CN105703682B - A kind of starting method of permanent magnet synchronous motor of position-sensor-free - Google Patents
A kind of starting method of permanent magnet synchronous motor of position-sensor-free Download PDFInfo
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- CN105703682B CN105703682B CN201510967089.3A CN201510967089A CN105703682B CN 105703682 B CN105703682 B CN 105703682B CN 201510967089 A CN201510967089 A CN 201510967089A CN 105703682 B CN105703682 B CN 105703682B
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Abstract
The invention discloses a kind of starting method of permanent magnet synchronous motor of position-sensor-free, comprising the following steps: and 1, using the current injection method twice based on current closed-loop, to ensure the initial magnetic pole position of permanent magnet synchronous motor for 0 ° of direction；2, it being controlled in low speed sections using VF, and selects a switching frequency at low frequency, VF control runs to always at the frequency, can start waiting to switch, meanwhile, sliding mode observer is also started to work；3, by being artificially arranged, strategy is actively smoothly switched using a kind of, motor is switched over automatically at low-medium speed switching；4, after successful switch, using position-sensor-free method come the operation of closed-loop control permanent magnet synchronous motor.Have many advantages, such as so that the permanent magnet synchronous motor of position-sensor-free can be realized without selecting VF parameter in low speed and quick smoothly start.
Description
Technical field
The present invention relates to a kind of permanent magnet synchronous motor technology, in particular to a kind of permanent magnet synchronous motor of position-sensor-free
Starting method.
Background technique
Permanent magnet synchronous motor is with structure is simple, small in size, power density is big, high-efficient, torque pulsation is small, control performance
The advantages that excellent.In general, the operation control of permanent magnet synchronous motor needs to detect position and the speed of rotor by position sensor
Degree.Traditional position sensor generallys use the machinery such as incremental encoder, rotary transformer, Hall sensor, photoelectric code disk
Formula position sensor, there are many flaws for these sensors, and not only installation and debugging are complicated, but also increase motor cost and body
Product, is also readily incorporated interference signal, reduces the reliability of motor operation.
In order to overcome the defect for having sensor, method, in recent years, controlled using the permanent magnet synchronous motor of position-sensor-free
Technology has become a research hotspot of Motor Control Field, and principle is by objects such as magnetic linkage, voltage, electric currents to motor
Reason amount handle obtains rotor-position indirectly.Currently, using than wide/mature without mechanical position sensor detection method
Mainly there are Based on Back-EMF Method and sliding mode observer method, both methods has good detection effect in high speed, however quiet
When only or low speed is run, the back-emf of permanent magnet synchronous motor is zero or very little, causes its signal-to-noise ratio too low and can not accurately obtain
Motor rotor position is obtained, electric motor starting failure is eventually led to, it is therefore desirable to realize the starting of motor using other methods.
Current published method has: frequency and voltage boosting synchronous initiation method, pre-position starting method, three steps start method, directly
It is switching method, passiveThe I/F of switching method and position open loop speed open-loop current closed loop forces starting method etc..These rise
Dynamic method is all that the starting of motor is realized using voltage open loop approach, and electric motor starting torque is larger by load effect, is easy to lead
Cause motor desynchronizing；It is all the method using this VF/IF and no matter in what application, in this way, when to be wanted in face of VF parameter
Relatively high application is asked, motor is will lead to and is impacted when often can not switch or switch and is bigger；In addition, in order to meetLow-medium speed switching condition, the selection of VF parameter usually requires just obtain by debugging repeatedly.Accordingly
Ground, in industrial application, when debugging different motors or load variation, generally requiring to debug VF/IF parameter again can expire
FootSwitching condition, cause field adjustable more complicated in this way, and the development cycle is long, lead to practical application
Range critical constraints.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology with deficiency, and the permanent magnetism for providing a kind of position-sensor-free is same
Electric motor starting method is walked, this method can enable the permanent magnet synchronous motor quick and stable of position-sensor-free reliably start, and
Lesser impact switching is able to achieve in middle low speed.The strategy can actively force system to generate the condition for meeting switching, start
When it is lower to VF parameter request, in practical applications in face of different motor or load variation when, without adjusting repeatedly (or again)
Examination VF parameter is just able to satisfy low-medium speed switching condition.Research staff's field adjustable is thus facilitated, the development cycle is shortened.
