CN106712632A - Sensorless control device for AC permanent magnet synchronous motor and starting method of control device - Google Patents
Sensorless control device for AC permanent magnet synchronous motor and starting method of control device Download PDFInfo
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- CN106712632A CN106712632A CN201710192906.1A CN201710192906A CN106712632A CN 106712632 A CN106712632 A CN 106712632A CN 201710192906 A CN201710192906 A CN 201710192906A CN 106712632 A CN106712632 A CN 106712632A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000006870 function Effects 0.000 claims abstract description 8
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 72
- 229910052710 silicon Inorganic materials 0.000 claims description 72
- 239000010703 silicon Substances 0.000 claims description 72
- 238000004804 winding Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000009711 regulatory function Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 4
- 230000005284 excitation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000007704 transition 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
- 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
Abstract
The invention discloses a sensorless control device for an AC permanent magnet synchronous motor and a starting method of the control device. The control device comprises a DC power supply providing DC, wherein the DC power supply is connected with a three-phase inverter bridge, and the output end of the three-phase inverter bridge is connected with a permanent magnet synchronous motor; the three-phase inverter bridge and the permanent magnet synchronous motor are also connected with a DSP (Digital Signal Processing) control board for acquiring current and voltage signals and modulating PWM (Pulse Width Modulation) signals, and the DSP control board is connected with a touch screen for displaying permanent magnet synchronous motor parameters and adjustment functions. The sensorless starting method comprises the following steps of: starting, initializing, configuring a register, configuring software parameters, loop-waiting, executing an interrupt routine and returning. In the invention, the permanent magnet synchronous motor can be quickly started by an I-F vector control mode, the motor is smoothly switched to a speed and current double closed-loop vector control mode by a switching method, and the switching process is smooth without current surge.
Description
Technical field
The invention belongs to AC permanent magnet synchronous motor control field, and in particular to a kind of AC permanent magnet synchronous motor is without position
The control device and its startup method of sensor.
Background technology
AC permanent magnet synchronous motor has the advantages that high power density, high torque (HT)/ratio of inertias, maintainable good, in servo
The numerous areas such as system, Aero-Space, military equipment are obtained a wide range of applications.The present invention is with durface mounted permanent magnet synchronous motor
Research object, durface mounted permanent magnet synchronous motor is capable of achieving motor stator electricity typically using the vector controlled of speed and current double closed loop
The decoupling of stream torque component and excitation component, thus the electromagnetic torque that motor is produced is steady, with good overload capacity and open,
Braking ability.Need to obtain the information, these information one such as position and the speed of motor pole in real time during using vector control technology
As obtained by position sensor, but position sensor increased motor cost and installation difficulty, reduce system reliability.
The content of the invention
The present invention is proposed to solve the problems, such as prior art, the purpose is to provide a kind of AC permanent magnet synchronous motor
The control device and its startup method of position-sensor-free.
The technical scheme is that：A kind of control device of AC permanent magnet synchronous motor position-sensor-free, including carry
For galvanic dc source, dc source is connected with three phase inverter bridge, the output end and permagnetic synchronous motor of three phase inverter bridge
Be connected, the three phase inverter bridge, permagnetic synchronous motor also with collection electric current, voltage signal, the DSP control panels of modulation (PWM) signal
It is connected, the DSP control panels are connected with the touch-screen of display permagnetic synchronous motor parameter and regulatory function.
Communicating circuit, drive circuit, AD circuits, power circuit, control circuit, protection are integrated with the DSP control panels
Circuit.
The three phase inverter bridge includes controllable silicon Q1, controllable silicon Q2, controllable silicon Q3, controllable silicon Q4, controllable silicon Q5, controllable silicon
Q6, DC power anode is connected with the colelctor electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, the negative pole of dc source with it is controllable
Silicon Q2, controllable silicon Q4, the emitter stage connection of controllable silicon Q6, the emitter stage of controllable silicon Q1 are connected with the colelctor electrode of controllable silicon Q2, can
The emitter stage of control silicon Q3 is connected with the colelctor electrode of controllable silicon Q4, and the emitter stage of controllable silicon Q5 is connected with the colelctor electrode of controllable silicon Q6.
The A phases of permagnetic synchronous motor are connected with the colelctor electrode of the emitter stage of controllable silicon Q1, controllable silicon Q2, permagnetic synchronous motor
B phases be connected with the emitter stage of controllable silicon Q3, the colelctor electrode of controllable silicon Q4, the C phases of permagnetic synchronous motor and the hair of controllable silicon Q5
The colelctor electrode connection of emitter-base bandgap grading, controllable silicon Q6.
