CN107154762A - A kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking - Google Patents

A kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking Download PDF

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Publication number
CN107154762A
CN107154762A CN201710349457.7A CN201710349457A CN107154762A CN 107154762 A CN107154762 A CN 107154762A CN 201710349457 A CN201710349457 A CN 201710349457A CN 107154762 A CN107154762 A CN 107154762A
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motor
variable
power
compensation
control
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CN201710349457.7A
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Chinese (zh)
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CN107154762B (en
Inventor
何志明
符凡
符一凡
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苏州半唐电子有限公司
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05Synchronous machines, e.g. with permanent magnets or DC excitation

Abstract

The invention discloses a kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking, described control method comprises the following steps:S1) first add afterwards to subtract or first subtract on the basis of initializaing variable and add compensation variable afterwards;S2) add corresponding power of motor change after compensation variable afterwards to step S1 according to first adding afterwards to subtract or first subtract) described in initializaing variable be tracked regulation, initializaing variable of the initializaing variable after epicycle is adjusted as next round;S3 the step S1 for performing next round) is returned) and step S2);Wherein, described initializaing variable is that motor d shaft currents are instructed or rotor position estimation angle;The present invention avoid characteristic of the prior art demarcation test it is cumbersome, using fixed estimation angle compensation when the technical problem such as parameter measurement error or change the efficiency reduction, the system robustness difference that cause on the premise of, while the requirement that motor constant-speed forward is run can be met.

Description

A kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking

Technical field

The invention belongs to Motor Control Field, it is related to a kind of control method without sensing permagnetic synchronous motor, and in particular to A kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking.

Background technology

Permagnetic synchronous motor generally realizes that efficiency optimization is run using MTPA (torque capacity electric current ratio) controls.To non-salient pole machine For, party decree d shaft currents Id=0 to ensure to meet torque-demand on the premise of reduce current amplitude, so as to reduce motor Copper loss, but this method is the problem of have ignored motor iron loss, therefore Id=0 is not the efficiency optimization point of non-salient pole machine;And to convex For the machine of pole, it is clear that Id=0 is less the control method of efficiency optimization, because salient-pole machine all has one under different operating conditions The individual optimal corresponding I of electric efficiencydValue.To realize that the efficiency optimization of salient-pole machine is run, generally required in practical application by one Plurality of properties calibration experiment is tested, to determine corresponding d shaft currents characteristic during electric efficiency optimized operation under different operating modes;But The characteristic demarcation test of different motors is a cumbersome engineering wasted time and energy, and in motor During Process of Long-term Operation, also can There is Parameters variation causes the problem of optimum efficiency point deviates calibration value.

Current permagnetic synchronous motor position sensorless control technology is widely used to the occasions such as blower fan, water pump, the technology Rotor position angle is obtained by estimating, its precision will directly affect the performance of vector control system.Compared to there is position sensing Technology, position sensorless control technology can simplify the structure and weight of whole frequency conversion speed-adjusting system, improve system reliability.But Rotor position estimation need to obtain electric motor resistance, inductance parameters, and parameter error or variation may cause estimation angle and actual rotor angle There is deviation between degree, actual d axles, q shaft currents and ideal d axles, the deviation of q shaft currents are in turn resulted in, so as to cause motor to input Power increase, efficiency reduction.In order to solve above-mentioned feelings technical problem, prior art is generally by the way of estimation angle compensation control Efficiency optimization is realized, but fixed compensation may be deviateed efficiency optimization point, system robustness is poor by parametric variations.

And Authorization Notice No. proposes a kind of motor optimum efficiency tracing control for CN102969970B Chinese invention patent Method with solve characteristic demarcation test the problem of, but this method need dynamic regulation motor speed realize maximal efficiency track, Therefore the requirement of motor constant-speed forward operation can not be met.

Therefore, seek a kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking to ask to solve above-mentioned technology Topic is very important.

The content of the invention

In view of this, it is an object of the invention to propose a kind of control without sensing permagnetic synchronous motor optimum efficiency tracking Method, avoid characteristic of the prior art demarcation test it is cumbersome, using fixed estimation angle compensation when parameter measurement error Or on the premise of changing the technical problems such as efficiency reduction, the system robustness difference caused, while motor constant-speed forward operation can be met It is required that.

The technical solution adopted by the present invention is as follows:

A kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking, described control method includes following step Suddenly:

S1) first add afterwards to subtract or first subtract on the basis of initializaing variable and add compensation variable afterwards;

S2) change of corresponding power of motor is added after compensation variable afterwards to step S1 according to first adding afterwards to subtract or first subtract) described in Initializaing variable be tracked regulation, initializaing variable of the initializaing variable after epicycle is adjusted as next round;

S3 the step S1 for performing next round) is returned) and step S2);

Wherein, described initializaing variable is that motor d shaft currents are instructed or rotor position estimation angle.

