CN106998163B - The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameter - Google Patents
The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameter Download PDFInfo
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- CN106998163B CN106998163B CN201710231608.9A CN201710231608A CN106998163B CN 106998163 B CN106998163 B CN 106998163B CN 201710231608 A CN201710231608 A CN 201710231608A CN 106998163 B CN106998163 B CN 106998163B
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Abstract
The invention discloses a kind of methods of adjustment of permanent-magnet synchronous motor rotor position PI control parameter, adjustment system used in the method for adjustment includes controller, power drive unit, permanent magnet synchronous motor, rotor-position sensor, and controller is made of comparator, proportioner, integrator.Method of adjustment of the invention is: detecting actual rotor position signal using rotor-position sensor, comparator receives the actual rotor position signal and given rotor-position command signal output error signal；Proportioner, integrator receive error signal difference export ratio and control signal, integral control signal；Power drive unit receives each control signal output drive voltage；Permanent magnet synchronous motor receives driving voltage and generates rotor-position.Method of adjustment science of the invention is easy, easy to adjust, and time saving and energy saving, purpose is strong, and accuracy is high, accurate foundation can be provided for permanent-magnet synchronous motor rotor position control design case and debugging, to obtain good static properties and dynamic property.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control fields, are 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 parameter.
Background technique
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, only to object parameters into
Row quantitative judge could accurately adjust controller parameter.Currently, well known controller in the prior art, such as widely used
PI (proportional integration) controller is not to determine object parameters first, but directly adopt trial and error procedure or empirical method adjustment
Controller ratio control parameter and integration control parameter.Therefore, the adjustment of controller parameter is compared blindly, and permanent magnet synchronous motor turns
The debugging of sub- position control system is time-consuming and laborious, and rotor-position control performance is difficult to meet the requirements, some even at all can not be right
Rotor-position is controlled.Therefore, when permanent-magnet synchronous motor rotor position controls, PI controller parameter how is adjusted, then is existing
There is problem to be solved in technology.
Before, have in Related Applications Patent and done desk study research, first patent are as follows: publication number is
CN103427747B, patent name are the adjusting method of the parameter adjustment system of direct current generator electric current PI control；Publication number is
CN103414418B, patent name are a kind of control method of direct current generator electric current PI control system；Publication number is
CN103427758B, patent name are the method for adjustment of single phase induction motor exciting current PI control parameter；It is open to be
CN103427748B, patent name are a kind of single phase induction motor exciting current PI control method；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 permanent magnet synchronous motor
And the closed-loop control to rotor-position, on the other hand, with the raising of stator winding temperature, the parameter of electric machine can change,
Cause to control precision and deviation occur, for this purpose, being badly in need of inventing a kind of permanent-magnet synchronous motor rotor position PI control parameter of being directed to
Method of adjustment.
Summary of the invention
It is an object of the invention to solve at least the above problems, and provide the advantages of at least will be described later.
A further object of the invention is to solve to control in permanent-magnet synchronous motor rotor position closed-loop control using PI
When device, PI controller parameter is difficult to the problem of being adjusted according to object parameters, and proposes a kind of permanent magnet synchronous motor and turn
The method of adjustment of sub- position PI control parameter.
In order to realize these purposes and other advantages according to the present invention, a kind of permanent-magnet synchronous motor rotor position is provided
The method of adjustment of PI control parameter, the system which uses includes: controller, power drive unit, permanent magnet synchronous electric
Machine and rotor-position sensor, wherein the controller is made of comparator, proportioner, integrator, the first of the comparator
Input terminal receive rotor-position command signal, the output end of the comparator respectively with the input terminal of the proportioner and the product
The output end of the input terminal connection of point device, the output end of the proportioner and the integrator respectively with the power drive unit
Input terminal connection, the output end of the power drive unit is connect with the power input of the permanent magnet synchronous motor, described
Rotor-position sensor is arranged on the rotor of the permanent magnet synchronous motor, for acquiring the actual position signal of the rotor,
And actual rotor position signal is fed back to the second input terminal of the comparator；The adjustment side of rotor-position PI control parameter
Method the following steps are included:
Step A, the first input end of Xiang Suoshu comparator gives a rotor-position command signal, motivates permanent magnet synchronous motor
Operating obtains actual rotor position signal using the rotor-position of rotor-position sensor detection permanent magnet synchronous motor；
Step B, using the second input terminal of comparator receive the actual rotor position signal and with it is given described in turn
Sub- position command signal is compared, output error signal；
Step C, the error signal is received using proportioner, ginseng is controlled according to the ratio that the error signal adjusts proportioner
Kp, Kp=Ue/ π are counted, export ratio controls signal, wherein Ue is the voltage rating of permanent magnet synchronous motor；
Step D, the error signal is received using integrator, is joined according to the integration control that the error signal adjusts integrator
Number Ki, Ki=Kp/Ax, export integral control signal, wherein Ax is that the stator winding temperature of permanent magnet synchronous motor is in j-th
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 are received using power drive unit, exported correspondingly sized
Driving voltage；
Step F, permanent magnet synchronous motor receives the driving voltage, the operation of rotor is controlled, to adjust to rotor-position
Control.
