CN106411189B - A kind of gyro sensor-free control system of permanent magnet synchronous motor - Google Patents
A kind of gyro sensor-free control system of permanent magnet synchronous motor Download PDFInfo
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- CN106411189B CN106411189B CN201610972205.5A CN201610972205A CN106411189B CN 106411189 B CN106411189 B CN 106411189B CN 201610972205 A CN201610972205 A CN 201610972205A CN 106411189 B CN106411189 B CN 106411189B
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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
- H02P6/10—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
- H02P6/005—Arrangements for controlling doubly fed motors
-
- 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
Abstract
A kind of gyro sensor-free control system of permanent magnet synchronous motor,Including speed ring,Electric current loop,Speed ring includes phaselocked loop II,Frequency division module,Back-emf Zero-cross comparator circuit,Opposite potential extracts circuit,Electric current loop includes phaselocked loop I,Sine-wave current generator,Current controller,Power linear amplifying circuit,Current detection circuit,Opposite potential extracts circuit and generates opposite potential signal,Opposite potential Zero-cross comparator circuit generates zero-crossing pulse signal,Frequency division module divides to obtain mechanical frequency square-wave signal,It is given that phaselocked loop II generates sine-wave current generator amplitude,It is given that phaselocked loop I generates sine-wave current frequency generator,The given sinusoidal current of sine-wave current generator generation electric current loop,Current detection circuit acquires phase current signal,Current controller is amplified after obtaining operation result and is sent to external gyro permanent magnet synchronous motor,Complete drive and control of electric machine.
Description
Technical field
The present invention relates to control system for permanent-magnet synchronous motor, especially a kind of gyro permanent magnet synchronous motor sensorless strategy
System.
Background technique
Three floating gyros substitute hysteresis machine by using magneto in high precision, improve motor speed stability, reduce
Power of motor loss, improves Gyro Precision.Magneto generally requires a set of rotor-position sensor, as grating, rotation become
Deng, to realize commutation, but limited by motor down-lead and gyro spatial volume, gyro magneto can not installation site sensing
Device, therefore method for controlling position-less sensor is generally used for gyro magneto both at home and abroad.
Existing gyro magneto mostly uses greatly brshless DC motor, the main reason is that drive control method is simple,
And the overwhelming majority takes the driving of PWM square wave." the high-precision fixed speed control of brushless DC gyro motor " (Chinese inertial technology
Report in the December, 2003 the 6th phase of volume 11) PWM driving method of the text for brushless DC gyro motor using three-phase tri-state.
" research based on DSP and ML4428 brushless DC gyro motor phase-lock speed control " (Chinese inertial technology journal volume 13 the 4th
Phase in August, 2005) method of literary grace three-phase six-beat carries out PWM driving to brushless DC gyro motor.Due to gyro permanent magnetism
The stator of motor mostly uses greatly non iron-core structure, thus leads to stator winding inductance very little, so being driven using PWM square wave
When Stator Current Harmonic can increase, this can cause torque ripple to increase, to be unfavorable for further increasing gyro magneto
Speed stability.
For permanent magnet synchronous motor sensorless strategy, the entitled permanent magnet synchronous electric of Chinese patent CN201010508205.2
The sensorless control system of machine proposes sliding mode observer method, and " PMSM speed neural network based and position are adaptively seen
The design of survey device " (Proceedings of the CSEE in the December, 2002 the 22nd phase of volume 12) text proposes neural network algorithm, " ash
Color predicted method PMSM sensorless control system " (Electric Machines and Control's o. 11th of volume 6 in November, 2007), Chinese patent
The entitled permanent magnet synchronous motor vector control system without sensor based on EKF of CN201310289582.5 proposes extension karr
Graceful filter method, " the sensor-less operation research of two kinds of High Frequency Injections " (Proceedings of the CSEE the 25th phase of volume 5
In March, 2005) text proposes High Frequency Injection.Although intelligent algorithm has certain general applicability, its is right
The arithmetic programming answered is generally complex, to be difficult to be engineered application；Compared with intelligent algorithm, High Frequency Injection is realized
It is relatively easy, but it depends on the saliency of rotor, and the rotor of gyro permanent magnet synchronous motor generallys use hidden pole type
Structure and stator non iron-core, are difficult to be utilized in this way.In addition, conventional PID control precision is difficult to meet high-precision top
The requirement of spiral shell property superregulated to motor speed, and the high-speed permanent magnetic having not yet to see for position-sensor-free synchronizes electricity
The high speed stability control method of machine.
