CN106374793B - The control method and device of permanent magnet synchronous motor position-sensor-free - Google Patents
The control method and device of permanent magnet synchronous motor position-sensor-free Download PDFInfo
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- CN106374793B CN106374793B CN201610954686.7A CN201610954686A CN106374793B CN 106374793 B CN106374793 B CN 106374793B CN 201610954686 A CN201610954686 A CN 201610954686A CN 106374793 B CN106374793 B CN 106374793B
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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
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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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
- H02P6/20—Arrangements for starting
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of control method and device of permanent magnet synchronous motor position-sensor-free, wherein this method includes：Motor calculates the counter electromotive force of d axis and q axis using open loop calculation when First Speed range is run, and according to the arc tangent of the d axis and q axis counter electromotive force, determines the increment Delta θ 1 of first position signal；The increment Delta θ 1 of first position signal is compared with the first preset increments Δ θ min, wherein the first preset increments Δ θ min is greater than 0；If Δ θ 1 is less than Δ θ min, after the increment Delta θ 1 that the value of the first preset increments Δ θ min is assigned to first position signal, continue the operation for controlling motor.The problem of present invention solves situations such as permanent magnet synchronous motor position-sensorless control mode may invert in the prior art, leads to electric motor starting poor reliability improves electric motor starting reliability.
Description
Technical field
The present invention relates to magneto control technology fields, pass in particular to a kind of permanent magnet synchronous motor without position
The control method and device of sensor.
Background technique
Currently, the control mode of permanent magnet synchronous motor position-sensor-free is widely used in frequency converting air-conditioner compressor, permanent magnetism is same
It walks motor and counter electromotive force is calculated using open loop approach in low speed without sensor, by seeking d axis and q axis counter electromotive force anyway
Cut the increment Delta θ for obtaining position signal；Counter electromotive force is calculated using observer mode when reaching certain revolving speed, by seeking d
The arc tangent of axis and q axis counter electromotive force obtains the error angle Err θ of Assumed coordinate and actual coordinate, passes through PI (proportional integration tune
Section) revolving speed is constructed, and then position signal is generated by revolving speed.
Using the above method since counter electromotive force of motor is low in magneto start-up course, open loop approach estimation error
Greatly, when positioning or open loop operation (first stage in such as Fig. 1 a) end switch to second stage in Fig. 1 a, staring torque is small, bears
It is easy reversion when loading, the variation of load cannot be well adapted for, control parameter and PCB (printed circuit board) are relied on larger
(identical control parameter and the motor with model, there is the possibility of starting failure with different PCB), and cannot fit well
The variation of supply voltage is answered, square wave location current occurs in estimated position 0.
Using the above method, when evaluation method switches to operation (phase III in such as Fig. 1 a), due to using same group
PI constructs revolving speed and the same Lq parameter (d, q axle inductance that Ld, Lq are motor stator winding), and there are can not switch under heavy load
There is current spike and high frequency operation contradiction when switching in function, small in order to make to switch spike, then will lead to high frequency operation vibration
It swings.Wherein, in Fig. 1, Fig. 1 a triangular wave is position estimation signal, and lower section is compressor current waveform；Fig. 1 b is office in Fig. 1 a
Portion's waveform amplification.
In view of the above problems in the related art, it not yet proposes to efficiently solve scheme at present.
Summary of the invention
The present invention provides a kind of control method and device of permanent magnet synchronous motor position-sensor-free, existing at least to solve
There is situations such as permanent magnet synchronous motor position-sensorless control mode may invert in technology, leads to asking for electric motor starting poor reliability
Topic.
In order to solve the above technical problems, the present invention provides a kind of permanent magnetism is same according to the one aspect of the embodiment of the present disclosure
The control method of electric machine without position sensor is walked, this method includes：Motor is calculated when First Speed range is run using open loop
Mode calculates the counter electromotive force of d axis Yu q axis, and according to the arc tangent of the d axis and the counter electromotive force of q axis, determines that first position is believed
Number increment Delta θ 1；The increment Delta θ 1 of first position signal is compared with the first preset increments Δ θ min, wherein first is pre-
If increment Delta θ min is greater than 0；If Δ θ 1 is less than Δ θ min, the value of the first preset increments Δ θ min is assigned to first position signal
After increment Delta θ 1, continue the operation for controlling motor.