Preferably, in the step D, the equivalent servo inertia parameter Ax is joined by the equivalent servo inertia of permanent magnet synchronous motor
Number identifying system is identified that the identifying system includes:
First stator voltage control unit, is used to generate the first control signal of stator voltage；
First power drive unit, input terminal is connect 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 driving voltage of corresponding size；
Second stator voltage control unit, is used to generate the second control signal of stator voltage；
Second power drive unit, input terminal is connect 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 driving voltage of corresponding size；
Permanent magnet synchronous motor, the output that power input passes through the first switching switch and first power drive unit
End connection is connect by the second switching switch with the output end of second power drive unit, the permanent magnet synchronous motor
Stator receives first driving voltage or the second driving voltage；
Rotor-position sensor is debugged, is used to measure the rotor position information of permanent magnet synchronous motor；
Temperature measuring equipment is used to measure the temperature of the permanent-magnetic synchronous motor stator winding；And
Register instrument, input terminal 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 change with time process for recording measured data；
The recognition methods of the identifying system the following steps are included:
Step 1: permanent-magnetic synchronous motor rotor is positioned at permanent magnet synchronous motor A phase winding axial location；Temperature measuring equipment is real
When acquire 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, closure the second switching switch 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 second power drive unit receives the second control signal
The stator winding of the second driving voltage of the normal number L, the permanent magnet synchronous motor receives second driving voltage, by institute
State stator winding heating；
Step 4: when the temperature of the stator winding is more than the median of j-th of temperature range, described the is disconnected
Two switching switch, be closed it is described first switching switch, use the first stator voltage control unit output stator α shaft voltage be 0, determine
Sub- β shaft voltage be a negative constant-| M | first control signal, wherein j 1,2,3 ...；
Step 5: first power drive unit receive output stator α shaft voltage after the first control signal be 0,
Stator β shaft voltage is a negative constant-| M | the first driving voltage, the stator winding of the permanent magnet synchronous motor receives described the
One driving voltage, driving rotor movement, generates rotor position information；
Step 6: using the rotor position information of debugging rotor-position sensor real-time measurement permanent magnet synchronous motor；
Step 7: register instrument records the first control signal respectively and the rotor position information changes over time
Process, and the curve graph of the rotor position information, stator β shaft voltage and time relationship is established respectively in coordinate system, wherein when
Between be abscissa, rotor position information and stator β shaft voltage are ordinate；
Step 8: reading the stable state amplitude C of rotor position information curve in a coordinate system, crosses the stable state amplitude C and make in parallel
In the straight line of time shaft；
Step 9: by the amplitude of stator β shaft voltage | M | divided by amplitude C, obtain the electomechanical response of the permanent magnet synchronous motor
Parameter K；
Step 10: cross origin to rotor position information curve make tangent line and with straight line intersection described in the step 8 in
Point of intersection S, excessively point of intersection S are made downwards vertical line and are 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, permanent magnet 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, the survey of equivalent servo inertia parameter Ax is carried out in jth+1 temperature range
Amount, until all measurement finishes by the corresponding equivalent servo inertia parameter Ax of each temperature range.
Preferably, the voltage rating of the power drive unit is greater than the voltage rating of the permanent magnet synchronous motor.
Preferably, the rated current of the power drive unit is greater than the rated current of the permanent magnet synchronous motor.
Preferably, in the step D, the initial value of the integral control signal is 0.
Preferably, the second stator voltage control unit described in step B output threephase stator voltage magnitude L and it is described forever
The rated voltage amplitude of magnetic-synchro motor is equal.
