CN106100499B - Three-phase electric excitation biconvex electrode electric machine position-sensor-free method based on line magnetic linkage - Google Patents
Three-phase electric excitation biconvex electrode electric machine position-sensor-free method based on line magnetic linkage Download PDFInfo
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- CN106100499B CN106100499B CN201610543168.6A CN201610543168A CN106100499B CN 106100499 B CN106100499 B CN 106100499B CN 201610543168 A CN201610543168 A CN 201610543168A CN 106100499 B CN106100499 B CN 106100499B
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
- H02P25/086—Commutation
- H02P25/089—Sensorless control
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Abstract
The invention discloses a kind of three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, detect three-phase terminal voltage and phase current in real time in motor operation, the terminal voltage that non-conduction phase is subtracted with the terminal voltage of reverse-conducting phase obtains the line voltage between two-phase, line potential is obtained after subtracting corresponding resistance drop again, the difference for then carrying out magnetic linkage calculates.First line potential can be integrated, obtain the difference of the magnetic linkage containing DC component, the difference that its DC component can be obtained the true magnetic linkage of the two-phase is then eliminated by single order high-pass filter；Depth low-pass filtering can also directly be carried out to line potential, be amplified the difference of the true magnetic linkage of certain multiple.Using the difference of magnetic linkage commutation point information is obtained by just becoming negative zero crossing indirectly.The drawbacks of being affected by armature-reaction there are zero crossing in the application of such motor the present invention overcomes back-emf zero passage method is suitable for middle/high speed heavy-load and runs occasion.
Description
Technical field
The present invention relates to Motor Control Field more particularly to it is a kind of based on the three-phase electric excitation biconvex electrode electric machine of line magnetic linkage without
Position sensor control method.
Background technology
Electric excitation biconvex electrode electric machine is a kind of novel magnetic resistance class motor, and rotor is salient-pole structure, on rotor without around
Group, simple in structure, reliability is high, and air-gap flux flexible adjustment, before having wide application in fields such as aviation, new energy
Scape.However the motor as motor running when usually using position sensor detect accurate location information to realize that electronics changes
Phase, this additional increased sensor reduce system reliability, increase cost, limit the application range of motor, therefore grind
Study carefully DSEM position-sensor-free running technologies to be of great significance.
Very few to the research of electric excitation biconvex electrode electric machine position-sensor-free technology both at home and abroad at present, used method is big
All referring to the position-sensor-free technology of BLDC and SRM.Especially for high speed position-sensor-free technology, current research
Also majority is to realize the inspection of commutation point by extracting the characteristic value of terminal voltage, phase voltage or line voltage at theoretical commutation position
It surveys." a kind of electric excitation biconvex electrode electric machine position-sensorless control method based on line voltage detection " disclosed in Zhou Xingwei etc. (China, it is public
The number of opening：104393802A) patent is mutated increased principle at the commutation moment according to line voltage difference and realizes commutation.This method is complete
It is analyzed based on motor ideal linearity inductor models, whether commutation threshold value must be discussed by the influence value of armature-reaction.Zhang Haibo
Deng disclosed in " a kind of high speed position-sensor-free running technology for three-phase electric excitation biconvex electrode electric machine " (China, publication number：
103595320A) patent reconstructs back-emf zero crossing by being coordinately transformed three-phase terminal voltage and carries out commutation, this method
Only the terminal voltage of acquisition is slightly filtered, the back-emf zero crossing position reconstructed when overloaded is easily influenced by current chopping.
What these above-mentioned methods were extracted is all the characteristic information of voltage, is rarely had by extracting double salient-pole electric machine magnetic linkage feature
The position-sensor-free method of amount.
Invention content
The technical problem to be solved by the present invention is to for defect involved in background technology, provide a kind of based on line
The three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor of magnetic linkage, armature-reaction is exchanged when reducing motor run with load
The influence of phase point position detection so that under electric excitation biconvex electrode electric machine position-sensor-free situation can accurate commutation, stablize fortune
Row.
