CN105915139A - Vector control permanent magnet synchronous servo motor initial magnetic pole position search method - Google Patents
Vector control permanent magnet synchronous servo motor initial magnetic pole position search method Download PDFInfo
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- CN105915139A CN105915139A CN201610257974.7A CN201610257974A CN105915139A CN 105915139 A CN105915139 A CN 105915139A CN 201610257974 A CN201610257974 A CN 201610257974A CN 105915139 A CN105915139 A CN 105915139A
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- Prior art keywords
- servo motor
- magnetic pole
- rotor
- fine motion
- permanent magnet
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a vector control permanent magnet synchronous servo motor initial magnetic pole position search method. Firstly position rough measurement is performed through a Hall position sensor, then a magnetic pole position is accurately searched by adopting the dichotomy, and an appropriate excitation signal is selected to excite a servo motor so that a rotor is enabled to slightly move; the increment of micro movement is measured by an incremental encoder; and the absolute position relationship of the rotor relative to a stator is acquired. Compared with the method in the prior art that initial magnetic pole control of the rotor is realized through the incremental encoder, the innovation resides in that firstly position rough measurement is performed through the Hall position sensor and a current electric angle interval is determined, and then the magnetic pole position is accurately searched by adopting the dichotomy through the incremental encoder so that searching of the magnetic pole position of the rotor can be greatly accelerated.
Description
Technical field
The present invention relates to a kind of permasyn morot, particularly relate to a kind of vector controlled permanent magnet synchronous servo motor initial magnetic pole position
Put searching method.
Background technology
Servomotor is widely used in robot control.The field that Digit Control Machine Tool etc. are the highest to governing system performance requirement, at height
Performance Digit Control Machine Tool, the servomotor of the field application such as robot nearly all needs to configure the position feedback units such as optical-electricity encoder
Part, the mode of its control mode many employings vector controlled.AC servomotor can be modeled as by the method for vector controlled
The direct current generator of Exciting Windings for Transverse Differential Protection and armature winding and rotor synchronous rotary, thus the theory of Direct Current Governor System is applied to permanent magnetism with
The control of step servomotor obtains high performance control effect.
In the vector controlled of permagnetic synchronous motor, the spatial relation of rotor magnetic pole and stator has for the stable operation of motor
There is important impact.Because in the start-up course of motor, only obtain rotor and the spatial relation accurately of stator, this
Sample just can obtain correct voltage phasor, thus obtains suitable rotating torque.If when motor and driving power supply electrifying, rotor
It is arbitrary relative to the position of stator winding.Moment formula according to motor, during owing to powering on the angle of rotor field relative to
The angle, θ of stator windinginitCannot determine, thus generally cannot realize normal position and speed controlling.If choosing at random magnetic
Angle, θ is controlled causing the moment of motor the least as initial value or is zero, it is also possible to be that motor is according to phase
Anti-direction rotates, and this can cause serious consequence in some occasion.It is presently used for permanent magnet synchronous servo drive system rotor
The detection method of position mainly has: rotary transformer method, photoelectric coded disk method (increment type and absolute type), electric machine built-in position pass
Sensor method, position-sensor-free position detection method, contain except rotary transformer method and absolute type photoelectric coded disk in these methods
The initial position message of rotor, can serve as motor powers on outside initial alignment, and other method all can not be to permanent magnet synchronous electric
Machine carries out initial alignment, and some methods need multiple bearing correction just can complete servosystem location, and this applies for electricity in reality
Machine embedded position sensor method, the design of motor is required higher by this method, needs to bury while embedding motor stator winding
If detection winding, not there is versatility.Position-sensor-free position detection method is the problem that current people make earnest efforts research, but
Permagnetic synchronous motor is in static or time motor just powers on, and does not has any to reflect that motor turns on the stator winding of motor
The signal of sub-positional information, these methods all cannot be used for the initial alignment of permanent-magnetic synchronous motor rotor.
Summary of the invention
It is an object of the invention to prior art is improved and propose a kind of vector controlled permanent magnet synchronous servo motor initial magnetic pole position
Put searching method.
One vector controlled permanent magnet synchronous servo motor initial magnetic pole position searching method of the present invention, comprises the steps:
(1) interval [θ in place of described servo motor rotor magnetic pole is determined by sensorl,θh], obtain described servo motor rotor
Initial position φ (the 0)=θ of magnetic pole0=(θl+θh)/2, wherein θlIt it is the described servo motor rotor six determined by Hall element
The higher limit that individual electrical angle is interval, θhBe six electrical angles of described servo motor rotor determined by Hall element interval under
Limit value, θh-θl=60 °, θ0For initial position of rotor, lower with；
(2) use two way classification that described servo motor rotor position of magnetic pole carries out precise search:
A, selection pumping signal encourage described servomotor, make described servo motor rotor produce fine motion；
Increment Delta θ of fine motion described in b, employing incremental encoder measuring process akI.e. electric machine rotation angle in the double sampling cycle
Difference, lower same；
C, increment Delta θ according to fine motion described in step bkObtaining described servo motor rotor relative to the absolute positional relation of stator is
Initial magnetic pole position.
