CN105356812B - Permanent magnet synchronous motor start-up circuit and startup method - Google Patents

Permanent magnet synchronous motor start-up circuit and startup method Download PDF

Info

Publication number
CN105356812B
CN105356812B CN201510696539.XA CN201510696539A CN105356812B CN 105356812 B CN105356812 B CN 105356812B CN 201510696539 A CN201510696539 A CN 201510696539A CN 105356812 B CN105356812 B CN 105356812B
Authority
CN
China
Prior art keywords
current
unit
units
control module
generating unit
Prior art date
Application number
CN201510696539.XA
Other languages
Chinese (zh)
Other versions
CN105356812A (en
Inventor
刘砚
祝闽
曲强
徐敏珍
郝兆礼
白政巧
Original Assignee
杭州娃哈哈精密机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州娃哈哈精密机械有限公司 filed Critical 杭州娃哈哈精密机械有限公司
Priority to CN201510696539.XA priority Critical patent/CN105356812B/en
Publication of CN105356812A publication Critical patent/CN105356812A/en
Application granted granted Critical
Publication of CN105356812B publication Critical patent/CN105356812B/en

Links

Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/13Observer control, e.g. using Luenberger observers or Kalman filters
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency

Abstract

The invention discloses a kind of permanent magnet synchronous motor start-up circuit and start method, including inverter circuit, 3 current sensors, motor and master control borad;The inverter circuit includes 3 groups of IGBT modules, and respectively by 3 conducting wires and electronic mechatronics, 3 current sensors are located on 3 conducting wires 3 groups of IGBT modules;The master control borad includes rotational speed control module, starting current instruction generation module, current control module, turn count unit, integrator unit, position signal switch unit, IPARK units, CLARK units, PARK units, SVPWM units;The present invention have can start quickly process, and reduce given differential seat angle between rotating coordinate system and practical rotating coordinate system, it is ensured that be smoothly switched to the characteristics of speed and current double closed loop is without sensing vector control operation from rotating speed open-loop start-up.

Description

Permanent magnet synchronous motor start-up circuit and startup method

Technical field

This invention relates generally to can be achieved to start without sensing and put down to motor control technology field, in particular to one kind The permanent magnet synchronous motor start-up circuit and start method that sliding cutting changes.

Background technology

Permanent magnet synchronous motor has the intrinsic advantages such as small, power density is high, response is fast, recently as permanent magnet material Expect, power electronics is integrated, high-performance microprocessor development, the PMSM Drive System based on vector control technology It is widely applied in fields such as household electrical appliance, numerically-controlled machine tool, industrial robot, electric vehicles.

In recent years it has been proposed that the rotor-position and velocity estimation of a variety of position-sensor-frees.In permanent magnet synchronous motor Position-sensor-free commercial Application in, simple and practicable back-emf method is still mainstream.These methods are according to the voltage of motor Current signal estimates rotor-position and speed based on the counter electromotive force of motor.The main problem of this method is motor zero When speed or low speed, since counter electromotive force is smaller, it is difficult to be detected.Therefore, permanent magnet synchronous motor is in no position rotary speed information Under the conditions of how smoothly to start and steadily be switched to a major challenge that two close cycles pattern controls as no sensing vector.

Single electric current closed-loop start-up is a kind of realization method being simple and efficient that permanent magnet synchronous motor starts without sensing.Traditional Single electric current closed-loop start-up is divided into three processes:Initial alignment, synchronous averaging and Open-closed-loop switching.In the synchronous averaging stage, give Current controller instructs Current phasor phase is fixed.In this case, rotation is given in start-up course to sit Mark system d*q*There are differential seat angle Δ θ between practical rotating coordinate system dq, as shown in Figure 1.Δ θ sizes are indefinite, start electricity by given Flow amplitudeIt is determined with load characteristic.Directly when switching over, due to the presence of differential seat angle Δ θ, can cause current control amount and The saltus step of angle of transformation θ generates pulsation of current and rotating speed shake.

Start existing switching jitter problem for traditional single electric current ring, it has been proposed that some improvement projects are such as based on The switching transition scheme of current amplitude variation.By gradually reducing current amplitudeMode adjust the angle the size of poor Δ θ, Δ θ is set gradually to narrow down to 0.The program can realize the switching of control mode, but since the program can incite somebody to action at the time of switching The operating status of system is placed in the rim condition in " one generator rotor angle self-balancing of torque " region, and motor has the risk of step-out.In addition, this Kind method needs longer current regulation process, reliability and engineering practicability are not to keep motor operation in " quasi-steady state " By force.

