CN106533293B - A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system - Google Patents
A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system Download PDFInfo
- Publication number
- CN106533293B CN106533293B CN201610973924.9A CN201610973924A CN106533293B CN 106533293 B CN106533293 B CN 106533293B CN 201610973924 A CN201610973924 A CN 201610973924A CN 106533293 B CN106533293 B CN 106533293B
- Authority
- CN
- China
- Prior art keywords
- motor
- speed
- rated
- given
- revolving speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 24
- 230000005611 electricity Effects 0.000 claims description 14
- 230000033228 biological regulation Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000032258 transport Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Present invention relates particularly to a kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system, if the 12% of given rotating speed > rated speed, judge whether current motor actual speed is 0, if so, driving motor operation with closed ring；Judge whether current motor needs to adjust steering, if, it first keeps being decelerated to the 10% of rated speed when front steering, it is switched on inscription of loop and given d shaft current again, so that motor after the 5% of front steering open loop operation to rated speed, then by given steering successively to run to the 5% of rated speed and 12%；If current motor open loop operation, judge whether current motor needs to adjust steering, if so, first driving motor after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to run to the 5% of rated speed and 12%；Motor feedback revolving speed is judged whether in default fluctuation range, if so, driving motor is switched to operation with closed ring.According to the technical solution of the present invention, it can be achieved that stablizing switching between motor Open-closed-loop.
Description
Technical field
The present invention relates to DC motor technology fields, and in particular to a kind of ROV propeller synchronous motor opening and closing inscription of loop is cut
Change method and system.
Background technique
ROV (Remote Operated Vehicle, unmanned remotely controlled submersible vehicle) is for underwater observation, inspection and construction
Underwater robot.The driving of ROV is mainly by the ROV propeller for being mounted on the two sides ROV and tail portion.It is set in ROV propeller
There is motor, for the pose adjustment of ROV mainly by being adjusted to the revolving speed of motor and steering, this relates to motor operation
Breathing crack.
Referring to attached drawing 1, motor speed closed-loop control includes der Geschwindigkeitkreis and electric current loop, and der Geschwindigkeitkreis is by various detection means
Obtain the velocity feedback information and rotor-position feedback information (θ of permanent magnet synchronous motorr/el) to calculate current rotating speed ωr,
By with given rotating speed ω*It compares, sends error to torque and magnetic linkage control device, to calculate under d-q coordinate system
Expectation d shaft currentWith q shaft current WithIt just is the given value of electric current loop.Electric current loop is by reading in the every phase of motor
Electric current iaibic, by mathematical formulae Clarke transform by the electric current i in the stator stationary a-b-c coordinate system of three axis bidimensionalsaibic
The electric current i being transformed in the stator alpha-beta coordinate system of two axisαiβ, passing through mathematical formulae Parker transform, by the electricity in alpha-beta coordinate system
Flow iαiβBe converted to the electric current i in d-q coordinate systemqAnd id, wherein iqDirect torque, i are used for for q shaft currentdIt is used for for d shaft current
Generate magnetic field.It is givenWithRespectively with feedback iqAnd idCompare, error is then calculated into d axis and q axis by PID controller
Required voltage vdAnd vq, the voltage v in alpha-beta coordinate system is converted to by anti-Parker transformαAnd vβ, counted finally by SVPWM
Calculate the voltage v exported required for being converted into driving full bridge driveravbvc, to reach the mesh of control permanent magnet synchronous motor revolving speed
's.
Referring to attached drawing 2, opened loop control refers to given rotating speed ω*No longer with the rotational speed omega of feedbackrCompare, directly input to
D shaft current required for fixed value calculation goes outWith q shaft currentHere the electric current of q axis is only remained, to ensure that motor institute
Need torque, by artificially d shaft current being specified to generate magnetic field, under this open loop mode, can obtain required revolving speed and
Torque needed for guaranteeing under the slow-speed of revolution.