Step (1) described sensor uses hall position sensor.
Step (2) described fine motion refers to that described servo motor rotor rotates 1～2 °.
Pumping signal described in step a is the initial position θ according to step (1) described servo motor rotor magnetic pole0Choose, described
Pumping signal is current signal or voltage signal.
Increment Delta θ according to fine motion described in step b described in step ckObtain absolute relative to stator of described servo motor rotor
The method of position relationship is as follows:
Increment Delta θ according to fine motionkJudging under the effect of current excitation signal, the state that described servomotor rotates is up time
Pin rotates, rotates counterclockwise or stall；
A, when increment Delta θ of fine motionkMore than 0, the state that the most described servomotor rotates is to turn clockwise, and described servomotor turns
Sub-current location θ is in [θ0,θhBetween], now described servo motor stator magnetic field is rotated (θ counterclockwise0-θh)/2, return step
Rapid a；
B, when increment Delta θ of fine motionkLess than 0, the state that the most described servomotor rotates is to rotate counterclockwise, and described servomotor turns
Sub-current location θ is in [θl,θ0Between], now turn clockwise (θ by described servo motor stator magnetic field0-θl)/2, return step
Rapid a；
C, when increment Delta θ of fine motionkEqual to 0, the most described servomotor stops operating, described servo motor stator magnetic direction and
Rotor magnetic pole position centrage overlaps, and search procedure terminates.
The present invention according to measure to rotor position information, by revise Stator energization current thus change the direction of stator field,
And making stator field position finally be positioned direction, rotor field, this process just obtains the enough letters about rotor magnetic pole position
Breath.In position fixing process, may often there is the phenomenon swung in stator field, and the amplitude of swing is more and more less, is swinging
Scope less than threshold value set in advance time it is believed that initial rotor position of magnetic pole search substantially terminate.First pass through hall position to pass
Sensor carries out position bigness scale；Then use two way classification that position of magnetic pole is carried out precise search, select suitable current vector excitation electricity
Machine, makes rotor produce fine motion；Incremental encoder is used to measure the increment of fine motion；Obtain the rotor absolute position relative to stator
Relation.Art methods mainly realizes rotor initial magnetic pole by incremental encoder and controls, compared with art methods,
Present invention innovation is that first passing through hall position sensor carries out position bigness scale, determines that current electrical angle is interval.Then passing through
Incremental encoder, uses two way classification that position of magnetic pole is carried out precise search, so can greatly speed up rotor magnetic pole position
Search.
Accompanying drawing explanation
Fig. 1 is the inventive method flow chart；
Rotor flux and Stator energization current when Fig. 2 is initial power-on；
Fig. 3 is that rotor does not turn corresponding to rotor flux and position of stator relation；
Fig. 4 is that rotor clockwise corresponds to rotor flux and position of stator relation；
Fig. 5 is that rotor is counterclockwise corresponding to rotor flux and position of stator relation.
Detailed description of the invention
A kind of initial magnetic of vector controlled permanent magnet synchronous servo motor of the present invention is described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5
Pole position search method, comprises the following steps:
1, position bigness scale is carried out by hall position sensor；
It is of concern that initial electrical angle in vector controlled, determine according to the arrangement of Hall element output signal HU, HW, HV
Every one interval of 60 ° of electrical angles.Time specifically used, once read in 3 signals by I/O port, can determine that according to its arrangement
It is currently located the interval of electrical angle.
2, use two way classification that position of magnetic pole is carried out precise search.
(1) select suitable current vector excitation motor, make rotor produce fine motion；
(2) incremental encoder is used to measure the increment of fine motion；
(3) rotor absolute positional relation relative to stator is obtained.It concretely comprises the following steps:
Step 1: the interval, rotor magnetic pole place determined by hall position sensor is [θl,θh]；
It is of concern that initial electrical angle in vector controlled, determine according to the arrangement of Hall element output signal HU, HW, HV
Every one interval of 60 ° of electrical angles.Time specifically used, once read in 3 signals by I/O port, can determine that according to its arrangement
It is currently located the interval of electrical angle；
Step 2: initial position φ (the 0)=θ of record current rotor magnetic pole0=(θl+θh)/2；
Step 3: according to θ0To a current-order vector Id=Ise,Iq=0 (wherein IseFor stator current vector, IdAnd IqRespectively
It is IseAt two phase coordinate system d axle and the components of q axle, lower same)；(pumping signal can also use voltage instruction vector, described electricity
End finger makes vector be obtained by vector by described current-order vector).