Chinese patent mandate publication number:CN102969946A authorizes publication date on March 13rd, 2013, discloses a kind of high Load motor starts method, including auxiliary drive motor and main drive motor, and the auxiliary drive motor is high-speed electric expreess locomotive, described Main drive motor is slowspeed machine, by between the auxiliary drive motor and the main drive motor by magnetic speed changer carry out every From connection, start the auxiliary drive motor first, main drive motor is in unloaded zero-speed starting state at this time, then by described Auxiliary drive motor drives main drive motor to be operated by magnetic speed changer, when the rotating speed of main drive motor reaches working speed Half when, start the main drive motor.The disadvantage of this invention is that having a single function, it is not used to permanent magnet synchronous motor Start.

Invention content

The goal of the invention of the present invention is to overcome permanent magnet synchronous motor in the prior art to be carried in no sensed condition lower band Difficulty in starting, Open-closed-loop switch rough deficiency, and it is same to provide a kind of permanent magnetism that can be achieved to start and take over seamlessly without sensing It walks motor start circuit and starts method.

To achieve the goals above, the present invention uses following technical scheme:

A kind of permanent magnet synchronous motor start-up circuit, including inverter circuit, 3 current sensors, motor and master control borad; The inverter circuit includes 3 groups of IGBT modules, and 3 groups of IGBT modules pass through 3 conducting wires and electronic mechatronics, 3 electricity respectively Flow sensor is located on 3 conducting wires;

The master control borad includes rotational speed control module, starting current instruction generation module, current control module, turn count Unit, integrator unit, position signal switch unit, IPARK units, CLARK units, PARK units, SVPWM units;Rotating speed Control module instructs generation module, current control module and integrator unit to connect with starting current respectively, starting current instruction Module occurs to connect with current control module, turn count unit, integrator unit, position signal switch unit are sequentially connected, Current control module, IPARK units, SVPWM units are sequentially connected, and CLARK units are connected with PARK units, PARK units and electricity Flow control module connects, and IPARK units, CLARK units are connected with turn count unit respectively;SVPWM units respectively with 3 groups IGBT module is electrically connected, and 3 current sensors are electrically connected with CLARK units.

The present invention can overcome traditional single electric current closed-loop start-up method due to given rotating coordinate system and practical rotational coordinates Switch jitter problem caused by differential seat angle between system, permanent magnet synchronous motor is smooth under capable of realizing from zero load to full load conditions Start without sensing.In the synchronous averaging stage one, current phase is linearly increasing, can shorten and start the time, accelerates permanent magnet synchronous electric The synchronous averaging process of machine;Synchronous averaging stage two, current phase self-adjusting can be such that given rotating coordinate system is rotated with practical Differential seat angle Step wise approximation between coordinate system is in zero, so that it is guaranteed that being smoothly switched to from rotating speed open-loop start-up, speed and current is double to close Ring is controlled without sensing vector and is run.The accuracy of turn count is to realize the prerequisite of no sensing vector control, in the present invention It proposes to judge the accuracy and stability of estimation by calculating turn count variance, can simply and efficiently judge that rotating speed is estimated Calculate performance.

Therefore, the present invention, which has, can realize that permanent magnet synchronous motor is starting with load without sensing;It can accelerate Start-up course, and reduce given differential seat angle between rotating coordinate system and practical rotating coordinate system, it is ensured that smoothly opened from rotating speed Ring startup is switched to speed and current double closed loop and controls the characteristics of running without sensing vector.

Preferably, the rotational speed control module includes sequentially connected rotary speed instruction generating unit, relative speed variation limit Unit processed, rotary speed controling unit;Relative speed variation limiting unit is instructed with starting current respectively occurs module, current control module And integrator unit connection, rotational speed control module are connected with current control module.

Preferably, the current control module includes the current-order switch unit being connected with each other and current control list Member;Current-order switch unit occurs module with rotational speed control module and starting current instruction respectively and connect, current control unit It is connect with IPARK units.

Preferably, it includes the first current phase generating unit, the second electric current phase that module, which occurs, for the starting current instruction Position generating unit, current phase switch unit and current-order generating unit;First current phase generating unit and the second electric current Phase generating unit is in parallel, and the input terminal of the first current phase generating unit is connect with rotational speed control module, the second current phase The input terminal of generating unit is connect with rotational speed control module and current control module, the first current phase generating unit and the second electricity The output end of stream phase generating unit is connect with current phase switch unit and current-order generating unit successively, current-order hair Raw unit is connect with current control module.