Contain rotor position information in the winding counter electromotive force of motor (such as permanent-magnet brushless DC electric machine), motor control is logical
Frequently with counter electromotive force detection method, comprising: counter electromotive force zero passage method, counter electromotive force integral and reference voltage comparison method, anti-electronic
Gesture integral and around-France, the freewheeling diode method of locking phase etc..
But all counter electromotive force detection methods low speed or it is static when it is not applicable.In addition:
1, zero crossing detection of back EMF, voltage comparator can be very sensitive to burr, the noise in detected signal, because
This generates incorrect commutation signal there are when PWM sometimes.
2, counter electromotive force integral and reference voltage comparison method, when back electromotive force zero-crossing cannot be correctly detecting, then should
Technology can not just work.And compare integral result and reference voltage with voltage comparator, it is very sensitive to burr, interference, by
It is one ring distributor of triggering in comparator output, once interference causes a false triggering, the sequence then triggered is all wrong
Missing and irrecoverable, such motor just can not work normally because of the commutation phase of mistake.
3, counter electromotive force integral and locking phase are around-France, there is also one by two pole of afterflow in the end voltage of real electrical machinery winding
Pulse signal caused by pipe is connected, it is possible to cover back-emf signal, so that making integral never is 0, control is caused to be lost
It loses.
4, freewheeling diode method, in no PWM, this control method can not work, and realize that difficulty is big, it is necessary to prevent nothing
The diode continuousing flow Continuity signal of effect and the misleading messenger that generates due to burr interference, and this method be built upon ignore it is inverse
Under the premise of the conduction voltage drop for becoming device turn-off device and diode, these practical pressure drops will cause the detection error of position.
Theoretically, using opened loop control, the defect for being not suitable for closed-loop control under the motor slow-speed of revolution, but existing skill be can make up for it
There is not also data to disclose how to realize switching gentle between motor open loop and closed loop in art.
Summary of the invention
In view of this, it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of ROV propeller synchronous motors
Open-closed-loop execution switching method and system are realized and stablize switching between motor Open-closed-loop.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of ROV propeller synchronous motor Open-closed-loop execution switching method, if given rotating speed > Rated motor revolving speed
12%, execute following steps:
Step S11, judge whether current motor actual speed is 0, if so, driving motor operation with closed ring；Otherwise, judgement is worked as
Whether front motor is operation with closed ring；
If step S12, current motor operation with closed ring, judge whether current motor needs to adjust steering, if so, first driving electricity
Machine keeps being decelerated to the 10% of Rated motor revolving speed when front steering, then is switched on inscription of loop and given d shaft current, so that motor
Successively to run after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering to Rated motor revolving speed
5% and 12%；Otherwise, motor keeps operation with closed ring；
If step S13, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first driving electricity
Machine after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to run to Rated motor revolving speed
5% and 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Step S14, motor feedback revolving speed is judged whether in default fluctuation range, if so, driving motor is switched to closed loop
Operation, and successively run by given steering to the 12% of Rated motor revolving speed and given rotating speed.
Preferably, the ROV propeller synchronous motor Open-closed-loop execution switching method, further includes: if given rotating speed < electricity
The 10% of machine rated speed executes following steps:
Step S21, judge whether current motor actual speed is 0, if so, driving motor open loop operation；Otherwise, judgement is worked as
Whether front motor is open loop operation；
If step S22, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first keeping working as
Front steering is decelerated to the 5% of Rated motor revolving speed, then successively runs by given steering to the 5% of Rated motor revolving speed and given turn
Speed；Otherwise, direct open loop operation is to given rotating speed；
If step S23, current motor operation with closed ring, first operation with closed ring to the 10% of Rated motor revolving speed, then be switched on
Inscription of loop and given d shaft current；After motor is switched on inscription of loop and given d shaft current, judge whether current motor needs
Adjustment turns to, if so, first keeping being decelerated to the 5% of Rated motor revolving speed when front steering, then successively runs by given steering to electricity
5% and given rotating speed of machine rated speed；Otherwise, direct open loop operation is to given rotating speed.
