CN105958876A - Method for searching any initial position of permanent magnet synchronous motor - Google Patents
Method for searching any initial position of permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN105958876A CN105958876A CN201610569889.4A CN201610569889A CN105958876A CN 105958876 A CN105958876 A CN 105958876A CN 201610569889 A CN201610569889 A CN 201610569889A CN 105958876 A CN105958876 A CN 105958876A
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- CN
- China
- Prior art keywords
- initial position
- motor
- synchronous motor
- permanent magnet
- magnet synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
Abstract
The invention provides a method for searching any initial position of a permanent magnet synchronous motor. The method comprises the following steps of: connecting three phase lines of the motor with an inverter circuit, and giving the torque T* according to the motor load condition and the rotary principle of the permanent magnet synchronous motor; feeding the T* into a torque arbitration module satisfying a voltage equation as shown in the specification, dissolving the formula into an equation as shown in the specification, and outputting direct-axis voltage ud*=0 and quadrature-axis voltage uq*=K*Udc by the torque arbitration module; obtaining a vector transformation angle theta; and performing Clark inverse transform and Parker inverse transform of the obtained ud* and uq* and the theta provided in the S5, then, feeding into space vector pulse width modulation SVPWM sp as to obtain switch states of respective power switch tubes, and finally, positioning the initial position through an inverter circuit driving motor. According to the method for searching any initial position of the permanent magnet synchronous motor provided by the invention, the initial position of the permanent magnet synchronous motor can be searched rapidly and precisely; the process is simple; and the operability is high.
Description
Technical field
The present invention relates to permagnetic synchronous motor technical field, particularly a kind of permagnetic synchronous motor arbitrary initial
Position finding method.
Background technology
Domestic and foreign literature proposes to utilize software to detect to complete permanent-magnet synchronous motor rotor position, but only only a few carries
Go out and a certain ad-hoc location is detected.In prior art, the detection of original position of electric motor's rotator is that position sensor is adjusted
A requisite link in speed system.Initial position of rotor detection error, can have a strong impact on the meter of rotor-position
Calculate, so that other series of algorithms that motor controls cannot be correctly completed, will result in the disorder of motor rotation, be allowed to
Without entering normal row.Meanwhile, the position under the initial position detection of permagnetic synchronous motor is different from normal operation
Detection.
Summary of the invention
For solving above-mentioned technical problem, the invention provides permagnetic synchronous motor arbitrary initial position finding method,
It comprises the following steps:
S1: motor triple line is connected with inverter circuit, and according to motor load situation and permagnetic synchronous motor
Principle of Rotating gives torque T*
S2:T* sends into torque arbitration module and meets voltage equation
Ud*=Rs × id*+w × lq × iq*
Uq*=Rs × iq*+w × (fd+ld × id*),
Wherein ud* is d-axis output voltage, and uq* is quadrature axis output voltage, and Rs is motor stator resistance, and id* is
Direct-axis current, iq* is quadrature axis current, and lq is quadrature axis inductance, and ld is d-axis inductance, and w is motor anglec of rotation speed
Degree；
S3: during initial position fix, speed w is relatively low is set as 0, simultaneously when rotating speed is relatively low without direct-axis current
Id* get involved, the formula in S2 is dissolved for
Ud*=0
Uq*=Rs × iq+w × fd；
S4:T* exports direct-axis voltage ud*=0 and quadrature-axis voltage uq*=K × Udc according to torque arbitration module, its
Middle K is the coefficient tried to achieve according to the parameter of electric machine；
S5: obtain vector angle, θ by needing the arbitrary initial position θ * found to deduct pi/2；
S6: by the θ that mentions in ud* and uq* obtained in S4 and S5 through Clarke inverse transformation ICLARKE
Opening of respective power switch pipe is obtained with sending into space vector pulse width modulation SVPWM after Parker's inverse transformation IPARK
Off status eventually passes inverter circuit and drives motor motor to reach the requirement of initial position fix.
The method have the advantages that
The permagnetic synchronous motor arbitrary initial position finding method that the present invention provides can quickly and accurately be pricked
To the initial position of permagnetic synchronous motor, process is the most workable.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, embodiment will be described required below
The accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only the one of the present invention
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to these accompanying drawings.
The permagnetic synchronous motor arbitrary initial position searching system schematic diagram that Fig. 1 provides for the embodiment of the present invention；
The permagnetic synchronous motor Principle of Rotating schematic diagram that Fig. 2 provides for the embodiment of the present invention；
The motor triple line that Fig. 3 provides for the embodiment of the present invention and inverter circuit connection diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The all other embodiments obtained under property work premise, broadly fall into the scope of protection of the invention.