The startup method of the control device according to any one above-mentioned AC permanent magnet synchronous motor position-sensor-free, bag
Include following steps：
(I) starts
Program starts, and enters from main program.
(II) is initialized
The DSP initialization in DSP control panels is carried out, DSP peripheral clocks, house dog, I/O port and interrupt vector table is completed
Initial work.
(III) configuration register
The parameter of DSP timers, PWM registers, SCI registers and interrupt register in configuration DSP control panels, and make
Can related interrupts function.
(IV) configuration software parameter
The relevant parameters such as configuration PWM duty cycle, delay time, RS232 bitcoms.
(V) circular wait
Into major cycle, the interruption of DSP timers in DSP control panels is waited to occur.
(VI) performs interrupt routine and returns
Perform timer interrupt sub routine, after the completion of return to main program, circular wait.
Timer interrupt sub routine is comprised the following steps described in step (VI)：
(VII) is interrupted and started
Generation Interruption, into timer interrupt program.
Whether (VIII) has been turned on
Judge whether permagnetic synchronous motor starts, if permagnetic synchronous motor has been started up, into step (X II), if permanent magnetism
The not actuated entrance step (IV) of synchronous motor.
(IV) motor pre-determined bit
Into permagnetic synchronous motor startup program, a sufficiently large direct current is led to permanent-magnetic synchronous motor stator winding moment
Electric current, makes rotor fixed position to given initial position, completes the pre-determined bit of motor.
(X) electric motor starting
In the electric motor starting stage, started using I-F current closed-loops vector control mode, give electric current I, take motor to setting
Rotating speed.
(X I) switching control
After reaching step (X) setting speed, the analog angle for making position of magnetic pole before switching using changing method is moved closer to
The actual angle of position of magnetic pole, and adjust starting current size ensure motor torque it is constant, after switching condition is met, switching
To the vector control mode of speed and current double closed loop.
(X II) motor two close cycles run
Collection current of electric, the signal such as voltage, perform the control algolithm of speed and current double closed loop, it is ensured that after motor switching or
All under the vector control mode of speed and current double closed loop during normal operation.
(X III) interrupts and completes to return to main program
The startup or operation control of motor are completed, is interrupted and is completed to return to main program.
Permagnetic synchronous motor can quickly be started by I-F vector control modes in the present invention, solve permanent magnet synchronous electric
In machine sensorless strategy technology, motor is difficult to the problem for starting under band load or case of heavy load, and avoids traditional V/F startups
The overcurrent condition that mode easily occurs, while making motor smoothly switch to the vector control of speed and current double closed loop using changing method
Mode processed, the smooth no current impact of handoff procedure.
Brief description of the drawings
Fig. 1 is the connection diagram of control device in the present invention；
Fig. 2 is the main flow chart of startup method in the present invention；
Fig. 3 is the method flow diagram of timer interrupt sub routine in Fig. 2；
Wherein：
The three phase inverter bridge of 1 dc source 2
The DSP control panels of 3 permagnetic synchronous motor 4
The communicating circuit of 5 touch-screen 6
The AD circuits of 7 drive circuit 8
9 power circuit 10 controls circuit
11 protection circuits.
Specific embodiment
Hereinafter, referring to the drawings and embodiment the present invention is described in detail：
As shown in figure 1, a kind of control device of AC permanent magnet synchronous motor position-sensor-free, including provide galvanic
Dc source 1, dc source 1 is connected with three phase inverter bridge 2, and the output end of three phase inverter bridge 2 is connected with permagnetic synchronous motor 3,
The three phase inverter bridge 2, permagnetic synchronous motor 3 also with collection electric current, voltage signal, the phase of DSP control panels 4 of modulation (PWM) signal
Even, the DSP control panels 4 are connected with the touch-screen 5 of display permagnetic synchronous motor parameter and regulatory function.
Communicating circuit 6, drive circuit 7, AD circuits 8, power circuit 9, control circuit are integrated with the DSP control panels 4
10th, protection circuit 11.
