CN106998163A - The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters - Google Patents
The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters Download PDFInfo
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- CN106998163A CN106998163A CN201710231608.9A CN201710231608A CN106998163A CN 106998163 A CN106998163 A CN 106998163A CN 201710231608 A CN201710231608 A CN 201710231608A CN 106998163 A CN106998163 A CN 106998163A
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Abstract
The invention discloses a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters, adjustment system used in the method for adjustment includes controller, power drive unit, permagnetic synchronous motor, rotor-position sensor, and controller is made up of comparator, proportioner, integrator.The present invention method of adjustment be：Actual rotor position signalling is detected using rotor-position sensor, comparator receives the actual rotor position signalling and given rotor-position command signal output error signal；Proportioner, integrator receive error signal difference export ratio control signal, integral control signal；Power drive unit receives each control signal output drive voltage；Permagnetic synchronous motor receives driving voltage and produces rotor-position.The method of adjustment science of the present invention is easy, easy to adjust, time saving and energy saving, and purpose is strong, and the degree of accuracy is high, can provide accurate foundation with debugging for permanent-magnet synchronous motor rotor position control design case, so as to obtain good static properties and dynamic property.
Description
Technical field
The invention belongs to permagnetic synchronous motor control field, it is related to permanent-magnet synchronous motor rotor position system and controlling party
Method, it is more particularly related to a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters.
Background technology
Permanent-magnet synchronous motor rotor position control must could obtain excellent rotor-position controlling using closed-loop control
Can, only carrying out qualitative understanding to controlled device could determine which type of controller designed, and only object parameters are entered
Row quantitative judge could be to the accurate adjustment of controller parameter.At present, known controller of the prior art, it is such as widely used
PI (proportional integration) controller, is not to determine object parameters first, but is directly adjusted using trial and error procedure or empirical method
Controller ratio control parameter and integration control parameter.Therefore, the adjustment of controller parameter is compared blindly, and permagnetic synchronous motor turns
The debugging of sub- position control system is wasted time and energy, and rotor-position control performance, which is difficult to meet, to be required, some even at all can not be right
Rotor-position is controlled.Therefore, when permanent-magnet synchronous motor rotor position is controlled, PI controller parameters how are adjusted, then are existing
There is the problem of having to be solved in technology.
Before, have in Related Applications Patent and done desk study research, first patent is：Publication number is
CN103427747B, patent name is the adjusting method for the parameter adjustment system that direct current generator electric current PI is controlled；Publication number is
CN103414418B, patent name is a kind of control method of direct current generator electric current PI control systems；Publication number is
CN103427758B, patent name is the method for adjustment of single phase induction motor exciting current PI control parameters；It is open to be
CN103427748B, patent name is a kind of single phase induction motor exciting current PI control methods；Open is CN101499755A,
Patent name is a kind of DC generator speed by PID control method.But in above-mentioned existing research, it is not involved with permagnetic synchronous motor
And the closed-loop control to rotor-position, on the other hand, with the rise of stator winding temperature, the parameter of electric machine can change,
Control accuracy is caused deviation occur, therefore, being badly in need of a kind of permanent-magnet synchronous motor rotor position PI control parameters of being directed to of invention
Method of adjustment.
The content of the invention
It is an object of the invention to solve at least the above, and provide the advantage that at least will be described later.
A further object of the invention be in order to solve permanent-magnet synchronous motor rotor position closed-loop control using PI control
During device, the problem of PI controller parameters are difficult to be adjusted according to object parameters, and propose a kind of permagnetic synchronous motor and turn
The method of adjustment of sub- position PI control parameters.