Further, when motor operation to second speed range, counter electromotive force switching is calculated from using open loop calculation
D axis and q axis counter electromotive force are calculated to using observer closed loop calculation, is determined according to the arc tangent of d axis and q axis back-emf false
The error angle Err θ of position fixing and actual coordinate, constructs revolving speed by controller, determines the second position according to the revolving speed of construction
The increment Delta θ 2 of signal；The increment Delta θ 2 of second position signal is compared with the second preset increments Δ θ min1, wherein the
Two preset increments Δ θ min1 are greater than the first preset increments Δ θ min；If Δ θ 2 is less than Δ θ min1, control second position signal
Increment Delta θ 2 is greater than or equal to the second preset increments Δ θ min1.
Further, it switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation
In the handoff procedure for calculating counter electromotive force, q axis counter electromotive force is calculated using the first q axle inductance Lq1；From using open loop calculating side
Formula is calculated counter electromotive force and switched in the operational process after being calculated counter electromotive force using observer closed loop calculation, uses the
Two q axle inductance Lq2 calculate q axis counter electromotive force；Wherein, the 2nd q axle inductance Lq2 is less than the first q axle inductance Lq1.
Further, it switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation
In the handoff procedure for calculating counter electromotive force, controller parameter bandwidth is the first bandwidth w1.
Further, this method further includes：It switches to from using open loop calculation calculating counter electromotive force using observation
In operational process after device closed loop calculation calculating counter electromotive force, controller parameter band is controlled according to motor operation frequency
It is wide.
Further, controller parameter bandwidth is controlled according to motor operation frequency, including：It is less than default frequency in running frequency
When rate threshold value k, controller parameter bandwidth is the second bandwidth w2；When running frequency is greater than or equal to predeterminated frequency threshold value k, control
Device parameter bandwidth is third bandwidth w3, wherein third bandwidth w3 is greater than the second bandwidth w2, the second bandwidth w2 and is greater than the first bandwidth
w1。
Further, controller is PI controller or quasi- PR (ratio resonance) controller.
According to the another aspect of the embodiment of the present disclosure, a kind of control dress of permanent magnet synchronous motor position-sensor-free is provided
It sets, which includes：First determination unit calculates d using open loop calculation for motor when First Speed range is run
The counter electromotive force of axis and q axis, and according to the arc tangent of the d axis and the counter electromotive force of q axis, determine the increment Delta of first position signal
θ1；Comparing unit, for the increment Delta θ 1 of first position signal to be compared with the first preset increments Δ θ min, wherein the
One preset increments Δ θ min is greater than 0；First control unit is used for when Δ θ 1 is less than Δ θ min, by the first preset increments Δ θ
After the value of min assigns the increment Delta θ 1 of first position signal, continue the operation for controlling motor.
Further, which further includes：Second determination unit, when being used for motor operation to second speed range, from adopting
Counter electromotive force is calculated with open loop calculation to switch to using observer closed loop calculation calculating d axis and q axis counter electromotive force, root
The error angle Err θ that Assumed coordinate and actual coordinate are determined according to the arc tangent of d axis and q axis back-emf is constructed by controller and is turned
Speed determines the increment Delta θ 2 of second position signal according to the revolving speed of construction；Second control unit, for by second position signal
Increment Delta θ 2 is compared with the second preset increments Δ θ min1, wherein the second preset increments Δ θ min1 is greater than the first default increasing
Measure Δ θ min；If Δ θ 2 is less than Δ θ min1, the increment Delta θ 2 of control second position signal is greater than or equal to the second preset increments Δ
θmin1。
Further, further include：Third control unit, for calculating counter electromotive force switching from using open loop calculation
Into the handoff procedure for calculating counter electromotive force using observer closed loop calculation, control calculates q using the first q axle inductance Lq1
Axis counter electromotive force；4th control unit, for switching to from using open loop calculation calculating counter electromotive force using observer
In operational process after closed loop calculation calculating counter electromotive force, control is anti-electronic using the 2nd q axle inductance Lq2 calculating q axis
Gesture；Wherein, the 2nd q axle inductance Lq2 is less than the first q axle inductance Lq1.