A kind of startup method of permanent magnet synchronous motor start-up circuit, includes the following steps:

(5-1) initial alignment:SVPWM units export 6 road pwm signals, and motor rotor is made to be positioned at electrical angle θ0Position It sets;

(5-2) synchronous averaging stage one:

The instruction of (5-2-1) starting current occurs module and estimates load torque T according to operating model, computational load electric current Il;Setting Starting current amplitude isIt calculates and it is expected load anglel0

The rotating speed desired value ω of (5-2-2) rotational speed control module output setting*, acceleration limitation parameter a*And speed reference ValueIt is instructed to starting current and module occurs, module occurs for starting current instruction according to θl0、ω*And a*Calculate current phase line Property increase slope ωs

Module output current instructing phase θ occurs for the instruction of (5-2-3) starting currentsynclst, according to θsync1And θl0's Magnitude relationship sets θsyncValue;

Starting current instruction occurs module and utilizes formulaCalculate current-orderWith

(5-2-4) current control module calculates given differential seat angle Δ θ between rotating coordinate system and practical rotating coordinate system; According toMagnitude relationship, Δ θ and θ between 0.05 ω nthMagnitude relationship, turn count variance S and sthBetween size Relationship, settingOrWherein, ωnFor the rated speed of motor, θthFor setting Differential seat angle judgment threshold, sthFor the turn count variance threshold values of setting,For the d shaft current command values of setting,For rotating speed The q shaft current command values of control module output;

(5-2-5) current control module is instructed according to inputWith feedback command Id、Iq, calculated using PI controllers And export control voltageWith

It willIt is input to integrator unit, integrator unit exports θ1, position signal switch unit according toWith 0.05 ωn Between magnitude relationship, Δ θ and θthMagnitude relationship, turn count variance S and sthBetween magnitude relationship, determine the value of θ;

The U in α β coordinate systems is calculated in (5-2-6) IPARK unitsα、Uβ, Uα、UβSVPWM units are input to, phase is generated The PWM wave answered is output to 3 groups of IGBT modules, controls IGBT break-makes;

The three-phase current of (5-2-7) 3 current sensors detection is input to CLARK units, and CLARK units calculate α β coordinates It is electric current IαAnd Iβ, PARK units calculating feedback current Id、Iq

The U of (5-2-8) IPARK units outputα、UβI is exported with CLARK unitsα、IβIt is transmitted to turn count unit, rotating speed Evaluation unit uses sliding mode observer method, and turn count value is estimated according to electric signal

(5-3) synchronous averaging stage two:

(5-3-1) works as θsync1≥θl0When, module, which occurs, for starting current instruction makes θsyncsync2, utilize formulaThe Δ θ of input is integrated to obtain output θsync2;Wherein, k is the integration gain factor of setting;

(5-3-2) repeats step (5-2-3) to (5-2-8), into the phase auto-adjustment stage;

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

(5-4-1) whenAnd Δ θ < θthAnd S < sthWhen, current-order switch unit switches over so that electricity The instruction of flow control module and starting current occurs module and disconnects, then with the control module that cuts in frequency, makeIt is cut into speed closed loop pattern, rotational speed control module is according to the instruction of inputWith turn count valueIt is calculated and is exported using PI controllersPI controllers integral initial value is set as switching instantFinal value;

(5-4-2) whenAnd Δ θ < θthAnd S < sthWhen, position signal switch unit connects integrator unit, Make θsyncsync2

After (5-4-3) repeats step (5-2-5) to (5-2-8), motor enters normal speed and current double closed loop without sensing Vector controlled is run.

The present invention is the starting problem for solving permanent magnet synchronous motor and being controlled without sensing vector, proposes a kind of improved single electric current Closed-loop start-up scheme.Entire start-up course is divided into four-stage:Initial alignment, the synchronous averaging stage one, the synchronous averaging stage two, Rotating speed Open-closed-loop switches.The initial alignment stage is identical as conventional method;It is solid to change conventional method synchronous averaging stage current phase Fixed constant mode, in the synchronous averaging stage one, setting electric current phase is linearly increasing to set slope, to accelerate synchronous averaging Process;It in the synchronous averaging stage two, automatically adjusts to current phase so that given rotating coordinate system and practical rotating coordinate system Between differential seat angle approach zero, to reduce rotating speed Open-closed-loop switching when shake, handoff procedure is smooth, reduce handover failure Risk.

Preferably, rotational speed control module includes sequentially connected rotary speed instruction generating unit, relative speed variation limitation list Member, rotary speed controling unit;It includes the first current phase generating unit, the generation of the second current phase that module, which occurs, for starting current instruction Unit, current phase switch unit and current-order generating unit;Step (5-2-1) comprises the following specific steps that:

(6-1) first current phase generating unit estimates load torque T according to operating model, utilize formulaIt calculates Load current Il, wherein KtFor the torque constant of motor;

Starting current amplitude is arranged in (6-2) first current phase generating unitUtilize formulaCalculate rough expectation load anglel0

Step (5-2-2) comprises the following specific steps that:

Rotary speed instruction generating unit exports setting speed desired value ω*With relative speed variation limiting unit output acceleration limit Parameter a processed*To the first current phase generating unit, the first current phase generating unit is according to θl0、ω*And a*Calculate electric current phase The linearly increasing slope in position