The purpose of the present invention can be achieved through the following technical solutions: a kind of permanent magnet synchronous motor of position-sensor-free
Dynamic method, comprising the following steps:
Step 1, using the current injection method twice based on current closed-loop, to ensure the initial magnetic pole position of permanent magnet synchronous motor
It is set to 0 ° of direction；
Step 2 is controlled in low speed sections using VF, and a switching frequency is selected at low frequency, and VF control is transported always
Row can start waiting to switch at the frequency, meanwhile, sliding mode observer is also started to work, but is not involved in closed-loop control；
Step 3, by being artificially arranged, actively smoothly switch strategy using a kind of, enable motor at low-medium speed switching
It is enough to switch over automatically；
After step 4, successful switch, using position-sensor-free method come the operation of closed-loop control permanent magnet synchronous motor.
In step 1, the method for the secondary pre-determined bit of the current closed-loop are as follows: first giveIt is big that amplitude is injected in direction
Small is isElectric current, then giveAn equal amount of electric current is injected in direction；
Wherein,Angle, i are decoupled for motorsFor the amplitude size of Injection Current；
According to the secondary pre-determined bit of current closed-loop, need to inject current into the list of electric current loop closed-loop speed ring open loop
In closed-loop control system.
In step 2, the VF control method does not need to select VF parameter meticulously, as long as can guarantee that motor normally rises
It is dynamic, and intend switching at lower frequency.
In step 3, described actively to smoothly switch strategy, specifically include following committed step:
A switching frequency f is set at low frequencysw, for speed be ωsw；
One given speed ω is set*, i.e., before handover, a given speed of double closed-loop control system；
Setting waits switching time regulation coefficient K；
Low-medium speed switching condition is set；
According to the switch speed and given speed, it should meet relationship below:
ω*=ωsw+ Δ ω, Δ ω > 0,
Wherein, Δ ω is the positive value of a very little；
The waiting switching time regulation coefficient K, caused overshoot when being to reduce speed switching, so that really
Electric current loop is givenQuickly exceed feedback current iq, to allowSwitching condition reach as early as possible, thus control system switch
Speed.The regulation coefficient is a value greater than 1, and rule of thumb, value is generally in 3-8；
The switching conditionRefer to the electricity of the interior synchronous closed-loop control system output based on sliding mode observer
Pressure value VqWith the voltage value exported when VF opened loop controlIt is equal.
It in step 4, mainly include following according to the control system for permanent-magnet synchronous motor based on sliding mode observer
Step:
Estimation block based on sliding mode observer；
The optimization of sliding mode observer；
According to the estimation block based on sliding mode observer, input is two input voltages and two input electricity
Stream, output are speed and decoupling angle；
Wherein, input voltage can be obtained by DC bus-bar voltage and real-time inverter switching states progress voltage reconstruction
?；
Input current can be measured by Hall sensor and convert to obtain through Clarke.
The optimization of the sliding mode observer mainly includes that two stage filter and change cutoff frequency adjust two links.It is described
Two stage filter refer to switching signal that using two-stage low-pass filtering, and the estimation back-emf for filtering level-one participates in electricity
Stream estimation, and the estimation back-emf that secondary filter is obtained is sent into phaselocked loop and participates in speed/angle estimation.The change cutoff frequency
Rate is adjusted, and is a kind of system phase compensation method for compensating delayed phase caused by two-stage low-pass filter.
The purpose of the present invention can also be achieved through the following technical solutions: a kind of permanent magnet synchronous motor of position-sensor-free
Starting method, comprising the following steps:
Realize rotor by static to proper motion using " three-stage " the starting method of optimization.I.e. current closed-loop is secondary pre-
It positions, VF control, two close cycles three steps of interior synchronous operation, also, is used in low-medium speed switching and actively smoothly switch strategy.