Further, further include：5th control unit, for calculating counter electromotive force switching from using open loop calculation
Into the handoff procedure for calculating counter electromotive force using observer closed loop calculation, control controller parameter bandwidth is the first bandwidth
w1；6th control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the operational process after counter electromotive force, controls controller parameter bandwidth according to motor operation frequency, wherein transporting
When line frequency is less than predeterminated frequency threshold value k, controller parameter bandwidth is the second bandwidth w2；It is greater than or equal in running frequency default
When frequency threshold k, controller parameter bandwidth is third bandwidth w3, wherein third bandwidth w3 is greater than the second bandwidth w2, the second bandwidth
W2 is greater than the first bandwidth w1.
In the present invention, the positioning or after open loop in motor start-up procedure, position signal increment is anti-by d axis and q axis
The arc tangent of electromotive force obtains, increases comparison step at this time, and the increment of position signal is made to be greater than the first preset increments Δ θ min, and
And the first preset increments Δ θ min is set greater than zero increment, realize position signal increment be greater than zero, thus can avoid
Since starting load is big, parameter inaccuracy or mains voltage variations the case where leading to Δ θ≤0, and then occur inverting or determine
Position torque, rather than the situation of driving moment.This control mode can efficiently solve in the prior art permanent magnet synchronous motor without position
The problem of setting situations such as control mode may invert, leading to electric motor starting poor reliability improves electric motor starting reliability.
Detailed description of the invention
Fig. 1 a is the control waveform diagram of permanent magnet synchronous motor position-sensor-free in the prior art；
Fig. 1 b is the partial enlargement waveform diagram of Fig. 1 a；
Fig. 2 is that one kind of the control method of permanent magnet synchronous motor position-sensor-free according to an embodiment of the present invention is optional
Flow diagram；
Fig. 3 is a kind of waveform diagram when appearance position signal increment is less than or equal to zero；
Fig. 4 is a kind of comparison waveform diagram shown according to the method for the present invention；
Fig. 5 is another comparison waveform diagram shown according to the method for the present invention；
Fig. 6 is a kind of optional flow chart shown according to the method for the present invention；
Fig. 7 is another the comparison waveform diagram shown according to the method for the present invention；
Fig. 8 is a kind of amplitude-frequency characteristic schematic diagram shown according to the method for the present invention；
Fig. 9 is a kind of control block diagram shown according to the method for the present invention；And
Figure 10 is that one kind of the control device of permanent magnet synchronous motor position-sensor-free according to an embodiment of the present invention is optional
Structural block diagram.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
Embodiment 1
The control method of permanent magnet synchronous motor position-sensor-free provided by the invention is illustrated with reference to the accompanying drawing.
Fig. 2 shows a kind of optional flow charts of the control method of this permanent magnet synchronous motor position-sensor-free, such as Fig. 2 institute
Show, this method includes：
S102, motor calculate counter electromotive force when First Speed range is run, using open loop calculation, and anti-according to this
Electromotive force calculates the arc tangent of motor d axis and q axis counter electromotive force, determines the increment Delta θ 1 of first position signal；Preferably, this
One velocity interval run corresponding operational process be in motor start-up procedure after positioning or open loop operation, that is to say, that
Motor is in low speed operation.
The increment Delta θ 1 of first position signal is compared by S104 with the first preset increments Δ θ min, wherein first is pre-
If increment Delta θ min is greater than 0；
The value of first preset increments Δ θ min is assigned the increment of first position signal if Δ θ 1 is less than Δ θ min by S106
After Δ θ 1, continue the operation for controlling motor.
In above embodiment, the positioning or after open loop in motor start-up procedure, position signal increment is by d axis and q
The arc tangent of axis counter electromotive force obtains, increases comparison step at this time, and the increment of position signal is made to be greater than the first preset increments Δ θ
Min, and the first preset increments Δ θ min is set greater than to zero increment, realize that the increment of position signal is greater than zero, thus
Can avoid since starting load is big, parameter inaccuracy or mains voltage variations the case where leading to Δ θ≤0, so occur inverting or
Appearance location torque, rather than the situation of driving moment.This control mode can efficiently solve permanent magnet synchronous electric in the prior art
Situations such as machine position-sensorless control mode may invert, the problem of leading to electric motor starting poor reliability, improving electric motor starting can
By property.
