CN105958875A - High precision speed regulation control method of speed sensorless permanent magnet synchronous motor - Google Patents
High precision speed regulation control method of speed sensorless permanent magnet synchronous motor Download PDFInfo
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- CN105958875A CN105958875A CN201610369302.5A CN201610369302A CN105958875A CN 105958875 A CN105958875 A CN 105958875A CN 201610369302 A CN201610369302 A CN 201610369302A CN 105958875 A CN105958875 A CN 105958875A
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
Abstract
The invention relates to a high precision speed regulation control method of a speed sensorless permanent magnet synchronous motor and belongs to the motor control technology field. According to the method, a real-time motor rotation speed and the rotor position information are calculated through a speed sensorless algorithm, when the motor rotation speed arrives a given rotation speed scope of omega*+/-omega1, steps of a high precision speed regulation method as follows are employed, a current ring is taken as a control inner ring, and closed loop adjustment on a three-phase current of a motor is carried out; a rotation speed ring and a power angle ring are taken as outer rings, an error margin is adjusted through an adjuster, and output values are taken as an amplitude of a given current value of the inner ring and the phase information; the constant frequency information is outputted according to the given rotation speed of the motor and is taken as frequency of the given current value of the inner ring; according to the frequency, the phase and the amplitude information of the given current value, a corresponding three-phase sinusoidal signal is outputted and is taken as a given input of the current ring. Compared with the prior art, the method is simple and easy to realize, and relatively high precision speed regulation can be carried out when the permanent magnet synchronous motor has no speed sensor.
Description
Technical field
The present invention relates to the high accuracy method for controlling speed regulation of the permagnetic synchronous motor of a kind of Speedless sensor, belong to
Motor control technology field.
Background technology
Governing system application is quite varied in high precision, many modern test and measuring systems be required for one high-precision
Rotating speed benchmark is as driving means.Permagnetic synchronous motor has efficiency height, power factor is high, volume is little, price
The advantage such as low, easy to maintenance, therefore frequence System of Permanent is widely used in various occasion.By
In permagnetic synchronous motor, there is multivariate, close coupling, nonlinear feature, system parameter variations and load
Disturbance can affect the performance of system, therefore high-precision governing system has essence for the rotating speed of motor with rotor-position
True requirement.
Along with the development of microcontroller, the Speedless sensor speed regulating method of permagnetic synchronous motor has obtained more
Research.The control method of Speedless sensor enormously simplify system hardware structure, reduces cost, and pacifies
Filling easy to maintenance, application is more and more wider at present.
At present, the common control method of permagnetic synchronous motor mainly has constant voltage constant frequency control, vector controlled and straight
Connect direct torque etc..These methods are respectively arranged with feature, but generally also exist that control operand is big, it is certain to exist
The problem of torque pulsation so that permagnetic synchronous motor cannot realize the speed governing of degree of precision.In Aero-Space, survey
In the fields higher to required precision such as examination metering, it usually needs utilize high accuracy governing system to obtain one reliably
Rotating speed benchmark.Therefore, at present in the urgent need to the high accuracy method for controlling speed regulation of a kind of permagnetic synchronous motor.
Summary of the invention
It is an object of the invention to the problem the highest for solving existing method for controlling permanent magnet synchronous motor adjusting speed accuracy, carry
Having supplied the high accuracy speed regulating method of the permagnetic synchronous motor of a kind of Speedless sensor, the method is by real at motor
When border rotating speed reaches near given rotating speed, switch to the method control, can make motor under this given rotating speed, with
Higher rotating speed stationarity is run.
It is an object of the invention to be achieved through the following technical solutions:
The high accuracy method for controlling speed regulation of the permagnetic synchronous motor of a kind of Speedless sensor, comprises the following steps:
Step one, system monitor the actual speed of permagnetic synchronous motor in real time, turn when actual speed ω reaches given
Speed ω * ± ω1After in the range of, common method for controlling permanent magnet synchronous motor switch the control of paramount speed stability
Method processed, i.e. goes to step two；
Step 2, in speed stabilizing control, use electric current loop as internal ring；Der Geschwindigkeitkreis, merit square ring as outer shroud,
Output amplitude, phase information, the constant frequency information synthesis with given, obtain three-phase sinusoidal signal as electric current
The set-point of ring.