Step 4: measure the angle, θ of the rotation of motor in next sampling periodk, calculate and a front θk-1Difference:
Δθk=θk-θk-1；
Step 5: according to judging Δ θkGo out at current flow vector Iq(k) effect under, the state of electric machine rotation be turn clockwise,
Rotate counterclockwise or stall；
A, as Δ θkMore than 0, then the state of electric machine rotation is to turn clockwise, and the current I of motor is describeddThe stator field produced leads
Draw rotor clockwise direction to rotate, represent that θ is in [θ0,θhBetween], now stator field is rotated (θ counterclockwise0-θh)/2,
Show that electric current loop instructs again according to carrying out conversion, carry out current loop control, next sampling period measures the angle of the rotation of motor
Degree θk, before copying, step is by judging the angle that electric machine rotation Determines stator field turns to, according to similar rule repeat until
Segmentation degree meets requirement, or determines end magnetic field angle decision process by motor stalling；
B, as Δ θkLess than 0, then the state of electric machine rotation is to rotate counterclockwise, and the current I of motor is describeddThe stator field produced leads
Draw rotor counterclockwise to rotate, represent that θ is in [θl,θ0Between], now turn clockwise (θ by stator field0-θl)/2,
Show that electric current loop instructs again according to carrying out conversion, carry out current loop control, next sampling period measures the angle of the rotation of motor
Degree θk, before copying, step is by judging the angle that electric machine rotation Determines stator field turns to, according to similar rule repeat until
Segmentation degree meets requirement, or determines end magnetic field angle decision process by motor stalling；
C, as Δ θkEqual to 0, then motor stalls, current stator field direction is described and rotates the coincidence of sub-position of magnetic pole centrage,
Search procedure terminates.
Step 6: repeatedly after test, draw rotor initial angle；
Step 7: initial orientation terminates, motor starts properly functioning.
Wherein, IsFor stator current vector, IdAnd IqIt is I respectivelysAt two phase coordinate system d axle and the component of q axle, φmFor rotor
Pole flux, φmAngle i.e. Space Angle θ of rotor magnetic pole with A phase axisinit, HU, HW, HV are Hall element three-phase
Output signal, θ is current rotor position, θ0For initial position of rotor, θlAnd θhIt is six electricity determined by Hall element
The a certain higher limit of angular interval and lower limit, θh-θl=60 °, θkFor next sampling period measures the angle of the rotation of motor
Degree, θk-1For a front sampling period measures the angle of the rotation of motor, Δ θkFor electric machine rotation angle in the double sampling cycle
Difference.
Claims (5)
1. a vector controlled permanent magnet synchronous servo motor initial magnetic pole position searching method, it is characterised in that comprise the steps:
(1) interval [θ in place of described servo motor rotor magnetic pole is determined by sensorl,θh], obtain described servo motor rotor
Initial position φ (the 0)=θ of magnetic pole0=(θl+θh)/2, wherein θlIt it is the described servo motor rotor six determined by Hall element
The higher limit that individual electrical angle is interval, θhBe six electrical angles of described servo motor rotor determined by Hall element interval under
Limit value, θh-θl=60 °, θ0For initial position of rotor, lower with；
(2) use two way classification that described servo motor rotor position of magnetic pole carries out precise search:
A, selection pumping signal encourage described servomotor, make described servo motor rotor produce fine motion；
Increment Delta θ of fine motion described in b, employing incremental encoder measuring process akI.e. electric machine rotation angle in the double sampling cycle
Difference, lower same；
C, increment Delta θ according to fine motion described in step bkObtain the described servo motor rotor absolute positional relation relative to stator
I.e. initial magnetic pole position.
Vector controlled permanent magnet the most according to claim 1 is with servomotor initial magnetic pole position searching method, it is characterised in that
Step (1) described sensor uses hall position sensor.
Vector controlled permanent magnet the most according to claim 1 is with servomotor initial magnetic pole position searching method, it is characterised in that
Step (2) described fine motion refers to that described servo motor rotor rotates 1～2 °.
Vector controlled permanent magnet synchronous servo motor initial magnetic pole position searching method the most according to claim 1, its feature exists
It is the initial position θ according to step (1) described servo motor rotor magnetic pole in pumping signal described in step a0Choose, described sharp
Encouraging signal is current signal or voltage signal.