Preferably, in described step S2) in, it is described to step S1) described in initializaing variable be tracked regulation The step of be:Corresponding power of motor after compensation variable is added to contrast afterwards to first adding afterwards to subtract or first subtract, wherein,

Corresponding power of motor, which is more than, after compensation variable is added subtracts corresponding power of motor after compensation variable, takes and subtracts compensation change The final compensation variable as epicycle is measured, initializaing variable subtracts the initializaing variable after compensation variable is adjusted as epicycle;

Corresponding power of motor, which is less than, after compensation variable is added subtracts corresponding power of motor after compensation variable, takes plus compensation becomes Measure as epicycle final compensation variable, initializaing variable add compensation variable adjusted as epicycle after initializaing variable.

Preferably, in described step S3) in, as the step S1 for performing next round) and step S2) when, according to epicycle Initializaing variable tracking regulation situation determines the plus-minus order of the compensation variable of next round, wherein,

When taking the final compensation variable that subtracts compensation variable as epicycle, the initializaing variable of next round adds compensation using first subtracting afterwards Variable;

When taking plus compensation variable is as the final compensation variable of epicycle, the initializaing variable of next round subtracts compensation using first adding afterwards Variable.

Preferably, in described step S2) in, described power of motor change is calculated using power samples algorithm to be obtained.

Preferably, described power samples algorithm steps are:Using Id*Ud+Iq*UqCalculating obtains power of motor, and with every A power of motor is calculated every the electrical angle sampling of certain angle, power of motor change is obtained, wherein, IdFor current of electric d axles Sampled value, IqFor current of electric q axle sampled values, UdFor motor d axle output voltage command values, UqInstructed for motor q axles output voltage Value.

Preferably, the disposal of gentle filter is carried out to the corresponding power of motor of multiple sampled points in an electric cycle, eliminated Burr is disturbed, and the formula of the disposal of gentle filter is:Pk=N-1/N*Pk-1+pk/ N makees the disposal of gentle filter to sampled power, wherein pkFor the calculated value of kth sampled power, PkFor the kth time sampled power value after smoothing techniques, N is in an electric cycle Sampling number.

Preferably, described power samples calculate a power of motor every 10 ° of electrical angle sampling.

Preferably, in described step S2) in, add compensation variable to give record pair after delay afterwards to first adding afterwards to subtract or first subtract The power of motor response answered.

Preferably, described delay time scope is 200-400ms.

Preferably, described control method is in when stable state constant speed is run in motor and performed, when motor carries out dynamic speed adjustment When, this control method stops performing.

The operation principle and advantage of the present invention:

(1) present invention is compensated by using to the instruction of motor d shaft currents or the online dynamic of rotor position estimation angle progress Realize the optimum efficiency tracing control without sensing permagnetic synchronous motor, it is to avoid characteristic demarcation test of the prior art is cumbersome, The technical problems such as efficiency reduction, the system robustness difference caused using parameter measurement error or variation during fixed estimation angle compensation On the premise of, while the requirement of motor constant-speed forward operation can be met, while inventive algorithm is simple, to MCU operational capabilities without too big Demand, the extra hardware circuit without adding.

(2) present invention according to last round of compensation situation to next round control variable plus-minus order be adjusted, with gram Take the situation that power of motor disturbance causes to compensate by mistake, it is ensured that motor gradually tends to the operation of optimum efficiency point.

(3) present invention uses Id*Ud+Iq*UqIn line computation real time motor power, and with every the electrical angle of certain angle Sampling calculates a power of motor, obtains power of motor change, and algorithm is simple, without increasing excess power sample circuit.

(4) more than on the basis of (3) point, the present invention is to the corresponding power of motor of multiple sampled points in an electric cycle The disposal of gentle filter is carried out, can so reflect the variation tendency of power of motor, can eliminate what is produced during power samples are calculated again Burr is disturbed;The filtering algorithm is simple simultaneously, and sampled point is few, will not be to MCU operational performance build-ups of pressure.

Brief description of the drawings

Accompanying drawing 1 is the control method flow chart of steps of the specific embodiment of the invention.

Embodiment

The embodiment of the invention discloses a kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking, controlling party Method comprises the following steps:S1) first add afterwards to subtract or first subtract on the basis of initializaing variable and add compensation variable afterwards;S2) after according to first adding Subtract or first subtract and add after compensation variable the change of corresponding power of motor afterwards to step S1) in initializaing variable be tracked regulation, will sheet The initializaing variable after regulation is taken turns as the initializaing variable of next round;S3 the step S1 for performing next round) is returned) and step S2);Its In, initializaing variable is that motor d shaft currents are instructed or rotor position estimation angle.