Further, when motor operation to second speed range, motor is in high-speed cruising at this time, calculates from using open loop
Mode calculates counter electromotive force and switches to using observer closed loop calculation calculating d axis and q axis counter electromotive force, according to d axis and q axis
The arc tangent of back-emf determines the error angle Err θ of Assumed coordinate and actual coordinate, revolving speed is constructed by controller, according to structure
The revolving speed made determines the increment Delta θ 2 of second position signal, wherein preferably, controller is that (ratio is humorous by PI controller or quasi- PR
Vibration) controller；It is the rotor dq coordinate system estimated in controller that system is sat in above-mentioned hypothesis；Actual coordinates are that rotor is real
The dq coordinate system on border, ideally, the two are completely coincident and (estimate and actual consistent), but in real process, estimation
Coordinate system and actual coordinate have difference, are not overlapped, and error is the Err θ in text.It is anti-by seeking d axis and q axis in low speed
The arc tangent of electromotive force obtains the increment Delta θ of position signal, integrates forming position signal.When reaching certain revolving speed using observation
Device mode calculates counter electromotive force, and the arc tangent by seeking d axis and q axis counter electromotive force obtains the mistake of Assumed coordinate and actual coordinate
Declinate Err θ constructs revolving speed by PI, and then is integrated by revolving speed and generate position signal.
Later, the increment Delta θ 2 of second position signal is compared with the second preset increments Δ θ min1, wherein second
Preset increments Δ θ min1 is greater than the first preset increments Δ θ min；If Δ θ 2 is less than Δ θ min1, the increasing of second position signal is controlled
It measures Δ θ 2 and is greater than or equal to the second preset increments Δ θ min1.Increase above-mentioned control method, Assumed coordinate and actual coordinate is avoided to miss
Declinate Err θ will appear oscillation, vibrate the revolving speed constructed accordingly also, improve stability.
In another preferred embodiment of the invention, counter electromotive force switching is being calculated from using open loop calculation
Into the handoff procedure for calculating counter electromotive force using observer closed loop calculation, it is anti-that q axis is calculated using the first q axle inductance Lq1
Electromotive force；Further, it switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation
In operational process after calculating counter electromotive force, the 2nd q axle inductance Lq2 is used to calculate q axis counter electromotive force；Wherein, Lq1 and Lq2
For parameter used in closed loop observer, the 2nd q axle inductance Lq2 is less than the first q axle inductance Lq1.By handoff procedure and operational process
Middle using different Lq estimated positions, reduction is vibrated, and further increases stability.
In addition, switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop calculation
In the handoff procedure of counter electromotive force, controller parameter bandwidth is the first bandwidth w1.Anti- electricity is being calculated from using open loop calculation
Kinetic potential is switched in the operational process after being calculated counter electromotive force using observer closed loop calculation, according to motor operation frequency
Controller parameter bandwidth is controlled, specifically, when running frequency is less than predeterminated frequency threshold value k, controller parameter bandwidth is second
Bandwidth w2；When running frequency is greater than or equal to predeterminated frequency threshold value k, controller parameter bandwidth is third bandwidth w3, wherein the
Three bandwidth w3 are greater than the second bandwidth w2, the second bandwidth w2 and are greater than the first bandwidth w1.The PI parameter that bandwidth is small is used in handoff procedure
Construction revolving speed avoids causing switching electric current spike, can when frequency is greater than certain value using with roomy PI parametric configuration revolving speed
Effectively solve high frequency speed oscillation.
Above-mentioned method emphasis includes the improvement of following three parts：
(1) in start-up course after positioning or open loop operation (first stage switches to second stage in Fig. 1 a), position
Confidence increment is obtained by d axis and the arc tangent of q axis counter electromotive force, makes the increment Delta θ of position signal at this time>Δ θ min, and Δ θ
min>0, to can avoid since starting load is big, parameter inaccuracy or mains voltage variations lead to Δ θ≤0, and then occur anti-
Turn or location torque occurs, rather than driving moment.
(2) (second stage during counter electromotive force is switched to using observer closed loop calculating counter electromotive force is calculated in open loop
Switch to the phase III), it is assumed that coordinate and actual coordinate error angle Err θ will appear oscillation, occur the revolving speed constructed accordingly also
Oscillation, the increment that may result in position signal become 0, make the increment Delta θ of position signal at this time>Δ θ min1, and Δ θ min1>Δ
θmin；And it is used for estimated position using Lq in handoff procedure, and uses Lq1, Lq1 at runtime<Lq.