Preferably, d shaft current when being switched on inscription of loop is given according to formula (1):
id=k* ω+d (1), wherein k is a fixed scale parameter, and ω is motor feedback revolving speed, and d is compensation electric current.
A kind of ROV propeller synchronous motor opening and closing inscription of loop switching system, comprising:
First revolving speed judging unit, if 12% for given rotating speed > Rated motor revolving speed, judge current motor reality
Whether revolving speed is 0, if so, driving motor operation with closed ring；Otherwise, judge whether current motor is operation with closed ring；
First make and break ring switch unit judges whether current motor needs to adjust and turns if being used for current motor operation with closed ring
To if so, first driving motor keeps being decelerated to the 10% of Rated motor revolving speed when front steering, then being switched on inscription of loop and give
D shaft current, so that motor after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to run
To the 5% of Rated motor revolving speed and 12%；Otherwise, motor keeps operation with closed ring；
First open loop rotational speed regulation unit judges whether current motor needs to adjust if being used for current motor open loop operation
It turns to, if so, first driving motor when front steering open loop operation to the 5% of Rated motor revolving speed, then by given steering successively to transport
It goes to the 5% of Rated motor revolving speed and 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Open-closed-loop switch unit, for judging motor feedback revolving speed whether in default fluctuation range, if so, driving motor
It is switched to operation with closed ring, and is successively run by given steering to the 12% of Rated motor revolving speed and given rotating speed.
Preferably, the ROV propeller synchronous motor is opened and closed inscription of loop switching system, further includes:
Second revolving speed judging unit, if 10% for given rotating speed < Rated motor revolving speed, judge current motor reality
Whether revolving speed is 0, if so, driving motor open loop operation；Otherwise, judge whether current motor is open loop operation；
Second open loop rotational speed regulation unit judges whether current motor needs to adjust if being used for current motor open loop operation
Turn to, if so, first driving motor is when front steering open loop to run slowly to the 5% of Rated motor revolving speed, then by it is given turn to according to
It is secondary to run to 5% and given rotating speed of Rated motor revolving speed；Otherwise, direct open loop operation is to given rotating speed；
Second make and break ring switch unit, if being used for current motor operation with closed ring, first operation with closed ring to Rated motor revolving speed
10%, then it is switched on inscription of loop and given d shaft current；After motor is switched on inscription of loop and given d shaft current, judgement is worked as
Whether front motor needs to adjust steering, if so, first keeping being decelerated to the 5% of Rated motor revolving speed when front steering, then turns by given
To successively running to the 5% of Rated motor revolving speed and given rotating speed；Otherwise, direct open loop operation is to given rotating speed.
The invention adopts the above technical scheme, at least have it is following the utility model has the advantages that
As shown from the above technical solution, this ROV propeller synchronous motor provided by the invention is opened and closed inscription of loop switching side
Method accelerates to rated speed in motor open loop by choosing the switching point (the 12% of motor rated power) of open loop to closed loop
After 12%, determines to carry out open loop when motor feedback revolving speed is reliable to the switching of closed loop, ensure that the reliable switching of open loop to closed loop；
Meanwhile the switching point (the 10% of motor rated power) by choosing closed loop to open loop, and in motor closed loop deceleration to specified turn
After the 10% of speed, d shaft current is given, realizes that motor closed loop stablizes switching to open loop.
Compared with prior art, counter electromotive force can not be used under low speed or stationary state by solving ROV propeller motor
Method accurately controls the problem of motor speed, when realizing given rotating speed low speed, opened loop control, and when given rotating speed high speed, closed loop control
Stablize switching between system and open loop operation and operation with closed ring, makes motor can be reliable and stable under the slow-speed of revolution and fast state
Accurately run.