In order to realize that there is provided a kind of permanent-magnet synchronous motor rotor position according to object of the present invention and further advantage
The method of adjustment of PI control parameters, the system that the method for adjustment is used includes：Controller, power drive unit, permanent magnet synchronous electric
Machine and rotor-position sensor, wherein the controller is made up of comparator, proportioner, integrator, the first of the comparator
Input receives rotor-position command signal, the input and the product of the output end of the comparator respectively with the proportioner
The output end of the input connection of point device, the output end of the proportioner and the integrator respectively with the power drive unit
Input connection, the output end of the power drive unit is connected with the power input of the permagnetic synchronous motor, described
Rotor-position sensor is arranged on the rotor of the permagnetic synchronous motor, the actual position signal for gathering the rotor,
And actual rotor position signalling is fed back to the second input of the comparator；The adjustment side of rotor-position PI control parameters
Method comprises the following steps：
Step A, the given rotor-position command signal of first input end to the comparator, encourage permagnetic synchronous motor
Operating, the rotor-position of permagnetic synchronous motor is detected using rotor-position sensor, actual rotor position signalling is obtained；
Step B, received using the second input of comparator the actual rotor position signalling and with it is given described in turn
Sub- position command signal is compared, output error signal；
Step C, adoption rate device receive the error signal, and the ratio for adjusting proportioner according to the error signal controls to join
Several Kp, Kp=Ue/ π, export ratio control signal, wherein, Ue is the rated voltage of permagnetic synchronous motor；
Step D, the error signal received using integrator, joined according to the integration control that the error signal adjusts integrator
Number Ki, Ki=Kp/Ax, export integral control signal, wherein, Ax is in j-th for the stator winding temperature of permagnetic synchronous motor
The equivalent servo inertia parameter of temperature range, j=1,2,3 ..., x=1,2 ... j；
Step E, the ratio control signal, integral control signal received using power drive unit, exported correspondingly sized
Driving voltage；
Step F, permagnetic synchronous motor receive the driving voltage, the operation of rotor are controlled, to be adjusted to rotor-position
Control.
It is preferred that, in the step D, the equivalent servo inertia parameter Ax is joined by the equivalent servo inertia of permagnetic synchronous motor
Number identifying system is identified, and the identifying system includes：
First stator voltage control unit, it is used for the first control signal for generating stator voltage；
First power drive unit, its input is connected with the output end of the first stator voltage control unit, described
First power drive unit receives the first control signal of the stator voltage, and exports the first correspondingly sized driving voltage；
Second stator voltage control unit, it is used for the second control signal for generating stator voltage；
Second power drive unit, its input is connected with the output end of the second stator voltage control unit, described
Second power drive unit receives the second control signal of the stator voltage, and exports the second correspondingly sized driving voltage；
Permagnetic synchronous motor, the output that its power input passes through the first switching switch and first power drive unit
End connects, is connected by the second switching switch with the output end of second power drive unit, the permagnetic synchronous motor
Stator receives first driving voltage or the second driving voltage；
Rotor-position sensor is debugged, it is used for the rotor position information for measuring permagnetic synchronous motor；
Temperature measuring equipment, it is used for the temperature for measuring the permanent-magnetic synchronous motor stator winding；And
Register instrument, its input respectively with the first stator voltage control unit, debugging rotor-position sensor with
And the output end connection of temperature measuring equipment, the register instrument is used to recording measured data and changes with time process；
The recognition methods of the identifying system comprises the following steps：
Step 1: permanent-magnetic synchronous motor rotor is positioned at into permagnetic synchronous motor A phase winding axial locations；Temperature measuring equipment is real
When gather the temperature data of the stator winding, and the temperature data is sent in register instrument, by the temperature data from
It is small to being divided into several temperature ranges greatly；
Step 2: disconnecting the first switching switch, the switching switch of closure second exports three-phase using stator voltage control unit
Stator voltage amplitude is respectively the second control signal of a normal number L；
Step 3: output three-phase voltage amplitude is respectively after the second power drive unit reception second control signal
The second driving voltage of the normal number L, the stator winding of the permagnetic synchronous motor receives second driving voltage, by institute
State stator winding heating；
Step 4: when the stator winding temperature more than temperature range described in j-th median when, disconnect described the
Two switching switches, close the first switching switch, use the first stator voltage control unit output stator α shaft voltages for 0, determine
Sub- β shaft voltages be a negative constant-| M | the first control signal, wherein, j be 1,2,3 ...；
Step 5: first power drive unit receive output stator α shaft voltages after first control signal be 0,
Stator β shaft voltages be a negative constant-| M | the first driving voltage, the stator winding of the permagnetic synchronous motor receives described the
One driving voltage, driving rotor action, produces rotor position information；
Step 6: measuring the rotor position information of permagnetic synchronous motor in real time using debugging rotor-position sensor；
Step 7: register instrument records first control signal respectively and the rotor position information changes over time
Process, and the curve map of the rotor position information, stator β shaft voltages and time relationship is set up respectively in coordinate system, wherein, when
Between be abscissa, rotor position information and stator β shaft voltages are ordinate；
Step 8: reading the stable state amplitude C of rotor position information curve in a coordinate system, cross stable state amplitude C and make parallel
In the straight line of time shaft；
Step 9: by the amplitude of stator β shaft voltages | M | divided by amplitude C, obtain the electomechanical response of the permagnetic synchronous motor
Parameter K；
Step 10: cross origin rotor position information curve is made tangent line and with the straight line intersection described in the step 8 in
Point of intersection S, excessively point of intersection S are made downwards vertical line and intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step 11: the electomechanical response parameter K and the coordinate value T-phase are multiplied, permagnetic synchronous motor is obtained in stator
Winding temperature is in equivalent servo inertia parameter Ax, x=1,2 ... the j of j-th of temperature range；
Step 12: returning to step 2, equivalent servo inertia parameter Ax survey is carried out in+1 temperature range of jth
Amount, until all measurement is finished by the corresponding equivalent servo inertia parameter Ax of each described temperature range.