In handoff procedure, the small PI parametric configuration revolving speed of bandwidth can be used and avoid causing switching electric current spike, in frequency
Using with roomy PI parametric configuration revolving speed when rate is greater than certain value k, high frequency speed oscillation is solved.
(3) revolving speed is constructed using quasi- PR (ratio resonance) controller substitution PI controller, due to error angle Err θ signal frequency
Rate is identical as speed-frequency, and the resonance point of quasi- PR controller is made to follow rotation speed change, can make assumed coordinate system it is more acurrate in real time with
The variation of track actual coordinates keeps Err θ amplitude smaller, and delayed phase is smaller, at the same quasi- PR controller can inhibit resonance frequency band with
Outer interference signal, to there is better interference free performance.
Above-mentioned three parts scheme is specifically described separately below, to better understand this programme：
To above-mentioned (1)：In start-up course after positioning or open loop operation, position signal increment is anti-electric by d axis and q axis
The arc tangent of kinetic potential obtains, since back-emf calculating error is big when revolving speed is low, in addition the influence of load, control parameter and PCB, holds
Easily make Δ θ≤0, increases judgement at this time：
If：In startup stage 1 or 2, increment Delta θ≤Δ θ min of position signal, then：Δ θ=Δ θ min.Wherein Δ θ
min>0, it is not in Δ θ so as to make Δ θ >=Δ θ min<0, motor reversal or Δ θ=0, motor are positioned.
If estimation parameter is correct, since overload leads to Δ θ≤0, Δ θ=Δ θ min at this time, then motor torque at this time
For positive asynchronous driving moment, that is, work in asynchronous driving condition, rather than location torque or opposing torque, cause anti-
Turn, when asynchronous driving moment is enough to overcome loading moment, estimates the Δ θ >=Δ θ min obtained, then motor can rework
Synchronous driving condition.
If in program estimate parameter have deviation perhaps mains fluctuations or hardware parameter variation cause calculate Δ θ
≤ 0, situation as shown in Figure 3, controller can not accurately carry out field orientation at this time, that is, the actual coordinate estimated and actual coordinate are inclined
Difference is larger, if making Δ θ=Δ θ min at this time, the torque of motor is positive asynchronous driving moment at this time, without fixed
Position torque or opposing torque, cause to invert, in this way, the estimation parameter (Rs, Invke, Eqeest0) in algorithm need not be adjusted repeatedly
It is whole, wherein RS is motor phase resistance, and Invke is the inverse of counter electromotive force of motor constant, Eqeest0：The benefit of q axis counter electromotive force
The amount of repaying.That is, joined to after the limitation of Δ θ minimum value, to control parameter and hardware parameter, supply voltage has better tolerance
Property, at the same can also optimal startup waveform, Fig. 4 show under heavy load starting, uses same estimation parameter and hardware, Fig. 3
Middle the top waveform is compressor current waveform, and intermediate waveform is position estimation signal, and lower waveform is turn count signal, figure
4 upper waveforms are to be added to limit Δ θ, and lower waveform is not to be added to limit Δ θ.
To above-mentioned (2)：During open loop calculating counter electromotive force switches to and calculates counter electromotive force using observer closed loop (the
Two-stage switches to the phase III), it is assumed that coordinate and actual coordinate error angle Err θ will appear oscillation, make the revolving speed constructed accordingly
Also it vibrates, the increment that may result in position signal becomes 0, makes position signal (in switching frequency+nHz range) at this time
Increment Delta θ>Δ θ min1, and Δ θ min1>Δθmin；And it is used for estimated position using Lq1 in handoff procedure, and at runtime
(being greater than switching frequency+nHz) uses Lq2, and wherein Lq1 and Lq2 is parameter used in closed loop observer, Lq2<Lq1.
Using the small PI parametric configuration revolving speed of bandwidth to reduce switching electric current spike in handoff procedure, it is greater than in frequency certain
Using with roomy PI parametric configuration revolving speed when value, high frequency speed oscillation is avoided.
Top current waveform is the switching wave that above method startup stage 2 and startup stage 3 are used under heavy load in Fig. 5
Shape, lower waveform are the switching waveform of original method, it is seen then that it is more continuous using algorithm transition stage waveform of the invention, switched
Journey torque is bigger, and is not in reversion.
