CN105391350A - Detection device and method for phase counterelectromotive forces of permanent magnet synchronous motor (PMSM) - Google Patents

Detection device and method for phase counterelectromotive forces of permanent magnet synchronous motor (PMSM) Download PDF

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Publication number
CN105391350A
CN105391350A CN201510875837.5A CN201510875837A CN105391350A CN 105391350 A CN105391350 A CN 105391350A CN 201510875837 A CN201510875837 A CN 201510875837A CN 105391350 A CN105391350 A CN 105391350A
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China
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phase
synchronous motor
permagnetic synchronous
voltage
bridge inverter
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魏海峰
韦汉培
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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Priority to CN201510875837.5A priority Critical patent/CN105391350A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a detection device for the phase counterelectromotive forces of a PMSM. The detection device comprises a DC voltage source, a three-phase full-bridge inverter and a high-resistance resistor, the middle point of the DC voltage source is grounded, the three-phase full-bridge inverter is connected with the PMSM, and the neutral point of the PMSM is grounded via the high-resistance resistor. The invention also discloses a detection method for the phase counterelectromotive forces of the PMSM. The detection method comprises the steps that the voltage at the two ends of the high-resistance resistor is detected and serves as the neutral point voltage of the PMSM; the end voltages of the three phases of the PMSM are obtained, the end voltages are subtracted by the neutral point voltage to obtain the phase voltages of the three phases of the PMSM; and phase currents of the three phases of the PMSM are detected, the phase voltages of the three phases are combined, and the phase counterelectromotive forces are calculated according to a voltage balance equation. The detection method and device can solve the problem that the phase counterelectromotive force of the motor in PMSM closed-loop control is hard to accurately detect in real time.