It is preferred that, the rated voltage of the power drive unit is more than the rated voltage of the permagnetic synchronous motor.
It is preferred that, the rated current of the power drive unit is more than the rated current of the permagnetic synchronous motor.
It is preferred that, in the step D, the initial value of described integral control signal is 0.
It is preferred that, the second stator voltage control unit described in step B output threephase stator voltage magnitude L with it is described forever
The rated voltage amplitude of magnetic-synchro motor is equal.
It is preferred that, stator voltage control unit described in step D output stator β shaft voltages amplitude | M | with it is described forever
The rated voltage amplitude of magnetic-synchro motor is equal.
It is preferred that, the temperature range according to residing for the stator winding of permagnetic synchronous motor is selected corresponding at such a temperature
The equivalent servo inertia parameter Ax, determines to be used to control the permagnetic synchronous motor according to the equivalent servo inertia parameter Ax
The control parameter of the controller of running status.
It is preferred that, the rated voltage of first power drive unit and the second power drive unit is same more than the permanent magnetism
The rated voltage of motor is walked, the rated current of first power drive unit and the second power drive unit is more than the permanent magnetism
The rated current of synchronous motor.
It is preferred that, the first switching switch and the second switching switch interlock are set, the first switching switch and second
Switching switch can not be closed in synchronization.
The present invention at least includes following beneficial effect：
1st, by under different stator winding temperatures, the parameter to permagnetic synchronous motor carries out quantitative judge, obtains pair
Electomechanical response parameter K and equivalent servo inertia parameter Ai when motor rotor position is controlled, are that the control of permagnetic synchronous motor is set
Meter and debugging save energy and time, improve the control performance under different stator winding temperatures to permagnetic synchronous motor,
And cause permagnetic synchronous motor to obtain good static properties and dynamic property, realize to the accurate of permagnetic synchronous motor
Control；
2nd, the present invention realizes the adjust automatically of rotor-position, and when regulating and controlling to rotor-position, due to PI controls
The parameter of device is adjusted according to permagnetic synchronous motor parameter, and party's forensic science is easy, easy to adjust, time saving and energy saving, mesh
Property it is strong, the degree of accuracy is high, can provide accurate foundation with debugging for permanent-magnet synchronous motor rotor position control design case, contain PI controls
The blindness of device parameter adjustment processed, and good rotor-position control effect can be obtained.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the block diagram of the adjustment system of permanent-magnet synchronous motor rotor position PI control parameters；
Fig. 2 is the method for adjustment block diagram of rotor-position PI control parameters；
Fig. 3 is the composition block diagram of the equivalent servo inertia parameter identifying system of permagnetic synchronous motor.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or many
The presence or addition of individual other elements or its combination.
The invention provides a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters, as shown in figure 1, should
The system that method of adjustment is used includes：Controller 1, power drive unit 2, permagnetic synchronous motor 3 and rotor-position sensor 4,
Wherein described controller 1 is made up of comparator 111, proportioner 112, integrator 113, the first input end of the comparator 111
Receive rotor-position command signal, the input and the product of the output end of the comparator 111 respectively with the proportioner 112
The input connection of point device 113, the output end of the proportioner 112 and the output end of the integrator 113 respectively with the work(
The input connection of rate driver element 2, the output end of the power drive unit 2 and the power supply of the permagnetic synchronous motor 3 are defeated
Enter end connection, the rotor-position sensor 4 is arranged on the rotor of the permagnetic synchronous motor 3, for gathering the rotor
Actual position signal, and actual rotor position signalling is fed back to the second input of the comparator 111.