Summary of the invention
Present invention solves the technical problem that being：A kind of gyro permanent magnet synchronous motor is overcome the deficiencies of the prior art and provide
Sensorless control system, complicated for existing permanent magnet synchronous motor sensorless strategy method, motor speed stability is not
High disadvantage carries out back-emf zero-crossing pulse signal by using the double-closed-loop control that speed closed loop and current closed-loop are constituted
The frequency that frequency multiplication generates sine-wave current generator is given, using the rotational speed difference of motor actual speed and reference rotation velocity as sinusoidal electricity
It is given to flow amplitude, PGC demodulation is carried out to sinusoidal current and opposite potential signal, to realize gyro permanent magnet synchronous electric engine efficiency most
Bigization, while the square-wave signal for representing motor speed and given square-wave signal are subjected to Frequency Locking, to realize that motor is high
Speed stability.
The technical solution of the invention is as follows：A kind of gyro sensor-free control system of permanent magnet synchronous motor, including speed
Ring, electric current loop, speed ring include phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential extraction circuit, electricity
Stream ring includes phaselocked loop I, sine-wave current generator, current controller, power linear amplifying circuit, current detection circuit,
In
Opposite potential extracts circuit, obtains opposite electricity after receiving the terminal voltage signal of external gyro permanent magnet synchronous motor output
Gesture signal, and opposite potential signal is sent to opposite potential Zero-cross comparator circuit, wherein the construction base of opposite potential extraction circuit
In the end voltage equation of external gyro permanent magnet synchronous motor；
Opposite potential Zero-cross comparator circuit carries out Zero-cross comparator to opposite potential signal and obtains zero-crossing pulse signal, and will
Zero-crossing pulse signal send the phaselocked loop I into electric current loop, the frequency division module in speed ring respectively；
Frequency division module is divided to obtain mechanical frequency square-wave signal and be sent to phaselocked loop after receiving zero-crossing pulse signal
Ⅱ；
Phaselocked loop II obtains given square wave from outside, then carries out to mechanical frequency square-wave signal and given square-wave signal
Phase demodulation, low-pass filtering obtain representing gyro permanent magnet synchronous motor actual speed and gyro permanent magnet synchronous motor reference rotation velocity difference
Digital quantity, and send the digital quantity for representing rotational speed difference to the sine-wave current generator into electric current loop, as sinusoidal current amplitude
It is given；The frequency of the given square-wave signal is equal to the corresponding mechanical frequency of gyro permanent magnet synchronous motor reference rotation velocity；
Phaselocked loop I gives zero-crossing pulse signal progress frequency multiplication generation frequency and send to sine-wave current generator；Simultaneously
To frequency, given, zero-crossing pulse signal carries out locking phase, so that the phase alignment of given sinusoidal current and opposite potential signal；Its
In, the given frequency with zero-crossing pulse signal of frequency is equal to external gyro permanent-magnetic synchronous motor rotor 0 to 360 degree electrical angle
Isodisperse；
Sine-wave current generator receives and generates sinusoidal table addressing using counter after frequency gives, sought according to sine table
Location searches sine table and obtains the corresponding sine value in external gyro permanent magnet synchronous motor current rotor position, then by current sinusoidal value
The product given with sinusoidal current amplitude is sent to D/A converter；The counter is cyclic counter, and maximum count value is equal to
External gyro permanent-magnetic synchronous motor rotor 0 to 360 spends the isodisperse of electrical angle；The sine table includes 0 to 360 all angles of degree
Spend corresponding sine value；
D/A converter carries out digital-to-analogue conversion to sinusoidal current value, obtains sinusoidal current waveform and send to current controller；
Current detection circuit acquires the phase current signal of external gyro permanent magnet synchronous motor output and send to current control
Device；
Current controller carries out proportional integration operation, obtained operation result to phase current signal, given sinusoidal current wave
It send to power linear amplifying circuit；
Power linear amplifying circuit, it is same to external gyro permanent magnetism to being sent after the progress power amplification of current controller operation result
Motor is walked, drive and control of electric machine is completed.
The phaselocked loop I includes multiplier unit, phase locking unit；Multiplier unit carries out frequency multiplication production to zero-crossing pulse signal
Raw frequency Setting signal is sent to sine-wave current generator, and phase locking unit locks frequency Setting signal and zero-crossing pulse signal
Phase, so that the phase alignment of sinusoidal current and opposite potential signal.