Control flow chart to above-mentioned (1) and (2) in operational process as shown in fig. 6, include the following steps：
S601 judges whether it is startup stage 1 or 2？If so, the S602 that gos to step, otherwise, go to step S603；
Wherein, stage 1, stage 2 correspond respectively to first stage, two-stage in Fig. 1 a, and the first stage, two-stage be
Open loop approach calculates the stage of counter electromotive force, and it is asynchronous operation that the stage 1, which is that controller gives an initiation culture, and the stage 2 is
It is run simultaneously according to the position signal of generation.
S602 controls Δ θ >=Δ θ min；
S603 is determined as the stage 3, and the stage 3 corresponds to the phase III in Fig. 1 a herein, to seek anti-electricity using observer
The process of gesture.
S604 judges whether it is the handoff procedure for calculating from open loop and switching to closed loop and calculating？If so, step S605 is executed,
Otherwise, step S606 is executed；
S605, control Δ θ >=Δ θ min1, Lq=Lq1, PI parameter bandwidth are w1；
S606, judges whether motor operation frequency is less than frequency k？If so, executing step S607, otherwise, step is executed
S608；
S607, controls Lq=Lq2, and PI parameter bandwidth is w2；
S608, controls Lq=Lq2, and PI parameter bandwidth is w3.
To above-mentioned (3)：Tach signal is constructed using quasi- PR controller substitution PI controller, due to error angle Err θ signal frequency
Rate is identical as speed-frequency, as shown in fig. 7, upper waveform is error angle Err θ signal waveform, lower section is motor speed waveform.It is quasi-
PR controller transfer function is as shown in Equation 1：
In above formula, Kp is the proportional gain factor of PR controller, and KI is the integral coefficient of PR controller, and Wc is adjustable band
Wide coefficient makes the resonance point of quasi- PR controller follow rotation speed change, and Kp, KI, Wc is adjustable parameter, and w0 becomes with speed-frequency
Change, is that w0 obtains maximum gain in frequency, amplitude-frequency characteristic is as shown in Figure 8.Quasi- PR controller can make assumed coordinate system more acurrate
The variation of real-time tracking actual coordinates keeps Err θ amplitude in dynamic process as small as possible, and delayed phase is smaller, due to quasi- PR
Controller is bandpass filter, therefore can inhibit the signal other than resonance frequency band, to there is better interference free performance, is joined to estimation
It is several to have better tolerance with hardware parameter.Its control block diagram can be found in shown in Fig. 9.
Embodiment 2
The control method of the permanent magnet synchronous motor position-sensor-free provided in 1 based on the above embodiment, the present invention are optional
Embodiment 2 additionally provide a kind of control device of permanent magnet synchronous motor position-sensor-free, specifically, Figure 10 shows the dress
A kind of optional structural block diagram set, as shown in Figure 10, which includes：First determination unit 10, for motor in the first speed
When spending range operation, the counter electromotive force of d axis and q axis is calculated using open loop calculation, and according to the anti-electronic of the d axis and q axis
The arc tangent of gesture determines the increment Delta θ 1 of first position signal；Comparing unit 12, for by the increment Delta θ 1 of first position signal
It is compared with the first preset increments Δ θ min, wherein the first preset increments Δ θ min is greater than 0；First control unit 14, is used for
When Δ θ 1 is less than Δ θ min, after the increment Delta θ 1 that the value of the first preset increments Δ θ min is assigned to first position signal, continue
Control the operation of motor.
Further, which further includes：Second determination unit, when being used for motor operation to second speed range, from adopting
It is switched to the counter electromotive force that open loop calculation calculates d axis and q axis using observer closed loop calculation calculating d axis and q axis
Counter electromotive force, the error angle Err θ of Assumed coordinate and actual coordinate is determined according to the arc tangent of d axis and the back-emf of q axis, is led to
It crosses controller and constructs revolving speed, the increment Delta θ 2 of second position signal is determined according to the revolving speed of construction；Second control unit, is used for
The increment Delta θ 2 of second position signal is compared with the second preset increments Δ θ min1, wherein the second preset increments Δ θ
Min1 is greater than the first preset increments Δ θ min；If Δ θ 2 be less than Δ θ min1, control second position signal increment Delta θ 2 be greater than or
Equal to the second preset increments Δ θ min1.
