CN106788083B - The location recognition method of AC permanent magnet synchronous motor rotor - Google Patents
The location recognition method of AC permanent magnet synchronous motor rotor Download PDFInfo
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- CN106788083B CN106788083B CN201611262743.1A CN201611262743A CN106788083B CN 106788083 B CN106788083 B CN 106788083B CN 201611262743 A CN201611262743 A CN 201611262743A CN 106788083 B CN106788083 B CN 106788083B
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P80/00—Climate change mitigation technologies for sector-wide applications
- Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier
Abstract
The invention discloses a kind of location recognition methods of AC permanent magnet synchronous motor rotor, include: step 1: choosing several flux angles, stator current corresponding with the flux angle is motivated into motor in the state of open loop respectively, and the acceleration signal of motor is recorded as excitation waveform using specific DAC signal waveform；Step 2: the low frequency signal in removal acceleration signal；Step 3: calculating the initial position for obtaining rotor.The present invention deactivates motor using stator current corresponding with flux angle in the state of open loop, and motivates motor as excitation waveform using specific DAC signal waveform, it is possible to reduce the moving distance of motor, and then it is adapted to any occasion；The present invention is detected to the angle of rotor and the time of identification is very short, is no more than 100ms, greatly improves work efficiency.
Description
Technical field
The present invention relates to power electronic technique and System Discrimination field, in particular to a kind of AC permanent magnet synchronous motor rotor
Location recognition method.
Background technique
In AC servo motor, the electromagnetic torque of motor is expressed from the next:
Me=kt[iacos(θr)+ibcos(θr+2π/3)+iccos(θr-2π/3)]
Wherein: MeIndicate the electromagnetic torque that motor generates, ia、ibAnd icThe respectively phase current of motor, ktFor torque constant,
θrIndicate the electrical angle of rotor.
Wherein, the phase current i of motora、ibAnd icIt can respectively indicate as follows:
ia=Iqcos(θr)；
ib=Iqcos(θr+2π/3)；
ic=Iqcos(θr-2π/3)；
Wherein, IqIt is torque command electric current, θ 'rIt is the electrical angle of the rotor measured, above-mentioned phase current formula is substituted into electricity
Magnetic torque formula can obtain:
Me=(3/2) ktIqcos(θr'-θr)
It is assumed that θr∈[02π),θ'r∈ [0 2 π), it is clear that as θ 'r=θrWhen, the electromagnetic torque M of motoreObtain maximum value.
When | θ 'r-θrWhen | < pi/2, electromagnetic torque MeIt is positive, when | θ 'r-θrWhen |=pi/2, the electromagnetic torque M of motoreIt is zero, when | θ 'r-θr
When | > pi/2, the electromagnetic torque M of motoreIt is negative, and will lead to a positive feedback in system closed loop and occur.
So the detection of the position of the rotor of AC permanent magnet synchronous motor is very heavy in actual servo-control system
It wants, if the position of the rotor of AC permanent magnet synchronous motor cannot more accurately be detected, the consequence generated gently then reduces motor
Output torque allows motor excessively to generate heat, heavy then can generate positive feedback, is made into very serious equipment damage.
Summary of the invention
The present invention provides a kind of location recognition method of AC permanent magnet synchronous motor rotor, to solve to exist in the prior art
Above-mentioned technical problem.
In order to solve the above technical problems, the present invention provides a kind of location recognition method of AC permanent magnet synchronous motor rotor,
Include: step 1: choosing several flux angles, stator current corresponding with the flux angle is motivated into electricity respectively in the state of open loop
Machine, and the acceleration signal of motor is recorded as excitation waveform using specific DAC signal；Step 2: removal acceleration signal
In low frequency signal；Step 3: calculating the initial position for obtaining rotor；
Wherein the step 3 includes: the acceleration signal indicated after removal low frequency signal with acc (t), is indicated with dac (t)
DAC signal；
Then acceleration signal and DAC signal carry out the related coefficient that correlation analysis obtains, and may be expressed as:
Wherein, T is the period of DAC signal；
The related coefficient b (t) is sine wave value relative to several flux angles, therefore is assumed:
B (t)=Bsin (θs(t)+φ)
Wherein, B and φ is the amplitude and phase of sine wave respectively；
Several acceleration values are chosen from acceleration signal to be brought into above-mentioned two formula together with the flux angle, are calculated and are obtained
The amplitude B and phase of the sine wave, phase are just the initial angle of rotor.
Preferably, the forming method of the DAC signal are as follows: dsp controller in electric machine control system is to motor driven
Device sends control signal, the control signal is switched to analog signal using D/A converter, which is driver
Given value, the input of D/A converter are DAC signal.
