CN106788082B - The method for improving three-level formula synchronous electric motor rotor initial position detection precision - Google Patents

The method for improving three-level formula synchronous electric motor rotor initial position detection precision Download PDF

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Publication number
CN106788082B
CN106788082B CN201611125084.7A CN201611125084A CN106788082B CN 106788082 B CN106788082 B CN 106788082B CN 201611125084 A CN201611125084 A CN 201611125084A CN 106788082 B CN106788082 B CN 106788082B
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phase
maximum value
location
initial
axis positive
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CN201611125084.7A
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CN106788082A (en
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祝宇杰
刘卫国
王锐
孟涛
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西北工业大学
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Abstract

The present invention relates to a kind of methods for improving three-level formula synchronous electric motor rotor initial position detection precision, apply excitation voltage to the main generator excitation winding of three-level formula synchronous motor, acquire the maximum value of three-phase current response curve, detect idThe location of ' number of responses strong point maximum value, as the location of d axis positive direction;To id' translated, the i after translation is fitted using three rank Fourierd" data point, detect id" Y ° of the location of data point maximum value;The electrical angle then differed between d axis positive direction and stator a phase is Y °-X °, is to be aligned the d axis of permanent magnet with stator winding a phase axis and the electrical angle that rotates learns the initial position of rotor according to initial angle.Superiority: it is inaccurate to solve the problems, such as that zero-bit is positioned about.By id' the location of number of responses strong point maximum value moves at best fit precision, positioning accuracy can be significantly improved.

Description

The method for improving three-level formula synchronous electric motor rotor initial position detection precision

Technical field

The invention belongs to synchronous motor control technology fields, are related to a kind of raising three-level formula synchronous electric motor rotor initial position The method of detection accuracy.

Background technique

The realization of three-level formula synchronous motor vector controlled be unable to do without a critically important technology, that is, for rotor-position Real-time detection.The position for only accurately detecting rotor can apply correct voltage vector and realize vector controlled.Such as Fruit rotor-position detects not accurate enough, it is likely that will lead to the voltage vector that system applies mistake, makes under motor output torque Drop, in some instances it may even be possible to will lead to rotor reversion.

Since rotary transformer can be inevitably present installation error during installation, this installation error will lead to rotation and become There are deviations for the rotor-position and actual position that depressor detects, vector controlled effect is then caused to be had a greatly reduced quality.So pacifying After installing rotary transformer, it should try to detect true rotor-position, obtain installation error, this installation error is inputted Into controller, so that it may obtain correct rotor-position in real time using rotary transformer.

The detection method of synchronous electric motor rotor initial position can generally be divided into following two categories at present:

(1) it is pre-positioned method.By applying the voltage vector of special angle, rotate the d axis positive direction of synchronous electric motor rotor To the A axis of synchronous motor stator, so that it is determined that the initial position of rotor.When using this method, need to allow the load of motor It just can guarantee rotor detection accuracy for underloading or zero load.And when using this method positioning, the rotor-position of motor may It changes.It is larger always in the load of certain occasions, synchronous electric motor rotor end, and do not allow to invert, the above method at this time Just it is unable to satisfy requirement.

(2) salient pole nature of synchronous motor is utilized.Using the salient pole nature of three-level formula synchronous motor main generator, arteries and veins is used The three-phase current response within the scope of voltage injection method 360 ° of electrical angles of acquisition is rushed, and place is coordinately transformed to current data Reason, finally using the response current curve obtained after Fourier space fitting transformation, to effective filter out exciting current arteries and veins Dynamic interference improves the precision of initial position of rotor detection.But when near a phase that initial position of rotor is in stator, by Data point near d axis positive direction is very few, can not be well reflected out using the matched curve that Fourier is fitted herein The effect of the changing rule of data point, Fourier's fitting can have a greatly reduced quality, therefore the precision of initial position of rotor detection is poor.So To improve the reliability of the detection method, the algorithm being fitted to Fourier is needed to be improved.

Summary of the invention

Technical problems to be solved

In order to avoid the shortcomings of the prior art, the present invention proposes a kind of raising three-level formula synchronous electric motor rotor initial bit The method for setting detection accuracy.