The problems such as traditional " secondary pre-determined bit " legal electron current size is uncontrollable, may result in rotor oscillating.Using base
In two step current injection methods of current closed-loop, not only size of current is controllable, can also reduce rotor oscillating, while can avoid 180
The case where rotor is not pulled when spending generation.
The step of current closed-loop secondary pre-determined bit are as follows: give firstIt is i that amplitude size is injected in directions's
Rotor is forgotten about it -90 ° of directions by electric current；After rotor stability, then giveAn equal amount of electric current is injected in direction, by rotor
It draws to 0 ° of direction.The purpose of two step injection methods is to guarantee that actual rotor can still draw rotor to 0 ° of direction at 180 °.
The step of described VF are as follows: selection one suitable VF curve starts motor, and allows electric current loop and speed ring
Keep open loop situations.Motor q shaft voltage equation are as follows:
In formula, the uq, iq, ψq, ψd, ω is respectively motor q shaft voltage, electric current, magnetic linkage, d axis magnetic linkage, rotor speed.
The q shaft voltage equation can also be expressed as uq=f (ω), when revolving speed be 0, back-emf 0, given voltage u0
=f (ω0), and due to the π of ω=2 f, final VF equation is u=kf+u0。
Wherein, u is stator voltage, and f is the running frequency of motor, u0Given voltage when for revolving speed being 0, k be frequency with
Pressure coefficient of frequency ratio between voltage.
In the two close cycles the step of synchronous operation are as follows: put up permanent magnet synchronous motor first without in sensor two close cycles
Synchronous system block diagram, the speed and angle run by sliding mode observer come estimating system, and by two-stage low-pass filtering and
Become cutoff frequency adjusting to optimize SMO；Wherein, the input of SMO module is voltage usα,usβ, electric current isα,isβ.Then, lead to
Cross the V for judging the estimation of SMO moduled,VqWhether the voltage of VF control output is reachedTo determine system when by outer synchronous VF
Operation is switched to synchronous operation in two close cycles；Finally, strategy is smoothly switched by a kind of active, it can be achieved that when low-medium speed without punching
Hit switching.
The two-stage low-pass filtering refers to carrying out low-pass filtering twice to switch function, to effectively extract anti-electricity
Gesture.Obtained estimation back-emf will be filtered for the first time and participates in electric current estimation, and is sent obtained estimation back-emf is filtered for the second time
Enter phaselocked loop and participates in speed/angle estimation.
In general, several times of system frequency are set by the cutoff frequency of first order filter, by cutting for second level filter
Only as small as possible, the phase delay that thus can be excessive to avoid entire electric system of frequency selection.
The change cutoff frequency adjusting refers to the back-emf delayed phase as caused by two-stage low-pass filter and proposes
It is a kind of for system phase compensation method.
The voltage usα,usβ, electric current isα,isβRefer to the two-phase voltage electric current under rest frame.
The usα,usβIt is according to DC bus-bar voltage udcWith inverter switching states Ta,Tb,TcCarry out voltage reconstruction and
It obtains.
The isα,isβIt is the actual current value measured by two Hall current sensors, and carries out Clark transformation
And obtain.
Under normal conditions, low-medium speed switching is carried out using general engineering method, needs to adjust (selection meticulously) VF repeatedly
Parameter just can ensure that its handover success.Such as using passiveWhen switching method, VF parameter must well-chosen can just switch to
Function, and when load changes, the parameter of electric machine changes or there are when other disturbances, it is easy to cause handover failure, needs weight at this time
New adjustment VF parameter just can ensure that handover success.
The Vd,VqIt is the d of current regulator output respectively, q shaft voltage value is describedIt is VF control respectively
The d of output, q shaft voltage value, the SMO refer to sliding mode observer module.
PassivelyThe principle of switching method is: allow two close cycles to operate normally when synchronous VF operation outside motor, but electric current
Adjuster exports Vq、VdIt is not applied to PARK-1Conversion module, after the angle and speed of SMO module estimation reach switching condition,
As the V of adjuster outputq、VdWith VF outputWhen equal, system switches.However, this switching condition needs
Time waits, and VF parameter is easy for causing handover failure once not choosing.Therefore, switch item to meet this
Part, it usually needs debug VF parameter repeatedly.