The three phase inverter bridge 2 includes controllable silicon Q1, controllable silicon Q2, controllable silicon Q3, controllable silicon Q4, controllable silicon Q5, controllable
Silicon Q6, the positive pole of dc source 1 is connected with the colelctor electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, the negative pole of dc source 1 with
Controllable silicon Q2, controllable silicon Q4, the emitter stage connection of controllable silicon Q6, the emitter stage of controllable silicon Q1 connect with the colelctor electrode of controllable silicon Q2
Connect, the emitter stage of controllable silicon Q3 is connected with the colelctor electrode of controllable silicon Q4, the emitter stage of controllable silicon Q5 and the colelctor electrode of controllable silicon Q6
Connection.
The A phases of permagnetic synchronous motor 3 are connected with the colelctor electrode of the emitter stage of controllable silicon Q1, controllable silicon Q2, permanent magnet synchronous electric
The B phases of machine 3 are connected with the colelctor electrode of the emitter stage of controllable silicon Q3, controllable silicon Q4, C phases and the controllable silicon Q5 of permagnetic synchronous motor 3
Emitter stage, controllable silicon Q6 colelctor electrode connection.
The DSP control panels 4 are using dsp chip TMS320F28335 as control core.
As shown in Fig. 2 the startup of the control device position-sensor-free of any one above-mentioned AC permanent magnet synchronous motor
Method, comprises the following steps：
(I) starts
Program starts, and S1 is entered from main program.
(II) is initialized
The DSP initialization in DSP control panels 4 is carried out, DSP peripheral clocks, house dog, I/O port and interrupt vector table is completed
Initial work S2.
(III) configuration register
DSP timers, PWM registers, SCI registers and interrupt register parameter in configuration DSP control panels 4, and
Enable related interrupts function S3.
(IV) configuration software parameter
The relevant parameter S4 such as configuration PWM duty cycle, delay time, RS232 bitcoms.
(V) circular wait
Into major cycle, wait the interruption of DSP timers in DSP control panels 4 that S5 occurs.
(VI) performs interrupt routine and returns
Perform timer interrupt sub routine, after the completion of return to main program, circular wait, S6.
As shown in figure 3, timer interrupt sub routine is comprised the following steps described in step (VI)：
(VII) is interrupted and started
Generation Interruption, into timer interrupt program S7.
Whether (VIII) has been turned on
Judge whether permagnetic synchronous motor 3 starts, if permagnetic synchronous motor 3 has been started up, into step (X II), if forever
Not actuated entrance step (IV) S8 of magnetic-synchro motor 3.
(IV) motor pre-determined bit
Into the startup program of permagnetic synchronous motor 3, one logical to the stator winding moment of permagnetic synchronous motor 3 sufficiently large straight
Stream electric current, makes rotor fixed position to given initial position, completes the pre-determined bit S9 of motor.
(X) electric motor starting
In the electric motor starting stage, started using I-F current closed-loops vector control mode, give electric current I, take motor to setting
Rotating speed S10.
(X I) switching control
After reaching step (X) setting speed, the analog angle for making position of magnetic pole before switching using changing method is moved closer to
The actual angle of position of magnetic pole, and adjust starting current size ensure motor torque it is constant, after switching condition is met, switching
To the vector control mode S11 of speed and current double closed loop.
(X II) motor two close cycles run
Collection current of electric, the signal such as voltage, perform the control algolithm of speed and current double closed loop, it is ensured that after motor switching or
All in S12 under the vector control mode of speed and current double closed loop during normal operation.
(X III) interrupts and completes to return to main program
The startup or operation control of motor are completed, is interrupted and is completed to return to main program S13.
Changing method in step (X I) is as follows：
It is assumed that motor pole position actual angle is θ after switching*, motor torque electric current isVector controlled is by Current Decomposition
It is stator torque component IqWith excitation component Id, to durface mounted permanent magnet synchronous motor, only current torque component IqElectromagnetism is produced to turn
Excitation component I in square, therefore vector controlleddIt is 0, the motor electromagnetic torque before switching is：
T---- motor electromagnetics torque in formula；
λ ----motor permanent magnet magnetic linkage amplitude；
The number of pole-pairs of p---- motors；
--- the actual angle θ of-position of magnetic pole*With analog angleDifference.
Angle difference after switchingIt is zero, therefore motor electromagnetic torque is：
In order to realize that handoff procedure is seamlessly transitted, in Zone switched [ω1,ω2] in utilize function #MRealize analog angle
Gradually approach angle, θ residing for actual position of magnetic pole*, angle, θ needed for vector controlled is according to function # in handoff procedureMChange：
Function #MExpression formula it is as follows, in formula ω be motor speed：
In handoff procedure, analog angleGradually approach actual angle θ*, its differenceIt is gradually decrease to zero.
