CN107171608B - A kind of permanent magnet synchronous motor without sensor initial position detection method - Google Patents
A kind of permanent magnet synchronous motor without sensor initial position detection method Download PDFInfo
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- CN107171608B CN107171608B CN201710595882.4A CN201710595882A CN107171608B CN 107171608 B CN107171608 B CN 107171608B CN 201710595882 A CN201710595882 A CN 201710595882A CN 107171608 B CN107171608 B CN 107171608B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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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
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
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Abstract
The present invention relates to a kind of permanent magnet synchronous motors without sensor initial position detection method, rotor-position resolving is carried out using virtual pulsating high-frequency signal injection, high frequency voltage is injected to virtual d-axis, establish virtual rotating coordinate system, utilize the mathematical model of the coordinate system and permanent magnet synchronous motor coordinate system, calculate d-axis and quadrature axis current, ac-dc axis current signal is multiplied with the cosine value of the electric voltage frequency comprising Injection Signal and hypothesis speed simultaneously, again by low-pass filtering, filtered two electric current tangent of negating can tentatively be obtained into rotor-position.Rotor-position can be further obtained using the sine and cosine relationship of ac-dc axis electric current, then replaces secondary injection method to carry out the judgement of the extreme for magnetic field by using carrier frequency component method, actual rotor position can be obtained in the correction of the pole N-S.The present invention has the advantages that precision is high, it is simple to realize, can be used for improving blower, pump, compressor or Over Electric Motor with PMSM without sensor starting control precision.
Description
Technical field
The invention belongs to the technical fields of motor control, and in particular to a kind of permanent magnet synchronous motor without sensor initial bit
Set detection method.
Background technique
Permanent magnet synchronous motor provides excitation using permanent magnet, compared to the loss that electro-magnetic motor reduces excitation system,
The efficiency and power density of motor are all greatly improved.Meanwhile which overcome direct current motor brushs and commutator bring
Unfavorable factor, application range are rapidly developed from initial war industry to fields such as aerospace, industrial automations.
Mechanical pick-up device such as Hall sensor, light usually can be all added due to the demand of drive system in permanent magnet synchronous motor
Photoelectric coder etc. obtains rotor position information, its advantage is that precision is high, control is accurate.But some ask is also brought along simultaneously
Topic, such as causes motor volume to increase, process and assemble increased costs, the reliability for reducing motor operation or even limiting motor are very
The application of more special occasions is unfavorable for its further genralrlization.Therefore, the sensorless strategy strategy study of permanent magnet synchronous motor at
For current research hotspot problem.Sensorless strategy mainly includes that electric motor starting control and high speed control two and mainly grind
Study carefully aspect.Wherein, high speed control generally use the fundamental wave excitation estimation technique, by establish permanent magnet synchronous motor voltage model or
The dynamic models such as flux linkage model, to estimate the position of rotor.However due to the signal-to-noise ratio of fundamental signal when electric motor starting
It is too low, cause it to be difficult to extract, fundamentally limits application of the such methods in electric motor starting.Therefore, electric motor starting control
System is undoubtedly the key points and difficulties in sensorless strategy field.
In order to overcome the shortcomings of fundamental wave excitation estimation algorithm, the position-sensor-free based on specific high-frequency signal composition is developed
Control method.High-frequency signal composition method is exactly the position signal that rotor is estimated using the space-saliency effect of rotor, main
It applies in the position-sensor-free operation with the saliency permanent magnet synchronous motor in space.High-frequency signal needed for algorithm is main
There are rotation high-frequency signal, the pulsating high frequency signal of injection or the PWM inverter carrier frequency component signal of system itself of injection.
Due to this method tracking be rotor space it is saliency, it is small to the dependence of the parameter of electric machine, motor may be implemented low
Position-sensor-free operation under speed even zero-speed state.However, rotation High Frequency Injection and carrier frequency component method are all
It is required that motor has centainly saliency, it is not suitable for durface mounted permanent magnet synchronous motor, therefore developed pulsating high-frequency signal injection.