Further, in step one, actual speed ω of motor is calculated by Speedless sensor algorithm.
Further, in step one, use the switching scope of high accuracy speed regulating method by ω1Determine, according to
Different working condition and purposes, can select different values.
Further, in step 2, described given constant frequency information is that motor gives mechanical separator speed institute
Corresponding electric frequency information.
Further, amplitude described in step 2, phase information, synthesize with given constant frequency information
By the current amplitude obtained, phase place, frequency information for being synthesized by sinusoidal generation module, output
Three-phase sinusoidal signal, is specifically expressed as follows:
iA *=Asin (ω t+ θ)
iB *=Asin (ω t+ θ-120 °)
iC *=Asin (ω t+ θ+120 °)
Wherein, ω, A, θ represent the frequency of input, amplitude, phase information respectively.
Further, the three-phase sinusoidal signal after electric current loop described in step 2 is using described synthesis is as electric current
The three-phase of ring gives electric current iA*、iB*、iC* with the three-phase actual current i collectedA、iB、iCCompare,
Forming the margin of error, through the regulation of rheonome ACR, output is to motor-drive circuit, by motor
The output of ACR is converted to drive the three-phase voltage u of motor by drive circuitA、uB、uC；Described der Geschwindigkeitkreis is
Given rotating speed ω * is compared with actual speed ω, forms the margin of error, through speed regulator ASR
Regulation, export current magnitude information；Described merit square ring is for compare given merit angle with actual merit angle
Relatively, form the margin of error, through the regulation of merit angle actuator A δ R, export current phase information.
Further, described rheonome ACR, speed regulator ASR, merit angle actuator A δ R all adopt
With the proportional and integral controller using band amplitude limit.
Further, described being compared in given merit angle and actual merit angle is converted to given A phase current phase place
θ * compares with the rotor position of motor, to simplify calculating, obtains maximum electromagnetic torque output simultaneously.
Beneficial effect
Contrast prior art, the inventive method need not velocity sensor or position sensor at hardware aspect, letter
Change system hardware structure, save cost.By the method, permagnetic synchronous motor can be with higher rotating speed
Stationarity operates in given rotating speed, it is achieved that speed governing in high precision.
Accompanying drawing explanation
Fig. 1 is the structure of the permagnetic synchronous motor high accuracy speed regulating method of embodiment of the present invention Speedless sensor
Schematic diagram；
Fig. 2 is the specific implementation method schematic diagram of sinusoidal generation module in Fig. 1；
Fig. 3 is to use the motor speed fluctuation scatterplot signal under high accuracy speed regulating method described in the embodiment of the present invention
Figure.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described further.
It is illustrated in figure 1 the structural representation of the permagnetic synchronous motor high accuracy speed regulating method of Speedless sensor.
Three-phase current i to permagnetic synchronous motorA、iB、iCWith voltage uA、uB、uCIt is acquired, by without speed
Degree sensing algorithm calculate, as shown in figure medium speed, position computation module, obtain motor rotational speed omega,
Rotor position information θ.In the present embodiment, Speedless sensor algorithm uses estimation based on motor mathematical model
Method, in the present embodiment, actual speed ω of motor is by two adjacent risings of the single-phase back-emf signal collected
The time difference on edge is calculated, and single-phase back-emf signal is deducted this phase of impedance pressure drop by this phase phase voltage and obtains.When
So, the selection of Speedless sensor algorithm is not limited to this, as long as being capable of estimating the rotating speed of motor, position merit
Can.
Motor speed ω is monitored in real time, when rotational speed omega is in given rotating speed ω * ± ω1In the range of time, it is believed that
Motor runs close to stabilized (steady-state) speed, uses high accuracy speed regulating method to be controlled；When rotational speed omega is in given rotating speed
ω*±ω1Time outside scope, use common control method that motor is controlled；I.e. switching scope is by ω1
Determine, according to different working condition and purposes, different values can be selected.
Controlling part uses electric current loop as internal ring；Der Geschwindigkeitkreis, merit square ring are as outer shroud, output amplitude, phase place
Information；By amplitude, phase information and given constant frequency information, by sinusoidal generation module, export three
Phase sinusoidal signal.The three-phase sinusoidal signal obtained is as the set-point of electric current loop.