Vector controlled permanent magnet synchronous servo motor initial magnetic pole position searching method the most according to claim 1, its feature exists
In increment Delta θ according to fine motion described in step b described in step ckObtain the described servo motor rotor absolute position relative to stator
The method putting relation is as follows:
Increment Delta θ according to fine motionkJudging under the effect of current excitation signal, the state that described servomotor rotates is up time
Pin rotates, rotates counterclockwise or stall；
A, when increment Delta θ of fine motionkMore than 0, the state that the most described servomotor rotates is to turn clockwise, and described servomotor turns
Sub-current location θ is in [θ0,θhBetween], now described servo motor stator magnetic field is rotated (θ counterclockwise0-θh)/2, return step
Rapid a；
B, when increment Delta θ of fine motionkLess than 0, the state that the most described servomotor rotates is to rotate counterclockwise, and described servomotor turns
Sub-current location θ is in [θl,θ0Between], now turn clockwise (θ by described servo motor stator magnetic field0-θl)/2, return step
Rapid a；
C, when increment Delta θ of fine motionkEqual to 0, the most described servomotor stops operating, described servo motor stator magnetic direction and
Rotor magnetic pole position centrage overlaps, and search procedure terminates.
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| CN201610257974.7A CN105915139A (en) | 2016-04-22 | 2016-04-22 | Vector control permanent magnet synchronous servo motor initial magnetic pole position search method |
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| CN201610257974.7A CN105915139A (en) | 2016-04-22 | 2016-04-22 | Vector control permanent magnet synchronous servo motor initial magnetic pole position search method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107834935A (en) * | 2017-12-06 | 2018-03-23 | 西安航空学院 | A kind of initial absolute position detection method of permanent-magnetic synchronous motor rotor |
| CN107872177A (en) * | 2016-09-23 | 2018-04-03 | 江苏科技大学 | A kind of permagnetic synchronous motor multi sensor combination full closed loop control method |
| CN108120455A (en) * | 2016-11-28 | 2018-06-05 | 姜国超 | Encoder based on the digital analogue signal combination that Hall sensor generates |
| CN109600092A (en) * | 2018-12-17 | 2019-04-09 | 北京无线电测量研究所 | A kind of monitoring of permanent-magnet synchronous motor rotor position and modification method, system and motor |
| CN109861617A (en) * | 2019-03-27 | 2019-06-07 | 上海新时达电气股份有限公司 | Permanent magnet synchronous motor magnetic pole initial position self-learning method |
| CN109936313A (en) * | 2018-11-30 | 2019-06-25 | 浙江众邦机电科技有限公司 | Suitable for the control method of synchronous motor, system, terminal, medium and sewing machine |
| CN109962653A (en) * | 2019-03-28 | 2019-07-02 | 苏州灵猴机器人有限公司 | Phase method is sought in incremental encoder fine motion |
| CN113162503A (en) * | 2021-03-10 | 2021-07-23 | 深圳市微秒控制技术有限公司 | Hall-free linear motor initial electrical angle learning method |
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| JPH08214600A (en) * | 1994-10-21 | 1996-08-20 | Ind Elektronik Agie Losone Locarno:Ag | Method and apparatus for controlling motor |
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| JPH08214600A (en) * | 1994-10-21 | 1996-08-20 | Ind Elektronik Agie Losone Locarno:Ag | Method and apparatus for controlling motor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107872177A (en) * | 2016-09-23 | 2018-04-03 | 江苏科技大学 | A kind of permagnetic synchronous motor multi sensor combination full closed loop control method |
| CN108120455A (en) * | 2016-11-28 | 2018-06-05 | 姜国超 | Encoder based on the digital analogue signal combination that Hall sensor generates |
| CN107834935A (en) * | 2017-12-06 | 2018-03-23 | 西安航空学院 | A kind of initial absolute position detection method of permanent-magnetic synchronous motor rotor |
| CN109936313A (en) * | 2018-11-30 | 2019-06-25 | 浙江众邦机电科技有限公司 | Suitable for the control method of synchronous motor, system, terminal, medium and sewing machine |
| CN109600092A (en) * | 2018-12-17 | 2019-04-09 | 北京无线电测量研究所 | A kind of monitoring of permanent-magnet synchronous motor rotor position and modification method, system and motor |
| CN109600092B (en) * | 2018-12-17 | 2020-11-27 | 北京无线电测量研究所 | Permanent magnet synchronous motor rotor position monitoring and correcting method and system and motor |
| CN109861617A (en) * | 2019-03-27 | 2019-06-07 | 上海新时达电气股份有限公司 | Permanent magnet synchronous motor magnetic pole initial position self-learning method |
| CN109962653A (en) * | 2019-03-28 | 2019-07-02 | 苏州灵猴机器人有限公司 | Phase method is sought in incremental encoder fine motion |
| CN113162503A (en) * | 2021-03-10 | 2021-07-23 | 深圳市微秒控制技术有限公司 | Hall-free linear motor initial electrical angle learning method |
| CN113162503B (en) * | 2021-03-10 | 2023-02-28 | 深圳市微秒控制技术有限公司 | Hall-free linear motor initial electrical angle learning method |
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