But the problems such as traditional pulsating high-frequency signal injection resolves zero crossing there are position, meanwhile, it is injected in the judgement of the extreme for magnetic field stage high twice
Frequency signal needs time interval between signal injection to prevent to interfere, thus greatly extends the execution of control algolithm
Time.It is, therefore, desirable to provide a kind of new permanent magnet synchronous motor overcomes the above difficulty without sensor initial position detection method,
Improve the detection accuracy of rotor-position.
Summary of the invention
The technical problem to be solved by the present invention is solving traditional arteries and veins the purpose of the present invention is overcome the deficiencies in the prior art
The high-frequency signal injection bring zero crossing that shakes resolves problem, and corrects the too long problem of the judgement of the extreme for magnetic field phases-time.One kind is provided to be based on
The permanent magnet synchronous motor of virtual pulsating high-frequency signal injection combination carrier frequency component method without sensor initial position detection new method,
This process simplify control algolithm and improve the precision of initial position detection.
The present invention solves the technical solution that above-mentioned technical problem uses are as follows: a kind of permanent magnet synchronous motor it is initial without sensor
Method for detecting position includes the following steps:
Step (1) it is assumed that establish three-phase PMSM basic mathematic model, is built based under permanent magnet synchronous motor ideal conditions
Vertical permanent magnet synchronous motor model are as follows:
Voltage equation under natural system of coordinates:
Flux linkage equations are as follows:
ψ3s=L3si3s+φf·F3s(θe) (2)
Wherein, ψ3sFor the magnetic linkage of three-phase windings；u3s, R, i3sFor the phase voltage of three-phase windings, resistance and electric current；L3sIt is three
The inductance of phase winding, F3sFor 120 ° of phase mutual deviation of SIN function matrix, and meet:
L3sFor stator mutual inductance, L13For stator leakage inductance, iA,
iB, iCFor three-phase current, R is phase resistance, uA, uB, uCFor three-phase voltage, ψA, ψB, ψCIt is respectively the magnetic linkage of three-phase windings, θeFor
Motor rotor position angle, L3sFor stator mutual inductance, L13For stator leakage inductance；
Step (2) obtains the preliminary judgement of rotor-position by virtual pulsating high-frequency signal injection, when motor is static, it is assumed that turns
Son has very high rotational speed omega* r, establish corresponding synchronous rotating frame d*-q*, initial under high-speed rotating virtual coordinate system
State d*Axis and α overlapping of axles inject high-frequency voltage signal U to virtual d-axis* inj=Uicos(ωiT), by coordinate transform by its
It transforms under practical d-q coordinate system, finds out corresponding d-axis and quadrature axis current idAnd iq, then the i that will be found outdAnd iqTransform to void
Under quasi-coordinate system, corresponding virtual ac-dc axis electric current i is found out* dAnd i* q, by i* dAnd i* qWith cos (ωiAnd cos2 (ω t)* rT) phase
Multiply carry out signal modulation, then the result low-pass filtering that will be obtained, negates tangent to two low-pass results, rotor position can be calculated
It sets；
Step (3) judges the magnetic pole of rotor using the carrier frequency component current signal that inverter exports, and two-phase is quiet
The only corresponding current-responsive of carrier signal low-pass filtering after treatment under coordinate system, extracts magnetic pole information error signal,
The signal indicates that estimated location converges on the pole N position, illustrates not needing to correct less than zero；If the signal is greater than zero, indicate
Estimated location converges on the pole S position, needs to add 180 ° of electrical angle amendment.