Preferably, rotational speed control module includes sequentially connected rotary speed instruction generating unit, relative speed variation limitation list Member, rotary speed controling unit;It includes the first current phase generating unit, the generation of the second current phase that module, which occurs, for starting current instruction Unit, current phase switch unit and current-order generating unit;Judgement θ in step (5-2-3)sync1And θl0Size close System sets θsyncValue comprise the following specific steps that:

Work as θsync1< θl0When, current phase switch unit connects the first current phase generating unit, makes θsyncsync1, Otherwise, current phase switch unit connects the second current phase generating unit, makes θsyncsync2

Preferably, rotational speed control module includes sequentially connected rotary speed instruction generating unit, relative speed variation limitation list Member, rotary speed controling unit;Current control module includes the current-order switch unit and current control unit being connected with each other;It is special Sign is,

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

Formula is utilized in current-order switch unitCalculate give rotating coordinate system and Differential seat angle Δ θ between practical rotating coordinate system;Wherein, R is the phase resistance of motor, LdAnd LqRespectively the d-axis and q-axis inductance of motor,WithFor exported from current control unit dq shaft voltages instruction, IdAnd IqFor the feedback dq axis electricity exported from PARK units Stream.

Preferably, current control module includes the current-order switch unit and current control unit being connected with each other;Step Suddenly (5-2-4) is comprised the following specific steps that:

WhenAnd Δ θ < θthAnd S < sthWhen, module occurs for the instruction of current-order switch unit turn-on current, SettingOtherwise, it sets

Preferably, step (5-2-8) comprises the following specific steps that:

The three-phase current I of 3 current sensors detectionu、Iv、IwCLARK units are input to, CLARK units utilize formulaCalculate α β coordinate system electric currents IαAnd Iβ, PARK units utilize formulaCalculate feedback current Id、Iq;Wherein, p is motor number of pole-pairs.

Therefore, the present invention has the advantages that:Can realize permanent magnet synchronous motor in the case that with carry without sensing Start;By without control and adjustment of the sensing startup stage to current phase, can start quickly process, and reduce given rotation Turn the differential seat angle between coordinate system and practical rotating coordinate system, so that it is guaranteed that being smoothly switched to rotating speed electricity from rotating speed open-loop start-up It flows two close cycles and controls operation without sensing vector.

Description of the drawings

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

Fig. 2 is a kind of simplified hardware block diagram of the present invention;

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

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

Fig. 5 is a kind of flow chart of the embodiment of the present invention.

In figure:Inverter circuit 1, current sensor 2, motor 3, master control borad 4, IGBT module 5, rotary speed instruction occur single Member 41, relative speed variation limiting unit 42, rotary speed controling unit 43, the first current phase generating unit 44, the 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 signal switch unit 412, IPARK units 413, CLARK are mono- Module 421, electric current control occur for member 414, PARK units 415, SVPWM units 416, rotational speed control module 420, starting current instruction Molding block 422.

Specific implementation mode

The present invention will be further described with reference to the accompanying drawings and detailed description.

Embodiment as shown in Figure 2 is a kind of hardware elementary diagram of the present invention, including 1,3 electric current of inverter circuit Sensor 2, motor 3 and master control borad 4.Inverter circuit 1 is led by 3 respectively comprising 3 groups of IGBT modules, 5,3 groups of IGBT modules Line and electronic mechatronics, 3 current sensors are located on 3 conducting wires, detect the three-phase current of motor.The master control Plate includes the major function module for implementing to control without sensing vector, specific as shown in Figure 3.Mainly have:Rotational speed control module 420, Module 421, current control module 422, turn count unit 410, integrator unit 411, position letter occur for starting current instruction Number switch unit 412, IPARK units 413, CLARK units 414, PARK units 415, SVPWM units 416;Rotational speed control module Include 43 3 rotary speed instruction generating unit 41, relative speed variation limiting unit 42 and rotary speed controling unit subelements, rotating speed again Three units in control module are sequentially connected in series;

It includes the first current phase generating unit 44, the second current phase generation list that inside modules, which occur, for starting current instruction Member 45, current phase switch unit 46, current-order generating unit 47, the first current phase generating unit and the second current phase Generating unit is connected with current phase switch unit and current-order generating unit successively after being in parallel;Current control module includes Current-order switch unit 48 and current control unit 49, the two are connected with each other.Mould occurs for rotational speed control module and starting current Block is in parallel, while being connected to current control module;Current control module is connected with IPARK, SVPWM unit successively, exports PWM It is signally attached in 3 groups of IGBT modules of inverter.The three-phase current signal that 3 current sensors detect in Fig. 2 is sequentially connected To CLARK, PARK unit.