Wherein, the rated voltage of the power drive unit 120 is more than the rated voltage of the permagnetic synchronous motor 130.
The rated current of the power drive unit 120 is more than the rated current of the permagnetic synchronous motor 130.
As shown in Fig. 2 the method for adjustment of rotor-position PI control parameters comprises the following steps：
Step A, the given rotor-position command signal of first input end to the comparator 111, the rotor-position refer to
Make signal after the conversion of controller 1, be input in power drive unit 2, produce correspondingly sized excitation voltage, and input extremely
The voltage input end of permagnetic synchronous motor, excitation permagnetic synchronous motor 3 is operated, and detects that permanent magnetism is same using rotor-position sensor 4
The rotor-position of motor 3 is walked, actual rotor position signalling is obtained；
Step B, received using the second input of comparator 111 the actual rotor position signalling and with it is given described in
Rotor-position command signal is compared, output error signal；
Step C, adoption rate device 112 receive the error signal, and the ratio of proportioner 112 is adjusted according to the error signal
Control parameter Kp, Kp=Ue/ π, export ratio control signal, wherein, Ue is the rated voltage of permagnetic synchronous motor；
Step D, the error signal received using integrator 113, the integration of integrator 113 is adjusted according to the error signal
Control parameter Ki, Ki=Kp/Ax, export integral control signal, the initial value of described integral control signal is 0, wherein, Ax is forever
The stator winding temperature of magnetic-synchro motor is in the equivalent servo inertia parameter of j-th temperature range, j=1,2,3 ..., x=1,
2…j；
Step E, power drive unit 2 receive the ratio control signal, integral control signal, and output is correspondingly sized to swash
Voltage is encouraged, the input voltage of permagnetic synchronous motor 3 is adjusted；
Step F, permagnetic synchronous motor 3 receive the driving voltage, the operation of rotor are controlled, to be adjusted to rotor-position
Control, realizes the closed-loop control to the rotor-position of permagnetic synchronous motor 3, improves control accuracy.
In above-mentioned technical proposal, the rated voltage of the power drive unit is more than the specified electricity of the permagnetic synchronous motor
Pressure, the rated current of the power drive unit is more than the rated current of the permagnetic synchronous motor.
In order to recognize equivalent servo inertia parameter Ax, the invention provides a kind of equivalent servo inertia ginseng of permagnetic synchronous motor
Number identifying system, as shown in figure 3, including：First stator voltage control unit 100, the first power drive unit 200, first cut
Change switch 810, permagnetic synchronous motor 3, debugging rotor-position sensor 400, register instrument 500, the second stator voltage control list
First 600, second power drive unit 700, second switching switch 820 and temperature measuring equipment 900.
Wherein, the first stator voltage control unit 100 is used for the first control signal for generating stator winding voltage, the first work(
The input of rate driver element 200 is connected with the output end of the first stator voltage control unit 100, first power drive
Unit 200 receives the first control signal of the stator voltage, and exports the first correspondingly sized driving voltage；Second stator electricity
Pressure control unit 600 is used for the second control signal for generating stator winding voltage, the input of the second power drive unit 700 and institute
The output end connection of the second stator voltage control unit 600 is stated, second power drive unit 700 receives the stator voltage
The second control signal, and export the second correspondingly sized driving voltage.
The power input of permagnetic synchronous motor 3 switchs 810 and first power drive unit 200 by the first switching
Output end is connected, is connected by the second switching switch 820 with the output end of second power drive unit 700, the permanent magnetism
The stator of synchronous motor 3 receives first driving voltage or the second driving voltage to give stator winding excitation, driving rotor production
Raw rotor position information, wherein, the first switching switch 810 and the second switching switch what 820 interlockings were set, that is, described
First switching switch 810 and the second switching switch 820 can not be closed in synchronization so that the first power drive unit
200 and second power drive unit 700 can only there is one to be stator winding excitation.
Debugging rotor-position sensor 400 is used for the rotor position information for measuring permagnetic synchronous motor 3, the temperature measuring equipment
900 are arranged on the casing of the permagnetic synchronous motor 3, the temperature for measuring the stator winding of permagnetic synchronous motor 3；This
In embodiment, the temperature measuring equipment 900 is infrared temperature-test sensor, and other embodiment can select suitable according to actual conditions
Temperature sensor, the light-emitting window of the infrared temperature-test sensor is towards the stator winding, to improve measurement stator winding temperature
Accuracy.