Preferably, stator voltage control unit described in step D output stator β shaft voltage amplitude | M | with it is described forever
The rated voltage amplitude of magnetic-synchro motor is equal.
Preferably, the temperature range according to locating for the stator winding of permanent magnet synchronous motor selects corresponding at such a temperature
The equivalent servo inertia parameter Ax is determined according to the equivalent servo inertia parameter Ax for controlling the permanent magnet synchronous motor
The control parameter of the controller of operating status.
Preferably, it is same to be greater than the permanent magnetism for the voltage rating of first power drive unit and the second power drive unit
The rated current of the voltage rating of step motor, first power drive unit and the second power drive unit is greater than the permanent magnetism
The rated current of synchronous motor.
Preferably, the first switching switch and the second switching switch interlock setting, the first switching switch and second
Switching switch cannot be closed in synchronization.
The present invention is include at least the following beneficial effects:
1, by under different stator winding temperatures, quantitative judge is carried out to the parameter of permanent magnet synchronous motor, is obtained pair
Electomechanical response parameter K and equivalent servo inertia parameter Ai when motor rotor position controls set for the control of permanent magnet synchronous motor
Meter and debugging save energy and time, improve the control performance to permanent magnet synchronous motor under different stator winding temperatures,
And permanent magnet synchronous motor is made to obtain good static properties and dynamic property, it realizes to the accurate of permanent magnet synchronous motor
Control；
2, the present invention realizes the adjust automatically of rotor-position, and when regulating and controlling to rotor-position, since PI is controlled
The parameter of device is adjusted according to permanent magnet synchronous motor parameter, and party's forensic science is easy, easy to adjust, time saving and energy saving, mesh
Property it is strong, accuracy is high, can provide accurate foundation for permanent-magnet synchronous motor rotor position control design case and debugging, contain PI control
The blindness of device parameter adjustment processed, and good rotor-position control effect can be obtained.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is the structural block diagram of the adjustment system of permanent-magnet synchronous motor rotor position PI control parameter；
Fig. 2 is the method for adjustment block diagram of rotor-position PI control parameter；
Fig. 3 is the composition block diagram of the equivalent servo inertia parameter identifying system of permanent magnet synchronous motor.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of a other elements or combinations thereof.
The present invention provides a kind of methods of adjustment of permanent-magnet synchronous motor rotor position PI control parameter, as shown in Figure 1, should
The system that method of adjustment uses includes: controller 1, power drive unit 2, permanent magnet synchronous motor 3 and rotor-position sensor 4,
Wherein the controller 1 is made of comparator 111, proportioner 112, integrator 113, the first input end of the comparator 111
Receive rotor-position command signal, the output end of the comparator 111 respectively with the input terminal of the proportioner 112 and the product
The output end of the input terminal connection of point device 113, the output end of the proportioner 112 and the integrator 113 respectively with the function
The input terminal of rate driving unit 2 connects, and the output end of the power drive unit 2 and the power supply of the permanent magnet synchronous motor 3 are defeated
Enter end connection, the rotor-position sensor 4 is arranged on the rotor of the permanent magnet synchronous motor 3, for acquiring the rotor
Actual position signal, and actual rotor position signal is fed back to the second input terminal of the comparator 111.
Wherein, the voltage rating of the power drive unit 120 is greater than the voltage rating of the permanent magnet synchronous motor 130.
The rated current of the power drive unit 120 is greater than the rated current of the permanent magnet synchronous motor 130.
As shown in Fig. 2, the method for adjustment of rotor-position PI control parameter the following steps are included:
Step A, the first input end of Xiang Suoshu comparator 111 gives a rotor-position command signal, which refers to
It enables signal after the conversion of controller 1, is input in power drive unit 2, generates excitation voltage of corresponding size, and be input to
The voltage input end of permanent magnet synchronous motor, excitation permanent magnet synchronous motor 3 operate, and it is same to detect permanent magnetism using rotor-position sensor 4
The rotor-position for walking motor 3, obtains actual rotor position signal；
Step B, using the second input terminal of comparator 111 receive the actual rotor position signal and with it is given described in
Rotor-position command signal is compared, output error signal；
Step C, the error signal is received using proportioner 112, 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 voltage rating of permanent magnet synchronous motor；
Step D, the error signal is received using integrator 113, the integral of integrator 113 is adjusted according to the error signal
Control parameter Ki, Ki=Kp/Ax, export integral control signal, and the initial value of the 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 of temperature range, j=1,2,3 ..., x=1,
2…j；
Step E, power drive unit 2 receives the ratio control signal, integral control signal, exports of corresponding size sharp
Voltage is encouraged, the input voltage of permanent magnet synchronous motor 3 is adjusted；
Step F, permanent magnet synchronous motor 3 receives the driving voltage, controls the operation of rotor, to adjust to rotor-position
Control is realized to the closed-loop control of the rotor-position of permanent magnet synchronous motor 3, improves control precision.