Further, the virtual pulsating high-frequency signal injection is a kind of improved rotor based on pulsating high-frequency signal injection
Location estimation method, the specific steps of this method are as follows:
(A1) according to permanent magnet synchronous motor mathematical model, assume when motor is static its with very high revolving speed, i.e., virtually
Synchronous rotating frame d*-q*With ω* rRevolving speed rotation, actual synchronization rotating coordinate system d-q and two-phase natural system of coordinates at this time
Alpha-beta angle is θ, and virtual synchronous rotating coordinate system and actual synchronization rotating coordinate system angle are ω* r-θ；
(A2) high-frequency voltage signal U is injected to virtual d-axisicosωiT is transformed to actual same by coordinate transform
It walks in rotating coordinate system,
Wherein, UiFor Injection Signal amplitude, ωiFor the frequency of Injection Signal, u* injIt is rotated for Injection Signal in virtual synchronous
Voltage responsive vector under coordinate system, u* dAnd u* qRespectively straight, quadrature axis voltage responsive；
It is answered according to the voltage that coordinate relationship is injected under practical d-q coordinate system are as follows:
Wherein, udqThe voltage responsive vector for being Injection Signal under actual synchronization rotating coordinate system, TI-RFor virtual coordinate system
Transformation matrix of coordinates between synchronous rotating frame, ω* rFor the motor speed of hypothesis；
(A3) the quadrature axis current i of Injection Signal under synchronous rotating frame is solvedqWith direct-axis current idAnd it is expressed as vector shape
Formula,
Wherein, idqFor the current-responsive of Injection Signal under synchronous rotating frame, rdFor stator resistance, Ld, LqFor straight, friendship
Axle inductance, p are differential operator；
By the current-responsive under synchronous rotating frame, it is transformed under virtual rotating coordinate system:
Wherein, i* dqFor the current-responsive of Injection Signal under virtual synchronous rotating coordinate system, UiFor Injection Signal amplitude, ωi
For the frequency of Injection Signal, TI-RTransformation matrix of coordinates between virtual coordinate system and synchronous rotating frame, and due to virtual
Coordinate system has very high revolving speed relative to actual coordinates, and much larger than the revolving speed under motor low speed, therefore indicates again are as follows:
Wherein, rdFor stator resistance, Ld, LqFor straight, axis inductor, p is differential operator, ω* rFor the motor speed of hypothesis；
(A4) by current phasor i* dqMultiplied by modulated signal cos (ωit)cos2(ω* rT) by low-pass filtering, contained
There is the current phasor i ' of rotor position informationdq,
Wherein, σ is angle of eccentricity, k1,k2,k3, the value of σ are as follows: Utilize arctan function
Solve position angle:
Due to the arctan function period be π, position resolve exist biasing, when direct-axis current is modulated, filtering after
Result be negative (A < 0) when, need to increase by 90 ° of angle of eccentricity, otherwise do not need biasing and set.
Further, the rotor magnetic pole judgment method is a kind of magnetic pole differentiation side based on carrier frequency component method
Method, the specific steps of this method are as follows:
(B1) high-frequency signal is injected, stator inductance is in critical saturation state at this time, by the second Taylor series of magnetic linkage are as follows:
Wherein, ψdFor d-axis magnetic linkage, ψfFor constant, LdFor d-axis inductance, idFor direct-axis current,ψ”d(0)<
0；
It resolves its direct-axis current and transforms under two-phase natural system of coordinates:
Wherein, subscript c indicates carrier component；Subscript * represents conjugate complex number, iαβcCarrier signal for inverter output exists
Current-responsive under the static natural system of coordinates of two-phase, L10And L20Respectively zero point stream when average inductance and half poor inductance, IpcFor
Carrier frequency component electric current positive-sequence component amplitude, IncFor carrier frequency component electric current negative sequence component amplitude, IscFor carrier frequency at
Divide current saturation component amplitude；
(B2) magnetic pole information is extracted by heterodyne method, the current-responsive under two-phase natural system of coordinates is passed through after signal modulation
Its real part is taken, and is the cosine function cos (ω of carrier frequency with frequencyct-θe) be multiplied, it can be obtained and turn after low-pass filtering
Sub- pole reduction information εpolIf the signal less than 0, illustrates that estimated location converges on N extreme direction, that is, show not needing to correct；If
The signal is greater than 0, illustrates that estimated location converges on S extreme direction, demonstrates the need for the amendment of 180 ° of electrical angles of addition.