The embodiment of the present invention is mended by using to the instruction of motor d shaft currents or the online dynamic of rotor position estimation angle progress Repay and realize the optimum efficiency tracing control without sensing permagnetic synchronous motor, it is to avoid characteristic demarcation test of the prior art is numerous The technologies such as efficiency reduction, system robustness difference trivial, caused using parameter measurement error or variation during fixed estimation angle compensation On the premise of problem, while the requirement of motor constant-speed forward operation can be met, while inventive algorithm is simple, to MCU operational capabilities without Too big demand, the extra hardware circuit without adding.

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments described in invention, for those of ordinary skill in the art, on the premise of not paying creative work, Other accompanying drawings can also be obtained according to these accompanying drawings.

It is shown in Figure 1, a kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking, control method bag Include following steps:

S1) first add afterwards to subtract or first subtract on the basis of initializaing variable x and add compensation variable Δ x afterwards, wherein, initializaing variable is electricity Machine d shaft currents instruct Id_refOr rotor position estimation angle θ;Specifically, in the present embodiment, it is necessary to carry out first round compensation change Δ x plus-minuss order is measured to initialize, that is to say, that in the first round, it is necessary to preset on the basis of initializaing variable x first plus after Subtract or first subtract and add compensation variable Δ x afterwards;

S2) add after compensation variable Δ x the change of corresponding power of motor afterwards to step S1 according to first adding afterwards to subtract or first subtract) in just Beginning, variable x was tracked regulation, initializaing variable xs of the initializaing variable x after epicycle is adjusted as next round;Preferably, at this Step S2) in, power of motor change is calculated using power samples algorithm to be obtained.It is further preferred that in the present embodiment, work( Rate sampling algorithm step is:Using Id*Ud+Iq*UqCalculating obtains power of motor P, and to be sampled every the electrical angle of certain angle A power of motor is calculated, power of motor P changes are obtained, wherein, IdFor current of electric d axle sampled values, IqFor current of electric q axles Sampled value, UdFor motor d axle output voltage command values, UqFor motor q axle output voltage command values;It is further preferred that in this reality Apply in mode, the disposal of gentle filter is carried out to the corresponding power of motor P of multiple sampled points in an electric cycle, burr is eliminated and does Disturb, the formula of the disposal of gentle filter is:Pk=N-1/N*Pk-1+pk/ N makees the disposal of gentle filter, wherein p to sampled powerkFor K The calculated value of secondary sampled power, PkFor the kth time sampled power value after smoothing techniques, N is the sampling time in an electric cycle Number;Particularly preferably, in the present embodiment, power samples calculate a power of motor P every 10 ° of electrical angle sampling, i.e., Sampling 36 times, then utilizes formula P in one electric cyclek=35/36*Pk-1+pk/ 36 pairs of sampled powers make the disposal of gentle filter.

Preferably, in this step S2) in, add compensation variable Δ x to give record pair after delay afterwards to first adding afterwards to subtract or first subtract The power of motor P responses answered, it is ensured that the accuracy of power of motor P responses.It is further preferred that delay time scope is 200- 400ms;Specifically, in the present embodiment, delay time is 300ms.

Preferably, in this step S2) in, to above-mentioned steps S1) in initializaing variable x be the step of be tracked regulation:It is right First plus after subtract or first subtract and add corresponding power of motor P after compensation variable Δ x to be contrasted afterwards, that is, carry out P+And P-Between contrast, Wherein, corresponding power of motor P after compensation variable+Δ x is added+More than subtracting corresponding power of motor P after compensation variable-Δ x-, take Subtract compensation variable-Δ x as the final compensation variable of epicycle, initializaing variable x subtracts compensation variable-Δ x, and (i.e. x- Δ x) are as epicycle Initializaing variable x after regulation;Corresponding power of motor P after compensation variable+Δ x is added+It is corresponding after compensation variable-Δ x less than subtracting Power of motor P-, the final compensation variable for adding compensation variable+Δ x as epicycle is taken, initializaing variable x adds compensation variable+Δ x (i.e. x+ Δ x) adjusted as epicycle after initializaing variable x.