Description

A kind of checkout gear of permagnetic synchronous motor opposite potential and detection method
Technical field
The invention belongs to permagnetic synchronous motor control field, relate to a kind of permagnetic synchronous motor, particularly relate to a kind of checkout gear and detection method of permagnetic synchronous motor opposite potential.
Background technology
Permagnetic synchronous motor has that structure is simple, power density is high, control the plurality of advantages such as simple.In recent years, permagnetic synchronous motor obtains increasingly extensive application in the industrial circles such as high-performance governing system and servo-control system.
In permagnetic synchronous motor closed-loop control, the detection of opposite potential has important impact for the stable operation of motor.If opposite potential detects inaccurate, the mistake in computation of permagnetic synchronous motor electromagnetic torque, stator current waveforms distortion, torque output abnormality will be caused, permagnetic synchronous motor time serious, can be made normally not run.At present, known prior art, one be hypothesis permagnetic synchronous motor three-phase opposite potential be ideal sinusoidal waveform, but due to motor processing and assembling restriction, the actual opposite potential of motor often differs greatly with ideal sine wave; Another kind method utilizes prime mover to drag permagnetic synchronous motor, and off-line records motor opposite potential and is stored in when power supply machine controls in microprocessor and uses, but the hardware and software cost of this method is higher, and cannot obtain the real-time online signal of back-emf.
Therefore, the opposite potential Detection results of prior art and actual value difference are comparatively large, are difficult to meet permagnetic synchronous motor closed-loop control requirement.How accurately to detect permagnetic synchronous motor opposite potential in real time, be that prior art has problem to be solved.
Summary of the invention
Object of the present invention, is the checkout gear and the detection method that provide a kind of permagnetic synchronous motor opposite potential, and it can solve the problem that motor opposite potential in permagnetic synchronous motor closed-loop control is difficult to accurately detect in real time.
In order to reach above-mentioned purpose, solution of the present invention is:
A checkout gear for permagnetic synchronous motor opposite potential, for detecting the opposite potential of permagnetic synchronous motor; Comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.
Above-mentioned three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.
Above-mentioned high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.
Based on the detection method of the checkout gear of foregoing a kind of permagnetic synchronous motor opposite potential, comprise the steps:
(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;
(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;
(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation.
In above-mentioned steps (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative; When being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
Whether the above-mentioned method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process is: detect three-phase full-bridge inverter power tube and all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
The detailed content of above-mentioned steps (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i a, i b, i c, then the three-phase phase voltage u in integrating step (2) a, u b, u c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e a, e b, e c:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
Wherein, R a, R b, R cbe respectively permagnetic synchronous motor three-phase phase resistance, L a, L b, L cbe respectively permagnetic synchronous motor three-phase phase inductance.
After adopting such scheme, the parameter of electric machine required for the present invention is few, and structure is simple, and amount of calculation is little, and identification precision is high, and real-time is good.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of checkout gear of the present invention.
Embodiment
Below with reference to accompanying drawing, technical scheme of the present invention and beneficial effect are described in detail.
As shown in Figure 1, the invention provides a kind of checkout gear of permagnetic synchronous motor opposite potential, comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, for detecting the opposite potential of permagnetic synchronous motor, wherein, direct voltage source connects three-phase full-bridge inverter, for three-phase full-bridge inverter provides power supply, and the neutral earthing of described direct voltage source; Described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection, wherein, described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.
Based on above checkout gear, the present invention also provides a kind of detection method of permagnetic synchronous motor opposite potential, comprises the steps:
(1) permagnetic synchronous motor neutral point voltage is determined
By direct voltage source neutral earthing, by permagnetic synchronous motor neutral point by high resistance measurement ground connection, detect the voltage obtaining high resistance measurement two ends, using the voltage at described high resistance measurement two ends as permagnetic synchronous motor neutral point voltage;
(2) permagnetic synchronous motor A, B, C three phase terminals voltage and phase voltage is determined
The determination of permanent magnet synchronous electric set end voltage, three-phase full-bridge inverter turn on process and afterflow process two kinds of situations can be divided to consider respectively, whether three-phase full-bridge inverter is in turn on process or afterflow process and all turns off judge by detecting three-phase full-bridge inverter power tube: when three-phase full-bridge inverter power tube is not whole shutoff, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
At three-phase full-bridge inverter turn on process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
In three-phase full-bridge inverter afterflow process, permagnetic synchronous motor A, B, C three phase terminals voltage is determined by the state of fly-wheel diode: because afterflow process three-phase full-bridge inverter power tube all turns off, permagnetic synchronous motor A, B, the fly-wheel diode afterflow of C respectively by respective connected three-phase full-bridge inverter brachium pontis is uniquely opened, if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative.
Above-mentioned permanent magnet synchronous electric set end voltage is deducted above-mentioned permagnetic synchronous motor neutral point voltage, obtains permagnetic synchronous motor phase voltage.
(3) permagnetic synchronous motor A, B, C three-phase opposite potential is calculated
Adopt above-mentioned permagnetic synchronous motor A, B, C three-phase phase voltage u a, u b, u cand A, B, C three-phase phase current i obtained is detected by current sensor a, i b, i c, according to permagnetic synchronous motor phase voltage equilibrium equation, calculate A, B, C three-phase opposite potential e a, e b, e c:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
Wherein, R a, R b, R cbe respectively the phase resistance of permagnetic synchronous motor A, B, C three-phase, L a, L b, L cbe respectively the phase inductance of permagnetic synchronous motor A, B, C three-phase.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.

Claims (7)

