CN105610354B - A kind of high-voltage permanent magnet synchronous motor closed loop soft-start method - Google Patents
A kind of high-voltage permanent magnet synchronous motor closed loop soft-start method Download PDFInfo
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- CN105610354B CN105610354B CN201410649029.2A CN201410649029A CN105610354B CN 105610354 B CN105610354 B CN 105610354B CN 201410649029 A CN201410649029 A CN 201410649029A CN 105610354 B CN105610354 B CN 105610354B
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Abstract
The invention belongs to permanent magnet synchronous motor control technologies, are related to a kind of high-voltage permanent magnet synchronous motor closed loop soft-start method.The scheme that the present invention takes is：In the moment that motor busbar 540V voltages power on, rotational speed setup is arranged to smaller value by microprocessor first；The real-time rotating speed of motor is calculated according to the mechanical displacement of motor position sensor for microprocessor；Microprocessor performs speed closed loop control strategy；Whether microprocessor detection rotational speed setup and the difference of real-time rotating speed are less than given tolerance, if rotational speed setup to be increased to certain value less than if, continue speed closed loop control strategy if being not less than；According to similary step, until rotational speed setup is become final desired value by microprocessor.The present invention solve thes problems, such as that high-voltage permanent magnet synchronous motor current spike occurs in busbar powered on moment, while disclosure satisfy that requirement of the system to transient response, realizes the Quick soft-start of motor.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control technologies, are related to a kind of high-voltage permanent magnet synchronous motor closed loop soft start side
Method.
Background technology
PMSM Servo System is the main direction of development of contemporary high performance servo system, its main feature is that position point
Resolution height, the operation of positioning accuracy height, speed-regulating range width, low-speed stable, without creeping phenomenon, torque fluctuations are small, fast response time, can
Work in rugged environment, therefore, permanent magnet synchronous motor in high precision position SERVO CONTROL, need frequent speed governing, need tension
It is used widely under the occasions such as adjusting, and is constantly expanded towards the application scenario of high-power.Conventional high-tension permanent magnetism is same
It walks motor and realizes soft start often through slow increase of control bus voltage, such as busbar voltage is made by BUCK chopper circuits
Linearly increasing or manual regulation motor busbar DC power supply knob gradually pressurizes, and not only increases hardware cost, and operates
Get up inconvenience；The method of also some closed loop soft starts is realized by software, is in powering on initial time duty cycle
Open loop situations promote electric motor starting, when the real-time rotating speed of motor reaches given rotating speed by the value of continuous linearly increasing duty cycle
Half when, just controlled into closed loop PI, but this method is stringenter to the parameter request of PI, while duty cycle open loop with
In the transient process that closed loop switches over, motor is often present with shake, the situation of strong noise.Therefore, using a kind of high pressure forever
Magnetic-synchro motor closed loop soft-start method, not only realizes the soft start of high-voltage motor, reduces starting current, while in motor
In entire start-up course, the even running of rotating speed is realized, noise is reduced, and suitably modified according to actual needs can give
The linearly increasing slope of rotating speed is determined, so as to which regulating system starts the size of time.
The content of the invention
The purpose of the present invention is：It is proposed a kind of high-voltage permanent magnet synchronous motor closed loop soft-start method.