The input of register instrument 500 respectively with the first stator voltage control unit 100, debugging rotor-position sensor
400 and the output end connection of temperature measuring equipment 900, the register instrument 500, which is used to recording measured data, to change with time
In process, the present embodiment, register instrument 500 receives the rotor position information, the first control signal of stator winding voltage, determined
The second control signal and the temperature of stator winding of sub- winding voltage, and record respectively the rotor position information, stator around
Organize the temperature and time relation of the first control signal, the second control signal of stator winding voltage and stator winding of voltage
Curve map.
In above-mentioned technical proposal, the rated voltage of the power drive unit 700 of the first power drive unit 200 and second
More than the rated voltage of the permagnetic synchronous motor 3；The power drive unit 700 of first power drive unit 200 and second
Rated current be more than the permagnetic synchronous motor 3 rated current.
The above-mentioned equivalent servo inertia parameter recognition methods of permagnetic synchronous motor, comprises the following steps：
Step 1: by the rotor fixed position of permagnetic synchronous motor 3 in permagnetic synchronous motor A phase winding axial locations, thermometric dress
900 temperature datas for gathering the stator winding in real time are put, and the temperature data is sent in register instrument 500, will be described
Temperature data is divided into several temperature ranges from small to large, and the temperature range of division is smaller, and each temperature range is corresponding etc.
Imitate servo inertia parameter Ax more accurate, can divide as the case may be in temperature range, the present embodiment, by stator winding temperature
Degree is divided into a temperature range from -30 DEG C~110 DEG C every 5 DEG C, altogether 22 temperature ranges；
Step 2: disconnecting the first switching switch 810, the switching of closure second switch 820 is controlled single using the second stator voltage
Member 600 is exported in the second control signal that threephase stator voltage magnitude is respectively a normal number L, the present embodiment, second stator electricity
The threephase stator voltage magnitude L for pressing control unit 600 to export is equal with the rated voltage amplitude of the permagnetic synchronous motor 3；
Step 3: second power drive unit 700 receives output three-phase voltage amplitude after second control signal
It is respectively the second driving voltage of the normal number L, the stator winding of the permagnetic synchronous motor 3 receives the second driving electricity
Pressure, the stator winding is heated up, and temperature measuring equipment 900 measures the temperature of stator winding in real time, and temperature data is fed back into record
In instrument 500；
Step 4: with the rise of positioning winding temperature, when the temperature of the stator winding is more than humidity province described in j-th
Between median when, wherein, j be 1,2,3 ... 22, such as the temperature of stator winding has exceeded in the 8th temperature range
Between when being worth, that is, when having exceeded 7.5 DEG C, disconnect the second switching switch 820, close the first switching switch 810, adopt
With the output stator α shaft voltages of the first stator voltage control unit 100 be 0, stator β shaft voltages be a negative constant-| M | first control
Signal processed；
Step 5: first power drive unit 200 receives output stator α shaft voltages after first control signal is
0th, stator β shaft voltages be a negative constant-| M | the first driving voltage, in the present embodiment, the first stator voltage control unit
The amplitude of the stator β shaft voltages of the output of 100 outputs | M | it is equal with the rated voltage amplitude of the permagnetic synchronous motor 3, it is described
The stator winding of permagnetic synchronous motor 3 receives first driving voltage, produces rotor position information；
Step 6: measure the rotor position information of permagnetic synchronous motor 3 in real time using debugging rotor-position sensor 400,
And be sent in register instrument 500；
Step 7: register instrument 500 records first control signal and the rotor position information anaplasia at any time respectively
The process of change, and the curve map of the rotor position information, stator β shaft voltages and time relationship is set up respectively in coordinate system, its
In, the time is abscissa, and rotor position information and stator β shaft voltages are ordinate；
Step 8: reading the stable state amplitude C of rotor position information curve in a coordinate system, cross stable state amplitude C and make parallel
In the straight line of time shaft；
Step 9: by the amplitude of stator β shaft voltages | M | divided by amplitude C, the electromechanics for obtaining the permagnetic synchronous motor 3 rings
Answer parameter K；
Step 10: cross origin rotor position information curve is made tangent line and with the straight line intersection described in the step 8 in
Point of intersection S, excessively point of intersection S are made downwards vertical line and intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step 11: stator impedance parameter K and coordinate value T-phase are multiplied, the permagnetic synchronous motor 3 is obtained in stator winding
Temperature is in equivalent servo inertia parameter Ax, x=1,2 ... the j of j-th temperature range, the present embodiment, that is, has measured the
Equivalent servo the inertia parameter Ax, x=8 of eight temperature ranges；
Step 12: returning to step 2, continue to heat up to stator winding, until the temperature of stator winding exceedes jth+1
The median of temperature range, equivalent servo inertia parameter Ax measurement is carried out in the temperature range of jth+1, that is, the
Equivalent servo inertia parameter Ax, x=9 are measured in nine temperature ranges, until equivalent watching each described temperature range is corresponding
Taking inertia parameter Ax, all measurement is finished, and obtains the corresponding equivalent servo inertia parameter Ax of each temperature range.