Detailed description of the invention
Fig. 1 is the functional block diagram for the motor closed-loop control that background of invention provides；
Fig. 2 is the functional block diagram for the motor opened loop control that background of invention provides；
Fig. 3 is that the process for the ROV propeller synchronous motor Open-closed-loop execution switching method that one embodiment of the invention provides is shown
It is intended to；
Fig. 4 be another embodiment of the present invention provides ROV propeller synchronous motor Open-closed-loop execution switching method process
Schematic diagram；
Fig. 5 is the schematic block that the ROV propeller synchronous motor that one embodiment of the invention provides is opened and closed inscription of loop switching system
Figure；
Fig. 6 is the chart schematic diagram that the motor open loop that one embodiment of the invention provides is switched to closed loop；
Fig. 7 is the chart schematic diagram that the motor closed loop that one embodiment of the invention provides is switched to open loop.
Specific embodiment
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Referring to Fig. 3, a kind of ROV propeller synchronous motor Open-closed-loop execution switching method that one embodiment of the invention provides,
If the 12% of given rotating speed > Rated motor revolving speed, execute following steps:
Step S11, judge whether current motor actual speed is 0, if so, driving motor operation with closed ring；Otherwise, judgement is worked as
Whether front motor is operation with closed ring；
If step S12, current motor operation with closed ring, judge whether current motor needs to adjust steering, if so, first driving electricity
Machine keeps being decelerated to the 10% of Rated motor revolving speed when front steering, then is switched on inscription of loop and given d shaft current, so that motor
Successively to run after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering to Rated motor revolving speed
5% and 12%；Otherwise, motor keeps operation with closed ring；
If step S13, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first driving electricity
Machine after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to run to Rated motor revolving speed
5% and 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Step S14, motor feedback revolving speed is judged whether in default fluctuation range, if so, driving motor is switched to closed loop
Operation, and successively run by given steering to the 12% of Rated motor revolving speed and given rotating speed.
It should be noted that revolving speed given herein above and given d shaft current are that user is configured as needed.
Referring to Fig. 6, this ROV propeller synchronous motor Open-closed-loop execution switching method provided by the invention takes motor volume
The 12% of revolving speed, which is determined, as the switching point of open loop to closed loop (selects 12% switching point as open loop to closed loop of Rated motor revolving speed
It is to be come out according to a large amount of history experimental datas and practice summary), only have actual speed to reach volume when motor is in open loop operation
It just will start the switching of open loop operation to operation with closed ring when determining 12% or more of revolving speed.When motor given rotating speed is greater than rated speed
12%, (if motor given rotating speed is greater than the 12% of rated speed, but motor is operation with closed ring, first will under open loop mode of operation
Motor is switched on inscription of loop from operation with closed ring), during motor open loop accelerates to the 12% of rated speed, d shaft current meeting
Increase with the increase of motor actual speed, when motor actual speed=rated speed 12%, keeps revolving speed and d axis electricity
It flows constant, starts to detect motor feedback revolving speed, motor feedback revolving speed can be switched to operation with closed ring rearward, and motor automatically adjusts at this time
D shaft current, to realize that open loop stablizes switching to closed loop.
As shown from the above technical solution, this ROV propeller synchronous motor provided by the invention is opened and closed inscription of loop switching side
Method accelerates to rated speed in motor open loop by choosing the switching point (the 12% of motor rated power) of open loop to closed loop
After 12%, determines to carry out open loop when motor feedback revolving speed is reliable to the switching of closed loop, ensure that the reliable switching of open loop to closed loop；
Meanwhile the switching point (the 10% of motor rated power) by choosing closed loop to open loop, and in motor closed loop deceleration to specified turn
After the 10% of speed, d shaft current is given, realizes that motor closed loop stablizes switching to open loop.Compared with prior art, it solves ROV to push away
Into device motor under low speed or stationary state can not using counter electromotive force method accurately control motor speed the problem of, realize to
When determining revolving speed low speed, opened loop control, when given rotating speed high speed, the stabilization between closed-loop control and open loop operation and operation with closed ring is cut
It changes, run motor reliable and stable can accurately under the slow-speed of revolution and fast state.