The phaselocked loop II includes phase demodulation unit, low-pass filter unit；Phase demodulation unit obtains given square wave from outside,
Then phase demodulation is carried out to mechanical frequency square-wave signal and given square-wave signal, the data-signal that phase demodulation is obtained is sent to low-pass filtering
Unit carries out low-pass filtering, obtains representing gyro permanent magnet synchronous motor actual speed and gyro permanent magnet synchronous motor reference rotation velocity is poor
Digital quantity, and the digital quantity for representing rotational speed difference is sent to the sine-wave current generator into electric current loop, as sinusoidal current width
Value is given.
The advantages of the present invention over the prior art are that：
(1) control system of the present invention pass through by based on phaselocked loop motor speed control technology, linear drive technology, be based on
The rotor position estimate method of phaselocked loop is combined, and solves the high revolving speed of high speed gyro permanent magnet synchronous motor position-sensor-free
Stability control problem greatly reduces the torque ripple of motor, compared with traditional control method, makes gyro permanent magnet synchronous electric
The speed stability of machine improves an order of magnitude；
(2) control system of the present invention carries out the phase of stator phase currents and opposite potential pair by using electric current phaselocked loop
Together, have the advantages that gyro permanent magnet synchronous motor working efficiency is maximized compared with prior art.
Detailed description of the invention
Fig. 1 is a kind of gyro sensor-free control system of permanent magnet synchronous motor structure composition figure of the present invention；
Fig. 2 is that phaselocked loop I forms in control system of the present invention；
Fig. 3 is that phaselocked loop II forms in control system of the present invention.
Specific embodiment
In view of the deficiencies of the prior art, the present invention proposes a kind of gyro sensor-free control system of permanent magnet synchronous motor, with
The prior art uses permanent magnet synchronous motor compared to present system gyro machine, and permanent magnet synchronous motor and brshless DC motor are not
The unloaded counter potential waveform for being permanent magnet synchronous motor with place is sine wave, according to motor working principle, permanent magnet synchronous motor
Optimal drive mode be sine wave drive.The implementation of permanent magnet synchronous motor sine wave drive is most absolutely in industrial application
Number uses the digital methods such as space vector pulse width modulation or sinusoidal pulse width modulation, and this method advantage is that control realizes simple, lacks
Point is to generate current harmonics, so as to cause torque ripple, influences speed stability, thus is difficult to meet gyro this high-accuracy
The instrument requirement high to speed stability, therefore present system uses sine wave Linear Driving scheme.It has had not yet to see
For the high speed stability control method of the high-speed permanent magnetic synchronous motor of position-sensor-free, so present system proposes
Gyro permanent magnet synchronous motor sensorless strategy method based on all-digital phase-locked loop, with reference to the accompanying drawing to present system into
Row is described in detail.
It is as shown in Figure 1 gyro sensor-free control system of permanent magnet synchronous motor structure composition figure of the present invention, system of the present invention
System includes speed ring, electric current loop, and speed ring includes that phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential mention
Sense circuit, electric current loop include phaselocked loop I, sine-wave current generator, current controller, power linear amplifying circuit, electric current inspection
Slowdown monitoring circuit.
Opposite potential extracts circuit, receives the terminal voltage signal of gyro permanent magnet synchronous motor output, gyro permanent magnet synchronous electric
The terminal voltage signal of machine output extracts circuit by opposite potential and obtains opposite potential signal, opposite potential Zero-cross comparator circuit pair
Opposite potential signal carries out Zero-cross comparator and obtains zero-crossing pulse signal, and zero-crossing pulse signal send the phaselocked loop into electric current loop respectively
I, the frequency division module in speed ring, wherein opposite potential extracts the construction of circuit based on the end voltage of gyro permanent magnet synchronous motor
Equation.
Frequency division module is divided to obtain mechanical frequency square-wave signal and be sent to phaselocked loop after receiving zero-crossing pulse signal
Ⅱ；Phaselocked loop II obtains given square wave from outside, then to mechanical frequency square-wave signal and given square-wave signal carry out phase demodulation,
Low-pass filtering obtains the number for representing gyro permanent magnet synchronous motor actual speed Yu gyro permanent magnet synchronous motor reference rotation velocity difference
Amount, and send the digital quantity for representing rotational speed difference to the sine-wave current generator into electric current loop, it is given as sinusoidal current amplitude；
Wherein, the frequency for giving square-wave signal is equal to the corresponding mechanical frequency of gyro permanent magnet synchronous motor reference rotation velocity.