1. a checkout gear for permagnetic synchronous motor opposite potential, for detecting the opposite potential of permagnetic synchronous motor; It is characterized in that: comprise direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein, described direct voltage source provides power supply for three-phase full-bridge inverter, and the neutral earthing of direct voltage source; Described three-phase full-bridge inverter connects permagnetic synchronous motor, and the neutral point of permagnetic synchronous motor is via high resistance measurement ground connection.
2. the checkout gear of a kind of permagnetic synchronous motor opposite potential as claimed in claim 1, it is characterized in that: described three-phase full-bridge inverter is formed by three branch circuit parallel connections, each bar branch road all comprises two metal-oxide-semiconductors of series connection mutually, and each metal-oxide-semiconductor is all connected with anti-paralleled diode, three branch roads of described three-phase full-bridge inverter connect A, B, C three-phase of permagnetic synchronous motor respectively.
3. the checkout gear of a kind of permagnetic synchronous motor opposite potential as claimed in claim 1, is characterized in that: described high resistance measurement refers to that resistance value is greater than the resistance device of 100M Ω.
4., based on the detection method of the checkout gear of a kind of permagnetic synchronous motor opposite potential as claimed in claim 1, it is characterized in that comprising the steps:
(1) voltage at high resistance measurement two ends is detected, as permagnetic synchronous motor neutral point voltage;
(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determine permagnetic synchronous motor three phase terminals voltage, deduct neutral point voltage by described terminal voltage, obtain permagnetic synchronous motor three-phase phase voltage;
(3) detect permagnetic synchronous motor A, B, C three-phase phase current, in conjunction with aforementioned three-phase phase voltage, calculate three-phase opposite potential according to phase voltage equilibrium equation.
5. the detection method of a kind of permagnetic synchronous motor opposite potential as claimed in claim 4, it is characterized in that: in described step (2), the defining method of permagnetic synchronous motor three phase terminals voltage is: first judge that three-phase full-bridge inverter is operated in turn on process or afterflow process, when being operated in turn on process, three phase terminals voltage is determined by the state of power tube: if the upper brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is just, if the lower brachium pontis power tube of certain phase is open-minded, then this phase terminal voltage numerical value is 1/2 of direct voltage source amplitude, polarity is negative, when being operated in afterflow process, three phase terminals voltage is determined by the state of fly-wheel diode: if the upper brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is being for just, if the lower brachium pontis fly-wheel diode of certain phase is open-minded, then this phase terminal voltage numerical value be direct voltage source amplitude 1/2, polarity is negative.
6. the detection method of a kind of permagnetic synchronous motor opposite potential as claimed in claim 5, it is characterized in that: the described method judging that three-phase full-bridge inverter is operated in turn on process or afterflow process is: detect three-phase full-bridge inverter power tube and whether all turn off, when three-phase full-bridge inverter power tube be not all turn off time, then show that three-phase full-bridge inverter is in turn on process; When three-phase full-bridge inverter power tube all turns off, then show that three-phase full-bridge inverter is in afterflow process.
7. the detection method of a kind of permagnetic synchronous motor opposite potential as claimed in claim 4, is characterized in that: the detailed content of described step (3) is: utilize current sensor to detect permagnetic synchronous motor three-phase phase current i a, i b, i c, then the three-phase phase voltage u in integrating step (2) a, u b, u c, according to following formula permagnetic synchronous motor phase voltage equilibrium equation, calculate permagnetic synchronous motor three-phase opposite potential e a, e b, e c:
e a = u a - i a R a - L a di a d t e b = u b - i b R b - L b di b d t e c = u c - i c R c - L c di c d t
Wherein, R a, R b, R cbe respectively permagnetic synchronous motor three-phase phase resistance, L a, L b, L cbe respectively permagnetic synchronous motor three-phase phase inductance.
CN201510875837.5A 2015-12-02 2015-12-02 Detection device and method for phase counterelectromotive forces of permanent magnet synchronous motor (PMSM) Pending CN105391350A (en)

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WO2018214801A1 (en) * 2017-05-24 2018-11-29 杭州三花研究院有限公司 Control system and control method
CN109143064A (en) * 2018-08-01 2019-01-04 浙江东方机电有限公司 Counter electromotive force test device and method in permanent magnet synchronous motor commutation process

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018214801A1 (en) * 2017-05-24 2018-11-29 杭州三花研究院有限公司 Control system and control method
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CN109143064A (en) * 2018-08-01 2019-01-04 浙江东方机电有限公司 Counter electromotive force test device and method in permanent magnet synchronous motor commutation process
CN109143064B (en) * 2018-08-01 2020-11-24 浙江东方机电有限公司 Counter electromotive force testing device and method in reversing process of permanent magnet synchronous motor

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