Referring to fig. 4, it is preferable that the ROV propeller synchronous motor Open-closed-loop execution switching method further include: if given turn
The 10% of fast < Rated motor revolving speed executes following steps:
Step S21, judge whether current motor actual speed is 0, if so, driving motor open loop operation；Otherwise, judgement is worked as
Whether front motor is open loop operation；
If step S22, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first keeping working as
Front steering is decelerated to the 5% of Rated motor revolving speed, then successively runs by given steering to the 5% of Rated motor revolving speed and given turn
Speed；Otherwise, direct open loop operation is to given rotating speed；
If step S23, current motor operation with closed ring, first operation with closed ring to the 10% of Rated motor revolving speed, then be switched on
Inscription of loop and given d shaft current；After motor is switched on inscription of loop and given d shaft current, judge whether current motor needs
Adjustment turns to, if so, first keeping being decelerated to the 5% of Rated motor revolving speed when front steering, then successively runs by given steering to electricity
5% and given rotating speed of machine rated speed；Otherwise, direct open loop operation is to given rotating speed.
Referring to Fig. 7, the 10% of Rated motor revolving speed is taken as the switching point of closed loop to open loop and (takes Rated motor revolving speed
10% as the switching point of closed loop to open loop is come out according to a large amount of history experimental datas and practice summary).When motor is closing
Only having revolving speed to drop to the 10% or less of rated speed when inscription of loop just will start the switching of operation with closed ring to open loop operation.When given
When revolving speed is lower than rated speed 10%, actual speed is first decelerated to the 10% of rated speed from current rotating speed, then keeps 10%
Rated speed, according to id=k* ω+d, wherein k is a fixed scale parameter, and ω is motor feedback revolving speed, and d is compensation
Electric current calculates the d shaft current i needed when switchingd.Under closed loop mode, by d shaft current idIt improves, then opening velocity is anti-again
Feedback, hence into open loop mode, reruns to given rotating speed, in an open loop mode so that the stabilization for realizing closed loop to open loop is cut
It changes.
Preferably, d shaft current when being switched on inscription of loop is given according to formula (1):
id=k* ω+d (1), wherein k is a fixed scale parameter, and ω is motor feedback revolving speed, and d is compensation electric current.
It is understood that guaranteeing that motor can be according to motor feedback rotational speed omega in open loop operation by adjusting k and d
Change idSize, make idSize can generate guarantee motor stabilizing operation sufficient intensity magnetic field, and can reduce open loop fortune
The required power of row.
Preferably, judge whether current motor is to judge currently in operation with closed ring and the step S21 in the step S11
Whether motor is open loop operation, specifically:
Current motor actual speed is obtained in real time by Rotating speed measring means, the as halted state when revolving speed is 0.
When initial start-up, if given rotating speed be greater than rated speed 10% be at closed-loop start-up, while by operation with closed ring flag set,
By open loop operation flag clear；If first given rotating speed is less than the 10% of rated speed, it is at open-loop start-up and transports open loop
Line flag set, by operation with closed ring flag clear.When receiving given rotating speed instruction again, it is only necessary to read the flag bit
Judge which kind of method of operation current motor is in.
Referring to Fig. 5, a kind of ROV propeller synchronous motor opening and closing inscription of loop switching system 100, comprising:
First revolving speed judging unit 101, if 12% for given rotating speed > Rated motor revolving speed, judge current motor reality
Whether border revolving speed is 0, if so, driving motor operation with closed ring；Otherwise, judge whether current motor is operation with closed ring；
First make and break ring switch unit 102 judges whether current motor needs to adjust if being used for current motor operation with closed ring
Turn to, if so, first driving motor keeps being decelerated to the 10% of Rated motor revolving speed when front steering, then be switched on inscription of loop and to
D shaft current is determined, so that motor after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to transport
It goes to the 5% of Rated motor revolving speed and 12%；Otherwise, motor keeps operation with closed ring；
First open loop rotational speed regulation unit 103 judges whether current motor needs to adjust if being used for current motor open loop operation
Turn over is to if so, first driving motor when front steering open loop operation to the 5% of Rated motor revolving speed, then by given to turn to successively
It runs to the 5% of Rated motor revolving speed and 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Open-closed-loop switch unit 104, for judging motor feedback revolving speed whether in default fluctuation range, if so, driving
Motor is switched to operation with closed ring, and successively runs by given steering to the 12% of Rated motor revolving speed and given rotating speed.