As shown in figure 5, the sensorless start-up and smooth-switching method of a kind of permanent magnet synchronous motor, include mainly following 4 A process:

Step 100, initial alignment

By configuring, SVPWM units is made to export 6 road pwm signal shown in Fig. 4, be equivalent to motor be passed through U phases flow into, V phases The direct current of outflow, W phases are not turned on, and rotor is positioned at -30 ° of positions of electrical angle.

Step 200, the synchronous averaging stage one

1. the first current phase generating unit estimates load torque T according to operating model, utilize formulaCalculate load Electric current Il, wherein KtFor the torque constant of motor;

2. the first current phase generating unit setting starting current amplitude isUtilize formulaMeter Rough expectation load anglel0

3. rotary speed instruction generating unit exports setting speed desired value ω*Acceleration is exported with relative speed variation limiting unit Limit parameter a*To the first current phase generating unit, the first current phase generating unit is according to θl0、ω*And a*Calculate electric current Phase linearity increases slope

4. the first current phase generating unit output current instructing phase θsync1st

5. carrying out condition judgment in current phase switch unit:θsync1Whether θ is less thanl0, work as θsync1< θl0When, electric current phase Position switch unit connects the first current phase generating unit, θsyncsync1, otherwise, the second electricity of current phase switch unit connection Flow phase generating unit, θsyncsync2, θ in the second current phase generating unitsync2Calculating process is said below in step 300 It is bright;

6. current-order generating unit is according to setting amplitudeθ is exported with current phase switch unitsync, utilize formulaCalculate starting current instruction

7. the schematic diagram of given rotating coordinate system and practical rotating coordinate system differential seat angle is as shown in Figure 1;Current-order switches Formula is utilized in unitCalculate given angle between rotating coordinate system and practical rotating coordinate system The poor Δ θ of degree.Wherein R is the phase resistance of motor, LdAnd LqRespectively the d-axis and q-axis inductance of motor,WithFor from current control list The dq shaft voltages instruction of member output, IdAnd IqFor the feedback dq shaft currents exported from PARK units;

8. carrying out condition judgment in current-order switch unit:A, judgeWhether 0.05 ω is more thann, wherein ωnFor electricity The rated speed of motivation;B, differential seat angle judgment threshold θ is provided in current-order switch unitth, judge whether Δ θ is less than θth; C, turn count variance S is calculated in current-order switch unit,And judge whether variance S is less than setting threshold Value sth.WhenAnd Δ θ < θthAnd S < sthWhen, current-order switch unit connects starting current instruction and mould occurs Block,Otherwise,

9. position switch unit is judged also according to three conditions in (8) article, whenAnd Δ θ < θthAnd S < sthWhen connect θ2, i.e. θ=θ2, θ2For velocity estimation valueIt is input to the positional value that integrator unit obtains, is otherwise connect Logical θl, i.e. θ=θ1, θlFor speed referenceIt is input to the positional value of integrator unit integral output;

10. current control unit is instructed according to inputWith feedback command Id、Iq, exported and controlled using PI controllers VoltageWith

11.IPARK units utilize formulaIt is calculated in α β coordinate systems Uα、Uβ, wherein p is motor number of pole-pairs.Uα、UβSVPWM units are input to, corresponding PWM wave is generated and is output to 3 groups of IGBT modules, Control IGBT break-makes;

The three-phase current of 12.3 current sensors detection is input to CLARK units, and CLARK units utilize formulaCalculate α β coordinate system electric currents IαAnd Iβ, PARK units utilize formulaCalculate feedback current Id、Iq

The U of 13.IPARK units outputα、UβI is exported with CLARK unitsα、IβIt is transmitted to turn count unit, turn count Unit uses sliding mode observer method, and rotor rotating speed is estimated according to electric signal

Step 300, the synchronous averaging stage two

1. as described in step 5 in step 200, work as θsynclθl0When, current phase switch unit connects the second electric current phase Position generating unit, i.e. θsyncsync2.Second current phase generating unit exports θ to the Δ θ integrals of inputsync2, integral is initially Value is set as θl0, integral initial time is current phase switch unit switching instant point, is denoted as t1, i.e.,Wherein k is integration gain factor;

2. repeating in step 200 that step 6 is to 13, into the phase auto-adjustment stage;

Step 400, rotating speed Open-closed-loop switches

1. as described in the step 8 of step 200, whenAnd Δ θ < θthAnd S < sthWhen, current-order switching Unit cuts in frequency control module, i.e.,It is cut into speed closed loop pattern, rotary speed controling unit is according to defeated Enter speed referenceWith turn count valueIt is calculated and is exported using PI controllersPI controller initial value for integral is set as electricity Stream instruction switch unit switching instant starting current instruction generating unit outputFinal value, setting

2. as described in step 200, whenAnd Δ θ < θthAnd S < sthWhen, integrator unit is to speed estimate ValueIntegral, output position value θ2, position signal switch unit output θ=θ2

3. repeating the step 10 of step 200 to 13, motor carries out normal speed and current double closed loop and is controlled without sensing vector Operation.