The principle of the present invention is: the present invention relates to a kind of to be used for starting and low speed fortune based on virtual pulsating high-frequency signal injection
The rotor-position of row order section permanent magnet synchronous motor accurately detects.Firstly, injecting high-frequency voltage signal to motor stator, virtually sat
The current-responsive under virtual coordinate system is obtained after mark transformation, is multiplied later with specific modulated signal, using low-pass filter
Modulated signal is handled, finally estimates rotor position information using arctan function.At the same time, by extracting electricity
Current-responsive of the machine under two-phase natural system of coordinates carries out heterodyne method processing to it to obtain the judgement of the extreme for magnetic field signal, carries out magnetic pole
Correction.
The advantages of the present invention over the prior art are that:
Present invention firstly provides carrier frequency component method is applied in virtual pulsating high-frequency signal injection to judge magnetic pole, pole
The earth shortens the judgement of the extreme for magnetic field duration.Compared with traditional pulsating high-frequency signal injection, this method calculation accuracy is high, does not need PI tune
Section, is easy to Project Realization, and solve the problems, such as the zero crossing of parts of traditional pulsating high-frequency signal injection；With traditional the judgement of the extreme for magnetic field side
Method is compared, and this method implementation process is simple, and accuracy is high, and algorithm execution time is short.This method do not need motor have it is saliency,
Suitable for durface mounted permanent magnet synchronous motor, and effectively increase position detection of the permanent magnet synchronous motor without sensor starting method
Precision.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention；
Fig. 2 is coordinate relation schematic diagram of the invention；
Fig. 3 is the functional block diagram of virtual pulsating high-frequency signal injection of the invention；
Fig. 4 is pole reduction Method And Principle block diagram of the invention.
Appended drawing reference meaning in figure are as follows: 1 is permanent magnet synchronous motor mathematical model part, and 2 resolve part for position, and 3 be magnetic
Pole correction portion.
Specific embodiment
With reference to the accompanying drawing and specific embodiment further illustrates the present invention.
It is as shown in Figs 1-4, of the invention that the specific method is as follows:
Specific embodiment 1: illustrating present embodiment, a kind of nothing of permanent magnet synchronous motor described in the method referring to Fig. 1
Sensor initial position detection method is the method for detecting position based on virtual pulsating high-frequency signal injection, it is characterised in that including
Permanent magnet synchronous motor mathematical model part 1, position resolve part 2 and pole reduction part 3.
The mathematical model part 1 of the permanent magnet synchronous motor, including system voltage equation equation and flux linkage equations.Institute's rheme
Setting and resolving part 2 is that the rotor-position based on virtual pulsating high-frequency signal injection tentatively judges.When motor is static, it is assumed that rotor has
Very high rotational speed omega* r, establish corresponding virtual synchronous rotating coordinate system d*-q*, and virtual coordinate system original state d*Axis and α axis
It is overlapped.High-frequency voltage signal U is injected to virtual d-axis* inj=Uicos(ωiT), practical d-q is transformed to by coordinate transform
Under coordinate system, corresponding d-axis and quadrature axis current i are found outdAnd iq.The i that will be found out againdAnd iqIt transforms under virtual coordinate system, asks
Corresponding virtual ac-dc axis electric current i out* dAnd i* q, by i* dAnd i* qWith cos (ωiAnd cos2 (ω t)* rT) it is multiplied and carries out signal tune
System, then the result low-pass filtering that will be obtained, and rotor-position is calculated to two low-pass results tangent of negating.The judgement of the extreme for magnetic field
Part 3 is the pole reduction based on carrier frequency component method.Sentenced using the carrier frequency component current signal of inverter output
The magnetic pole of disconnected rotor.By the corresponding current-responsive of carrier signal under two-phase stationary coordinate system low-pass filtering after treatment, mention
Magnetic pole information error signal is taken out, which indicates that estimated location converges on the pole N position, illustrate not needing to repair less than zero
Just；If the signal is greater than zero, indicate that estimated location converges on the pole S position, needs to add 180 ° of electrical angle amendment.