Preferably, the ROV propeller synchronous motor is opened and closed inscription of loop switching system, further includes:
Second revolving speed judging unit, if 10% for given rotating speed < Rated motor revolving speed, judge current motor reality
Whether revolving speed is 0, if so, driving motor open loop operation；Otherwise, judge whether current motor is open loop operation；
Second open loop rotational speed regulation unit judges whether current motor needs to adjust if being used for current motor open loop operation
Turn to, if so, first driving motor is when front steering open loop to run slowly to the 5% of Rated motor revolving speed, then by it is given turn to according to
It is secondary to run to 5% and given rotating speed of Rated motor revolving speed；Otherwise, direct open loop operation is to given rotating speed；
Second make and break ring switch unit, if being used for current motor operation with closed ring, first operation with closed ring to Rated motor revolving speed
10%, then it is switched on inscription of loop and given d shaft current；After motor is switched on inscription of loop and given d shaft current, judgement is worked as
Whether front motor needs to adjust steering, if so, first keeping being decelerated to the 5% of Rated motor revolving speed when front steering, then turns by given
To successively running to the 5% of Rated motor revolving speed and given rotating speed；Otherwise, direct open loop operation is to given rotating speed.
The present invention is not limited to above-mentioned preferred forms, anyone can show that other are various under the inspiration of the present invention
The product of form, however, make any variation in its shape or structure, it is all that there is skill identical or similar to the present application
Art scheme, is within the scope of the present invention.Term " first ", " second " are used for description purposes only, and cannot understand
For indication or suggestion relative importance.Term " multiple " refers to two or more, unless otherwise restricted clearly.
Claims (3)
1. a kind of ROV propeller synchronous motor Open-closed-loop execution switching method, which is characterized in that if given rotating speed > Rated motor
The 12% of revolving speed executes following steps:
Step S11, judge whether current motor actual speed is 0, if so, driving motor operation with closed ring；Otherwise, the current electricity of judgement
Whether machine is operation with closed ring；
If step S12, current motor operation with closed ring, judge whether current motor needs to adjust steering, if so, first driving motor is protected
It holds and is decelerated to the 10% of Rated motor revolving speed when front steering, then be switched on inscription of loop and given d shaft current, so that motor is to work as
After front steering open loop operation to the 5% of Rated motor revolving speed, then by it is given steering successively run to 5% He of Rated motor revolving speed
12%；Otherwise, motor keeps operation with closed ring；
If step S13, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first driving motor with
It successively runs after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering to the 5% of Rated motor revolving speed
With 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Step S14, judge whether motor feedback revolving speed is being preset in fluctuation range, if so, driving motor is switched to operation with closed ring,
And it successively runs by given steering to the 12% of Rated motor revolving speed and given rotating speed；
If the 10% of given rotating speed < Rated motor revolving speed, execute following steps:
Step S21, judge whether current motor actual speed is 0, if so, driving motor open loop operation；Otherwise, the current electricity of judgement
Whether machine is open loop operation；
If step S22, current motor open loop operation, judge whether current motor needs to adjust steering, if so, first keeping working as forward
It successively runs to being decelerated to the 5% of Rated motor revolving speed, then by given steering to the 5% of Rated motor revolving speed and given rotating speed；
Otherwise, direct open loop operation is to given rotating speed；
If step S23, current motor operation with closed ring, first operation with closed ring to the 10% of Rated motor revolving speed, then it is switched to open loop fortune
It goes and gives d shaft current；After motor is switched on inscription of loop and given d shaft current, judge whether current motor needs to adjust
It turns to, if so, first keeping being decelerated to the 5% of Rated motor revolving speed when front steering, then successively runs by given steering to motor volume
Determine 5% and given rotating speed of revolving speed；Otherwise, direct open loop operation is to given rotating speed.