It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that, After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc. Valence form is also fallen within the scope of the appended claims of the present application.

Claims (9)

1. a kind of permanent magnet synchronous motor start-up circuit, characterized in that including inverter circuit (1), 3 current sensors (2), electricity Motivation (3) and master control borad (4);The inverter circuit includes 3 groups of IGBT modules (5), and 3 groups of IGBT modules are led by 3 respectively Line and electronic mechatronics, 3 current sensors are located on 3 conducting wires;
The master control borad includes rotational speed control module (420), starting current instruction generation module (421), current control module (422), turn count unit (410), integrator unit (411), position signal switch unit (412), IPARK units (413), CLARK units (414), PARK units (415), SVPWM units (416);Rotational speed control module instructs with starting current send out respectively Raw module, current control module are connected with integrator unit, and starting current instruction occurs module and connect with current control module, turns Fast evaluation unit, integrator unit, position signal switch unit are sequentially connected, and current control module, IPARK units, SVPWM are mono- Member is sequentially connected, and CLARK units are connected with PARK units, and PARK units are connected with current control module, IPARK units, CLARK Unit is connected with turn count unit respectively;SVPWM units are electrically connected with 3 groups of IGBT modules respectively, 3 current sensors with CLARK units are electrically connected;The rotational speed control module includes sequentially connected rotary speed instruction generating unit (41), relative speed variation Limiting unit (42), rotary speed controling unit (43);Relative speed variation limiting unit is instructed with starting current respectively occurs module, electricity Flow control module and integrator unit connection, rotary speed controling unit are connected with current control module.
2. permanent magnet synchronous motor start-up circuit according to claim 1, characterized in that the current control module includes phase The current-order switch unit (48) and current control unit (49) to connect;Current-order switch unit is controlled with rotating speed respectively Module instructs generation module to connect with starting current, and current control unit is connect with IPARK units.
3. permanent magnet synchronous motor start-up circuit according to claim 1 or 2, characterized in that the starting current instruction hair Raw module includes 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 second current phase generating unit are in parallel, the The input terminal of one current phase generating unit is connect with rotational speed control module, the input terminal of the second current phase generating unit with turn Fast control module is connected with current control module, the output of the first current phase generating unit and the second current phase generating unit End is connect with current phase switch unit and current-order generating unit successively, current-order generating unit and current control module Connection.
4. a kind of startup method suitable for permanent magnet synchronous motor start-up circuit described in claim 1, characterized in that including such as Lower step:
(4-1) initial alignment:SVPWM units export 6 road pwm signals, and motor rotor is made to be positioned at electrical angle θ0Position;
(4-2) synchronous averaging stage one:
The instruction of (4-2-1) starting current occurs module and estimates load torque T according to operating model, computational load electric current Il;Setting starts Current amplitude isIt calculates and it is expected load anglel0
The rotating speed desired value ω of (4-2-2) rotational speed control module output setting*, acceleration limitation parameter a*And speed reference It is instructed to starting current and module occurs, module occurs for starting current instruction according to θl0、ω*And a*Current phase is calculated linearly to increase Add slope ωs
Module output current instructing phase θ occurs for the instruction of (4-2-3) starting currentsync1sT, according to θsync1And θl0Size Relationship sets θsyncValue;
Starting current instruction occurs module and utilizes formulaCalculate current-orderWith
(4-2-4) current control module calculates given differential seat angle Δ θ between rotating coordinate system and practical rotating coordinate system;According toWith 0.05 ωnBetween magnitude relationship, Δ θ and θthMagnitude relationship, turn count variance S and sthBetween magnitude relationship, SettingOrWherein, ωnFor the rated speed of motor, θthFor the angle of setting The poor judgment threshold of degree, sthFor the turn count variance threshold values of setting,For the d shaft current command values of setting,It is controlled for rotating speed The q shaft current command values of module output;
(4-2-5) current control module is instructed according to inputWith feedback command Id、Iq, calculated using PI controllers and defeated Go out to control voltageWith
It willIt is input to integrator unit, integrator unit exports θ1, position signal switch unit according toWith 0.05 ωnBetween Magnitude relationship, Δ θ and θthMagnitude relationship, turn count variance S and sthBetween magnitude relationship, determine the value of θ;
The U in α β coordinate systems is calculated in (4-2-6) IPARK unitsα、Uβ, Uα、UβSVPWM units are input to, are generated corresponding PWM wave is output to 3 groups of IGBT modules, controls IGBT break-makes;
The three-phase current of (4-2-7) 3 current sensors detection is input to CLARK units, and CLARK units calculate α β coordinate system electricity Flow IαAnd Iβ, PARK units calculating feedback current Id、Iq