Then, according to the corresponding equivalent servo inertia parameter Ax at each temperature, determined to be used to control with step A-F
The control parameter of the controller 1 of the permagnetic synchronous motor running status is made, that is, determines the ratio control signal of controller 1
And integral control signal, the conventional temperature range according to residing for the stator winding of permagnetic synchronous motor 3, corresponding setting several
The controller 1 of rotor-position is controlled, a controller 1 is corresponding with each temperature range, and the corresponding controller 1 of the temperature range
Ratio control signal and integral control signal set according to the corresponding equivalent servo inertia parameter Ax of the temperature range, forever
During magnetic-synchro motor carrying out practically, temperature measuring equipment 900 measures the temperature of stator winding, the temperature according to residing for stator winding in real time
Interval, to select to switch corresponding controller 1, the corresponding ratio control of the temperature range is received using power drive unit 2
Signal processed, integral control signal, export correspondingly sized driving voltage, adjust the input voltage of permagnetic synchronous motor 3, and permanent magnetism is same
Step motor 3 receives the driving voltage, controls the operation of rotor, to regulate and control to rotor-position, realizes to permanent magnet synchronous electric
The closed-loop control of the rotor-position of machine 3, improves control accuracy.
The work of adjustment system used in the method for adjustment of the permanent-magnet synchronous motor rotor position PI control parameters of the present invention
It is as flow：Comparator 111 feeds back the rotor-position for inputting rotor-position command signal and being sent from rotor-position sensor 4
Signal is compared, and produces rotor position error signal；Rotor position error signal is multiplied by ratio control ginseng by proportioner 112
Number；Integrator 113 is integrated to rotor position error signal and is multiplied by integration control parameter；Power drive unit 2 is according to control
The control signal that device 1 processed is exported, provides permagnetic synchronous motor 3 appropriate energy, makes permagnetic synchronous motor 3 according to rotor in good time
Position command signal reaches required rotor-position；The object to be controlled of permagnetic synchronous motor 3 and output rotor position
Put the reception signal of output signal and rotor-position sensor 4；Rotor-position sensor 4 detects the rotor of permagnetic synchronous motor 3
Position, comparator 111 is sent to as rotor-position feedback signal.
The present invention is by the way that under different stator winding temperatures, the parameter to permagnetic synchronous motor carries out quantitative judge, obtains
Electomechanical response parameter K and equivalent servo inertia parameter Ai when controlling motor rotor position, are the control of permagnetic synchronous motor
Set up meter and debugging saves energy and time, improve the controlling under different stator winding temperatures to permagnetic synchronous motor
Can, and cause permagnetic synchronous motor to obtain good static properties and dynamic property, realize to permagnetic synchronous motor
Accurate control.
Meanwhile, the present invention realizes the adjust automatically of rotor-position, and when regulating and controlling to rotor-position, due to PI controls
The parameter of device processed is adjusted according to permagnetic synchronous motor parameter, and party's forensic science is easy, easy to adjust, time saving and energy saving,
Purpose is strong, and the degree of accuracy is high, can be that permanent-magnet synchronous motor rotor position control design case and debugging provide accurate foundation, contain PI
The blindness of controller parameter adjustment, and good rotor-position control effect can be obtained.
The present invention realizes according to the parameter of electric machine under different temperatures to carry out rotor-position control to motor, improves control
Performance.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, the present invention is not limited
In specific details and shown here as the legend with description.
