CN107070320B - A kind of position-sensor-free starting method of permanent magnet synchronous motor - Google Patents
A kind of position-sensor-free starting method of permanent magnet synchronous motor Download PDFInfo
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- CN107070320B CN107070320B CN201611044032.7A CN201611044032A CN107070320B CN 107070320 B CN107070320 B CN 107070320B CN 201611044032 A CN201611044032 A CN 201611044032A CN 107070320 B CN107070320 B CN 107070320B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of position-sensor-free starting method of permanent magnet synchronous motor, the square wave current signal of frequency linearity variation is generated first, the phase current signal of external permanent magnet synchronous motor output is acquired simultaneously, square wave current signal is using 360 degree of electrical angles as the cyclical signal in period, including A phase, B phase, C phase, A phase, B phase, C phase is both turned on 120 ° of electrical angles and each cycle any time A phase in the positive and negative half period of each cycle, B phase, only have two to be conducted in C phase, and other phase shutdown, then to phase current signal, square wave current signal carries out proportional integration operation, power linear amplification is carried out after obtaining operation result, finally the amplified signal of power linear is sent to external permanent magnet synchronous motor, complete motor driven.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control technology, especially a kind of position-sensor-free gyro permanent magnet synchronous motor
Starting method.
Background technique
Because of volumetric constraint, gyro can not installation site sensor, so gyro magneto is all made of no sensing substantially
Device control method." research based on DSP and ML4428 brushless DC gyro motor phase-lock speed control " (Chinese inertial technology
Report the 4th phase in the August, 2005 of volume 13) brshless DC motor is driven using pulsewidth modulation (PWM) method, implementation
Simply.However the stator of gyro magneto mostly uses greatly non iron-core structure, so stator winding inductance would generally become very little,
When using PWM drive control, " inhibition of brshless DC motor torque ripple " (Electric Machines and Control's the 3rd phase of volume 12
In May, 2008) point out that this method substantially has torque ripple caused by commutation, this will affect turning for motor to a certain extent
Fast stability, thus be difficult to meet requirement of the high accuracy gyroscope to the high revolving speed stationarity of motor.
According to motor working principle, the optimal drive mode of permanent magnet synchronous motor is sine wave drive.In industrial application,
The implementation overwhelming majority of permanent magnet synchronous motor sine wave drive uses space vector pulse width modulation or sinusoidal pulse width modulation
Equal digital methods, this method advantage is that control realizes simple, the disadvantage is that current harmonics can be generated, so as to cause torque ripple, shadow
Speed stability is rung, thus is difficult to meet the requirement high to speed stability of this high-accuracy instrument of gyro, so using
Sine wave Linear Driving scheme.
For magneto sensorless strategy, existing frequently-used and comparative maturity method is Based on Back-EMF Method, however in electricity
When machine revolving speed is lower, back-emf signal is very weak and is difficult to be utilized, so the method accelerated frequently with open loop accelerates to motor
Then certain revolving speed cuts closed-loop control using back-emf signal.For permanent magnet synchronous motor sine wave drive, " back-emf is calculated
The permanent magnet synchronous motor position-sensor-free self-starting process of method " (Electric Machines and Control's in October, 2011 the 10th phase of volume 15)
" permanent magnet synchronous motor sensorless strategy and its starting strategy " (Electric Machines and Control's 2015 10 the 10th phase of volume 19
Month) in the electric motor starting stage it has been all made of drive control method identical with the synchronous operation stage, i.e. space vector pulse width modulation.
It is generally large in starting stage current of electric but for sine wave Linear Driving, so power amplification triode is because of tube voltage drop
And the loss generated is larger, and then causes triode fever serious.It has had not yet to see for position-sensor-free permanent-magnet synchronous
Motor sine wave Linear Control takes steps to reduce the method for driving tube power loss in starting stage.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of position-sensor-free permanent magnetism
Synchronous motor starting method solves in existing permanent magnet synchronous motor sine wave linear drive technology in starting stage using just
String waveshape frequency variation signal bring power tube generates heat serious problem, can be substantially reduced the power damage of power amplification triode
Consumption, and then the fever of triode is reduced, extend driving tube lifetime.
The technical solution of the invention is as follows: a kind of position-sensor-free starting method of permanent magnet synchronous motor, including as follows
Step:
(1) square wave current signal of frequency linearity variation is generated, while acquiring the phase electricity of external permanent magnet synchronous motor output
Flow signal；The square wave current signal is including the square wave current signal A using 360 degree of electrical angles as the cyclical signal in period
Phase, square wave current signal B phase, square wave current signal C phase, square wave current signal A phase, square wave current signal B phase, square wave current letter
Number C phase is both turned on 120 ° of electrical angles and each cycle any time square wave current signal A phase, side in the positive and negative half period of each cycle
Only have two to be conducted in signal wave current B phase, square wave current signal C phase, and an other phase turns off；The square wave current letter
Number A connects the A phase winding of external permanent magnet synchronous motor, and square wave current signal B connects the B phase winding of external permanent magnet synchronous motor, side
Signal wave current C connects the C phase winding of external permanent magnet synchronous motor, and when square wave current signal A phase is not 0, A phase winding is led
It is logical, when square wave current signal B phase is not 0, the conducting of B phase winding, when square wave current signal C phase is not 0, the conducting of C phase winding；
(2) proportional integration operation is carried out to phase current signal, square wave current signal, carries out power line after obtaining operation result
Property amplification；
(3) the amplified signal of power linear is sent to external permanent magnet synchronous motor, completes motor driven.
It is same that the square wave current signal A phase, square wave current signal B phase control external permanent magnetism in 30 ° to 90 ° electrical angles
Walk A phase winding, the conducting of B phase winding of motor, square wave current signal A phase, square wave current signal C in 90 ° to 150 ° electrical angles
The A phase winding of permanent magnet synchronous motor, the conducting of C phase winding, the square wave current signal B in 150 ° to 210 ° electrical angles outside phase control
The B phase winding of permanent magnet synchronous motor, the conducting of C phase winding outside phase, square wave current signal C phase control, in 210 ° to 270 ° electric angles
Square wave current signal B phase, the B phase winding of square wave current signal A phase control outside permanent magnet synchronous motor, the conducting of A phase winding in spending,
In 270 ° to 330 ° electrical angles square wave current signal C phase, outside square wave current signal A phase control permanent magnet synchronous motor C phase
Winding, the conducting of A phase winding, in 330 ° to 30 ° electrical angles square wave current signal C phase, outside square wave current signal B phase control forever
The C phase winding of magnetic-synchro motor, the conducting of B phase winding.
The advantages of the present invention over the prior art are that:
(1) starting method of the present invention compared with prior art, can be shown in permanent magnet synchronous motor sine wave Linear Driving
The power loss for reducing power amplification triode is write, and then reduces the fever of triode, extends driving tube lifetime；
(2) starting method of the present invention compared with prior art, is not required to change sine wave Linear Driving hardware circuit, it is only necessary to
The square wave current signal of software realization frequency linearity variation, it is convenient, at low cost to have the advantages that realize.
Detailed description of the invention
Fig. 1 is a kind of corresponding composite structural diagram of position-sensor-free starting method of permanent magnet synchronous motor of the present invention；
Fig. 2 is square wave current signal waveform in a kind of position-sensor-free starting method of permanent magnet synchronous motor of the present invention；
Fig. 3 is that square wave drives three-phase six-beat work in a kind of position-sensor-free starting method of permanent magnet synchronous motor of the present invention
Mode commutation precedence diagram；
Specific embodiment
In view of the deficiencies of the prior art, the present invention proposes a kind of position-sensor-free starting method of permanent magnet synchronous motor, solutions
It has determined and has used sine wave frequency variation signal band in starting stage in existing permanent magnet synchronous motor sine wave linear drive technology
The power tube come generates heat serious problem, can be substantially reduced the power loss of power amplification triode, and then reduce triode
Fever, extend driving tube lifetime, the method for the present invention is described in detail with reference to the accompanying drawing.
It is as shown in Figure 1 a kind of corresponding composed structure of position-sensor-free starting method of permanent magnet synchronous motor of the present invention
Figure, the corresponding control system of the method for the present invention include electric current loop, permanent magnet synchronous motor, and electric current loop includes that frequency conversion square-wave signal generates
Module, current controller, power linear amplifying circuit and current detection circuit.
Frequency conversion square-wave signal generation module generates the square wave current signal of frequency linearity variation, as the given of electric current loop
Signal, wherein given frequency variation signal module generates the digital given unit amount of the square-wave signal of frequency linearity variation, and in each conducting
To the digital quantity that A phase, B phase, C phase electric current is constant, the digital given unit amount warp of A phase, B phase, C phase electric current in the time of 60 degree of electrical angles
The square-wave signal that frequency linearity changes is generated after crossing digital-to-analogue conversion.
Current detection circuit acquires the phase current signal of external gyro permanent magnet synchronous motor output and send to current control
Device.
Current controller, to the square wave for the frequency linearity variation that phase current signal, frequency conversion square-wave signal generation module generate
Current signal carries out proportional integration operation, obtains operation result and send to power linear amplifying circuit.
Power linear amplifying circuit, it is same to external gyro permanent magnetism to being sent after the progress power amplification of current controller operation result
Motor is walked, drive and control of electric machine is completed.
It is illustrated in figure 2 square wave current signal waveform in a kind of position-sensor-free starting method of permanent magnet synchronous motor,
Motor stator three-phase current is both turned on 120 degree of electrical angles in positive and negative half period.
It is illustrated in figure 3 square wave driving three-phase six-beat work in a kind of position-sensor-free starting method of permanent magnet synchronous motor
Mode commutation precedence diagram only has two-phase stator winding electrifying stream, i.e., as shown in Fig. 2, according to Fig.2, in every 60 degree of electrical angles
Driven under square wave current waveform, in 30 degree to 90 degree electrical angles A phase, B phase winding conducting, the A in 90 degree to 150 degree electrical angles
Phase, the conducting of C phase winding, B phase, the conducting of C phase winding, the B in 210 degree to 270 degree electrical angles in 150 degree to 210 degree electrical angles
Phase, the conducting of A phase winding, C phase, the conducting of A phase winding, the C in 330 degree to 30 degree electrical angles in 270 degree to 330 degree electrical angles
Phase, the conducting of B phase winding, wherein the three-phase that square wave current signal is separately connected external permanent magnet synchronous motor in the method for the present invention is determined
Sub- winding, threephase stator winding are denoted as A phase winding, B phase winding, C phase winding respectively.
When A phase, B are conducted, the positive half period of A phase is connected, and the negative half-cycle conducting of B phase, C phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of A phase current makes the output positive value of digital analog converter, B phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of C phase current makes digital-to-analogue
The output of converter is zero.
When A phase, C are conducted, the positive half period of A phase is connected, and the negative half-cycle conducting of C phase, B phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of A phase current makes the output positive value of digital analog converter, C phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of B phase current makes digital-to-analogue
The output of converter is zero.
When B phase, C are conducted, the positive half period of B phase is connected, and the negative half-cycle conducting of C phase, A phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of B phase current makes the output positive value of digital analog converter, C phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of A phase current makes digital-to-analogue
The output of converter is zero.
When B phase, A are conducted, the positive half period of B phase is connected, and the negative half-cycle conducting of A phase, C phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of B phase current makes the output positive value of digital analog converter, A phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of C phase current makes digital-to-analogue
The output of converter is zero.
When C phase, A are conducted, the positive half period of C phase is connected, and the negative half-cycle conducting of A phase, B phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of C phase current makes the output positive value of digital analog converter, A phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of B phase current makes digital-to-analogue
The output of converter is zero.
When C phase, B are conducted, the positive half period of C phase is connected, and the negative half-cycle conducting of B phase, A phase turns off, in frequency conversion square wave
In signal generator module, the constant digital amount I1 that is given as of C phase current makes the output positive value of digital analog converter, B phase current
Being given as constant digital amount I2 makes the output negative value of analog-digital converter, and the constant digital amount I3 that is given as of A phase current makes digital-to-analogue
The output of converter is zero
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (2)
1. a kind of position-sensor-free starting method of permanent magnet synchronous motor, it is characterised in that include the following steps:
(1) square wave current signal of frequency linearity variation is generated, while acquiring the phase current letter of external permanent magnet synchronous motor output
Number；The square wave current signal is including square wave current signal A phase, side using 360 degree of electrical angles as the cyclical signal in period
Signal wave current B phase, square wave current signal C phase, square wave current signal A phase, square wave current signal B phase, square wave current signal C phase
120 ° of electrical angles and each cycle any time square wave current signal A phase, square wave electricity are both turned in the positive and negative half period of each cycle
Only have two to be conducted in stream signal B phase, square wave current signal C phase, and an other phase turns off；The square wave current signal A
Connect the A phase winding of external permanent magnet synchronous motor, and square wave current signal B connects the B phase winding of external permanent magnet synchronous motor, square wave
Current signal C connects the C phase winding of external permanent magnet synchronous motor, when square wave current signal A phase is not 0, the conducting of A phase winding,
When square wave current signal B phase is not 0, the conducting of B phase winding, when square wave current signal C phase is not 0, the conducting of C phase winding；
(2) proportional integration operation is carried out to phase current signal, square wave current signal, progress power linear is put after obtaining operation result
Greatly；
(3) the amplified signal of power linear is sent to external permanent magnet synchronous motor, completes motor driven.
2. a kind of position-sensor-free starting method of permanent magnet synchronous motor according to claim 1, it is characterised in that: described
Square wave current signal A phase, square wave current signal B phase the A phase of external permanent magnet synchronous motor is controlled in 30 ° to 90 ° electrical angles
Winding, the conducting of B phase winding, in 90 ° to 150 ° electrical angles square wave current signal A phase, outside square wave current signal C phase control forever
The A phase winding of magnetic-synchro motor, the conducting of C phase winding, square wave current signal B phase, square wave current in 150 ° to 210 ° electrical angles
The B phase winding of permanent magnet synchronous motor, the conducting of C phase winding, the square wave current in 210 ° to 270 ° electrical angles outside signal C phase control
The B phase winding of permanent magnet synchronous motor, the conducting of A phase winding outside signal B phase, square wave current signal A phase control, at 270 ° to 330 °
Square wave current signal C phase in electrical angle, outside square wave current signal A phase control permanent magnet synchronous motor C phase winding, A phase winding
Conducting, square wave current signal C phase, permanent magnet synchronous motor outside square wave current signal B phase control in 330 ° to 30 ° electrical angles
C phase winding, the conducting of B phase winding.
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| CN201611044032.7A CN107070320B (en) | 2016-11-21 | 2016-11-21 | A kind of position-sensor-free starting method of permanent magnet synchronous motor |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6122786A (en) * | 1984-07-11 | 1986-01-31 | Mitsubishi Heavy Ind Ltd | Motor driving method |
| JPH02159993A (en) * | 1988-12-12 | 1990-06-20 | Fuji Electric Co Ltd | Reference current waveform generator of synchronous ac servo-motor driving apparatus |
| JPH10337093A (en) * | 1997-05-28 | 1998-12-18 | Meidensha Corp | Rectangular voltage drive system of rotating electric machine |
| CN202444458U (en) * | 2012-03-05 | 2012-09-19 | 珠海格力电器股份有限公司 | Motor start control device |
| CN102938628A (en) * | 2011-09-06 | 2013-02-20 | 北京理工大学 | Method for positioning permanent magnet synchronous motor rotor initial position |
-
2016
- 2016-11-21 CN CN201611044032.7A patent/CN107070320B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6122786A (en) * | 1984-07-11 | 1986-01-31 | Mitsubishi Heavy Ind Ltd | Motor driving method |
| JPH02159993A (en) * | 1988-12-12 | 1990-06-20 | Fuji Electric Co Ltd | Reference current waveform generator of synchronous ac servo-motor driving apparatus |
| JPH10337093A (en) * | 1997-05-28 | 1998-12-18 | Meidensha Corp | Rectangular voltage drive system of rotating electric machine |
| CN102938628A (en) * | 2011-09-06 | 2013-02-20 | 北京理工大学 | Method for positioning permanent magnet synchronous motor rotor initial position |
| CN202444458U (en) * | 2012-03-05 | 2012-09-19 | 珠海格力电器股份有限公司 | Motor start control device |
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| CN107070320A (en) | 2017-08-18 |
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