In above-mentioned technical proposal, the voltage rating of the power drive unit is greater than the specified electricity of the permanent magnet synchronous motor
Pressure, the rated current of the power drive unit are greater than the rated current of the permanent magnet synchronous motor.
In order to identify equivalent servo inertia parameter Ax, the present invention provides a kind of equivalent servo inertia ginsengs of permanent magnet synchronous motor
Number identifying system, as shown in Figure 3, comprising: the first stator voltage control unit 100, the first power drive unit 200, first cut
Change switch 810, permanent magnet 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 to generate the first control signal of stator winding voltage, the first function
200 input terminal of rate driving unit is connect 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 driving voltage of corresponding size；Second stator electricity
Pressure control unit 600 is used to generate the second control signal of stator winding voltage, 700 input terminal of the second power drive unit 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
Second control signal, and export the second driving voltage of corresponding size.
3 power input of permanent magnet synchronous motor passes through the first switching switch 810 and first power drive unit 200
Output end connection is connect 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 so as to stator winding excitation, driving rotor is produced
Raw rotor position information, wherein the first switching switch 810 and the second switching switch 820 interlock setting, that is, described
First switching switch 810 and the second switching switch 820 cannot be closed in synchronization, so that the first power drive unit
200 and second power drive unit 700 can only to have one can be stator winding excitation.
Debugging rotor-position sensor 400 is used to measure the rotor position information of permanent magnet synchronous motor 3, the temperature measuring equipment
900 are arranged on the casing of the permanent magnet synchronous motor 3, for measuring the temperature of 3 stator winding of permanent magnet synchronous motor；This
In embodiment, the temperature measuring equipment 900 is infrared temperature probe, and it is suitable that other embodiments can be selected according to actual conditions
Temperature sensor, the light-emitting window of the infrared temperature probe is towards the stator winding, to improve measurement stator winding temperature
Accuracy.
500 input terminal of register instrument respectively with the first stator voltage control unit 100, debugging rotor-position sensor
400 and temperature measuring equipment 900 output end connection, the register instrument 500 changes with time for recording measured data
Process, in the present embodiment, register instrument 500 receives the first control signal, fixed of the rotor position information, stator winding voltage
The second control signal of sub- winding voltage and the temperature of stator winding, and record respectively the rotor position information, stator around
The temperature and time relationship of the group first control signal of voltage, the second control signal of stator winding voltage and stator winding
Curve graph.
In above-mentioned technical proposal, the voltage rating of first power drive unit 200 and the second power drive unit 700
Greater than the voltage rating of the permanent magnet synchronous motor 3；First power drive unit 200 and the second power drive unit 700
Rated current be greater than the permanent magnet synchronous motor 3 rated current.
The above-mentioned equivalent servo inertia parameter recognition methods of permanent magnet synchronous motor, comprising the following steps:
Step 1: by the rotor fixed position of permanent magnet synchronous motor 3 in permanent magnet synchronous motor A phase winding axial location, thermometric dress
900 temperature datas for acquiring the stator winding in real time are set, and the temperature data is sent in register instrument 500, it 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.