Technical solution

A method of improving three-level formula synchronous electric motor rotor initial position detection precision, it is characterised in that steps are as follows:

Step 1: applying excitation voltage to the main generator excitation winding of three-level formula synchronous motor;

Step 2: using a phase of stator as starting point, being arranged and apply the voltage vector pulse of constant amplitude every 5 ° of electrical angles.Electricity The amplitude for pressing pulse vector is 18.4V, applies 360 ° of electrical angles altogether, shares 72 data points in a detection cycle;

Step 3: the maximum value of acquisition three-phase current response curve: by the direction definition of the pulse voltage vector u applied For d' axis positive direction, current data is transformed into two-phase rotation d'q' coordinate system from three-phase static coordinate system, obtains d' shaft current Response id';

Step 4: detection idThe location of ' number of responses strong point maximum value, as the location of d axis positive direction;

Step 5: 180 ° are set to the location of data point maximum value after translating, determine X ° of required translational movement, according to Required translational movement is to id' translated, obtain id";

Step 6: being fitted i obtained in previous step using three rank Fourierd" data point, detect id" data point maximum Y ° of the location of value;

Step 7: the electrical angle then differed between d axis positive direction and stator a phase is Y °-X °, is to make permanent magnetism according to initial angle The d axis of body is aligned with stator winding a phase axis and the electrical angle that rotates learns the initial position of rotor.

Beneficial effect

A kind of method improving three-level formula synchronous electric motor rotor initial position detection precision proposed by the present invention, by existing There is Fourier's fitting algorithm to improve, it is inaccurate to solve the problems, such as that three-level formula synchronous motor is positioned about in zero-bit, to improve The reliability of method for detecting initial position of rotor.

Superiority:

(1) to solve the problems, such as that zero-bit is positioned about inaccurate.

(2) by id' the location of number of responses strong point maximum value moves at best fit precision, positioning can be significantly improved Precision.

Detailed description of the invention

Fig. 1: using the i after three rank Fourier fittingd' response curve

Fig. 2: i before translatingd' response curve

Fig. 3: i after translationd' response curve

Fig. 4: stator three-phase current response curve

Fig. 5: the relational graph after position error and translation between d axis positive direction present position

Fig. 6: the data point at 180 ° is moved to using three rank Fourier fitting

Specific embodiment

Now in conjunction with embodiment, attached drawing, the invention will be further described:

(1) apply excitation voltage to the main generator excitation winding of three-level formula synchronous motor;

(2) using a phase of stator as starting point, it is arranged and applies the voltage vector pulse of constant amplitude every 5 ° of electrical angles.Voltage The amplitude of pulse vector is 18.4V, applies 360 ° of electrical angles altogether, then shares 72 data points in a detection cycle.

If applying voltage pulse vector every 5 ° of electrical angles, apply 360 ° of electrical angles altogether, then in a detection cycle 72 data points are shared, precision has been able to satisfy requirement.If being further added by the number of data point, the promotion of precision is not very bright It is aobvious, but the time needed for position fixing process can proportionally increase, and more close so applying voltage pulse vector every 5 ° of electrical angles It is suitable.The amplitude of voltage pulse vector requires to be consistent when applying each time, the 18.4V of use, and effect is preferable.

(3) maximum value of three-phase current response curve is acquired, as shown in Figure 1.By the side of the pulse voltage vector u applied To d' axis positive direction is defined as, current data is transformed into d'q' coordinate system (two cordic phase rotators from three-phase static coordinate system System), obtain d' shaft current response id'。

(4) i is detecteddThe location of ' number of responses strong point maximum value, it is approximatively used as to position locating for d axis positive direction It sets.

(5) when initial position of rotor 0 ° nearby when, if wanting to move to d axis positive direction at 90 °, can by θ=270 °~ Point within the scope of 360 ° is then whole toward 90 ° of right translation toward 360 ° of left, as shown in Figure 2 and Figure 3.D axis positive direction is translated Although precision can be improved to 90 °, precision not necessarily highest.So should probe into when d axis positive direction is moved to where in Fu The precision of leaf fitting reaches highest.By taking the experimental data in Fig. 5 as an example, the position error and translation that are fitted using three rank Fourier Relationship afterwards between d axis positive direction present position is as shown in Figure 6.From fig. 6 it can be seen that d axis positive direction is moved to 180 ° Position error is minimum when nearby.Therefore the location of data point maximum value after translation should be set to by 180 °, so that it is determined that required X ° of translational movement.According to required translational movement by the i in step (3)d' current data translated, obtain id”。

Although d axis positive direction, which is moved to, can improve precision at 90 °, precision not necessarily highest.So should probe into d axis The precision that Fourier is fitted when positive direction moves to where reaches highest.Then we have found through testing that d axis positive direction is put down The precision highest being fitted at 180 ° is moved on to, so should move to d axis positive direction at 180 ° when translation later.

id' the abscissa of response curve is angle between pulse voltage vector and stator a phase, ordinate is in the angle The obtained i of lower application pulse voltage vectord' response.id' the location of response curve maximum value is exactly d axis positive direction, The electric angle angle value namely differed between d axis positive direction and stator a phase.Translation is exactly to i in factd' response curve cross Coordinate has carried out conversion process, and d axis positive direction is moved at 180 °, and the right and left of d axis positive direction is made to have more number Strong point, this can improve the precision and reliability of Fourier's fitting.I obtained in this stepd' it is exactly in next step " after translation Id'".In order to be distinguish, in the body of the email by the " i after translationd' " it is named as id";

(6) i is fitted using three rank Fourierd" number of responses strong point, detect Y ° of the location of data point maximum value.