Preferably, the waveform of the DAC signal includes first waveform above the horizontal axis and below horizontal axis
The period of second waveform, first, second waveform is different.
Preferably, the amplitude of the first waveform is greater than the amplitude of the second waveform.
Preferably, in the step 2, using the low frequency signal in Fast Fourier Transform removal acceleration signal.
Preferably, the step 3 includes: related to the progress of DAC signal to the acceleration signal after removal low frequency signal
Property analysis, and both calculate related coefficient, the initial angle of rotor be calculated according to the related coefficient.
Preferably, the acceleration value chooses 15~30, the flux angle chooses 5~8.
Preferably, the waveform of the acceleration signal is identical as the DAC signal waveform, by right in one cycle
The DAC signal value, obtains corresponding acceleration value.
Compared with prior art, the invention has the following advantages that
1, the present invention deactivates motor using stator current corresponding with flux angle in the state of open loop, and utilizes DAC
Signal motivates motor as excitation waveform, it is possible to reduce the moving distance of motor, and then it is adapted to any occasion；
2, Identification Errors of the invention are within 8 electrical angles, and the knowledge of the initial position of existing servo motor rotor
The discrimination method of other method is up to 10-15 electrical angle, and therefore, present invention precision with higher compared with the existing technology is kept away
Exempt from the phenomenon that motor excessively generates heat occur, and positive feedback will not be generated.
3, the present invention detects the angle of rotor and the time of identification is very short, is no more than 100ms, substantially increases work
Make efficiency.
Detailed description of the invention
Fig. 1 is the waveform diagram of DAC signal；
Fig. 2 is the Acceleration pulse schematic diagram of motor；
Fig. 3 is the velocity wave form schematic diagram of motor under continuous state；
Fig. 4 is the displacement waveform diagram of motor under continuous state；
Fig. 5 is the velocity wave form schematic diagram of motor under discrete state；
Fig. 6 is the displacement waveform diagram of motor under discrete state；
Fig. 7 is motor acceleration waveform diagram caused by phase deviation；
Fig. 8 is the Acceleration pulse comparison diagram of DAC signal and motor；
Fig. 9 is the Acceleration pulse comparison diagram of motor before and after FFT transform；
Figure 10 is the spectrogram of FFT transform front motor acceleration；
Figure 11 is the spectrogram of motor acceleration after FFT transform.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.It should be noted that attached drawing of the present invention is all made of simplified form and uses non-essence
Quasi- ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.
The location recognition method of AC permanent magnet synchronous motor rotor of the invention, comprising:
Step 1: choosing 5~8 flux angles, the present invention preferably 6 flux angles will stator corresponding with 6 flux angles
Electric current motivates motor in the state of open loop respectively, records the acceleration signal of motor.
Specifically, the present invention is using DAC signal as excitation waveform, the forming method of the DAC signal are as follows: motor control
DSP (data-signal processing) controller in system sends control signal DAC to motor driver, and control signal DAC is one
The input terminal of a digital signal and the D/A converter being connected on motor driver, D/A converter is by the control signal
DAC switchs to analog signal, which is the given value of driver, and the input of D/A converter is DAC signal.It needs
Illustrate, since the input of D/A converter and the output of D/A converter correspond, so, DAC signal is that motor drives
The given value of dynamic device.Using the DAC signal as excitation waveform, the moving distance of motor on the one hand can be reduced；On the other hand
The resonant frequency close to motor can also be avoided, in order to avoid have a negative impact to test result.
The waveform of the DAC signal is as shown in Figure 1, include first waveform above horizontal axis and below horizontal axis
Second waveform, the cycle T of the first waveform1With the cycle T of the second waveform2Difference, in the present embodiment, T1=5ms, T2=
10ms.Further, in continuous situation, motor, movement of the motor in an Energizing cycle are motivated with the DAC signal
Distance is 0.As shown in Figures 2 to 4, the respectively acceleration of motor, speed and the waveform of displacement；Wherein, the acceleration of motor
Waveform is similar with the waveform of DAC.
Further, the amplitude of first waveform is greater than the amplitude of the second waveform.Specifically, under discrete state, Fig. 5 and figure
6 be respectively the speed of motor and displacement waveform under discrete state, i.e. the absolute moving distance of motor after an excitation waveform
It is not 0, therefore, in the present embodiment, sets the amplitude of the first waveform above horizontal axis to the width of the second waveform below horizontal axis
1.0256 times of value so may insure that absolute moving distance of a motor at the end of Energizing cycle is 0.