That described is ω*It is the given speed of speed regulator, the ωswIt is the feedback speed of speed regulator,
Speed when VF is run before being switching.
The present invention has the following advantages and effects with respect to the prior art:
1, the present invention is by being artificially arranged ω*=ωsw+ Δ ω, Δ ω > 0 actively force system to generate the item for meeting switching
PartThis to be switched method such as automatic not only ensure that the feasibility of switching, but also reduce the impact to motor,
It substantially may be implemented to switch without impact.Also, outside motor when synchronous VF operation, when in face of different motors or load variation,
This method does not all need to select VF parameter meticulously, as long as guaranteeing VF energy normal starting, system can smoothly switch, well
It ensure that the reliability and success rate of system switching.
2, the present invention uses the secondary pre-determined bit of current closed-loop first, to ensure that the final initial position of permanent magnet synchronous motor is
0 ° of direction；It after being determined to initial position, is controlled in low speed sections using VF, as long as VF control can guarantee permanent magnet synchronous motor
Normal starting, and a switching frequency is selected at low frequency, VF control, which is run at the frequency, to be started waiting to switch；
When waiting to be switched, in the position-sensor-free double closed-loop control system based on sliding mode observer, setting one is greater than switching
The given frequency of frequency can be such that motor switches over automatically in low-medium speed by actively smoothly switching strategy；To successfully cut
After changing, system starts to run using the position-sensor-free method based on sliding mode observer.Pass through the starting method and switching
Strategy quick smoothly rises so that the permanent magnet synchronous motor of position-sensor-free can be realized in low speed without selecting VF parameter
It is dynamic, it can not only occur reliably to switch in low-medium speed switching, and can be realized smoother switching and (or cut without impact
Change), meanwhile, in high speed, system can reliablely and stablely be run.
Detailed description of the invention
Fig. 1 is to start method according to " three-stage " of the optimization of the embodiment of the present invention.
Fig. 2 is the current closed-loop pre-positioning system block diagram according to the embodiment of the present invention.
Fig. 3 is the detailed process according to two step current injection methods of the embodiment of the present invention.
Fig. 4 is the VF controlling curve figure according to the embodiment of the present invention.
Fig. 5 is according to the outer synchronous VF of the embodiment of the present invention to interior synchronism switching structure chart.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
Embodiment
As shown in Figure 1, be " three-stage " method of starting block diagram of optimization of the invention, " three-stage " method of starting of the optimization
Implement the following steps are included:
Firstly, in electric motor starting, using the two step current injection methods based on current closed-loop.Wherein, current closed-loop is predetermined
The system block diagram of position is as shown in Figure 2；The block diagram is converted by d/q shaft current adjuster, Park transformation and its inverse transformation, Clarke,
SVPWM modulation module, three-phase inverter, permanent magnet synchronous motor composition.
A specific example according to the present invention as shown in Fig. 2, permanent magnet synchronous motor is compressor of air conditioner, and passes through IPM
Module is controlled, and is modulated using seven segmentation SVPWM.
Wherein,For the decoupling angle estimated.
The detailed process of two step current injection methods is as shown in Figure 3, and: 1s injects linearly increasing electric current in -90 ° of directions,
I.e.2s keeps Injection Current in -90 ° of directions, i.e.,3s, injection directionFrom -90 °
At the uniform velocity change to 0 °, Injection Current size remains unchanged, i.e.,4s keeps Injection Current direction and size not
Become, until rotor stability is at 0 °, at this point it is possible to determine that rotor magnetic pole position rests on 0 ° of direction.
Wherein,It is the d axis to constant current,It is the q axis to constant current, isFor the Injection Current
Amplitude size, t are the time of Injection Current.