Specific embodiment 2: present embodiment be to described in specific embodiment one based on based on virtual pulsating high frequency
The permanent-magnet synchronous motor rotor position detection device of injection method further limits, the mathematical model portion of the permanent magnet synchronous motor
Divide 1, including system voltage equation equation and flux linkage equations, respectively as shown in formula (1) and formula (2).
Voltage equation under natural system of coordinates:
Flux linkage equations are as follows:
Wherein, ψ3sFor the magnetic linkage of three-phase windings；u3s, R, i3sThe respectively phase voltage of three-phase windings, resistance and electric current；L3s
For the inductance of three-phase windings, F3sFor 120 ° of phase mutual deviation of SIN function matrix, and meet:
iA, iB, iCFor three-phase current, R is phase resistance, uA,
uB, uCFor three-phase voltage, ψA, ψB, ψCIt is respectively the magnetic linkage of three-phase windings, θeFor motor rotor position angle, L3sFor stator mutual inductance,
L13For stator leakage inductance；
Specific embodiment 3: referring to fig. 2,3 illustrate that present embodiment, present embodiment are to one institute of specific embodiment
The permanent-magnet synchronous motor rotor position detection device based on virtual pulsating high-frequency signal injection stated further limits, the position
Part 2 is resolved to include the following steps:
Step 1 is rung to the electric current under virtual d-axis injection high-frequency voltage signal and solving virtual synchronous rotating frame
It answers.Coordinate relation transformation includes: according to Fig.2,
CLARK transformation:
PARK transformation:
Transformation between virtually-actual synchronization rotating coordinate system:
Wherein, ω* rFor the motor speed of hypothesis；
High-frequency voltage signal U is injected to virtual d-axisicosωiT is transformed to actual synchronous rotation by coordinate transform
Turn in coordinate system.
Wherein, UiFor Injection Signal amplitude, ωiFor the frequency of Injection Signal, u* injIt is rotated for Injection Signal in virtual synchronous
Voltage responsive vector under coordinate system, u* dAnd u* qRespectively straight, quadrature axis voltage responsive；
It is answered according to the voltage that coordinate relationship is injected under practical d-q coordinate system are as follows::
Wherein, udqThe voltage responsive vector for being Injection Signal under actual synchronization rotating coordinate system, TI-RFor virtual coordinate system
Transformation matrix of coordinates between synchronous rotating frame, ω* rFor the motor speed of hypothesis；
Solve the quadrature axis current i of Injection Signal under synchronous rotating frameqWith direct-axis current idAnd it is expressed as vector form,
Wherein, idqFor the current-responsive of Injection Signal under synchronous rotating frame, rdFor stator resistance, Ld, LqFor straight, friendship
Axle inductance, p are differential operator；
By the current-responsive under synchronous rotating frame, it is transformed under virtual rotating coordinate system:
Wherein, i* dqFor the current-responsive of Injection Signal under virtual synchronous rotating coordinate system, UiFor Injection Signal amplitude, ωi
For the frequency of Injection Signal, TI-RTransformation matrix of coordinates between virtual coordinate system and synchronous rotating frame, and due to virtual
Coordinate system has a very high revolving speed relative to actual coordinates, and much larger than the revolving speed under motor low speed, therefore by ψ-1Again table
It is shown as:
Wherein, rdFor stator resistance, Ld, LqFor straight, axis inductor, p is differential operator, ω* rFor the motor speed of hypothesis；
Step 2, position absolutely resolves and arctan function resolves compensation, as shown in Figure 3.It includes three that position, which resolves part,
A multiplier, three low-pass filters, an adder, a divider, an arc tangent link and a cosine link.It will
Current phasor i* dqMultiplied by modulated signal cos (ωit)cos(2ω* rT) it by low-pass filtering, obtains containing rotor position information
Current phasor i 'dq, and have:
In formula, σ is angle of eccentricity, k1,k2,k3, the value of σ are as follows:
Formula (8) tangent of negating is obtained:
It since the arctan function period is π, resolves there are 90 ° of biasing problem, A, B is enabled to respectively represent straight, friendship
The filtered symbol of shaft current is discussed below filtered cross, straight shaft current:
From the above equation, we can see that needing to increase by 90 ° of biasing when direct-axis current is modulated, filtered result is negative (A < 0)
Otherwise angle does not need biasing and sets.