Claims (10)
1. a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters, the system that the method for adjustment is used includes：
Controller (1), power drive unit (2), permagnetic synchronous motor (3) and rotor-position sensor (4), wherein the controller
(1) it is made up of comparator (111), proportioner (112), integrator (113), the first input end of the comparator (111) is received
Rotor-position command signal, the input and the product of the output end of the comparator (111) respectively with the proportioner (112)
The input connection of point device (113), the output end of the proportioner (112) and the output end of the integrator (113) respectively with
The input connection of the power drive unit (2), output end and the permagnetic synchronous motor of the power drive unit (2)
(3) power input connection, the rotor-position sensor (4) is arranged on the rotor of the permagnetic synchronous motor (3), used
In the actual position signal of the collection rotor, and actual rotor position signalling is fed back to the second of the comparator (111)
Input；Characterized in that, the method for adjustment of rotor-position PI control parameters comprises the following steps：
Step A, the given rotor-position command signal of first input end to the comparator (111), encourage permanent magnet synchronous electric
Machine (3) is operated, and the rotor-position of permagnetic synchronous motor (3) is detected using rotor-position sensor (4), actual rotor position is obtained
Signal；
Step B, received using the second input of comparator (111) the actual rotor position signalling and with it is given described in turn
Sub- position command signal is compared, output error signal；
Step C, adoption rate device (112) receive the error signal, and the ratio of proportioner (112) is adjusted according to the error signal
Control parameter Kp, Kp=Ue/ π, export ratio control signal, wherein, Ue is the rated voltage of permagnetic synchronous motor；
Step D, the error signal received using integrator (113), the integration of integrator (113) is adjusted according to the error signal
Control parameter Ki, Ki=Kp/Ax, export integral control signal, wherein, Ax is in for the stator winding temperature of permagnetic synchronous motor
The equivalent servo inertia parameter of j-th of temperature range, j=1,2,3 ..., x=1,2 ... j；
Step E, the ratio control signal, integral control signal received using power drive unit (2), exported correspondingly sized
Driving voltage；
Step F, permagnetic synchronous motor (3) receive the driving voltage, the operation of rotor are controlled, to be adjusted to rotor-position
Control.
2. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 1, it is characterised in that institute
State in step D, the equivalent servo inertia parameter Ax is known by the equivalent servo inertia parameter identifying system of permagnetic synchronous motor
Not, the identifying system includes：
First stator voltage control unit, it is used for the first control signal for generating stator voltage；
First power drive unit, its input is connected with the output end of the first stator voltage control unit, and described first
Power drive unit receives the first control signal of the stator voltage, and exports the first correspondingly sized driving voltage；
Second stator voltage control unit, it is used for the second control signal for generating stator voltage；
Second power drive unit, its input is connected with the output end of the second stator voltage control unit, and described second
Power drive unit receives the second control signal of the stator voltage, and exports the second correspondingly sized driving voltage；
Permagnetic synchronous motor, its power input is connected by the output end of the first switching switch and first power drive unit
Connect, be connected by the second switching switch with the output end of second power drive unit, the stator of the permagnetic synchronous motor
Receive first driving voltage or the second driving voltage；
Rotor-position sensor is debugged, it is used for the rotor position information for measuring permagnetic synchronous motor；
Temperature measuring equipment, it is used for the temperature for measuring the permanent-magnetic synchronous motor stator winding；And
Register instrument, its input respectively with the first stator voltage control unit, debugging rotor-position sensor and survey
The output end connection of warm device, the register instrument is used to recording measured data and changed with time process；
The recognition methods of the identifying system comprises the following steps：
Step 1: permanent-magnetic synchronous motor rotor is positioned at into permagnetic synchronous motor A phase winding axial locations；Temperature measuring equipment is adopted in real time
Collect the temperature data of the stator winding, and the temperature data be sent in register instrument, by the temperature data from it is small to
Several temperature ranges are divided into greatly；
Step 2: disconnecting the first switching switch, the switching switch of closure second exports threephase stator using stator voltage control unit
Voltage magnitude is respectively the second control signal of a normal number L；
Step 3: it is respectively described that second power drive unit, which receives output three-phase voltage amplitude after second control signal,
Normal number L the second driving voltage, the stator winding of the permagnetic synchronous motor receives second driving voltage, will be described fixed
Sub- winding heating；