2. ROV propeller synchronous motor Open-closed-loop execution switching method according to claim 1, which is characterized in that switching
D shaft current when to open loop operation is given according to formula (1):
id=k* ω+d (1), wherein k is a fixed scale parameter, and ω is motor feedback revolving speed, and d is compensation electric current.
3. a kind of ROV propeller synchronous motor is opened and closed inscription of loop switching system characterized by comprising
First revolving speed judging unit, if 12% for given rotating speed > Rated motor revolving speed, judge current motor actual speed
It whether is 0, if so, driving motor operation with closed ring；Otherwise, judge whether current motor is operation with closed ring；
First make and break ring switch unit judges whether current motor needs to adjust steering if being used for current motor operation with closed ring, if
It is that first driving motor keeps being decelerated to the 10% of Rated motor revolving speed when front steering, then is switched on inscription of loop and given d axis electricity
Stream, so that motor after the 5% of front steering open loop operation to Rated motor revolving speed, then by given steering successively to run to motor
The 5% of rated speed and 12%；Otherwise, motor keeps operation with closed ring；
First open loop rotational speed regulation unit judges whether current motor needs to adjust steering if being used for current motor open loop operation,
If so, first driving motor when front steering open loop operation to the 5% of Rated motor revolving speed, then by given steering successively to run to electricity
The 5% of machine rated speed and 12%；Otherwise, direct open loop accelerates to the 12% of rated speed；
Open-closed-loop switch unit, for judging motor feedback revolving speed whether in default fluctuation range, if so, driving motor switches
It successively runs to operation with closed ring, and by given steering to the 12% of Rated motor revolving speed and given rotating speed；
Second revolving speed judging unit, if 10% for given rotating speed < Rated motor revolving speed, judge current motor actual speed
It whether is 0, if so, driving motor open loop operation；Otherwise, judge whether current motor is open loop operation；
Second open loop rotational speed regulation unit judges whether current motor needs to adjust steering if being used for current motor open loop operation,
If so, first driving motor is successively run to run slowly when front steering open loop to the 5% of Rated motor revolving speed, then by given steering
To 5% and given rotating speed of Rated motor revolving speed；Otherwise, direct open loop operation is to given rotating speed；
Second make and break ring switch unit, if being used for current motor operation with closed ring, first operation with closed ring to the 10% of Rated motor revolving speed,
It is switched on inscription of loop and given d shaft current again；After motor is switched on inscription of loop and given d shaft current, current electricity is judged
Whether machine needs to adjust steering, if so, first keep being decelerated to the 5% of Rated motor revolving speed when front steering, then by it is given turn to according to
It is secondary to run to 5% and given rotating speed of Rated motor revolving speed；Otherwise, direct open loop operation is to given rotating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973924.9A CN106533293B (en) | 2016-11-04 | 2016-11-04 | A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973924.9A CN106533293B (en) | 2016-11-04 | 2016-11-04 | A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106533293A CN106533293A (en) | 2017-03-22 |
| CN106533293B true CN106533293B (en) | 2019-01-18 |
Family
ID=58349872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610973924.9A Active CN106533293B (en) | 2016-11-04 | 2016-11-04 | A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106533293B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259484A (en) * | 2013-05-15 | 2013-08-21 | 无锡艾柯威科技有限公司 | Method for starting permanent magnet synchronous motor without position sensor |
| CN103281027A (en) * | 2013-06-09 | 2013-09-04 | 中南大学 | Method for starting compressor of variable frequency air conditioner and compensating low-frequency torque |
| CN103746619A (en) * | 2013-12-03 | 2014-04-23 | 广东威灵电机制造有限公司 | Synchronous motor start control method and system |