Specific embodiment 4: illustrating present embodiment referring to fig. 4, present embodiment is to described in specific embodiment one
Permanent-magnet synchronous motor rotor position detection device based on virtual pulsating high-frequency signal injection further limit, the magnetic pole is sentenced
Disconnected part 3 is that heterodyne method extraction rotor magnetic pole judges signal, as shown in Figure 4.The judgement of the extreme for magnetic field part 3 includes sine and cosine ring
Section, multiplier, low-pass filter and sign function.By the current-responsive i under two-phase natural system of coordinatesαβcWith modulated signal
Its real part is taken after multiplication, and is the cosine function cos (ω of carrier frequency with frequencyct-θe) output signal after multiplication carry out it is low
Pass filter, output rotor pole reduction information εpol, by the signal by a sign function link, accorded with when the signal is less than 0
The output of number function is 0, illustrates that estimated location converges on N extreme direction, that is, shows not needing to correct, through multiplier output modifier
θpolIt is 0；When the signal is greater than 0, sign function output is 1, illustrates that estimated location converges on S extreme direction, defeated after multiplier
Correction value θ outpolIt is 180 °.
It is initial that the present invention can be used as a kind of novel permanent-magnetic synchronous motor rotor based on virtual pulsating high-frequency signal injection
Method for detecting position carries out rotor magnetic pole correction in conjunction with carrier frequency component method.Good position can be played and resolve effect, and
And effectively shorten the algorithm execution time in the judgement of the extreme for magnetic field stage, simplified control system.This method Project Realization is simple, does not need
PI is adjusted, and improves the position detection accuracy of permanent magnet synchronous motor.
Non-elaborated part of the present invention belongs to techniques well known.
Claims (3)
1. a kind of permanent magnet synchronous motor without sensor initial position detection method, which comprises the steps of:
Step (1) it is assumed that establish three-phase PMSM basic mathematic model, is established based under permanent magnet synchronous motor ideal conditions
Permanent magnet synchronous motor model are as follows:
Voltage equation under natural system of coordinates:
Flux linkage equations are as follows:
ψ3s=L3si3s+φf·F3s(θe) (2)
Wherein, ψ3sFor the magnetic linkage of three-phase windings；u3s, R, i3sFor the phase voltage of three-phase windings, resistance and electric current；L3sFor three-phase around
The inductance of group, F3sSIN function matrix and satisfaction for 120 ° of phase mutual deviation:
L3sFor stator mutual inductance, L13For stator leakage inductance；Its
In, iA, iB, iCFor three-phase current, R is phase resistance, uA, uB, uCFor three-phase voltage, ψA, ψB, ψCIt is respectively the magnetic of three-phase windings
Chain, θeFor motor rotor position angle, L3sFor stator mutual inductance, L13For stator leakage inductance；
Step (2) obtains the preliminary judgement of rotor-position by virtual pulsating high-frequency signal injection, when motor is static, it is assumed that rotor tool
There is very high rotational speed omega* r, establish corresponding synchronous rotating frame d*-q*, original state d under high-speed rotating virtual coordinate system*
Axis and α overlapping of axles inject high-frequency voltage signal U to virtual d-axis* inj=Uicos(ωiT), it is transformed to by coordinate transform
Under practical d-q coordinate system, corresponding d-axis and quadrature axis current i are found outdAnd iq, then the i that will be found outdAnd iqTransform to virtual coordinates