For motor electromagnetic torque keeps constant before and after ensureing switching, motor torque electric current is IqAlso should be become accordingly
Change.Assuming that in n-th electric current regulating cycle, using function #MThe angle for calculating is θ (n), reality residing for motor pole position
Border angle is θ*(n), angular deviationTorque current now should meet：
In above formula, Iq(n-1) be upper a cycle torque current,It is the angular deviation of upper a cycle.
When motor speed reaches Zone switched upper limit ω2When, analog angleWith actual angle θ*Angular deviationReduce
It is zero, torque current IqThe electric current approached after switchingMotor is now switched to the vector controlled of speed and current double closed loop again
Pattern.
The startup stage of permagnetic synchronous motor 3：Lead to a sufficiently large DC current to motor stator winding moment first, make
To initial position, after completing the pre-determined bit of rotor, permagnetic synchronous motor is started rotor fixed position using the vector control mode of I-F,
Because electric current carries out closed loop regulation, can effective control electric current size, while being entirely used for producing using vector control mode electric current
Generator torque, it is ensured that motor can start under bringing onto load or case of heavy load.Magnetic of the permagnetic synchronous motor in startup stage
Pole position angle is simulated by software and produced.It is assumed that startup stage given electric current is I, simulating the angle for producing is
The switch step of permagnetic synchronous motor 3：When motor speed reaches setting speed ω1Afterwards, into switch step, setting
It is Zone switched be [ω1,ω2], wherein ω1、ω2It is motor speed and ω2＞ ω1.Zone switched interior, the present invention is using flat
The changing method for crossing is slipped over, realizes position of magnetic pole by analog angleGradually approach actual angle θ*Transition, while for guarantee is cut
Change front and rear motor torque and keep constant, motor torque electric current is gradually decrease to actual angle θ by the electric current I that startup stage gives*
Corresponding electric current.Work as analog angleWith actual angle θ*When difference is zero, the vector controlled of speed and current double closed loop is switched to
In mode.
Permagnetic synchronous motor can quickly be started by I-F vector control modes in the present invention, solve permanent magnet synchronous electric
In machine sensorless strategy technology, motor is difficult to the problem for starting under band load or case of heavy load, and avoids traditional V/F startups
The overcurrent condition that mode easily occurs, while making motor smoothly switch to the vector control of speed and current double closed loop using changing method
Mode processed, the smooth no current impact of handoff procedure.
Claims (6)
1. a kind of galvanic dc source of control device of AC permanent magnet synchronous motor position-sensor-free, including offer（1）,
It is characterized in that：Dc source（1）With three phase inverter bridge（2）It is connected, three phase inverter bridge（2）Output end and permagnetic synchronous motor
（3）It is connected, the three phase inverter bridge（2）, permagnetic synchronous motor（3）Also with collection electric current, voltage signal, modulation (PWM) signal
DSP control panels（4）It is connected, the DSP control panels（4）With display permagnetic synchronous motor parameter and the touch-screen of regulatory function（5）
It is connected.
2. the control device of AC permanent magnet synchronous motor position-sensor-free according to claim 1, it is characterised in that：Institute
State DSP control panels（4）In be integrated with communicating circuit（6）, drive circuit（7）, AD circuits（8）, power circuit（9）, control circuit
（10）, protection circuit（11）.
3. the control device of AC permanent magnet synchronous motor position-sensor-free according to claim 1, it is characterised in that：Institute
State three phase inverter bridge（2）Including controllable silicon Q1, controllable silicon Q2, controllable silicon Q3, controllable silicon Q4, controllable silicon Q5, controllable silicon Q6, direct current
Power supply（1）Positive pole is connected with the colelctor electrode of controllable silicon Q1, controllable silicon Q3, controllable silicon Q5, dc source（1）Negative pole and controllable silicon
Q2, controllable silicon Q4, the emitter stage connection of controllable silicon Q6, the emitter stage of controllable silicon Q1 is connected with the colelctor electrode of controllable silicon Q2, controllable
The emitter stage of silicon Q3 is connected with the colelctor electrode of controllable silicon Q4, and the emitter stage of controllable silicon Q5 is connected with the colelctor electrode of controllable silicon Q6.