| CN104811095A (en) * | 2015-04-28 | 2015-07-29 | 广东美的暖通设备有限公司 | Start control method and device of motor and air conditioner |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9374028B2 (en) * | 2014-08-22 | 2016-06-21 | Rockwell Automation Technologies, Inc. | Transition scheme for position sensorless control of AC motor drives |
-
2016
- 2016-11-04 CN CN201610973924.9A patent/CN106533293B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103259484A (en) * | 2013-05-15 | 2013-08-21 | 无锡艾柯威科技有限公司 | Method for starting permanent magnet synchronous motor without position sensor |
| CN103281027A (en) * | 2013-06-09 | 2013-09-04 | 中南大学 | Method for starting compressor of variable frequency air conditioner and compensating low-frequency torque |
| CN103746619A (en) * | 2013-12-03 | 2014-04-23 | 广东威灵电机制造有限公司 | Synchronous motor start control method and system |
| CN104811095A (en) * | 2015-04-28 | 2015-07-29 | 广东美的暖通设备有限公司 | Start control method and device of motor and air conditioner |
Non-Patent Citations (1)
| Title |
|---|
| 永磁同步电机全速度范围无位置传感器控制策略研究;王子辉;《中国博士学位论文全文数据库 工程科技II辑》;20130715;C042-15 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106533293A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102545742B (en) | Position sensorless control device and control method for permanent magnet synchronous motor | |
| CN108418480B (en) | Method for starting sensorless permanent magnet synchronous motor | |
| CN105529967B (en) | A kind of detection of blower starting state and starting control method | |
| US9590552B2 (en) | Motor drive device and electric compressor | |
| CN113497530B (en) | Sensorless salient pole permanent magnet synchronous motor and starting motor control method | |
| JP5866429B2 (en) | Method and apparatus for controlling electrical equipment | |
| CN103580563B (en) | The control method of brshless DC motor | |
| US9093941B2 (en) | Determining commutation position for a sensorless permanent magnet brushless motor at low or zero speed using an asymmetric drive pattern | |
| CN109098998A (en) | The starting control method of external hanging type no brush and no position sensing DC fan | |
| CN109450305B (en) | Ceiling fan motor control method and device based on non-inductive FOC and ceiling fan | |
| CN103078573A (en) | Starting method of brushless DC (Direct Current) motor without Hall sensor | |
| CN102291070A (en) | Position sensorless control starting method of double-salient pole motor | |
| CN110190784A (en) | A kind of brushless DC motor without sensor varying load progress control method | |
| EP2840701B1 (en) | Sensing PM electrical machine position | |
| CN109379007A (en) | A kind of permanent magnet synchronous motor position Sensorless Control belt speed throws method again | |
| CN109185191A (en) | The starting control method and device of DC fan, outdoor unit, air conditioner | |
| Dianov et al. | Sensorless starting of horizontal axis washing machines with direct drive | |
| JP2010041868A (en) | Rotor rotation monitor for synchronous motor, and control system | |
| CN107154757B (en) | Control method of window opener driver | |
| KR101869665B1 (en) | Air conditioner and startup control method and system for outdoor fan of the air conditioner | |
| CN106533293B (en) | A kind of ROV propeller synchronous motor Open-closed-loop execution switching method and system | |
| CN109546909B (en) | Method for tracking and starting rotating speed of alternating current permanent magnet synchronous motor | |
| CN112202369A (en) | Single-direct-current bus current sampling high-inertia permanent magnet synchronous motor speed-increasing and re-throwing method | |
| Lu et al. | A novel sensorless starting method of BLDC motor for large inertia systems | |
| Huo et al. | Research on sensorless control system of permanent magnet synchronous motor for CNC machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 300457 Tianjin Binhai New Area Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Shenzhen Blue Ocean Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Development Zone Muning road No.45 Jinbin development plant No.7 Patentee before: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 300457 Tianjin Binhai New Area Development Zone Muning road No.45 Jinbin development plant No.7 Patentee after: Tianjin shenzhilan Marine Equipment Technology Co.,Ltd. Address before: 300475 Tianjin Binhai New Area Development Zone No.45 Muning road Jinbin development plant No.7 east part of the first floor and East office first floor, third floor Patentee before: Tianjin Deepfar Ocean Technology Co.,Ltd. |