The U of (4-2-8) IPARK units outputα、UβI is exported with CLARK unitsα、IβIt is transmitted to turn count unit, turn count Unit uses sliding mode observer method, and turn count value is estimated according to electric signal
(4-3) synchronous averaging stage two:
(4-3-1) works as θsync1≥θl0When, module, which occurs, for starting current instruction makes θsyncsync2, utilize formulaThe Δ θ of input is integrated to obtain output θsync2;Wherein, k is the integration gain factor of setting;
(4-3-2) repeats step (4-2-3) to (4-2-8), into the phase auto-adjustment stage;
(4-4) rotating speed Open-closed-loop switches
(4-4-1) whenAnd Δ θ < θthAnd S < sthWhen, current-order switch unit switches over so that electric current control Molding block occurs module with starting current instruction and disconnects, then is connected with rotational speed control module, makesIt cuts Enter to speed closed loop pattern, rotary speed controling unit is according to the instruction of inputWith turn count valueIt is calculated using PI controllers OutputPI controllers integral initial value is set as switching instantFinal value;
(4-4-2) whenAnd Δ θ < θthAnd S < sthWhen, position signal switch unit connects integrator unit, makes θsyncsync2
After (4-4-3) repeats step (4-2-5) to (4-2-8), motor enters normal speed and current double closed loop without sensing vector Control operation.
5. the startup method of permanent magnet synchronous motor start-up circuit according to claim 4, rotational speed control module includes successively Rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit of connection;Module packet occurs for starting current instruction It includes the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order and list occurs Member;It is characterized in that step (4-2-1) comprises the following specific steps that:
(5-1) first current phase generating unit estimates load torque T according to operating model, utilize formulaCalculate load Electric current Il, wherein KtFor the torque constant of motor;
Starting current amplitude is arranged in (5-2) first current phase generating unitUtilize formulaIt calculates Rough expectation load anglel0
Step (4-2-2) comprises the following specific steps that:
Rotary speed instruction generating unit exports setting speed desired value ω*, relative speed variation limiting unit output acceleration limit parameter a*And speed referenceTo the first current phase generating unit, the first current phase generating unit is according to θl0、ω*And a*It calculates Go out the linearly increasing slope of current phase
6. the startup method of permanent magnet synchronous motor start-up circuit according to claim 4, rotational speed control module includes successively Rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit of connection;Module packet occurs for starting current instruction It includes the first current phase generating unit, the second current phase generating unit, current phase switch unit and current-order and list occurs Member;It is characterized in that the judgement θ in step (4-2-3)sync1And θl0Magnitude relationship, set θsyncValue include following specific step Suddenly:
Work as θsync1< θl0When, current phase switch unit connects the first current phase generating unit, makes θsyncsync1, otherwise, Current phase switch unit connects the second current phase generating unit, makes θsyncsync2
7. the startup method of permanent magnet synchronous motor start-up circuit according to claim 4, rotational speed control module includes successively Rotary speed instruction generating unit, relative speed variation limiting unit, the rotary speed controling unit of connection;Current control module includes mutually interconnecting The current-order switch unit and current control unit connect;It is characterized in that
The step current control module calculates given differential seat angle Δ θ between rotating coordinate system and practical rotating coordinate system under State step replacement:
Formula is utilized in current-order switch unitIt calculates and gives rotating coordinate system and reality Differential seat angle Δ θ between rotating coordinate system;Wherein, R is the phase resistance of motor, LdAnd LqRespectively the d-axis and q-axis inductance of motor, WithFor exported from current control unit dq shaft voltages instruction, IdAnd IqFor the feedback dq shaft currents exported from PARK units.
8. the startup method of permanent magnet synchronous motor start-up circuit according to claim 4, current control module includes mutual The current-order switch unit and current control unit of connection;It is characterized in that step (4-2-5) comprises the following specific steps that:
WhenAnd Δ θ < θthAnd S < sthWhen, module, setting occur for the instruction of current-order switch unit turn-on currentOtherwise, it sets
9. the startup method of the permanent magnet synchronous motor start-up circuit according to claim 5 or 6 or 7 or 8, characterized in that step Suddenly (4-2-7) is comprised the following specific steps that:
The three-phase current I of 3 current sensors detectionu、Iv、IwCLARK units are input to, CLARK units utilize formulaCalculate α β coordinate system electric currents IαAnd Iβ, PARK units utilize formulaCalculate feedback current Id、Iq;Wherein, p is motor number of pole-pairs.
CN201510696539.XA 2015-10-23 2015-10-23 Permanent magnet synchronous motor start-up circuit and startup method CN105356812B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510696539.XA CN105356812B (en) 2015-10-23 2015-10-23 Permanent magnet synchronous motor start-up circuit and startup method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510696539.XA CN105356812B (en) 2015-10-23 2015-10-23 Permanent magnet synchronous motor start-up circuit and startup method