The technical scheme is that：A kind of high-voltage permanent magnet synchronous motor closed loop soft-start method, which is characterized in that the party
Method is in the environment of permanent magnet synchronous motor hardware platform fault-free, motor busbar 540V voltage powered on moment, takes following steps：
Step 1: tolerance variable of the microprocessor to rotational speed setup variable v_ref and real-time speed variable v_feedback
V_rongcha assignment, and setting speed gives the increased umber of beats of variable v_ref straight lines as k；
Step 2: the final desired value variable v_last of microprocessor setting speed, while by the rotational speed setup variable of motor
V_ref is arranged to 0, and calculates the incremental change variable v_add=v_last/k of rotational speed setup variable v_ref；
Step 3: the mechanical displacement s_old of microcomputer reads current time motor position sensor；
Step 4: after the △ t times of interval, the mechanical displacement s_new of microcomputer reads motor position sensor；
Step 5: microprocessor solves the poor △ s=s_new-s_old of motor position sensor displacement twice, if △ s>
=0, then it is assumed that s1, s2 then calculate real-time speed variable v_ in the same Machine cycle of motor position sensor
Feedback=△ s/ △ t；If △ s<0, then it is assumed that s1, s2 in the same Machine cycle of motor position sensor, do not connect
It and calculates real-time speed variable v_feedback=(360-s_old+s_new)/△ t=(360+ △ s)/△ t；
Step 6: microprocessor carries out rotating speed according to rotational speed setup variable v_ref and real-time speed variable v_feedback
Closed loop PI is controlled；
Step 7: the deviation that microprocessor calculates rotational speed setup variable v_ref and real-time speed variable v_feedback becomes
V_error=v_ref-v_feedback is measured, if rotating speed deviation variables v_error is less than tolerance variable v_rongcha, is performed
Step 8；If rotating speed deviation variables v_error is greater than or equal to tolerance variable v_rongcha, return sequentially carries out step 3
To step 7；
Step 8: the value of the rotational speed setup variable v_ref of motor is increased incremental change variable v_add by microprocessor；
Step 9: microprocessor judges whether the value of rotational speed setup variable v_ref is equal to the final desired value variable v_ of rotating speed
Last if equal, terminates all steps of this method；If unequal, return sequentially carries out step 3 to step 9, until turning
When the value of the given variable v_ref of speed is equal to rotating speed final desired value variable v_last, all steps of this method are terminated.
It is an advantage of the invention that：The present invention uses a kind of high-voltage permanent magnet synchronous motor closed loop soft-start method, not only realizes
The soft start of high-voltage motor, reduces starting current, while in the entire start-up course of motor, realizes the steady fortune of rotating speed
Row, reduces noise, and can the linearly increasing slope of suitably modified given rotating speed according to actual needs, so as to regulating system
Start the size of time.
Description of the drawings
Fig. 1 is a kind of high-voltage permanent magnet synchronous motor closed loop soft-start method flow chart.
Specific embodiment
It elaborates below to the present invention, referring to Figure of description 1, a kind of high-voltage permanent magnet synchronous motor closed loop is soft
Startup method, which is characterized in that this method is in the environment of permanent magnet synchronous motor hardware platform fault-free, motor busbar 540V electricity
Powered on moment is pressed, takes following steps：
Step 1: digital signal processor TMS320F2812 is to rotational speed setup variable v_ref and real-time speed variable v_
The tolerance variable v_rongcha assignment of feedback, and setting speed gives the increased umber of beats of variable v_ref straight lines as k；
Step 2: the final desired value variable v_last of digital signal processor TMS320F2812 setting speeds, while by electricity
The rotational speed setup variable v_ref of machine is arranged to 0, and calculates the incremental change variable v_add=v_ of rotational speed setup variable v_ref
last/k；
Step 3: digital signal processor TMS320F2812 reads the mechanical displacement of current time motor position sensor
s_old；
Step 4: after the △ t times of interval, digital signal processor TMS320F2812 reads the machine of motor position sensor
Tool displacement s_new；
Step 5: digital signal processor TMS320F2812 solves the poor △ s=s_ of motor position sensor displacement twice
New-s_old, if △ s>=0, then it is assumed that s1, s2 are then calculated real in the same Machine cycle of motor position sensor
When speed variable v_feedback=△ s/ △ t；If △ s<0, then it is assumed that s1, s2 be not in the same machine of motor position sensor
In the tool cycle, real-time speed variable v_feedback=(360-s_old+s_new)/△ t=(360+ △ s)/△ is then calculated
t；
Step 6: digital signal processor TMS320F2812 is according to rotational speed setup variable v_ref and real-time speed variable v_
Feedback carries out speed closed loop PI controls；
Step 7: digital signal processor TMS320F2812 calculates rotational speed setup variable v_ref and real-time speed variable v_
The deviation variables v_error=v_ref-v_feedback of feedback, if rotating speed deviation variables v_error is less than tolerance variable
V_rongcha then performs step 8；If rotating speed deviation variables v_error is greater than or equal to tolerance variable v_rongcha, return
It returns and sequentially carries out step 3 to step 7；
It is incremented by Step 8: digital signal processor TMS320F2812 increases the value of the rotational speed setup variable v_ref of motor
Quantitative change amount v_add；
Step 9: digital signal processor TMS320F2812 judges whether the value of rotational speed setup variable v_ref is equal to rotating speed
Final desired value variable v_last, if equal, terminates all steps of this method；If unequal, return sequentially carries out step
Three, to step 9, when the value of rotational speed setup variable v_ref desired value variable v_last final equal to rotating speed, terminate this method
All steps.