It is more accurate to imitate servo inertia parameter Ax, can divide temperature range as the case may be, in 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, closure the second switching switch 820 is controlled single using the second stator voltage
Member 600 exports the second control signal that threephase stator voltage magnitude is respectively a normal number L, in 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 permanent magnet synchronous motor 3；
Step 3: second power drive unit 700 exports three-phase voltage amplitude after receiving the second control signal
It is respectively the second driving voltage of the normal number L, the stator winding of the permanent magnet synchronous motor 3 receives the second driving electricity
Pressure, the stator winding is heated up, temperature data is fed back to record by the temperature of 900 real-time measurement stator winding of temperature measuring equipment
In instrument 500；
Step 4: with the raising of positioning winding temperature, when the temperature of the stator winding is more than j-th of humidity province
Between median when, wherein j 1,2,3 ... 22, for example the temperature of stator winding has been more than in the 8th temperature range
Between when being worth, that is, when being more than 7.5 DEG C, disconnect the second switching switch 820, be closed described first and switch switch 810, adopt
With 100 output stator α shaft voltage of the first stator voltage control unit be 0, stator β shaft voltage is a negative constant-| M | first control
Signal processed；
Step 5: output stator α shaft voltage is after first power drive unit 200 receives the first control signal
0, stator β shaft voltage is 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 voltage of the output of 100 outputs | M | it is equal with the rated voltage amplitude of the permanent magnet synchronous motor 3, it is described
The stator winding of permanent magnet synchronous motor 3 receives first driving voltage, generates rotor position information；
Step 6: using the rotor position information of debugging 400 real-time measurement permanent magnet synchronous motor 3 of rotor-position sensor,
And it is sent in register instrument 500；
Step 7: register instrument 500 records the first control signal respectively and the rotor position information becomes at any time
The process of change, and the curve graph of the rotor position information, stator β shaft voltage and time relationship is established respectively in coordinate system,
In, the time is abscissa, and rotor position information and stator β shaft voltage are ordinate；
Step 8: reading the stable state amplitude C of rotor position information curve in a coordinate system, crosses the stable state amplitude C and make in parallel
In the straight line of time shaft；
Step 9: by the amplitude of stator β shaft voltage | M | divided by amplitude C, the electromechanics for obtaining the permanent magnet synchronous motor 3 is rung
Answer parameter K；
Step 10: cross origin to rotor position information curve make tangent line and with straight line intersection described in the step 8 in
Point of intersection S, excessively point of intersection S are made downwards vertical line and are 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 permanent magnet synchronous motor 3 is obtained in stator winding
Temperature is in equivalent servo inertia parameter Ax, x=1,2 ... the j of j-th of temperature range, in the present embodiment, that is, has measured
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 is more than jth+1
The median of temperature range carries out the measurement of equivalent servo inertia parameter Ax in jth+1 temperature range, that is,
Equivalent servo inertia parameter Ax, x=9 are measured in nine temperature ranges, until equivalent watching each temperature range is corresponding
Taking inertia parameter Ax, all measurement finishes, and obtains the corresponding equivalent servo inertia parameter Ax of each temperature range.
Then, it according to the equivalent servo inertia parameter Ax corresponding at each temperature, is determined with step A-F for controlling
The control parameter of the controller 1 of the permanent magnet synchronous motor operating status is made, that is, determines the ratio control signal of controller 1
And integral control signal, it is corresponding to set several according to normal temperature section locating for the stator winding of permanent magnet synchronous motor 3
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
When magnetic-synchro motor carrying out practically, the temperature of 900 real-time measurement stator winding of temperature measuring equipment, the temperature according to locating for stator winding
Section receives the corresponding ratio control of the temperature range using power drive unit 2 to select to switch corresponding controller 1
Signal processed, integral control signal export driving voltage of corresponding size, adjust the input voltage of permanent magnet 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 precision.
The work of adjustment system used in the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter of the invention
Make process are as follows: comparator 111 will input rotor-position command signal and the rotor-position sent from rotor-position sensor 4 is fed back
Signal is compared, and generates rotor position error signal；Proportioner 112, which controls rotor position error signal multiplied by ratio, joins
Number；Integrator 113 carries out integral to rotor position error signal and multiplied by integration control parameter；Power drive unit 2 is according to control
The control signal that device 1 processed exports, provides energy appropriate to permanent magnet synchronous motor 3 in due course, makes permanent magnet synchronous motor 3 according to rotor
Position command signal reaches required rotor-position；The object to be controlled of permanent magnet synchronous motor 3 and output rotor position
Set the reception signal of output signal and rotor-position sensor 4；The rotor of the detection permanent magnet synchronous motor 3 of rotor-position sensor 4
Position is sent to comparator 111 as rotor-position feedback signal.