As described above, motor can be started after the initial position to permanent magnet synchronous motor determines.Usual situation
Under, the VF starting of permanent magnet synchronous motor needs voltage, frequency to improve up with crossing one another, and just can ensure that the reliable of motor rises
It is dynamic.Therefore, when VF is started, the good corresponding voltage of well-chosen and frequency are needed, just can ensure that and reach in low-medium speed switchingSwitching condition.When the different motor of debugging or load variation, if selected before still using
VF parameter go start motor, will lead to motor switching when impact it is bigger, when serious can not switch, cause starting failure.
The present invention, using strategy is actively smoothly switched, can solve the above problem when low-medium speed switches.As long as first, choosing
One group of VF parameter that can make motor normal starting has been selected, even if motor transformation or loaded starting or when having external disturbance,
It is all not required to select VF parameter again again.Reach second, switching condition in low-medium speed is sure, and reduces and motor is rushed
It hits, may be implemented to switch without impact substantially.As shown in Figure 1, making to control using active switchover policy when VF control etc. is to be switched
System is switched in two close cycles synchronous SMO state of a control.
Therefore, as long as the parameter that VF is started can guarantee motor energy normal starting.One suitable VF curve of selection comes
Start motor, and electric current loop and speed ring is allowed to keep open loop situations, can refer to VF controlling curve figure shown in Fig. 4.
Final VF equation are as follows:
U=Kf+u0,
Wherein, given voltage u0=f (ω0)。
The embodiment of the present invention actively smoothly switches strategic process figure, specifically includes the following steps:
Firstly, sliding mode observer is also started to work, but is not involved in closed-loop control when motor VF is started.I.e. such as Fig. 5 institute
Speed ring, the electric current loop shown does not have closed loop.At this point, the operation of motor is the voltage for relying on VF control output.
One switching frequency f is setsw(its corresponding switch speed is ωsw), when the angle and speed of the estimation of SMO module
When reaching at switching frequency, two close cycles are started to work, but the V of current regulator outputd,VqIt is not applied to PARK also temporarily-1
Conversion module is also not involved in motor control.
When VF operation synchronous outside motor, there is always a positive i after CLARK, PARK variation for current of electricq, and
In low speed operation, the operation of SMO moduleIt is smaller, andIn this way, the V of current regulator outputqReach soon negative
Saturation keeps a negative voltage output therefore can not finally makeI.e. system reaches not forever in such cases
To switching condition, it will ad infinitum waiting to be switched, causing can not to switch or handover failure.Wherein, iqIt is fed back for the q axis
Electric current
Therefore, when waiting to be switched, a given speed is artificially set:
ω*=ωsw+ Δ ω, Δ ω > 0,
Wherein, Δ ω is the positive speed of a very little, for example, selection switches at 3Hz, then can be set given
Speed is 3.1Hz.Obviously, given be consistently greater than of speed regulator is fed back, it can be ensured that and speed regulator is always positive integral,
In this way, the output of speed regulatorIt will be gradually increased by 0.
When electric current increases toWhen, current regulator starts to move back saturation, and current regulator exports VqGradually increase
Greatly, untilSystem successfully switches at this time.
Before not switching successfully, flag is setsw=0；After handover success, flag is arranged in system automaticallysw=1, then, system
It just no longer needs to judge whether to meet switching condition, that is, is always maintained at the two close cycles voltage output of SMO module.Wherein, flagswFor
Switch successfully flag bit.
Output voltage when due to VF operation is a lesser positive value voltage, and before the handover always greater than SMO module
The voltage of output, so being easy to cause system speed to rise rapidly after handover.It, can be defeated to speed ring PI in order to reduce overshoot
Start a work shift with a COEFFICIENT K greater than 1, so that true q shaft current ring is givenQuickly exceed q axis feedback current iq, that is, allowSwitching condition reach as early as possible, while it is given to reduce q shaft current ring, reduces speed overshoot.
It is this automatic etc. to be cut as long as system can centainly switch in conclusion using active switchover policy
The method changed not only ensure that the feasibility of system switching, but also reduce the impact to motor, and no punching substantially may be implemented
Hit switching.In addition, can be adjusted etc. by setting parameter K the to be switched time, thus the speed of control system switching.