Phaselocked loop I gives zero-crossing pulse signal progress frequency multiplication generation frequency and send to sine-wave current generator；Simultaneously
And zero-crossing pulse signal given to frequency carries out locking phase, so that the phase alignment of given sinusoidal current and opposite potential signal,
So that the efficiency of gyro permanent magnet synchronous motor to be driven is maximum.
Sine-wave current generator, receives the given sinusoidal table addressing of the generation after counter of frequency, and sinusoidal table addressing is sent
The corresponding sine value in current rotor position is found out after entering sine table, the product that sine value and sinusoidal current amplitude give is sent to DA
Converter；Wherein, the maximum count value of counter is equal to the isodisperse that rotor 0 to 360 spends electrical angle, and sine table includes all 0
To the corresponding sine value of 360 degree of electrical angles.
D/A converter carries out digital-to-analogue conversion to given sinusoidal current value, obtains given sinusoidal current waveform and send to electric current
Controller.
Current detection circuit acquires the phase current signal of external gyro permanent magnet synchronous motor output and send to current control
Device.
Current controller carries out proportional integration operation, obtained operation result to phase current signal, given sinusoidal current wave
It send to power linear amplifying circuit.
Power linear amplifying circuit, it is same to external gyro permanent magnetism to being sent after the progress power amplification of current controller operation result
Motor is walked, drive and control of electric machine is completed.
It is illustrated in figure 2 the composition of phaselocked loop I, phaselocked loop I includes multiplier unit, phase locking unit；Multiplier unit, to zero passage arteries and veins
It rushes signal progress frequency multiplication generation frequency to give and send to sine-wave current generator, phase locking unit gives frequency and zero-crossing pulse
Signal carries out locking phase, so that the phase alignment of given sinusoidal current and opposite potential signal, so that gyro to be driven
The efficiency of permanent magnet synchronous motor is maximum.
Attached drawing 3 show the composition of phaselocked loop II, and phaselocked loop II includes phase demodulation unit, low-pass filter unit；Phase demodulation unit, from
Outside obtains given square wave, then carries out phase demodulation, the number that phase demodulation is obtained to mechanical frequency square-wave signal and given square-wave signal
Low-pass filtering is carried out it is believed that number sending to low-pass filter unit, obtains representing gyro permanent magnet synchronous motor actual speed and gyro permanent magnetism
The digital quantity of synchronous motor reference rotation velocity difference, and send the sine-wave current into electric current loop to occur the digital quantity for representing rotational speed difference
Device is given as sinusoidal current amplitude.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (3)
1. a kind of gyro sensor-free control system of permanent magnet synchronous motor, it is characterised in that including speed ring, electric current loop, speed ring
Including phaselocked loop II, frequency division module, back-emf Zero-cross comparator circuit, opposite potential extract circuit, electric current loop include phaselocked loop I,
Sine-wave current generator, current controller, power linear amplifying circuit, current detection circuit, wherein
Opposite potential extracts circuit, obtains opposite potential letter after receiving the terminal voltage signal of external gyro permanent magnet synchronous motor output
Number, and opposite potential signal is sent to back-emf Zero-cross comparator circuit, wherein the construction that opposite potential extracts circuit is based on outside
The end voltage equation of gyro permanent magnet synchronous motor；
Back-emf Zero-cross comparator circuit carries out Zero-cross comparator to opposite potential signal and obtains zero-crossing pulse signal, and by zero passage arteries and veins
It rushes signal and send the phaselocked loop I into electric current loop, the frequency division module in speed ring respectively；
Frequency division module is divided to obtain mechanical frequency square-wave signal and be sent to phaselocked loop II after receiving zero-crossing pulse signal；
Phaselocked loop II obtains given square wave from outside, then to mechanical frequency square-wave signal and given square-wave signal carry out phase demodulation,
Low-pass filtering obtains the number for representing gyro permanent magnet synchronous motor actual speed Yu gyro permanent magnet synchronous motor reference rotation velocity difference
Amount, and send the digital quantity for representing rotational speed difference to the sine-wave current generator into electric current loop, it is given as sinusoidal current amplitude；
The frequency of the given square-wave signal is equal to the corresponding mechanical frequency of gyro permanent magnet synchronous motor reference rotation velocity；
Phaselocked loop I gives zero-crossing pulse signal progress frequency multiplication generation frequency and send to sine-wave current generator；Simultaneously to frequency
Rate is given, zero-crossing pulse signal carries out locking phase, so that the phase alignment of given sinusoidal current and opposite potential signal；Wherein,
The given frequency with zero-crossing pulse signal of frequency be equal to external gyro permanent-magnetic synchronous motor rotor 0 to 360 degree electrical angle etc.