The present invention uses following technical scheme to solve above-mentioned technical problem：
Three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, the three-phase electrical excitation are double
The three-phase of salient-pole machine is respectively A phases, B phases and C phases；
When A phases and C are conducted, detect the difference of the magnetic linkage without DC component between C phases and B phases, judge its whether by
It is positive to become negative, in this way then when the difference for going out the magnetic linkage between C phases and B phases is zero by three-phase electric excitation biconvex electrode electric machine commutation to B phases
It is conducted with A；
When B phases and A are conducted, detect the difference of the magnetic linkage without DC component between A phases and C phases, judge its whether by
It is positive to become negative, by three-phase electric excitation biconvex electrode electric machine commutation to C phases and B when then the difference of the magnetic linkage between A phases and C phases is zero in this way
It is conducted；
When C phases and B are conducted, detect the difference of the magnetic linkage without DC component between B phases and A phases, judge its whether by
It is positive to become negative, by three-phase electric excitation biconvex electrode electric machine commutation to A phases and C when then the difference of the magnetic linkage between B phases and A phases is zero in this way
It is conducted.
It is further as the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor the present invention is based on line magnetic linkage
Prioritization scheme, the difference of magnetic linkage without DC component is as follows between detecting two-phase：
Step is A.1), negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase of negative sense conducting phase
Electric current；
Step is A.2), phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the electricity of the line between the two-phase
Pressure, then subtract internal resistance pressure drop in negative sense conducting phase and obtain the line potential between two-phase；
Step is A.3), the line potential between two-phase integrates, obtain between two-phase the magnetic linkage containing DC component it
Difference；
Step is A.4), high-pass filtering is carried out using the difference of high-pass filter magnetic linkage containing DC component between two-phase,
The difference of magnetic linkage without DC component between acquisition two-phase.
It is further as the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor the present invention is based on line magnetic linkage
Prioritization scheme, step is A.4) described in high-pass filter be single order high-pass filter, cutoff frequency less than motor operation frequency
/ 10th of rate can reduce the phase leading infection that high-pass filter is brought in this way.
It is further as the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor the present invention is based on line magnetic linkage
Prioritization scheme, the difference of magnetic linkage without DC component is as follows between detecting two-phase：
Step is B.1), negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase of negative sense conducting phase
Electric current；
Step is B.2), phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the line voltage between two-phase,
Internal resistance pressure drop in negative sense conducting phase is subtracted again obtains the line potential between two-phase；
Step is B.3), depth low-pass filtering is carried out using line potential of the low-pass filter between two-phase, obtain two-phase it
Between the difference of the magnetic linkage without DC component that is amplified；
Step is B.4), using the difference for the magnetic linkage without DC component being amplified between two-phase as between two-phase be free of direct current
The difference of the magnetic linkage of component returns.
It is further as the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor the present invention is based on line magnetic linkage
Prioritization scheme, step is B.3) described in low-pass filter be low-pass first order filter, cutoff frequency less than motor operation frequency
/ 10th of rate can increase the lagging phase of low-pass filter generation, approach 90 ° of phases that pure integral element is brought in this way
It moves.
The present invention has the following technical effects using above technical scheme is compared with the prior art：
1. no location method proposed by the present invention can both be realized by analog circuit, it can also pass through digital control algorithm reality
It is existing, realization method flexible and convenient；
2. being influenced by armature-reaction small, it is suitable for wide load running occasion；
3. inverter chopping way is flexible and changeable, the accuracy of commutation point detection is not influenced.
Description of the drawings
Fig. 1 is the structural schematic diagram of the electric excitation biconvex electrode electric machine of 12/8 pole structure；
Fig. 2 is the circuit diagram for the control system that motor of the embodiment of the present invention uses；
Fig. 3 is the flow diagram of the present invention；
Fig. 4 is the flow diagram without position algorithm in the present invention；
Fig. 5 is curve graph of the motor lines magnetic linkage provided by the invention with change in location.