Further, further include：Third control unit, for calculating counter electromotive force switching from using open loop calculation
Into the handoff procedure for calculating counter electromotive force using observer closed loop calculation, control calculates q using the first q axle inductance Lq1
Axis counter electromotive force；4th control unit, for switching to from using open loop calculation calculating counter electromotive force using observer
In operational process after closed loop calculation calculating counter electromotive force, control is anti-electronic using the 2nd q axle inductance Lq2 calculating q axis
Gesture；Wherein, the 2nd q axle inductance Lq2 is less than the first q axle inductance Lq1.
Further, further include：5th control unit, for calculating counter electromotive force switching from using open loop calculation
Into the handoff procedure for calculating counter electromotive force using observer closed loop calculation, control controller parameter bandwidth is the first bandwidth
w1；6th control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the operational process after counter electromotive force, controls controller parameter bandwidth according to motor operation frequency, wherein transporting
When line frequency is less than predeterminated frequency threshold value k, controller parameter bandwidth is the second bandwidth w2；It is greater than or equal in running frequency default
When frequency threshold k, controller parameter bandwidth is third bandwidth w3, wherein third bandwidth w3 is greater than the second bandwidth w2, the second bandwidth
W2 is greater than the first bandwidth w1.
About the device in above-described embodiment, wherein each unit, module execute the concrete mode of operation related
It is described in detail in the embodiment of this method, no detailed explanation will be given here.
It can be seen from the foregoing description that in above embodiment of the invention, in motor start-up procedure positioning or
After open loop, position signal increment is obtained by d axis and the arc tangent of q axis counter electromotive force, is increased comparison step at this time, is made position
The increment of signal is greater than the first preset increments Δ θ min, and the first preset increments Δ θ min is set greater than to zero increment,
Realize that the increment of position signal is greater than zero, to can avoid since starting load is big, parameter inaccuracy or mains voltage variations are led
The case where causing Δ θ≤0, and then there is inverting or occur location torque, rather than the situation of driving moment.This control mode can have
Effect ground solves situations such as permanent magnet synchronous motor position-sensorless control mode may invert in the prior art, causes electric motor starting can
By the problem of property difference, electric motor starting reliability is improved.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
The common knowledge in the art that person's adaptive change follows general principle of the invention and do not invent including the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (11)
1. a kind of control method of permanent magnet synchronous motor position-sensor-free, which is characterized in that including：
Motor calculates the counter electromotive force of d axis and q axis using open loop calculation, and according to the d when First Speed range is run
The arc tangent of the counter electromotive force of axis and q axis, determines the increment Delta θ 1 of first position signal；
The increment Delta θ 1 of the first position signal is compared with the first preset increments Δ θ min, wherein described first is pre-
If increment Delta θ min is greater than 0；
If the Δ θ 1 is less than Δ θ min, the value of the first preset increments Δ θ min is assigned to the increasing of the first position signal
After measuring Δ θ 1, continue the operation for controlling the motor.
2. the method according to claim 1, wherein further including：
When motor operation to second speed range, switch from the counter electromotive force for calculating d axis and q axis using open loop calculation
To the counter electromotive force for calculating d axis and q axis using observer closed loop calculation, according to the arc tangent of d axis and the counter electromotive force of q axis
The error angle Err θ for determining Assumed coordinate and actual coordinate, constructs revolving speed by controller, determines according to the revolving speed of construction
The increment Delta θ 2 of two position signals；
The increment Delta θ 2 of the second position signal is compared with the second preset increments Δ θ min1, wherein described second is pre-
If increment Delta θ min1 is greater than the first preset increments Δ θ min；
If the Δ θ 2 is less than Δ θ min1, the increment Delta θ 2 for controlling the second position signal is greater than or equal to described second in advance
If increment Delta θ min1.
3. according to the method described in claim 2, it is characterised in that it includes：
It switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation calculating counter electromotive force
Handoff procedure in, use the first q axle inductance Lq1 calculate q axis counter electromotive force；
It switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation calculating counter electromotive force
In operational process later, q axis counter electromotive force is calculated using the 2nd q axle inductance Lq2；Wherein, the 2nd q axle inductance Lq2 is small
In the first q axle inductance Lq1.
4. according to the method in claim 2 or 3, which is characterized in that including：
It switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation calculating counter electromotive force
Handoff procedure in, the controller parameter bandwidth be the first bandwidth w1.