Step 2: using Fast Fourier Transform removal acceleration signal in low frequency signal, wherein the low frequency signal by
The phase deviation of motor causes.Specifically, in design of electrical motor and under adjusting good situation, motor has a small phase deviation,
When control system closed loop, which will not allow motor vibrating.But if motor is not adjusted to good enough,
Motor has a biggish phase deviation, and when control system closed loop, which can allow motor to generate one big tremble
It is dynamic, and then a negative impact can be generated to the detection of the initial position of rotor.The motor as caused by phase deviation adds
Velocity wave form is as shown in Figure 7, wherein motor rotate a circle corresponding umber of pulse be 2000000.When pumping signal is added on motor
When, the Acceleration pulse and DAC signal waveform of motor, as shown in Figure 8.Further, which can pass through quick Fu
Vertical leaf transformation (FFT) is removed.It is described by front it is found that the frequency of the first, second waveform is respectively 200Hz (1/T1) and 100Hz
(1/T2), therefore, 60Hz low frequency signal below all this be removed, the Acceleration pulse before and after FFT transform is as shown in Figure 9.Add
Frequency distribution of the speed signal before and after FFT transform is as shown in Figure 10 and Figure 11.Further, parameter selection in FFT transform
Are as follows: the points in sample frequency 2000Hz, FFT are 256, and the frequency interval between two consecutive points is 2000/256=
7.8125Hz。
Step 3: calculating the initial position for obtaining rotor.To the acceleration signal and DAC letter after removal low frequency signal
Number correlation analysis is carried out, and both calculate related coefficient, the initial angle of rotor is calculated according to the related coefficient
Degree.
Specifically, step 3 includes:
Step 31: to the acceleration signal and DAC signal progress correlation analysis after removal low frequency signal, and calculating two
Person's related coefficient.
Specifically, it is indicated with acc (t) by FFT transform treated motor acceleration signal, indicates DAC with dac (t)
Signal.One correlation analysis is made to the acceleration signal of DAC signal and motor, calculates related coefficient in an Energizing cycle:
Wherein T is the period of DAC signal, and the value of b (t) is for six flux angles, it should false at sine wave value
It is fixed
B (t)=Bsin (θs(t)+φ) (2)
Wherein B and φ is respectively the amplitude and phase of sine wave.
Step 32: several acceleration values, which are chosen, from acceleration signal is brought into above-mentioned two formula together with the flux angle,
The amplitude B and phase for obtaining the sine wave are calculated, phase is just the initial angle of rotor.
Specifically: the waveform of the acceleration signal is identical as the DAC signal waveform, by one cycle to institute
DAC signal value is stated, corresponding acceleration value is obtained, usually takes 15~30, the present embodiment is in a complete Energizing cycle
DAC signal in take 20 values, then the acceleration of motor also has 20 values in a complete Energizing cycle, to formula (1)
Discretization just becomes:
In the present embodiment, six flux angles difference values are pi/2,5 π/6,7 π/6,3 pi/2s, 11 π/6 and 13 π/6, by this six
A angle is denoted as θs(i), i=1,2 ... 6, then have:
Simultaneously
So
Wherein, phase is just the initial angle of the permanent-magnetic synchronous motor rotor recognized.
Below by taking rotation (DDR) motor as an example, illustrate technical effect of the invention:
Wherein, the amplitude of DAC signal be 500LSB, motor rotate a circle encoder output umber of pulse be 2000000, with
With pi/2,5 π/6,7 π/6,3 pi/2s, 11 π/6 and the corresponding stator current excitation motor of 13 π/6 six flux angle, excitation waveform are adopted
With DAC signal, as shown in Figure 1.
It is calculated the acceleration signal of motor, in each Energizing cycle, 20 values is selected from DAC signal, then it is right
The acceleration signal answered has 20 values, and using formula (3) available b (i), (i=1,2 ... 6) value, i.e., each flux angle are corresponding
One b (i), as shown in table 1.
The flux angle of 1. motor of table and the value of b (i)
| θs(i) | b(i) | |
| 1 | π/2 | 31061.1 |
| 2 | 5π/6 | 99409.5 |
| 3 | 7π/6 | 95916.1 |
| 4 | 3π/2 | -2473.3 |
| 5 | 11π/6 | -99034.8 |
| 6 | 13π/6 | -97396.6 |
It can be obtained by formula (4) and formula (5)
a1=201522.2, a2=-275471.4
It can be obtained by formula (6) and formula (7)
φ=- 0.939206
Then the initial electrical angle of the rotor of the DDR motor is φ=- 0.939206.
So having
B (i)=Bsin (θs(i)+φ)=113771.6sin (θs(i) -0.939206) 6 i=1,2 ...
Filtering error are as follows:
It follows that detection time of the invention is short, calculating is quick and convenient, and precision with higher.
Obviously, those skilled in the art can carry out various modification and variations without departing from spirit of the invention to invention
And range.In this way, if these modifications and changes of the present invention belongs within the scope of the present invention and its equivalent technologies, then this hair
It is bright to be also intended to including these modification and variations.