As shown in figure 5, being outer synchronous VF according to an embodiment of the present invention to interior synchronism switching structure chart.Wherein, interior synchronization
The closed-loop control system that operation refers to the angle estimated by sliding mode observer and speed to run.As shown in figure 5, the closed loop
The normal operation of control system needs to obtain DC bus-bar voltage udc, biphase current i when motor operationa,ib, SMO module
Input voltage usα,usβ, input current isα,isβ。
Due in sliding mode observer in current error switching signal include back-emf information, be easy to induce one in switching
High-frequency signal is gone therefore, it is necessary to be filtered using a sufficiently high low-pass filter of cutoff frequency to switching result
Except high frequency distortion signal, to obtain smooth continuous counter electromotive force.
The present invention carries out low-pass filtering treatment to switching signal by dual stage filter, wherein this dual stage filter is cut
Only frequency may be configured as:
ωc1=(1~6) ωf, ωc1=(2~5) ωc2；
Wherein, ωfFor the cutoff frequency of whole system, ωc1,ωc2Respectively the first order, second level filter cutoff frequency
Rate.
Phase compensation, the angle of compensation are carried out to electric system by becoming cutoff frequency adjusting method are as follows:
arctan(ωf/ωc1)+arctan(ωf/ωc2)；
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (7)
1. a kind of starting method of permanent magnet synchronous motor of position-sensor-free, which comprises the following steps:
Step 1, using the current injection method twice based on current closed-loop, to ensure that the initial magnetic pole position of permanent magnet synchronous motor is
0 ° of direction；
The current injection method twice of current closed-loop are as follows: give firstIt is i that amplitude size is injected in directionsElectric current, by rotor
Forget about it -90 ° of directions；After rotor stability, then giveAn equal amount of electric current is injected in direction, and rotor is drawn to 0 ° of direction；
The purpose of two step injection methods is to guarantee that actual rotor can still draw rotor to 0 ° of direction at 180 °；Wherein,For motor
Decouple angle, isFor the amplitude size of Injection Current；
Step 2 is controlled in low speed sections using VF, and a switching frequency is selected at low frequency, and VF control is run to always
At the frequency, it can start waiting to switch, meanwhile, sliding mode observer is also started to work；
Step 3, by being artificially arranged, actively smoothly switch strategy using a kind of, enable motor at low-medium speed switching from
It is dynamic to switch over；
After step 4, successful switch, using position-sensor-free method come the operation of closed-loop control permanent magnet synchronous motor, when operation
To be run simultaneously in two close cycles；Step 3 and 4 specifically:
Permanent magnet synchronous motor is put up first without the inter-sync system block diagram of sensor two close cycles, is estimated by sliding mode observer
The speed and angle of system operation, and SMO module is optimized by two-stage low-pass filtering and change cutoff frequency adjusting；Its
In, the input of SMO module is voltage usα,usβ, electric current isα,isβ；
Then, the V estimated by judging SMO moduled,VqWhether the voltage of VF control output is reachedWhen to determine system
It is switched in two close cycles and is run simultaneously by outer synchronous VF operation；
Finally, actively smoothly switching strategy by a kind of, switching when low-medium speed without impact is realized.
2. the starting method of permanent magnet synchronous motor of position-sensor-free as described in claim 1, it is characterised in that: in step 2
In, the VF control method as long as can guarantee motor normal starting, and is intended switching at lower frequency.
3. the starting method of permanent magnet synchronous motor of position-sensor-free as described in claim 1, it is characterised in that: in step 3
In, described actively smoothly switches strategy, specifically includes the following steps:
A switching frequency f is set at low frequencysw, corresponding switch speed is ωsw；
One given speed ω is set*, i.e., before handover, a given speed of double closed-loop control system；
Setting waits switching time regulation coefficient K；
Low-medium speed switching condition is set；
According to the switch speed and given speed, it should meet relationship below:
ω*=ωsw+ Δ ω, Δ ω > 0,
Wherein, Δ ω is the positive value of a very little；
The waiting switching time regulation coefficient K, caused overshoot when being to reduce speed switching, so that true electric current
Ring is givenQuickly exceed feedback current iq, to allowSwitching condition reach as early as possible, thus control system switching it is fast
Slowly；The regulation coefficient is a value greater than 1, and value range is in 3-8；
The switching conditionRefer to the voltage value of the interior synchronous closed-loop control system output based on sliding mode observer
VqWith the voltage value exported when VF opened loop controlIt is equal.