5. according to the method described in claim 4, it is characterized in that, further including：
It switches to from using open loop calculation calculating counter electromotive force using observer closed loop calculation calculating counter electromotive force
In operational process later, the controller parameter bandwidth is controlled according to motor operation frequency.
6. according to the method described in claim 5, it is characterized in that, described control the controller ginseng according to motor operation frequency
Number bandwidth, including：
When the running frequency is less than predeterminated frequency threshold value k, the controller parameter bandwidth is the second bandwidth w2；
When the running frequency is greater than or equal to predeterminated frequency threshold value k, the controller parameter bandwidth is third bandwidth w3,
In, the third bandwidth w3 is greater than the second bandwidth w2, and the second bandwidth w2 is greater than the first bandwidth w1.
7. according to the method described in claim 2, it is characterized in that, the controller is PI controller or quasi- PR controller.
8. a kind of control device of permanent magnet synchronous motor position-sensor-free, which is characterized in that including：
First determination unit calculates d axis and q axis using open loop calculation for motor when First Speed range is run
Counter electromotive force, and according to the arc tangent of the d axis and the counter electromotive force of q axis, determine the increment Delta θ 1 of first position signal；
Comparing unit, for the increment Delta θ 1 of the first position signal to be compared with the first preset increments Δ θ min,
In, the first preset increments Δ θ min is greater than 0；
First control unit, for when the Δ θ 1 is less than Δ θ min, the value of the first preset increments Δ θ min to be assigned
After the increment Delta θ 1 of the first position signal, continue the operation for controlling the motor.
9. device according to claim 8, which is characterized in that further include：
Second determination unit, be used for motor operation to second speed range when, from it is described using open loop calculation calculate d axis with
The counter electromotive force of q axis switches to the counter electromotive force that d axis and q axis are calculated using observer closed loop calculation, according to d axis and q axis
The arc tangent of back-emf determine the error angle Err θ of Assumed coordinate and actual coordinate, revolving speed is constructed by controller, according to
The revolving speed of construction determines the increment Delta θ 2 of second position signal；
Second control unit, for comparing the increment Delta θ 2 of the second position signal and the second preset increments Δ θ min1
Compared with, wherein the second preset increments Δ θ min1 is greater than the first preset increments Δ θ min；If the Δ θ 2 is less than Δ θ
Min1, the increment Delta θ 2 for controlling the second position signal are greater than or equal to the second preset increments Δ θ min1.
10. device according to claim 9, which is characterized in that further include：
Third control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the handoff procedure of counter electromotive force, and control calculates q axis counter electromotive force using the first q axle inductance Lq1；
4th control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the operational process after counter electromotive force, and control calculates q axis counter electromotive force using the 2nd q axle inductance Lq2；Wherein,
The 2nd q axle inductance Lq2 is less than the first q axle inductance Lq1.
11. device according to claim 9 or 10, which is characterized in that including：
5th control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the handoff procedure of counter electromotive force, and controlling the controller parameter bandwidth is the first bandwidth w1；
6th control unit, for switching to from using open loop calculation calculating counter electromotive force using the calculating of observer closed loop
Mode calculates in the operational process after counter electromotive force, controls the controller parameter bandwidth according to motor operation frequency, wherein
When the running frequency is less than predeterminated frequency threshold value k, the controller parameter bandwidth is the second bandwidth w2；In the fortune
When line frequency is greater than or equal to predeterminated frequency threshold value k, the controller parameter bandwidth is third bandwidth w3, wherein the third
Bandwidth w3 is greater than the second bandwidth w2, and the second bandwidth w2 is greater than the first bandwidth w1.
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| CN110661466B (en) * | 2018-06-28 | 2021-05-04 | 哈尔滨工业大学 | Quasi-proportional resonance adaptive observer and permanent magnet synchronous motor position estimation method |
| CN109921697A (en) * | 2019-01-23 | 2019-06-21 | 四川虹美智能科技有限公司 | A kind of electric motor starting method and apparatus |
| CN110149082B (en) * | 2019-05-09 | 2021-09-07 | 浙江大学 | Position-sensor-free control method under condition of asymmetric three-phase inductance of motor |
| CN112325442A (en) * | 2020-11-05 | 2021-02-05 | 广东美的暖通设备有限公司 | Motor locked-rotor detection method, air conditioner and readable storage medium |
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