Score；
Sine-wave current generator receives and generates sinusoidal table addressing using counter after frequency gives, looked into according to sinusoidal table addressing
Sine table is looked for obtain the corresponding sine value in external gyro permanent magnet synchronous motor current rotor position, then by current sinusoidal value and just
The given product of string current amplitude, send as given sinusoidal current value to D/A converter；The counter is cyclic counter,
Maximum count value is equal to the isodisperse of external gyro permanent-magnetic synchronous motor rotor 0 to 360 degree electrical angle；The sine table includes
0 to the 360 angled corresponding sine value of degree institute；
D/A converter carries out digital-to-analogue conversion to given sinusoidal current value, obtains given sinusoidal current waveform and send to current control
Device；
Current detection circuit acquires the phase current signal of external gyro permanent magnet synchronous motor output and send to current controller；
Current controller carries out proportional integration operation to phase current signal, given sinusoidal current wave, obtained operation result send to
Power linear amplifying circuit；
Power linear amplifying circuit is sent after carrying out power amplification to current controller operation result to external gyro permanent magnet synchronous electric
Machine completes drive and control of electric machine.
2. a kind of gyro sensor-free control system of permanent magnet synchronous motor according to claim 1, it is characterised in that：It is described
Phaselocked loop I include multiplier unit, phase locking unit；Multiplier unit carries out frequency multiplication to zero-crossing pulse signal and generates the given letter of frequency
It number send to sine-wave current generator, phase locking unit carries out locking phase to frequency Setting signal and zero-crossing pulse signal, so that just
The phase alignment of string electric current and opposite potential signal.
3. a kind of gyro sensor-free control system of permanent magnet synchronous motor according to claim 1, it is characterised in that：It is described
Phaselocked loop II include phase demodulation unit, low-pass filter unit；Phase demodulation unit obtains given square wave from outside, then to mechanical frequency
Rate square-wave signal and given square-wave signal carry out phase demodulation, and the data-signal that phase demodulation is obtained send to low-pass filter unit and carries out low pass
Filtering, obtains the digital quantity for representing gyro permanent magnet synchronous motor actual speed Yu gyro permanent magnet synchronous motor reference rotation velocity difference, and
Send the digital quantity for representing rotational speed difference to the sine-wave current generator into electric current loop, it is given as sinusoidal current amplitude.
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| CN108540034B (en) * | 2018-05-15 | 2019-11-29 | 北京控制工程研究所 | A kind of permanent magnet synchronous motor sensorless strategy phase compensating method and device |
| CN109412474B (en) * | 2018-12-12 | 2020-10-27 | 上海航天控制技术研究所 | Control method for sinusoidal torque output of brushless direct current motor |
| CN109586626A (en) * | 2018-12-13 | 2019-04-05 | 张茂青 | The encoderless driving method and device of servo motor in the integrated joint assembly of robot |
| CN115016114A (en) * | 2021-03-03 | 2022-09-06 | 中国科学院苏州纳米技术与纳米仿生研究所 | Laser scanning system and method |
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| CN103997270B (en) * | 2014-06-09 | 2017-01-04 | 浙江理工大学 | A kind of ensorless control device and method of non-salient pole permanent magnet synchronous motor |
| CN105071736B (en) * | 2015-08-11 | 2018-05-15 | 泰州职业技术学院 | A kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method |
| CN105450101A (en) * | 2015-12-29 | 2016-03-30 | 西安中科光电精密工程有限公司 | Driving method and circuit for permanent magnet synchronous motor |
| CN105827160B (en) * | 2016-03-18 | 2018-09-07 | 浙江工业大学 | A kind of permanent magnet synchronous motor system based on active disturbance rejection and PHASE-LOCKED LOOP PLL TECHNIQUE is without sensor method for control speed |
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