4. the control device of AC permanent magnet synchronous motor position-sensor-free according to claim 3, it is characterised in that：Forever
Magnetic-synchro motor（3）A phases be connected with the emitter stage of controllable silicon Q1, the colelctor electrode of controllable silicon Q2, permagnetic synchronous motor（3）B
Emitter stage, the colelctor electrode of controllable silicon Q4 with controllable silicon Q3 are connected, permagnetic synchronous motor（3）C phases and controllable silicon Q5 hair
The colelctor electrode connection of emitter-base bandgap grading, controllable silicon Q6.
5. the control device of any one the AC permanent magnet synchronous motor position-sensor-free according to claim 1 ~ 4 is opened
Dynamic method, it is characterised in that：Comprise the following steps：
（ⅰ）Start
Program starts, and enters from main program；
（ⅱ）Initialization
DSP initialization is carried out, the initial work of DSP peripheral clocks, house dog, I/O port and interrupt vector table is completed；
（ⅲ）Configuration register
Configuration DSP control panels（4）The parameter of middle DSP timers, PWM registers, SCI registers and interrupt register, and make
Can related interrupts function；
（ⅳ）Configuration software parameter
The relevant parameters such as configuration PWM duty cycle, delay time, RS232 bitcoms；
（ⅴ）Circular wait
Into major cycle, DSP control panels are waited（4）The interruption of middle DSP timers occurs；
（ⅵ）Perform interrupt routine and return
Perform timer interrupt sub routine, after the completion of return to main program, circular wait.
6. a kind of position-sensor-free of AC permanent magnet synchronous motor according to claim 5 starts method, and its feature exists
In：Step（ⅵ）Described in timer interrupt sub routine comprise the following steps：
（ⅶ）Interruption starts
Generation Interruption, into timer interrupt program；
（ⅷ）Whether have been turned on
Judge permagnetic synchronous motor（3）Whether start, if permagnetic synchronous motor（3）Have been started up, into step（ⅹⅱ）If, forever
Magnetic-synchro motor（3）Not actuated entrance step（ⅸ）；
（ⅸ）Motor pre-determined bit
Into permagnetic synchronous motor（3）Startup program, to permagnetic synchronous motor（3）Logical one of stator winding moment sufficiently large straight
Stream electric current, makes rotor fixed position to given initial position, completes the pre-determined bit of motor；
（ⅹ）Electric motor starting
In the electric motor starting stage, started using I-F current closed-loops vector control mode, give electric current I, taking motor to setting turns
Speed；
（ⅹⅰ）Switching control
Reach step（ⅹ）After setting speed, the analog angle for making position of magnetic pole before switching using changing method moves closer to magnetic pole
The actual angle of position, and adjust starting current size ensure motor torque it is constant, after switching condition is met, switch to turn
The vector control mode of fast current double closed-loop；
（ⅹⅱ）Motor two close cycles run
The signals such as collection current of electric, voltage, perform the control algolithm of speed and current double closed loop, it is ensured that after motor switching or normal
During operation all in the vector control mode of speed and current double closed loop under,
（ⅹⅲ）Interrupt and complete to return to main program
The startup or operation control of motor are completed, is interrupted and is completed to return to main program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710192906.1A CN106712632B (en) | 2017-03-28 | 2017-03-28 | Control device without position sensor for AC permanent magnet synchronous motor and starting method thereof |
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| CN201710192906.1A CN106712632B (en) | 2017-03-28 | 2017-03-28 | Control device without position sensor for AC permanent magnet synchronous motor and starting method thereof |
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| CN106712632B CN106712632B (en) | 2024-01-02 |
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| CN112671287A (en) * | 2021-01-13 | 2021-04-16 | 深圳市法拉第电驱动有限公司 | Electronic water pump permanent magnet synchronous motor sensorless control device and method |
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| CN111030540A (en) * | 2019-12-24 | 2020-04-17 | 新风光电子科技股份有限公司 | Permanent magnet synchronous motor current source and non-inductive vector control seamless switching method |
| CN111030540B (en) * | 2019-12-24 | 2023-05-26 | 新风光电子科技股份有限公司 | Seamless switching method for current source and noninductive vector control of permanent magnet synchronous motor |
| CN112671287A (en) * | 2021-01-13 | 2021-04-16 | 深圳市法拉第电驱动有限公司 | Electronic water pump permanent magnet synchronous motor sensorless control device and method |
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