S3 the step S1 for performing next round) is returned) and step S2);Preferably, in this step S3) in, when execution next round Step S1) and step S2) when, the compensation variable Δ x that regulation situation determines next round is tracked according to the initializaing variable x of epicycle Plus-minus order, wherein, when taking the final compensation variable that subtracts compensation variable-Δ x as epicycle, the initializaing variable x of next round is used First subtract and add compensation variable Δ x afterwards;Add compensation variable+Δ x as the final compensation variable of epicycle, the initializaing variable of next round when taking X uses first to add subtracts compensation variable Δ x afterwards.

Preferably, the control method of embodiment of the present invention is in when stable state constant speed is run in motor and performed, when motor enters During Mobile state speed governing, this control method stops performing;Particularly preferably, in the present embodiment, power of motor sampling is completed Whether meter postmortem judges motor in the operation of stable state constant speed, if so, starting the optimum efficiency tracing control of the present invention, if not It is to continue to carry out power of motor sampling by the electrical angle of setting, order the step of specifically can be as shown in Figure 1.

It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.

Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art It may be appreciated other embodiment.

Claims (10)

1. a kind of control method without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that described control method Comprise the following steps:
S1) first add afterwards to subtract or first subtract on the basis of initializaing variable and add compensation variable afterwards;
S2) add corresponding power of motor change after compensation variable afterwards to step S1 according to first adding afterwards to subtract or first subtract) described in just Beginning variable is tracked regulation, initializaing variable of the initializaing variable after epicycle is adjusted as next round;
S3 the step S1 for performing next round) is returned) and step S2);
Wherein, described initializaing variable is that motor d shaft currents are instructed or rotor position estimation angle.
2. the control method as claimed in claim 1 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that Described step S2) in, it is described to step S1) described in initializaing variable be the step of be tracked regulation:After first adding Subtracting or first subtracting adds corresponding power of motor after compensation variable to be contrasted afterwards, wherein,
Corresponding power of motor, which is more than, after compensation variable is added subtracts corresponding power of motor after compensation variable, takes and subtracts compensation variable work For the final compensation variable of epicycle, initializaing variable subtracts the initializaing variable after compensation variable is adjusted as epicycle;
Corresponding power of motor, which is less than, after compensation variable is added subtracts corresponding power of motor after compensation variable, takes plus compensation variable is made For the final compensation variable of epicycle, initializaing variable add compensation variable adjusted as epicycle after initializaing variable.
3. the control method as claimed in claim 2 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that Described step S3) in, as the step S1 for performing next round) and step S2) when, according to the initializaing variable of epicycle tracking regulation feelings Condition determines the plus-minus order of the compensation variable of next round, wherein,
When taking the final compensation variable that subtracts compensation variable as epicycle, the initializaing variable of next round add compensation change using first subtracting afterwards Amount;
When taking plus compensation variable is as the final compensation variable of epicycle, the initializaing variable of next round subtracts compensation change using first add afterwards Amount.
4. the control method as claimed in claim 1 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that Described step S2) in, described power of motor change is calculated using power samples algorithm to be obtained.
5. the control method as claimed in claim 4 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that institute The power samples algorithm steps stated are:Using Id*Ud+Iq*UqCalculating obtains power of motor, and with every the electric angle of certain angle Degree sampling calculates a power of motor, obtains power of motor change, wherein, IdFor current of electric d axle sampled values, IqFor motor electricity Flow q axle sampled values, UdFor motor d axle output voltage command values, UqFor motor q axle output voltage command values.
6. the control method as claimed in claim 5 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that right The corresponding power of motor of multiple sampled points in one electric cycle carries out the disposal of gentle filter, eliminates burr interference, smothing filtering The formula of processing is:Pk=N-1/N*Pk-1+pk/ N makees the disposal of gentle filter, wherein p to sampled powerkFor kth sampled power Calculated value, PkFor the kth time sampled power value after smoothing techniques, N is the sampling number in an electric cycle.
7. the control method without sensing permagnetic synchronous motor optimum efficiency tracking as described in claim 5 or 6, its feature exists In described power samples calculate a power of motor every 10 ° of electrical angle sampling.
8. the control method without sensing permagnetic synchronous motor optimum efficiency tracking as described in claim 4 or 5 or 6, its feature It is, in described step S2) in, add compensation variable to record corresponding motor work(after giving delay afterwards to first adding afterwards to subtract or first subtract Rate is responded.
9. the control method as claimed in claim 8 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that institute The delay time scope stated is 200-400ms.
10. the control method as claimed in claim 1 without sensing permagnetic synchronous motor optimum efficiency tracking, it is characterised in that Described control method is in when stable state constant speed is run in motor and performed, and when motor carries out dynamic speed adjustment, this control method is stopped Only perform.
CN201710349457.7A 2017-05-17 2017-05-17 A kind of control method without sensing permanent magnet synchronous motor optimum efficiency tracking CN107154762B (en)

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