A kind of principle of high-voltage permanent magnet synchronous motor closed loop soft-start method of the present invention is：Wink is powered in motor 540V voltages
Between, rotational speed setup is arranged to smaller value first, speed closed loop PI controls is then performed, exports smaller duty cycle, motor
Start slowly to start, since duty is smaller, it is smaller to be added in the voltage of machine winding, therefore starting current is smaller, and works as motor
After startup, the back-emf that motor generates can offset part busbar voltage, and the electric current for flowing through motor would not be excessive, when motor is real-time
It is when rotating speed reaches rotational speed setup, rotational speed setup is linearly increasing according to a certain slope, then duty cycle is increased by closed loop PI algorithms
The real-time rotating speed of motor is improved, real-time rotating speed is made to reach newest rotational speed setup again, and so on, until real-time rotating speed reaches
The final desired value that motor speed gives.Since in whole process, when the real-time rotating speed of motor is zero, duty is smaller, and
When motor has certain real-time rotating speed, duty is bigger, but the back-emf that the real-time rotating speed of motor generates at this time can support
Therefore the voltage that the part duty cycle of disappearing generates, reaches the mistake of final desired value in motor transient starting and the real-time rotating speed of motor
Cheng Zhong, bus current is smaller always, while according to requirement of the system to motor starting time, can suitably adjust rotational speed setup line
The increased slope of property can thus control the startup time of motor.
Embodiment
The value of permanent magnet synchronous motor DC power supply is set for 540V, is being closed the moment of DC power supply switch, digital signal
Processor TMS320F2812 takes following steps：
Step 1: digital signal processor TMS320F2812 sets rotational speed setup variable v_ref and real-time speed variable v_
V_rongcha=30 revs/min of the tolerance variable of feedback, and setting speed give the increased slope k of variable v_ref straight lines=
20；
Step 2: final desired value variable v_last=6000 turns of digital signal processor TMS320F2812 setting speeds/
Point, while v_ref=0 revs/min of the rotational speed setup variable of motor is set, and calculate the incremental quantitative change of rotational speed setup variable v_ref
V_add=v_last/k=6000/20=300 revs/min of amount；
Step 3: digital signal processor TMS320F2812 reads the mechanical displacement of current time motor position sensor
S_old=200 degree；
Step 4: after the △ t=0.001s times of interval, digital signal processor TMS320F2812 reads motor position and passes
The mechanical displacement s_new=200 degree of sensor；
Step 5: digital signal processor TMS320F2812 solves the poor △ s=s_ of motor position sensor displacement twice
New-s_old=200-200=0 degree, then calculate real-time speed variable v_feedback=△ s/ △ t=0 degrees second=0 turn/
Point；
Step 6: digital signal processor TMS320F2812 becomes according to rotational speed setup variable v_ref=0 and real-time rotating speed
It measures v_feedback=0 and carries out speed closed loop PI controls；
Step 7: digital signal processor TMS320F2812 calculates rotational speed setup variable v_ref and real-time speed variable v_
V_error=v_ref-v_feedback=0-0=0 revs/min of the deviation variables of feedback, rotating speed deviation variables v_error
=0 is less than tolerance variable v_rongcha=30；
It is incremented by Step 8: digital signal processor TMS320F2812 increases the value of the rotational speed setup variable v_ref of motor
Quantitative change amount v_add, i.e., v_ref=0+v_add=v_add=300 revs/min；
Step 9: digital signal processor TMS320F2812 is cycled after the same method performs step 3 to step 8,
When v_ref=v_last=6000 revs/min of rotational speed setup variable, all steps are terminated.