Embodiments providing permagnetic synchronous motor arbitrary initial position finding method, it is based on such as Fig. 1 institute
The permagnetic synchronous motor arbitrary initial position searching system shown, it comprises the following steps:
S1: motor triple line is connected with inverter circuit and shown in Fig. 3 (wherein Udc for load inversion electricity
The busbar voltage at two ends, road, V1, V2, V3, V4, V5, V6 are respectively 6 of composition inverter circuit core
Power switch pipe, A, B, C are respectively the triple line of motor)；According in motor load situation and Fig. 2 forever
(wherein a represents 0 position of motor to magnetic-synchro motor Principle of Rotating, and fd represents that permanent magnet flux linkage, fq represent
The armature flux linkage of diverse location) given torque T*；
S2:T* sends into torque arbitration module and meets voltage equation
Ud*=Rs × id*+w × lq × iq*
Uq*=Rs × iq*+w × (fd+ld × id*),
Wherein ud* is d-axis output voltage, and uq* is quadrature axis output voltage, and Rs is motor stator resistance, and id* is
Direct-axis current, iq* is quadrature axis current, and lq is quadrature axis inductance, and ld is d-axis inductance, and w is motor anglec of rotation speed
Degree；
S3: during initial position fix, speed w is relatively low is set as 0, simultaneously when rotating speed is relatively low without direct-axis current
Id* get involved, the formula in S2 is dissolved for
Ud*=0
Uq*=Rs × iq+w × fd；
S4:T* exports direct-axis voltage ud*=0 and quadrature-axis voltage uq*=K × Udc according to torque arbitration module, its
Middle K is the coefficient tried to achieve according to the parameter of electric machine；
S5: obtain vector angle, θ by needing the arbitrary initial position θ * found to deduct pi/2；
S6: by the θ that mentions in ud* and uq* obtained in S4 and S5 through Clarke inverse transformation ICLARKE
Opening of respective power switch pipe is obtained with sending into space vector pulse width modulation SVPWM after Parker's inverse transformation IPARK
Off status eventually passes inverter circuit and drives motor motor to reach the requirement of initial position fix.
The permagnetic synchronous motor arbitrary initial position finding method that the present invention provides can quickly and accurately be pricked
To the initial position of permagnetic synchronous motor, process is the most workable.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment is the most in detail
Describe to the greatest extent all of details, be also not intended to the detailed description of the invention that this invention is only described.Obviously, according to this
The content of description, can make many modifications and variations.These embodiments are chosen and specifically described to this specification,
It is to preferably explain the principle of the present invention and actual application, so that skilled artisan's energy
It is best understood by and utilizes the present invention.The present invention is only limited by claims and four corner thereof and equivalent
System.
Claims (1)
1. the invention provides a kind of permagnetic synchronous motor arbitrary initial position finding method, it comprises the following steps:
Motor triple line is connected with inverter circuit, gives according to motor load situation and permagnetic synchronous motor Principle of Rotating
Determine torque T*；T* sends into torque arbitration module and meets voltage equation
Above-mentioned formula is dissolved for
Square arbitration modules output direct-axis voltage ud*=0 and quadrature-axis voltage uq*=K × Udc；
Obtain vector angle, θ；By the θ that mentions in ud* and uq* obtained and S5 through Clarke inverse transformation and
Send into space vector pulse width modulation SVPWM after Parker's inverse transformation and obtain the on off state of respective power switch pipe
After drive motor motor to reach the requirement of initial position fix through inverter circuit.The permanent magnetism that the present invention provides
Synchronous motor arbitrary initial position finding method can quickly and accurately prick the initial of permagnetic synchronous motor
Position, process is the most workable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610569889.4A CN105958876A (en) | 2016-07-19 | 2016-07-19 | Method for searching any initial position of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610569889.4A CN105958876A (en) | 2016-07-19 | 2016-07-19 | Method for searching any initial position of permanent magnet synchronous motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105958876A true CN105958876A (en) | 2016-09-21 |
Family
ID=56900961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610569889.4A Pending CN105958876A (en) | 2016-07-19 | 2016-07-19 | Method for searching any initial position of permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105958876A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762146A (en) * | 2018-05-30 | 2018-11-06 | 杭州电子科技大学 | Stepper motor low latency synchronizes interior networking kinetic control system |
| CN109802619A (en) * | 2019-01-25 | 2019-05-24 | 甄圣超 | A kind of removing method of the initial electrical angle of permanent magnet synchronous motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012097807A2 (en) * | 2011-01-17 | 2012-07-26 | Rolf Strothmann | Method for determining the position of the rotor of an electric machine |
| CN102938628A (en) * | 2011-09-06 | 2013-02-20 | 北京理工大学 | Method for positioning permanent magnet synchronous motor rotor initial position |
| CN103825518A (en) * | 2014-03-05 | 2014-05-28 | 华侨大学 | System and method for phase sequence detection and rotor initial location positioning of three-phase permanent-magnet synchronous motor |
-
2016
- 2016-07-19 CN CN201610569889.4A patent/CN105958876A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012097807A2 (en) * | 2011-01-17 | 2012-07-26 | Rolf Strothmann | Method for determining the position of the rotor of an electric machine |
| CN102938628A (en) * | 2011-09-06 | 2013-02-20 | 北京理工大学 | Method for positioning permanent magnet synchronous motor rotor initial position |
| CN103825518A (en) * | 2014-03-05 | 2014-05-28 | 华侨大学 | System and method for phase sequence detection and rotor initial location positioning of three-phase permanent-magnet synchronous motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762146A (en) * | 2018-05-30 | 2018-11-06 | 杭州电子科技大学 | Stepper motor low latency synchronizes interior networking kinetic control system |
| CN108762146B (en) * | 2018-05-30 | 2020-01-21 | 杭州电子科技大学 | Low-delay synchronous internal networking motion control system of stepping motor |
| CN109802619A (en) * | 2019-01-25 | 2019-05-24 | 甄圣超 | A kind of removing method of the initial electrical angle of permanent magnet synchronous motor |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160921 |