Claims (7)
1. a kind of location recognition method of AC permanent magnet synchronous motor rotor characterized by comprising
Step 1: choosing several flux angles, stator current corresponding with the flux angle is motivated into electricity respectively in the state of open loop
Machine, and the acceleration signal of motor is recorded as excitation waveform using DAC signal, wherein DAC signal is motor driver
Given value；
Step 2: the low frequency signal in removal acceleration signal；
Step 3: calculating the initial position for obtaining rotor；
The step 3 include: to after removal low frequency signal acceleration signal and DAC signal carry out correlation analysis, and calculate
The two related coefficient out, the initial angle of rotor is calculated according to the related coefficient
Wherein step 3 includes: the acceleration signal indicated after removal low frequency signal with acc (t), indicates DAC signal with dac (t)；
Then acceleration signal and DAC signal carry out the related coefficient that correlation analysis obtains, and may be expressed as:
Wherein, T is the period of DAC signal；
The related coefficient b (t) is sine wave value relative to several flux angles, therefore is assumed:
B (t)=Bsin (θs(t)+φ)
Wherein, B and φ is the amplitude and phase of sine wave, θ respectivelysIt (t) is flux angle；
Several acceleration values are chosen from acceleration signal to be brought into above-mentioned two formula together with the flux angle, are calculated described in obtaining
The amplitude B and phase of sine wave, phase are just the initial angle of rotor.
2. the location recognition method of AC permanent magnet synchronous motor rotor as described in claim 1, which is characterized in that the DAC
The forming method of signal are as follows: the dsp controller in electric machine control system sends control signal to motor driver, is turned using D/A
The control signal is switched to analog signal by parallel operation, which is the given value of driver, and the input of D/A converter is
For DAC signal.
3. the location recognition method of AC permanent magnet synchronous motor rotor as described in claim 1, which is characterized in that the DAC
The waveform of signal includes the first waveform above horizontal axis and the second waveform below horizontal axis, first, second wave
The period of shape is different.
4. the location recognition method of AC permanent magnet synchronous motor rotor as claimed in claim 3, which is characterized in that described first
The amplitude of waveform is greater than the amplitude of the second waveform.
5. the location recognition method of AC permanent magnet synchronous motor rotor as described in claim 1, which is characterized in that the step
In 2, using the low frequency signal in Fast Fourier Transform removal acceleration signal.
6. the location recognition method of AC permanent magnet synchronous motor rotor as described in claim 1, which is characterized in that the acceleration
Angle value chooses 15~30, and the flux angle chooses 5~8.
7. the location recognition method of AC permanent magnet synchronous motor rotor as claimed in claim 6, which is characterized in that the acceleration
The waveform for spending signal is identical as the DAC signal waveform, by the DAC signal value, obtaining and corresponding in one cycle
Acceleration value.
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| CN107196572B (en) * | 2017-07-25 | 2019-06-11 | 温州大学 | One kind being based on permanent-magnetic synchronous motor rotor initial position detection device and method |
| CN115400887A (en) * | 2021-05-28 | 2022-11-29 | 青岛海特生物医疗有限公司 | Method and system for centrifuge rotor identification |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103401502A (en) * | 2013-07-22 | 2013-11-20 | 深圳市汇川技术股份有限公司 | System and method for identifying initial angle of permanent magnet synchronous motor |
| CN103684184A (en) * | 2013-11-21 | 2014-03-26 | 清华大学 | Linear motor initial phase determination method |
| CN104158462A (en) * | 2014-09-01 | 2014-11-19 | 石成富 | Method for detecting initial position of sensorless permanent magnet synchronous motor |
| CN106100488A (en) * | 2016-08-16 | 2016-11-09 | 上海金脉电子科技有限公司 | Low-power permagnetic synchronous motor non-position sensor vector control method |
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| FR2944659B1 (en) * | 2009-04-21 | 2011-04-01 | Schneider Toshiba Inverter | METHOD FOR DETERMINING THE POSITION OF THE FLOW VECTOR OF AN ENGINE |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103401502A (en) * | 2013-07-22 | 2013-11-20 | 深圳市汇川技术股份有限公司 | System and method for identifying initial angle of permanent magnet synchronous motor |
| CN103684184A (en) * | 2013-11-21 | 2014-03-26 | 清华大学 | Linear motor initial phase determination method |
| CN104158462A (en) * | 2014-09-01 | 2014-11-19 | 石成富 | Method for detecting initial position of sensorless permanent magnet synchronous motor |
| CN106100488A (en) * | 2016-08-16 | 2016-11-09 | 上海金脉电子科技有限公司 | Low-power permagnetic synchronous motor non-position sensor vector control method |
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