Claims (1)
1. a kind of high-voltage permanent magnet synchronous motor closed loop soft-start method, which is characterized in that this method is in permanent magnet synchronous motor hardware
In the environment of platform fault-free, motor busbar 540V voltage powered on moment, take following steps：
Step 1: tolerance variable v_ of the microprocessor to rotational speed setup variable v_ref and real-time speed variable v_feedback
Rongcha assignment, and setting speed gives the increased umber of beats of variable v_ref straight lines as k；
Step 2: the final desired value variable v_last of microprocessor setting speed, while by the rotational speed setup variable v_ref of motor
0 is arranged to, and calculates the incremental change variable v_add=v_last/k of rotational speed setup variable v_ref；
Step 3: the mechanical displacement s_old of microcomputer reads current time motor position sensor；
Step 4: after the △ t times of interval, the mechanical displacement s_new of microcomputer reads motor position sensor；
Step 5: microprocessor solves the poor △ s=s_new-s_old of motor position sensor displacement twice, if △ s>=0,
Then think that s1, s2 in the same Machine cycle of motor position sensor, then calculate real-time speed variable v_feedback
=△ s/ △ t；If △ s<0, then it is assumed that s1, s2 are then calculated real not in the same Machine cycle of motor position sensor
When speed variable v_feedback=(360-s_old+s_new)/△ t=(360+ △ s)/△ t；
Step 6: microprocessor carries out speed closed loop according to rotational speed setup variable v_ref and real-time speed variable v_feedback
PI is controlled；
Step 7: microprocessor calculates the deviation variables v_ of rotational speed setup variable v_ref and real-time speed variable v_feedback
Error=v_ref-v_feedback if rotating speed deviation variables v_error is less than tolerance variable v_rongcha, performs step
Eight；If rotating speed deviation variables v_error is greater than or equal to tolerance variable v_rongcha, return sequentially carries out step 3 to step
Rapid seven；
Step 8: the value of the rotational speed setup variable v_ref of motor is increased incremental change variable v_add by microprocessor；
Step 9: microprocessor judges whether the value of rotational speed setup variable v_ref is equal to the final desired value variable v_last of rotating speed,
If equal, all steps of this method are terminated；If unequal, return sequentially carries out step 3 to step 9, until rotating speed is given
When determining the value of variable v_ref and being equal to the final desired value variable v_last of rotating speed, all steps of this method are terminated.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809165A (en) * | 2018-06-29 | 2018-11-13 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of AC servo driver system and control method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106385208A (en) | 2016-11-29 | 2017-02-08 | 深圳市道通智能航空技术有限公司 | Permanent magnet synchronous motor (PMSM) starting method and device and unmanned aerial vehicle |
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| CN203675011U (en) * | 2013-10-25 | 2014-06-25 | 广东美的制冷设备有限公司 | Starting control system for PG speed adjustable motor |
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| US6541938B2 (en) * | 2000-08-18 | 2003-04-01 | Matsushita Electric Works, Ltd. | Control system for small electric motor vehicle |
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| JPS6135186A (en) * | 1984-07-26 | 1986-02-19 | Ricoh Co Ltd | Speed control circuit for dc motor |
| JPH0965675A (en) * | 1995-08-22 | 1997-03-07 | Kokusan Denki Co Ltd | Control of motor |
| CN101683661A (en) * | 2008-09-27 | 2010-03-31 | 鞍钢股份有限公司 | Method for improving rolling quality of barrel-shaped puncher for rolling hollow billet |
| CN101705318A (en) * | 2009-11-19 | 2010-05-12 | 西安陕鼓动力股份有限公司 | Full-automatic rise speed controlling method of blast furnace gas excess pressure energy recovering device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108809165A (en) * | 2018-06-29 | 2018-11-13 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of AC servo driver system and control method |
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