following concrete steps:

When and Δ θ < θ _thand S < S _thtime, current-order switch unit making current instruction generation module, setting otherwise, setting

10. the starting method of the permagnetic synchronous motor start-up circuit according to claim 5 or 6 or 7 or 8 or 9, it is characterized in that, step (5-2-8) comprises following concrete steps:

The three-phase current I that 3 current sensors detect _u, I _v, I _wbe input to CLARK unit, CLARKE unit utilizes formula $\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{I}_u\\ I_v\\ I_w\end{array}\right]$ Calculate α β coordinate system electric current I _αand I _β, PARK unit utilizes formula $\left[\begin{array}{c}{I}_d\\ I_q\end{array}\right]=\left[\begin{array}{cc}cos\left(p\mathrm{\&theta;}\right)& sin\left(p\mathrm{\&theta;}\right)\\ -sin\left(p\mathrm{\&theta;}\right)& \cos \left(p\mathrm{\&theta;}\right)\end{array}\right]\left[\begin{array}{c}{I}_{\mathrm{\&alpha;}}\\ I_{\mathrm{\&beta;}}\end{array}\right]$ Calculate feedback current I _d, I _q; Wherein, p is motor number of pole-pairs.