Being described as follows of electric current loop: the three-phase current i to motorA、iB、iCIt is acquired, as electric current loop
Actual feedback；The i sent by sinusoidal generation moduleA*、iB*、iC* as the set-point of electric current loop；To give
Definite value and actual value make after the recovery, and by error amount input to rheonome ACR, rheonome output is believed
Number to motor-drive circuit, motor-drive circuit the output of ACR is converted to drive the three-phase voltage of motor
uA、uB、uC；In the present embodiment, rheonome uses the proportional and integral controller of band amplitude limit, certainly, electricity
The selection of throttle regulator is not limited to this, as long as being capable of actual current value quickly follow the function of given current value
?.
Being described as follows of der Geschwindigkeitkreis: the motor speed ω obtained by Speedless sensor algorithm is as rotating speed
The actual feedback of ring；Given rotating speed ω * is as the set-point of der Geschwindigkeitkreis；Set-point and actual value are made after the recovery,
Input to speed regulator ASR, the given current amplitude signal i* of speed regulator outputAmplitudeMould is generated to sinusoidal
Block；In the present embodiment, speed regulator uses the proportional and integral controller of band amplitude limit, certainly, rheonome
Selection be not limited to this, as long as being capable of actual speed to follow the function of given rotating speed.
Being described as follows of merit square ring: the set-point δ * value of merit square ring is 90 °, by set-point δ * with actual
Value δ makees after the recovery, inputs to the actuator A δ R of merit angle, the given current phase signal i* of merit angle actuator outputPhase place
To sinusoidal generation module；In the present embodiment, the proportional and integral controller of merit angle actuator employing band amplitude limit, certainly,
The selection of merit angle actuator is not limited to this, as long as being capable of actual merit angle to follow the function at given merit angle.
Wherein, when given merit angle δ * is 90 °, the difference of given merit angle δ * and actual merit angle δ is equal to given A phase current phase
The difference of the rotor position of position θ * and motor.Therefore, the input quantity of merit angle actuator can substitute by the difference of θ * Yu θ,
Thus simplify calculating.Owing to during δ=90 °, the electromagnetic torque Te of motor is maximum, so the acting as electricity of merit square ring
The angular 90 ° of regulations of actual merit of machine, thus obtain maximum electromagnetic torque output.
Given frequency module, according to the given rotating speed of motor, sends the fixing power frequency corresponding with given rotating speed
Signal i*FrequencyTo sinusoidal generation module.
By given frequency, the output valve of der Geschwindigkeitkreis, the output valve of merit square ring, i.e. give the frequency of electric current i*, width
Value, phase information, input is to sinusoidal generation module.Three-phase sinusoidal signal is produced by sinusoidal generation module, as
Given value of current value delivers to electric current loop.As in figure 2 it is shown, the frequency of input, amplitude, phase place represent with ω, A, θ,
The three-phase sinusoidal signal then exported is represented by:
iA *=Asin (ω t+ θ)
iB *=Asin (ω t+ θ-120 °)
iC *=Asin (ω t+ θ+120 °)
Fig. 3 is to use the motor speed fluctuation scatterplot schematic diagram under the invention described above embodiment high accuracy speed regulating method.
Wherein given rotating speed is 12000rpm, and the peak-to-peak value of actual speed fluctuation is 1.8rpm, and relative rotation speed fluctuation is little
In 1.5*10-4.By consulting literatures, use the motor relative rotation speed fluctuation under usual control method generally
10-3Above.Test result indicate that: the present invention is relative to existing method for controlling permanent magnet synchronous motor, speed governing essence
Degree increases.
Above example is intended for the present invention is described, not in order to limit the present invention, those skilled in the art should
Understand that all any changes in form and in details made it in the present invention should be included in the present invention's
Within protection domain.