Publications (2)

Publication Number Publication Date
CN105356812A CN105356812A (en) 2016-02-24
CN105356812B true CN105356812B (en) 2018-10-02

Family

ID=55332713

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510696539.XA CN105356812B (en) 2015-10-23 2015-10-23 Permanent magnet synchronous motor start-up circuit and startup method

Country Status (1)

Country Link
CN (1) CN105356812B (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9991778B2 (en) * 2016-02-29 2018-06-05 The Boeing Company Balancing current within a modular converter system
CN105703683B (en) * 2016-03-09 2018-05-01 广东美的制冷设备有限公司 The startup control method and device of air conditioner and its compressor
TWI593227B (en) * 2016-03-14 2017-07-21 茂達電子股份有限公司 Motor control circuit
CN106026834A (en) * 2016-07-29 2016-10-12 扬州大学 Speed sensorless control method of permanent magnet synchronous motor
CN106374793B (en) * 2016-10-27 2018-11-30 珠海格力电器股份有限公司 The control method and device of permanent magnet synchronous motor position-sensor-free
CN106849807B (en) * 2016-12-30 2019-03-15 威灵(芜湖)电机制造有限公司 Blower motor and its starting method and apparatus
CN107196567B (en) * 2017-07-20 2019-10-18 广东美芝制冷设备有限公司 The control method and system of permanent magnet synchronous motor
CN107204726B (en) * 2017-07-20 2020-03-17 广东美芝制冷设备有限公司 Control method and system of permanent magnet synchronous motor
CN107222137B (en) * 2017-07-20 2019-11-15 广东美芝制冷设备有限公司 The control method and system of permanent magnet synchronous motor
CN107370435A (en) * 2017-08-30 2017-11-21 深圳市天祜智能有限公司 Cooking machine permanent torque current control method
CN107395079B (en) * 2017-08-30 2020-05-12 深圳市天祜智能有限公司 Control method for improving instantaneous power of food processor
CN107623467B (en) * 2017-10-24 2020-01-07 厦门金龙汽车新能源科技有限公司 Starting method of synchronous motor speed sensorless

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101145755A (en) * 2006-09-11 2008-03-19 三洋电机株式会社 Motor control device
CN102545742A (en) * 2012-02-27 2012-07-04 固高科技(深圳)有限公司 Position sensorless control device and control method for permanent magnet synchronous motor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5807847B2 (en) * 2013-02-08 2015-11-10 株式会社デンソー AC motor control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101145755A (en) * 2006-09-11 2008-03-19 三洋电机株式会社 Motor control device
CN102545742A (en) * 2012-02-27 2012-07-04 固高科技(深圳)有限公司 Position sensorless control device and control method for permanent magnet synchronous motor

Also Published As

Publication number Publication date
CN105356812A (en) 2016-02-24

Similar Documents

Publication Publication Date Title
CN103595326B (en) Motor control assembly and motor control method
DE60217013T2 (en) Control device for an AC power source
Lee et al. A seamless transition control of sensorless PMSM compressor drives for improving efficiency based on a dual-mode operation
US7638967B2 (en) Motor control unit
JP3680016B2 (en) Synchronous motor step-out detection device
JP3661642B2 (en) Motor control device and control method thereof
CN105529967B (en) A kind of detection of blower starting state and starting control method
US7298105B1 (en) Motor speed estimation system and method using hybrid model reference adaptive system
JP3888082B2 (en) Motor device and control method thereof
JP4722069B2 (en) Electric motor drive device, electric motor drive method, and refrigeration air conditioner
US9263979B2 (en) Method for smooth motor startup
JP5259303B2 (en) Inverter device
CN100590961C (en) Motor controller, washing machine, air conditioner and electric oil pump
CN102694498B (en) Device and method for resisting rotor disturbance of permanent-magnet synchronous motor in zero-speed or extremely-low-speed state
JP5853097B2 (en) Three-phase synchronous motor drive device, integrated three-phase synchronous motor, positioning device and pump device
JP4067949B2 (en) Motor control device
JP3692046B2 (en) Motor control device
US7652441B2 (en) Method and system for starting a sensorless motor
Metidji et al. Low-cost direct torque control algorithm for induction motor without AC phase current sensors
JP5446324B2 (en) Inverter device
JP6086001B2 (en) Vacuum pump
KR101216464B1 (en) Motor controlling aparatus and method of the same
JP3719910B2 (en) Motor control device
JP3843391B2 (en) Synchronous motor drive
KR20030010480A (en) Motor controller

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant