CN107134963B - The rotor-position method for tracing of permanent magnet synchronous motor - Google Patents
The rotor-position method for tracing of permanent magnet synchronous motor Download PDFInfo
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- CN107134963B CN107134963B CN201710423817.3A CN201710423817A CN107134963B CN 107134963 B CN107134963 B CN 107134963B CN 201710423817 A CN201710423817 A CN 201710423817A CN 107134963 B CN107134963 B CN 107134963B
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- permanent magnet
- magnet synchronous
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- loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The invention discloses a kind of rotor-position method for tracing of permanent magnet synchronous motor, are related to the control method technical field of motor.Described method includes following steps：Zero current is carried out to permanent magnet synchronous motor to control to obtain stator voltage and phase, then carrying out low speed tracking, high speed tracking and linear switching to permanent magnet synchronous motor obtains rotating speed and the position of motor.The method detection is accurate, can realize the position tracking compared with low speed, is not necessarily to additional hardware circuit, compares hardware implementation method, and this method saves the hardware circuit of the frequency for detecting current of electric or counter electromotive force.
Description
Technical field
The present invention relates to the control method technical fields of motor more particularly to a kind of rotor-position of permanent magnet synchronous motor to chase after
Track method.
Background technology
When rotating speed tracking function is in operating status because of inertia etc. for permanent magnet synchronous motor, without stopping motor from original
The case where motor is started at the speed come.In certain application scenarios, in order to which cost-effective or bad environments lead to permanent magnet synchronous electric
Machine can not install encoder, and motor operation can only use open loop control mode.When such as electric motor starting, motor is in rotary state, nothing
Method obtains the rotating speed of motor by encoder, restarts after needing rotating speed to track.
Invention content
The technical problem to be solved by the present invention is to how to provide it is a kind of can accurately to the position of permanent magnet synchronous motor into
The method of row tracking.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of rotor position of permanent magnet synchronous motor
Set method for tracing, it is characterised in that include the following steps：To permanent magnet synchronous motor carry out zero current control to obtain stator voltage and
Then phase carries out low speed tracking, high speed tracking and linear switching to permanent magnet synchronous motor and obtains rotating speed and the position of motor.
Further technical solution is：Under zero current control, electric current loop is given as zero, and given angle is zero：
If initial time motor is rotating, stator current is generated under back-emf effect；By the adjusting of current closed-loop,
Stator current is reduced to zero, at this time stator voltageEqual and Phase synchronization, can be obtained stator accordingly with counter electromotive force E amplitudes
Voltage magnitude and phase：
ByDetermine the direction of rotation of motor, voltage, magnetic linkage phasor diagram and rotation direction relationship：(a) it rotates forward, (b) inverts, according to
This obtains rotor rotation angle：
Wherein,WithThe respectively voltage of d axis and q axis；WithRespectivelyAxis andThe voltage of axis.
Further technical solution is：Enter low speed track phase when estimated speed is less than certain value, and is not zero,
This stage current closed loop, electric current loop are given as zero,、Output is adjusted through current closed-loop to obtain, and obtains rotor
Position angle be,For the angle of estimation,The period is executed for program；Turn count is obtained by following formula：,For the speed of estimation,For the linkage coefficient of permanent magnet synchronous motor.
Further technical solution is：Enter high speed track phase when estimated speed is higher than preset low speed value, electricity
Closed loop is flowed, electric current loop is given as zero,、Output is adjusted through current closed-loop to obtain, obtained position angle
For：
。
Further technical solution is：Amplitude and phase, rotating speed, the rotation direction for the rotor voltage that location tracking is obtained are made
For the primary condition of normal operation, transition of the location tracking to normal operating condition is completed,Under linear rise to open loop mode
The output that Id closed loops are adjusted,Under linear rise to open loop mode the tracking speed VF than given voltage value.
It is using advantageous effect caused by above-mentioned technical proposal：The method detection is accurate, can realize compared with low speed
Position tracking, be not necessarily to additional hardware circuit, compare hardware implementation method, this method is saved for detecting current of electric or anti-electricity
The hardware circuit of the frequency of kinetic potential.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the relational graph of voltage, magnetic linkage phasor diagram and rotation direction when rotor rotates forward in the method for the embodiment of the present invention；
Fig. 2 is the relational graph of voltage, magnetic linkage phasor diagram and rotation direction when rotor inverts in the method for the embodiment of the present invention；
Fig. 3 is zero current control block diagram in the method for the embodiment of the present invention；
Fig. 4 is the flow chart of the method for the embodiment of the present invention.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Overall, as shown in figure 4, the embodiment of the invention discloses a kind of rotor-position tracking sides of permanent magnet synchronous motor
Method includes the following steps：Zero current is carried out to permanent magnet synchronous motor to control to obtain stator voltage and phase, then to permanent-magnet synchronous
Motor carries out low speed tracking, high speed tracking and linear switching and obtains rotating speed and the position of motor.
Rotor-position tracking mainly will estimate the current speed of rotor and position angle.The estimation of position angle needs to use
To the speed estimated.The stage is controlled in zero current, estimates the rotating speed of rotor.If rotating speed is relatively low, enters low speed and track
Stage carries out the angle of estimation rotor.If rotating speed is higher, enters high speed track phase, detect the angle of rotor.It has detected
Enter linear switch step at rear, normally starts for motor and prepare.
Under zero current control, electric current loop is given as zero, and given angle gives zero：
If initial time motor is rotating, stator current is generated under back-emf effect；By the adjusting of current closed-loop,
Stator current is reduced to zero, at this time stator voltageEqual and Phase synchronization, can be obtained stator accordingly with counter electromotive force E amplitudes
Voltage magnitude and phase：
Wherein,WithThe respectively voltage of d axis and q axis；WithRespectivelyAxis andThe voltage of axis,WithIt is obtained by voltage reconstruction module,、It is obtained into Park inverse transformations are crossed.
ByIt can determine that the direction of rotation of motor, the relationship of voltage, magnetic linkage phasor diagram and rotation direction are as shown in Figs. 1-2：
Rotor rotation angle can be obtained accordingly：
Turn count can be obtained by following formula：
,For the angle of estimation,For the speed of estimation,For the linkage coefficient of permanent magnet synchronous motor.
Location tracking one is divided into four-stage：Zero current stage, low speed track phase, high speed track phase are linearly cut
It changes the stage, is finally transitioned into the normal operating condition of speed/torque control.
The zero current stage：Current control：Current closed-loop, electric current loop are given as zero.This stage realizes zero electricity
Flow control scheme finally obtains rotor speed and angle.The stage continues 8 switch periods, it should be noted that the present embodiment
In preferably 8 switch periods, but be not limited to 8 switch periods.
When the motor speed of estimation is relatively low, counter electromotive force is smaller, and the estimation of rotor rotation angle is controlled according to zero current
Scheme easy tos produce large error, so the calculating of rotor angle will take different schemes when low speed：Turned by what estimation obtained
Rotor speed is integrated to obtain to the time.
Low speed track phase:When estimated speed is less than certain value（This implementation selects 1/5th of rated speed, but not
It is limited to this velocity amplitude）When enter low speed track phase.The stage preferably lasts for 300ms, it should be noted that the stage continues
Time is not restricted to 300ms, or other time.This stage current closed loop, electric current loop are given as zero,、Output is adjusted through current closed-loop to obtain.Obtained position angle is
High speed track phase:When estimated speed is higher than certain threshold value（Preset low speed value）Into high speed track phase,
The stage preferably lasts for 100ms, it should be noted that the duration in the stage is not restricted to 100ms, or other
Time.Current closed-loop, electric current loop are given as zero。、Output is adjusted through current closed-loop to obtain, obtained position
Angle setting degree is：
；
Linear switch step:The amplitude and phase of the stator voltage that location tracking is obtained, rotating speed, rotation direction are as normal
The primary condition of operation completes transition of the location tracking to normal operating condition.The stage preferably lasts for 100ms, needs to illustrate
, the duration in the stage is not restricted to 100ms, or other time.Under linear rise to open loop mode
The output that Id closed loops are adjusted,Under linear rise to open loop mode the tracking speed VF than given voltage value.
Claims (4)
1. a kind of rotor-position method for tracing of permanent magnet synchronous motor, it is characterised in that include the following steps：To permanent magnet synchronous electric
Machine carries out zero current and controls to obtain stator voltage and phase, then to permanent magnet synchronous motor carry out low speed tracking, high speed tracking and
Linear switching obtains rotating speed and the position of motor；Under zero current control, electric current loop is given as zero, and given angle is zero：
If initial time motor is rotating, stator current is generated under back-emf effect；By the adjusting of current closed-loop, stator
Electric current is reduced to zero, at this time stator voltage Us *The equal and Phase synchronization with counter electromotive force E amplitudes, can be obtained stator voltage width accordingly
Value and phase：
By θVThe direction of rotation for determining motor obtains rotor rotation angle by the relationship of voltage, magnetic linkage phasor diagram and rotation direction：
Wherein, Ud *And Uq *The respectively voltage of d axis and q axis；Uα *And Uβ *The respectively voltage of α axis and β axis.
2. the rotor-position method for tracing of permanent magnet synchronous motor as described in claim 1, it is characterised in that：When estimated speed is low
In certain value, and while being not zero, enters low speed track phase, this stage current closed loop, electric current loop is given as zero id *=iq *=0,
Ud *、Uq *Output is adjusted through current closed-loop to obtain, the position angle for obtaining rotor isθ+it is the angle estimated, Ts
The period is executed for program；Turn count is obtained by following formula： For the speed of estimation, ψfFor the magnetic of permanent magnet synchronous motor
Chain coefficient.
3. the rotor-position method for tracing of permanent magnet synchronous motor as described in claim 1, it is characterised in that：When estimated speed height
Enter high speed track phase, current closed-loop when preset low speed value, electric current loop is given as zero id *=iq *=0, Ud *、Uq *Through electricity
Stream closed loop adjusts output and obtains, and obtained position angle is：
4. the rotor-position method for tracing of permanent magnet synchronous motor as described in claim 1, it is characterised in that：Location tracking is obtained
Primary condition of the amplitude and phase, rotating speed, rotation direction of the stator voltage arrived as normal operation completes location tracking to normal fortune
The transition of row state, Ud *The output that Id closed loops are adjusted under linear rise to open loop mode, Uq *It should under linear rise to open loop mode
Track speed VF than given voltage value.
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| CN109546909B (en) * | 2018-10-19 | 2022-04-05 | 苏州伟创电气科技股份有限公司 | Method for tracking and starting rotating speed of alternating current permanent magnet synchronous motor |
| CN109889116B (en) * | 2019-03-12 | 2021-06-15 | 深圳市知行智驱技术有限公司 | Rotating speed tracking device and method of double-winding electric hydraulic power steering motor |
| CN110417318B (en) * | 2019-06-25 | 2021-09-10 | 苏州伟创电气科技股份有限公司 | Protection method and device for alternating current permanent magnet synchronous motor |
| CN110429887B (en) * | 2019-08-09 | 2021-01-15 | 大连海事大学 | Position tracking controller and control method of permanent magnet synchronous motor |
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| JP3612636B2 (en) * | 1996-09-18 | 2005-01-19 | 有限会社シー・アンド・エス国際研究所 | Vector control method for synchronous motor |
| US7026772B2 (en) * | 2004-01-14 | 2006-04-11 | International Rectifier Corporation | Position sensorless drive for permanent magnet synchronous motors |
| CN101964624B (en) * | 2010-10-15 | 2012-08-22 | 浙江工业大学 | Sensorless control system of permanent magnet synchronous motor |
| CN103312241B (en) * | 2013-06-08 | 2015-12-02 | 西北工业大学 | Tester in power-down state-the optimizing of a kind of large inertia load permanent magnet synchronous electric heavily throws control method |
| CN103516281B (en) * | 2013-10-25 | 2015-02-11 | 南车株洲电力机车研究所有限公司 | Method, device and system for controlling PMSM (Permanent Magnet Synchronous Motor) to put into operation again at belt speed |
| CN104113259B (en) * | 2014-07-29 | 2017-03-29 | 深圳市步科电气有限公司 | A kind of converter follows the trail of the method and its device of motor speed |
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Effective date of registration: 20200803 Address after: Room 1303, block B, Rongchao Binhai building, No. 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN HUAHAI LIANNET TECHNOLOGY Co.,Ltd. Address before: 1305, block B, Rongchao Binhai building, 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GOLWAY TECHNOLOGY Co.,Ltd. |
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