Specific implementation mode
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
The invention discloses a kind of three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage,
The three-phase of the three-phase electric excitation biconvex electrode electric machine is respectively A phases, B phases and C phases；
When A phases and C are conducted, detect the difference of the magnetic linkage without DC component between C phases and B phases, judge its whether by
It is positive to become negative, in this way then when the difference for going out the magnetic linkage between C phases and B phases is zero by three-phase electric excitation biconvex electrode electric machine commutation to B phases
It is conducted with A；
When B phases and A are conducted, detect the difference of the magnetic linkage without DC component between A phases and C phases, judge its whether by
It is positive to become negative, by three-phase electric excitation biconvex electrode electric machine commutation to C phases and B when then the difference of the magnetic linkage between A phases and C phases is zero in this way
It is conducted；
When C phases and B are conducted, detect the difference of the magnetic linkage without DC component between B phases and A phases, judge its whether by
It is positive to become negative, by three-phase electric excitation biconvex electrode electric machine commutation to A phases and C when then the difference of the magnetic linkage between B phases and A phases is zero in this way
It is conducted.
The difference of the magnetic linkage without DC component is as follows between detection two-phase：
Step is A.1), negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase of negative sense conducting phase
Electric current；
Step is A.2), phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the electricity of the line between the two-phase
Pressure, then subtract internal resistance pressure drop in negative sense conducting phase and obtain the line potential between two-phase；
Step is A.3), the line potential between two-phase integrates, obtain between two-phase the magnetic linkage containing DC component it
Difference；
Step is A.4), high-pass filtering is carried out using the difference of high-pass filter magnetic linkage containing DC component between two-phase,
The difference of magnetic linkage without DC component between acquisition two-phase.
High-pass filter preferentially uses single order high-pass filter, cutoff frequency to be less than 1/10th of motor operation frequency,
The phase leading infection that high-pass filter is brought can be reduced in this way.
The difference of the magnetic linkage without DC component can also also use following steps between detection two-phase：
Step is B.1), negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase of negative sense conducting phase
Electric current；
Step is B.2), phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the line voltage between two-phase,
Internal resistance pressure drop in negative sense conducting phase is subtracted again obtains the line potential between two-phase；
Step is B.3), depth low-pass filtering is carried out using line potential of the low-pass filter between two-phase, obtain two-phase it
Between the difference of the magnetic linkage without DC component that is amplified；
Step is B.4), using the difference for the magnetic linkage without DC component being amplified between two-phase as between two-phase be free of direct current
The difference of the magnetic linkage of component returns.
Low-pass filter preferentially uses low-pass first order filter, cutoff frequency to be less than 1/10th of motor operation frequency,
The lagging phase that low-pass filter generation can be increased in this way, approaches 90 ° of phase shifts that pure integral element is brought.
It is illustrated by taking the electric excitation biconvex electrode electric machine of 12/8 pole structure as shown in Figure 1 as an example below, control system
Hardware configuration as shown in Fig. 2, include three-phase full-bridge inverter, terminal voltage over-sampling modulate circuit, phase current sampling modulate circuit,
Control circuit and three-phase electric excitation biconvex electrode electric machine, wherein Udc is DC bus-bar voltage, and Un is that motor three-phase windings are neutral
Point voltage, S1~S6 are power MOSFET, and D1~D6 is anti-paralleled diode, Ra、Rb、RcRespectively motor three-phase windings resistance,
La、Lb、LcRespectively motor A, B, C three-phase windings self-induction, UA、UB、UCRespectively motor three-phase terminal voltage, IA、 IB、ICRespectively
Motor three-phase phase current.
Specific implementation step is as shown in Figure 3 and Figure 4, wherein "-" is subtraction, and " * " is multiplying, and " ∫ " is integral
Operation, " HPF " are single order high-pass filtering, and " LPF " is first-order low-pass wave.
Motor is operated under doublebeat pattern, each conducting state exist forward conduction phase, negative sense conducting mutually with it is non-conduction
Phase, it is assumed that current conducting is mutually A phases and C phases, i.e. A phase windings flow through positive current, and C phase windings flow through negative current, then non-at this time to lead
Logical is mutually B phases.
1), detection C phase terminal voltages and B phase terminal voltages, respectively UC、UB；
2), since B phases do not turn on, C phase currents is only detected, I is denoted asC；
3) U, is usedCSubtract UBObtain the line voltage U of CB two-phasesCB, then subtract the resistance drop R on C phase windingsC*ICObtain CB two
The line potential E of phaseCB；
4), to ECBIt is integrated, obtains the difference of the magnetic linkage between the C phases containing certain DC component and B phases, the direct current point
Amount is related with the integral position of start time motor；
5), that the difference of the magnetic linkage between the C phases containing DC component and B phases is eliminated it by single order high-pass filter is straight
Flow component obtains the difference of the magnetic linkage between the C phases of no DC component and B phases；Since the introducing of high-pass filter can bring phase
Advanced influence, therefore its cutoff frequency should be sufficiently low, when cutoff frequency is 1st/15th of electric machine frequency, phase is super
Preceding only 3.9 electrical angles；
6) difference of the magnetic linkage between C phases and B phases, is judged whether by just becoming negative, if it is, the magnetic between C phases and B phases
Three-phase electric excitation biconvex electrode electric machine commutation to B phases and A is conducted when the difference of chain is zero, it is on the contrary then proceed as described above.
Algorithm is similar when B phases are conducted with A phases, C phases with B.
Since an integral element is multiplied with single order high-pass filtering link Ji Wei first-order low-pass wave link, such as formula (1) institute
Show：
Therefore 4), 5) in integrator and single order high-pass filter can be replaced completely by a low-pass first order filter
Generation.Shown in the transmission function of low-pass first order filter such as formula (2), 1/RC times is exaggerated compared to formula (1).This is equivalent to signal
Amplitude carried out the amplification of certain multiple, increase signal-to-noise ratio, be conducive to improve algorithm anti-interference ability.
Fig. 5 is three-phase electric excitation biconvex electrode electric machine line magnetic linkage simulation waveform, it is seen that the negative sense zero crossing of line magnetic linkage is just
It is overlapped with the theoretical commutation position of motor, demonstrates the correctness of this method.
Position-sensor-free method provided by the present invention is utilized motor lines magnetic linkage negative sense zero crossing and is overlapped with commutation point
Rule, principle is simple, and embodiment simplicity is easily achieved.For the voltage parameter of motor, magnetic linkage amount generally will not
Mutation, it is smoother magnetic linkage curve in the case of heavily loaded copped wave, and also its zero crossing is high-visible, is conducive to commutation
The accurate judgement of point.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein (including skill
Art term and scientific terminology) there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or too formal.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (4)
1. the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, the three-phase electric excitation dual protrusion
The three-phase of pole motor is respectively A phases, B phases and C phases, it is characterised in that：
When A phases and C are conducted, the difference of the magnetic linkage without DC component between C phases and B phases is detected, judges it whether by just becoming
It is negative, in this way then when the difference for going out the magnetic linkage between C phases and B phases is zero by three-phase electric excitation biconvex electrode electric machine commutation to B phases and A phases
Conducting；
When B phases and A are conducted, the difference of the magnetic linkage without DC component between A phases and C phases is detected, judges it whether by just becoming
It is negative, three-phase electric excitation biconvex electrode electric machine commutation to C phases is led with B phases when then the difference of the magnetic linkage between A phases and C phases is zero in this way
It is logical；
When C phases and B are conducted, the difference of the magnetic linkage without DC component between B phases and A phases is detected, judges it whether by just becoming
It is negative, three-phase electric excitation biconvex electrode electric machine commutation to A phases is led with C phases when then the difference of the magnetic linkage between B phases and A phases is zero in this way
It is logical；
Wherein, the difference for detecting the magnetic linkage for being free of DC component between two-phase is as follows：
Step is A.1）, negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase current of negative sense conducting phase；
Step is A.2）, phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the line voltage between the two-phase, then
It subtracts internal resistance pressure drop in negative sense conducting phase and obtains the line potential between two-phase；
Step is A.3）, the line potential between two-phase integrates, and obtains the difference of the magnetic linkage containing DC component between two-phase；
Step is A.4）, high-pass filtering is carried out using the difference of high-pass filter magnetic linkage containing DC component between two-phase, is obtained
The difference of magnetic linkage without DC component between two-phase.