Claims (10)
1. the high accuracy method for controlling speed regulation of the permagnetic synchronous motor of Speedless sensor, it is characterised in that
Comprise the following steps:
Step one, in real time detection permagnetic synchronous motor rotating speed, when motor speed ω reaches given rotating speed ω *
±ω1In the range of time, go to step two uses high accuracy speed regulating methods carry out speed governing；Otherwise, use common
Motor is controlled by method for controlling permanent magnet synchronous motor；
Step 2, in speed stabilizing control, use electric current loop as internal ring；Der Geschwindigkeitkreis, merit square ring conduct
Outer shroud, output amplitude, phase information, the constant frequency information synthesis with given, obtain three phase sine
Signal is as the set-point of electric current loop.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 1
Control method, it is characterised in that: actual speed ω of the permagnetic synchronous motor in described step one is by nothing
Velocity sensor algorithm is calculated.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 2
Control method, it is characterised in that: the concrete calculation of described Speedless sensor algorithm is for by gathering
The time difference of two adjacent rising edges of the single-phase back-emf signal obtained is calculated, and single-phase back-emf is believed
Number being deducted this phase of impedance pressure drop by this phase phase voltage obtains.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 1
Control method, it is characterised in that: in described step one, use the switching scope of high accuracy speed regulating method
By ω1Determine, according to different working condition and purposes, different values can be selected.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 1
Control method, it is characterised in that: constant frequency information given described in step 2 is that motor gives machine
Electric frequency information corresponding to tool rotating speed.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 1
Control method, it is characterised in that: amplitude described in step 2, phase information, with given constant frequency
Rate information is synthesized the current amplitude obtained, phase place, frequency information as being entered by sinusoidal generation module
Row synthesis, exports three-phase sinusoidal signal, is specifically expressed as follows:
iA *=A sin (ω t+ θ)
iB *=A sin (ω t+ θ-120 °)
iC *=A sin (ω t+ θ+120 °)
Wherein, ω, A, θ represent the frequency of input, amplitude, phase information respectively.
7. high-precision according to the permagnetic synchronous motor of the arbitrary described Speedless sensor of claim 1-6
Degree method for controlling speed regulation, it is characterised in that: electric current loop described in step 2 be by described synthesis after three-phase
Sinusoidal signal gives electric current i as the three-phase of electric current loopA*、iB*、iC* with the three-phase actual current collected
iA、iB、iCComparing, form the margin of error, through the regulation of rheonome ACR, output is to electricity
Drive circuit, is converted to the three-phase voltage u of driving motor by motor-drive circuit by the output of ACRA、uB、
uC；Described der Geschwindigkeitkreis, for be compared with actual speed ω by given rotating speed ω *, forms the margin of error, warp
Cross the regulation of speed regulator ASR, export current magnitude information；Described merit square ring is by given merit angle
Compare with actual merit angle, form the margin of error, through the regulation of merit angle actuator A δ R, output electricity
Stream phase information.
The high accuracy speed governing of the permagnetic synchronous motor of Speedless sensor the most according to claim 7
Control method, it is characterised in that: described rheonome ACR, speed regulator ASR, the regulation of merit angle
Device A δ R all uses the proportional and integral controller of band amplitude limit.
9. according to the high accuracy of the permagnetic synchronous motor of the Speedless sensor described in claim 7 or 8
Method for controlling speed regulation, it is characterised in that: described being compared with actual merit angle at given merit angle is converted to
Given A phase current phase theta * compares with the rotor position of motor, to simplify calculating, obtains the most simultaneously
Big electromagnetic torque output.
The high accuracy of the permagnetic synchronous motor of Speedless sensor the most according to claim 9 is adjusted
Speed control method, it is characterised in that: the rotor position of described motor is calculated by Speedless sensor algorithm
Obtain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610369302.5A CN105958875B (en) | 2016-05-30 | 2016-05-30 | A kind of high-precision method for controlling speed regulation of Permanent Magnet Synchronous Motor Speed Sensorless |
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| CN201610369302.5A CN105958875B (en) | 2016-05-30 | 2016-05-30 | A kind of high-precision method for controlling speed regulation of Permanent Magnet Synchronous Motor Speed Sensorless |
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Cited By (3)
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| CN110212818A (en) * | 2019-07-11 | 2019-09-06 | 北京理工大学 | A kind of magneto angle detecting method |
| CN110247604A (en) * | 2019-07-11 | 2019-09-17 | 北京理工大学 | A kind of permanent magnet synchronous motor sinusoidal drive method |
| CN112255543A (en) * | 2020-10-14 | 2021-01-22 | 四川航天烽火伺服控制技术有限公司 | Servo system current loop test method, system, device and readable storage medium |
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| CN112255543A (en) * | 2020-10-14 | 2021-01-22 | 四川航天烽火伺服控制技术有限公司 | Servo system current loop test method, system, device and readable storage medium |
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