The present invention is by carrying out quantitative judge to the parameter of permanent magnet synchronous motor, obtaining under different stator winding temperatures
Electomechanical response parameter K and equivalent servo inertia parameter Ai when controlling motor rotor position are the control of permanent magnet synchronous motor
It sets up meter and debugging saves energy and time, improve the controlling to permanent magnet synchronous motor under different stator winding temperatures
Can, and permanent magnet synchronous motor is made to obtain good static properties and dynamic property, it realizes to permanent magnet synchronous motor
Accurate control.
Meanwhile the present invention realizes the adjust automatically of rotor-position, and when regulating and controlling to rotor-position, since PI is controlled
The parameter of device processed is adjusted according to permanent magnet synchronous motor parameter, and party's forensic science is easy, easy to adjust, time saving and energy saving,
Purpose is strong, and accuracy is high, can provide accurate foundation for permanent-magnet synchronous motor rotor position control design case and debugging, 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 and carries out rotor-position control to motor, improves control
Performance.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (9)
1. a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameter, the system which uses include:
Controller (1), power drive unit (2), permanent magnet synchronous motor (3) and rotor-position sensor (4), wherein the controller
(1) it is made of comparator (111), proportioner (112), integrator (113), the first input end of the comparator (111) receives
Rotor-position command signal, the output end of the comparator (111) respectively with the input terminal of the proportioner (112) and the product
The output end of the input terminal connection of point device (113), the output end of the proportioner (112) and the integrator (113) respectively with
The input terminal of the power drive unit (2) connects, the output end and the permanent magnet synchronous motor of the power drive unit (2)
(3) power input connection, the rotor-position sensor (4) are arranged on the rotor of the permanent magnet synchronous motor (3), use
In the actual position signal of the acquisition rotor, and actual rotor position signal is fed back to the second of the comparator (111)
Input terminal；It is characterized in that, the method for adjustment of rotor-position PI control parameter the following steps are included:
Step A, the first input end of Xiang Suoshu comparator (111) gives a rotor-position command signal, motivates permanent magnet synchronous electric
Machine (3) operating obtains actual rotor position using the rotor-position of rotor-position sensor (4) detection permanent magnet synchronous motor (3)
Signal；
Step B, using the second input terminal of comparator (111) receive the actual rotor position signal and with it is given described in turn
Sub- position command signal is compared, output error signal；
Step C, the error signal is received using proportioner (112), 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 voltage rating of permanent magnet synchronous motor；
Step D, the error signal is received using integrator (113), the integral of integrator (113) is adjusted according to the error signal
Control parameter Ki, Ki=Kp/Ax export integral control signal, wherein Ax is that the stator winding temperature of permanent magnet synchronous motor is in
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 are received using power drive unit (2), exported of corresponding size
Driving voltage；
Step F, permanent magnet synchronous motor (3) receives the driving voltage, the operation of rotor is controlled, to adjust to rotor-position
Control；
Wherein, in the step D, the equivalent servo inertia parameter Ax is identified by the equivalent servo inertia parameter of permanent magnet synchronous motor
System is identified that the identifying system includes:
First stator voltage control unit, is used to generate the first control signal of stator voltage；
First power drive unit, input terminal are connect 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 driving voltage of corresponding size；
Second stator voltage control unit, is used to generate the second control signal of stator voltage；
Second power drive unit, input terminal are connect 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 driving voltage of corresponding size；
Permanent magnet synchronous motor, power input are connected by the output end of the first switching switch and first power drive unit
It connects, connect by the second switching switch with the output end of second power drive unit, the stator of the permanent magnet synchronous motor
Receive first driving voltage or the second driving voltage；
Rotor-position sensor is debugged, is used to measure the rotor position information of permanent magnet synchronous motor；
Temperature measuring equipment is used to measure the temperature of the permanent-magnetic synchronous motor stator winding；And
Register instrument, input terminal respectively with the first stator voltage control unit, debugging rotor-position sensor and survey
The output end of warm device connects, and the register instrument changes with time process for recording measured data；
The recognition methods of the identifying system the following steps are included:
Step 1: permanent-magnetic synchronous motor rotor is positioned at permanent magnet synchronous motor A phase winding axial location；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
It is divided into several temperature ranges greatly；
Step 2: disconnecting the first switching switch, closure the second switching switch exports three-phase using the second 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 described after second power drive unit receives the second control signal
The stator winding of the second driving voltage of normal number L, the permanent magnet synchronous motor receives second driving voltage, will be described fixed
Sub- winding heating；
Step 4: disconnecting described second when the temperature of the stator winding is more than the median of j-th of temperature range and cutting
Switch is changed, the first switching switch is closed, uses the first stator voltage control unit output stator α shaft voltage for 0, stator β
Shaft voltage be a negative constant-| M | first control signal, wherein j 1,2,3 ...；
Step 5: output stator α shaft voltage is 0, stator β after first power drive unit receives the first control signal
Shaft voltage is a negative constant-| M | the first driving voltage, the stator winding of the permanent magnet synchronous motor receives first driving
Voltage, driving rotor movement, generates rotor position information；
Step 6: using the rotor position information of debugging rotor-position sensor real-time measurement permanent magnet synchronous motor；
Step 7: the mistake that register instrument records the first control signal respectively and the rotor position information changes over time
Journey, and the curve graph of the rotor position information, stator β shaft voltage and time relationship is established respectively in coordinate system, wherein the time
For abscissa, rotor position information and stator β shaft voltage are ordinate；
Step 8: the stable state amplitude C of rotor position information curve is read in a coordinate system, when stable state amplitude C is parallel to excessively
Between axis straight line；
Step 9: by the amplitude of stator β shaft voltage | M | divided by amplitude C, obtain the electomechanical response parameter of the permanent magnet synchronous motor
K；
Step 10: crossing origin makees tangent line and with straight line intersection described in the step 8 in intersection point to rotor position information curve
S, excessively point of intersection S make downwards vertical line and intersect 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, permanent magnet 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, the measurement of equivalent servo inertia parameter Ax is carried out in jth+1 temperature range, directly
To by the corresponding equivalent servo inertia parameter Ax of each temperature range, all measurement is finished.
2. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as described in claim 1, which is characterized in that institute
The voltage rating for stating power drive unit is greater than the voltage rating of the permanent magnet synchronous motor.
3. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as claimed in claim 2, which is characterized in that institute
The rated current for stating power drive unit is greater than the rated current of the permanent magnet synchronous motor.
4. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as claimed in claim 3, which is characterized in that institute
It states in step D, the initial value of the integral control signal is 0.
5. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as claimed in claim 4, which is characterized in that step
The threephase stator voltage magnitude L of the output of second stator voltage control unit described in rapid two is specified with the permanent magnet synchronous motor
Voltage magnitude is equal.
6. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as claimed in claim 5, which is characterized in that step
The amplitude of the stator β shaft voltage of stator voltage control unit output described in rapid D | M | the specified electricity with the permanent magnet synchronous motor
Pressure amplitude value is equal.
7. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as claimed in claim 6, which is characterized in that root
Temperature range locating for stator winding according to permanent magnet synchronous motor, the corresponding equivalent servo inertia is joined at such a temperature for selection
Number Ax, the control for controlling the permanent magnet synchronous motor operating status is determined according to the equivalent servo inertia parameter Ax
The control parameter of device (1).
8. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter as described in claim 1, which is characterized in that institute
The voltage rating for stating the first power drive unit and the second power drive unit is greater than the voltage rating of the permanent magnet synchronous motor,
The rated current of first power drive unit and the second power drive unit is greater than the specified electricity of the permanent magnet synchronous motor
Stream.
9. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameter according to claim 1, which is characterized in that
The first switching switch and the second switching switch interlock setting, the first switching switch and the second switching switch are in same a period of time
Quarter cannot be closed at.
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| CN113258849B (en) * | 2021-06-18 | 2022-05-10 | 国华(青岛)智能装备有限公司 | Intelligent identification method for control parameters of permanent magnet synchronous motor |
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| CN101393425A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator speed by PID |
| CN101393423A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator angular displacement by PID |
| CN103414418A (en) * | 2013-07-26 | 2013-11-27 | 江苏科技大学 | Current PI control system and method of direct current motor |
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| JP2003209989A (en) * | 2002-01-10 | 2003-07-25 | Toshiba Corp | Method for detecting rotational position of brushless dc motor, rotational position detector and refrigerator |
| JP6497584B2 (en) * | 2015-04-02 | 2019-04-10 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101393425A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator speed by PID |
| CN101393423A (en) * | 2008-10-31 | 2009-03-25 | 江苏科技大学 | Parameter regulation system and method for controlling DC generator angular displacement by PID |
| CN103414418A (en) * | 2013-07-26 | 2013-11-27 | 江苏科技大学 | Current PI control system and method of direct current motor |
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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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