2. the three-phase electric excitation biconvex electrode electric machine position Sensorless Control side according to claim 1 based on line magnetic linkage
Method, which is characterized in that step is A.4）Described in high-pass filter be single order high-pass filter, cutoff frequency be less than motor operation
/ 10th of frequency.
3. the three-phase electric excitation biconvex electrode electric machine method for controlling position-less sensor based on line magnetic linkage, the three-phase electric excitation dual protrusion
The three-phase of pole motor is respectively A phases, B phases and C phases, it is characterised in that：
When A phases and C are conducted, the difference of the magnetic linkage without DC component between C phases and B phases is detected, judges it whether by just becoming
It is negative, in this way then when the difference for going out the magnetic linkage between C phases and B phases is zero by three-phase electric excitation biconvex electrode electric machine commutation to B phases and A phases
Conducting；
When B phases and A are conducted, the difference of the magnetic linkage without DC component between A phases and C phases is detected, judges it whether by just becoming
It is negative, three-phase electric excitation biconvex electrode electric machine commutation to C phases is led with B phases when then the difference of the magnetic linkage between A phases and C phases is zero in this way
It is logical；
When C phases and B are conducted, the difference of the magnetic linkage without DC component between B phases and A phases is detected, judges it whether by just becoming
It is negative, three-phase electric excitation biconvex electrode electric machine commutation to A phases is led with C phases when then the difference of the magnetic linkage between B phases and A phases is zero in this way
It is logical；
Wherein, the difference for detecting the magnetic linkage for being free of DC component between two-phase is as follows：
Step is B.1）, negative sense conducting phase terminal voltage and non-conduction phase terminal voltage are obtained, while obtaining the phase current of negative sense conducting phase；
Step is B.2）, phase terminal voltage is connected into negative sense and non-conduction phase terminal voltage subtracts each other to obtain the line voltage between two-phase, then is subtracted
It goes negative sense that internal resistance pressure drop in phase is connected and obtains the line potential between two-phase；
Step is B.3）, depth low-pass filtering is carried out using line potential of the low-pass filter between two-phase, obtains quilt between two-phase
The difference of the magnetic linkage without DC component of amplification；
Step is B.4）, using the difference for the magnetic linkage without DC component being amplified between two-phase as between two-phase be free of DC component
Magnetic linkage difference return.
4. the three-phase electric excitation biconvex electrode electric machine position Sensorless Control side according to claim 3 based on line magnetic linkage
Method, which is characterized in that step is B.3）Described in low-pass filter be low-pass first order filter, cutoff frequency be less than motor operation
/ 10th of frequency.
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| CN101604946A (en) * | 2009-07-09 | 2009-12-16 | 南京航空航天大学 | A kind of method for controlling position-less sensor of switched reluctance motor of suitable high speed |
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| CN103595320A (en) * | 2013-06-27 | 2014-02-19 | 南京航空航天大学 | High speed positionless operation technology for three-phase electrical excitation double salient pole motor |
| CN103684138A (en) * | 2013-11-21 | 2014-03-26 | 南京航空航天大学 | Three-phase electro-magnetic double-salient-pole motor high-speed sensorless control strategy based on non-communicating phase terminal voltage coordinate transformation |
| CN104393802A (en) * | 2014-11-07 | 2015-03-04 | 南京航空航天大学 | Line voltage detection-based doubly salient electro-magnetic motor position-less control method |
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| JP3693825B2 (en) * | 1998-09-28 | 2005-09-14 | 三菱電機株式会社 | Rotor position detector, sensorless switched reluctance motor rotor position detector, rotor position detecting method, sensorless switched reluctance motor rotor position detecting method |
| CN101604946A (en) * | 2009-07-09 | 2009-12-16 | 南京航空航天大学 | A kind of method for controlling position-less sensor of switched reluctance motor of suitable high speed |
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