Step 4: when the stator winding temperature more than temperature range described in j-th median when, disconnect and described second cutting
Switch is changed, the first switching switch is closed, uses the first stator voltage control unit output stator α shaft voltages for 0, stator β
Shaft voltage be a negative constant-| M | the first control signal, wherein, j be 1,2,3 ...；
Step 5: it is 0, stator β that first power drive unit, which receives output stator α shaft voltages after first control signal,
Shaft voltage be a negative constant-| M | the first driving voltage, the stator winding of the permagnetic synchronous motor receives first driving
Voltage, driving rotor action, produces rotor position information；
Step 6: measuring the rotor position information of permagnetic synchronous motor in real time using debugging rotor-position sensor；
Step 7: register instrument records the mistake that first control signal and the rotor position information are changed over time respectively
Journey, and the curve map of the rotor position information, stator β shaft voltages and time relationship is set up respectively in coordinate system, wherein, the time
For abscissa, rotor position information and stator β shaft voltages are ordinate；
Step 8: read the stable state amplitude C of rotor position information curve in a coordinate system, cross stable state amplitude C make parallel to when
The straight line of countershaft；
Step 9: by the amplitude of stator β shaft voltages | M | divided by amplitude C, obtain the electomechanical response parameter of the permagnetic synchronous motor
K；
Step 10: crossing origin makees tangent line to rotor position information curve and with the straight line intersection described in the step 8 in intersection point
S, excessively point of intersection S make downwards vertical line and intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；
Step 11: the electomechanical response parameter K and the coordinate value T-phase are multiplied, permagnetic synchronous motor is obtained in stator winding
Temperature is in equivalent servo inertia parameter Ax, x=1,2 ... the j of j-th of temperature range；
Step 12: returning to step 2, equivalent servo inertia parameter Ax measurement is carried out in+1 temperature range of jth, directly
To by the corresponding equivalent servo inertia parameter Ax of each described temperature range, all measurement is finished.
3. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 2, it is characterised in that institute
The rated voltage for stating power drive unit is more than the rated voltage of the permagnetic synchronous motor.
4. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 3, it is characterised in that institute
The rated current for stating power drive unit is more than the rated current of the permagnetic synchronous motor.
5. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 4, it is characterised in that institute
State in step D, the initial value of described integral control signal is 0.
6. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 5, it is characterised in that step
The threephase stator voltage magnitude L of second stator voltage control unit output described in rapid B is specified with the permagnetic synchronous motor
Voltage magnitude is equal.
7. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 6, it is characterised in that step
The amplitude of the stator β shaft voltages of stator voltage control unit output described in rapid D | M | the specified electricity with the permagnetic synchronous motor
Pressure amplitude value is equal.
8. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 7, it is characterised in that root
According to the temperature range residing for the stator winding of permagnetic synchronous motor, the corresponding equivalent servo inertia is joined at such a temperature for selection
Number Ax, the control for controlling the permagnetic synchronous motor running status is determined according to the equivalent servo inertia parameter Ax
The control parameter of device (1).
9. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 2, it is characterised in that institute
Rated voltage of the rated voltage more than the permagnetic synchronous motor of the first power drive unit and the second power drive unit is stated,
The rated current of first power drive unit and the second power drive unit is more than the specified electricity of the permagnetic synchronous motor
Stream.
10. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters according to claim 2, its feature exists
In the first switching switch and the second switching switch interlock are set, and the first switching switch and the second switching switch are same
One moment can not be closed at.
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| CN113258849A (en) * | 2021-06-18 | 2021-08-13 | 国华(青岛)智能装备有限公司 | Permanent magnet synchronous motor control system and control parameter intelligent identification method |
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Address after: Hong Yip Road Jiaxing city Zhejiang province 314001 Xiuzhou Industrial Zone No. 228 Shanghai Jiaotong University (Jiaxing) science and Technology Park Building 6, 3 floor Patentee after: Zhejiang Deou Electric Technology Co., Ltd Address before: Hong Yip Road Jiaxing city Zhejiang province 314001 Xiuzhou Industrial Zone No. 228 Shanghai Jiaotong University (Jiaxing) science and Technology Park Building 6, 3 floor Patentee before: ZHEJIANG DEALOUR ELECTRIC TECHNOLOGY Co.,Ltd. |
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