4. the starting method of permanent magnet synchronous motor of position-sensor-free as described in claim 1, which is characterized in that according to described
SMO module, input is two input voltages and two input currents, and output is speed and decoupling angle；
Wherein, input voltage can carry out voltage reconstruction acquisition by DC bus-bar voltage and real-time inverter switching states；
Input current can be measured by Hall sensor and convert to obtain through Clarke.
5. the starting method of permanent magnet synchronous motor of position-sensor-free as described in claim 1, which is characterized in that the cunning
The optimization of mould observer includes that two stage filter and change cutoff frequency adjust two links.
6. the starting method of permanent magnet synchronous motor of position-sensor-free as claimed in claim 5, which is characterized in that described two
Grade filtering is referred to switching signal using two-stage low-pass filtering, and the estimation back-emf that level-one filters is participated in electric current and is estimated
The estimation back-emf calculated, and secondary filter is obtained is sent into phaselocked loop and participates in speed/angle estimation.
7. the starting method of permanent magnet synchronous motor of position-sensor-free as claimed in claim 5, which is characterized in that the change
Cutoff frequency is adjusted, for compensating delayed phase caused by two-stage low-pass filter.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510967089.3A CN105703682B (en) | 2015-12-18 | 2015-12-18 | A kind of starting method of permanent magnet synchronous motor of position-sensor-free |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN106247714A (en) * | 2016-08-11 | 2016-12-21 | 广东美的制冷设备有限公司 | Control method, control device, compressor and air-conditioner |
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| CN108462421A (en) * | 2016-12-13 | 2018-08-28 | 成都阜特科技股份有限公司 | A kind of permanent magnet synchronous motor position and velocity estimation under low speed operation |
| CN106911271B (en) * | 2017-03-16 | 2019-05-21 | 深圳市正弦电气股份有限公司 | A kind of opened loop control starting method and device of permanent magnet synchronous motor |
| CN108199636B (en) * | 2017-12-28 | 2019-10-25 | 江苏集萃智能制造技术研究所有限公司 | A kind of motor initial angle localization method based on vector control strategy |
| CN108233811B (en) * | 2018-03-09 | 2023-08-01 | 核工业理化工程研究院 | Control method and control system of sensorless permanent magnet synchronous motor |
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| CN109687777B (en) * | 2019-01-04 | 2020-07-03 | 嘉兴伏尔电子科技有限公司 | Permanent magnet synchronous motor speed sensorless control method with switching voltage secondary structure |
| CN109995293B (en) * | 2019-04-22 | 2021-02-05 | 宁波工程学院 | Switching method of I/F starting and closed-loop control under control of permanent magnet synchronous motor speed sensorless |
| CN110729925A (en) * | 2019-10-29 | 2020-01-24 | 大力电工襄阳股份有限公司 | Control method for high-voltage synchronous variable-frequency soft start device of blower in steel plant |
| CN111262494B (en) * | 2020-03-12 | 2022-04-01 | 北京环卫集团环卫装备有限公司 | Control method and device of permanent magnet synchronous motor, storage medium and processor |
| CN111756298A (en) * | 2020-06-17 | 2020-10-09 | 深圳和而泰智能控制股份有限公司 | Motor starting method and related device |
| CN113541557B (en) * | 2021-07-09 | 2023-04-21 | 深圳市福瑞电气有限公司 | High-speed air compressor starting method based on frequency converter |
| US11817804B2 (en) | 2021-08-31 | 2023-11-14 | Kinetic Technologies International Holdings Lp | Method of starting a synchronous motor and a controller therefor |
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