(7) the location of d axis positive direction is Y °-X ° before translating.It is the d axis and stator for making permanent magnet according to initial angle The alignment of winding a phase axis and the electrical angle rotated learns the initial position of rotor.

id' the abscissa of response curve is angle between pulse voltage vector and stator a phase, ordinate is in the angle The obtained i of lower application pulse voltage vectord' response.id' the location of response curve maximum value is exactly d axis positive direction, It detects the value, also just detected the electric angle angle value differed between d axis positive direction and stator a phase, to also be known that turn The initial position of son.For example, it is assumed that d axis positive direction is near 30 °, and d axis positive direction is turned right and moves to 180 ° by we Near, obtain id", translational movement is 150 °.It is fitted id" response curve, it is found that the location of its maximum value is 181.3 °, but because D axis positive direction is turned right for us and is shifted 150 °, thus the actually located position of d axis positive direction be 181.3 ° -150 °= 31.3°.That is, 31.3 ° of electrical angles are differed between d axis positive direction and stator a phase, to also be known that the initial of rotor Position.

In the example in fig 1, original position error is 8.4 °, and uses position error when translation algorithm for 0.6 °. In the example of fig. 5, original position error is 1 °, and uses position error when translation algorithm for 0.5 °, this is sufficiently proved The superiority of translation algorithm.

Claims (1)

1. a kind of method for improving three-level formula synchronous electric motor rotor initial position detection precision, it is characterised in that steps are as follows:
Step 1: applying excitation voltage to the main generator excitation winding of three-level formula synchronous motor;
Step 2: using a phase of stator as starting point, being arranged and apply the voltage pulse vector of constant amplitude, voltage arteries and veins every 5 ° of electrical angles The amplitude for rushing vector is 18.4V, applies 360 ° of electrical angles altogether, shares 72 data points in a detection cycle;
Step 3: the maximum value of acquisition three-phase current response curve: being d' by the direction definition of the voltage pulse vector u applied Current data is transformed to two-phase rotation d'q' coordinate system from three-phase static coordinate system, obtains the response of d' shaft current by axis positive direction Value id';
Step 4: detection idThe location of ' number of responses strong point maximum value, as the location of d axis positive direction;
Step 5: 180 ° being set to the location of data point maximum value after translating, X ° of required translational movement is determined, according to required Translational movement to id' translated, obtain id″;
Step 6: being fitted i obtained in previous step using three rank Fourierd" data point detects id" data point maximum value institute Y ° of the position at place;
Step 7: the electrical angle then differed between d axis positive direction and stator a phase is Y °-X °, is the d for making permanent magnet according to initial angle Axis is aligned with stator winding a phase axis and the electrical angle that rotates learns the initial position of rotor.
CN201611125084.7A 2016-12-09 2016-12-09 The method for improving three-level formula synchronous electric motor rotor initial position detection precision CN106788082B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007174721A (en) * 2005-12-19 2007-07-05 Mitsubishi Heavy Ind Ltd Apparatus and method for detecting initial rotational position in brushless dc motor
CN101459407A (en) * 2009-01-08 2009-06-17 东元总合科技(杭州)有限公司 Initial position detection method for permanent magnet synchronous electric motor rotor
CN103414426A (en) * 2013-07-25 2013-11-27 西安交通大学 Surface-mounted type permanent magnet synchronous motor rotor initial position estimation method
CN103916065A (en) * 2014-04-21 2014-07-09 西北工业大学 Estimation method for static initial position of electro-magnetic synchronous motor rotor of no-position sensor
CN104300867A (en) * 2014-10-14 2015-01-21 西北工业大学 Initial angle detecting method for aviation three-level type synchronous motor rotor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007174721A (en) * 2005-12-19 2007-07-05 Mitsubishi Heavy Ind Ltd Apparatus and method for detecting initial rotational position in brushless dc motor
CN101459407A (en) * 2009-01-08 2009-06-17 东元总合科技(杭州)有限公司 Initial position detection method for permanent magnet synchronous electric motor rotor
CN103414426A (en) * 2013-07-25 2013-11-27 西安交通大学 Surface-mounted type permanent magnet synchronous motor rotor initial position estimation method
CN103916065A (en) * 2014-04-21 2014-07-09 西北工业大学 Estimation method for static initial position of electro-magnetic synchronous motor rotor of no-position sensor
CN104300867A (en) * 2014-10-14 2015-01-21 西北工业大学 Initial angle detecting method for aviation three-level type synchronous motor rotor

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Title
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三级式同步电机转子初始位置在线检测方法;马鹏;《中国电机工程学报》;20150920;第35卷(第18期);第4771-4778页

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