Under system, corresponding virtual ac-dc axis electric current i is found out* dAnd i* q, by i* dAnd i* qWith cos (ωiAnd cos2 (ω t)* rT) it is multiplied and carries out
Signal modulation, then the result low-pass filtering that will be obtained negate tangent to two low-pass results, can calculate rotor-position；Ui
For Injection Signal amplitude, ωiFor the frequency of Injection Signal；
Step (3) judges the magnetic pole of rotor using the carrier frequency component current signal that inverter exports, by the static seat of two-phase
Mark is the corresponding current-responsive of lower carrier signal low-pass filtering after treatment, extracts magnetic pole information error signal, the letter
Number less than zero, indicates that estimated location converges on the pole N position, illustrate not needing to correct；If the signal is greater than zero, estimation is indicated
Position converges on the pole S position, needs to add 180 ° of electrical angle amendment.
2. permanent magnet synchronous motor according to claim 1 without sensor initial position detection method, it is characterised in that: institute
The method for detecting position stated is the improved rotor position estimate method based on pulsating high-frequency signal injection, the specific steps of this method
Are as follows:
(A1) according to the mathematical model of permanent magnet synchronous motor, assume it with very high revolving speed, i.e. virtual synchronous when motor is static
Rotating coordinate system d*-q*With ω* rRevolving speed rotation, actual synchronization rotating coordinate system d-q and two-phase natural system of coordinates alpha-beta press from both sides at this time
Angle is θ, and virtual synchronous rotating coordinate system and actual synchronization rotating coordinate system angle are ω* r-θ；
(A2) high-frequency voltage signal U is injected to virtual d-axisicosωiT is transformed to actual synchronous rotation by coordinate transform
Turn in coordinate system,
Wherein, UiFor Injection Signal amplitude, ωiFor the frequency of Injection Signal, u* injIt is Injection Signal in virtual synchronous rotational coordinates
Voltage responsive vector under system, u* dAnd u* qRespectively straight, quadrature axis voltage responsive；
It is answered according to the voltage that coordinate relationship is injected under practical d-q coordinate system are as follows:
Wherein, udqThe voltage responsive vector for being Injection Signal under actual synchronization rotating coordinate system, TI-RFor virtual coordinate system and together
Walk the transformation matrix of coordinates between rotating coordinate system, ω* rFor the motor speed of hypothesis；
(A3) the quadrature axis current i of Injection Signal under synchronous rotating frame is solvedqWith direct-axis current idAnd it is expressed as vector form,
Wherein, idqFor the current-responsive of Injection Signal under synchronous rotating frame, rdFor stator resistance, Ld, LqFor straight, quadrature axis is electric
Sense, p is differential operator；
By the current-responsive under synchronous rotating frame, it is transformed under virtual rotating coordinate system:
Wherein, i* dqFor the current-responsive of Injection Signal under virtual synchronous rotating coordinate system, UiFor Injection Signal amplitude, ωiFor note
Enter the frequency of signal, TI-RTransformation matrix of coordinates between virtual coordinate system and synchronous rotating frame, and due to virtual coordinates
There is a very high revolving speed in system relative to actual coordinates, and much larger than the revolving speed under motor low speed, therefore by ψ-1Again it indicates are as follows:
Wherein, rdFor stator resistance, Ld, LqFor straight, axis inductor, p is differential operator, ω* rFor the motor speed of hypothesis；
(A4) by current phasor i* dqMultiplied by modulated signal cos (ωit)cos2(ω* rT) by low-pass filtering, obtain containing turn
The current phasor i ' of sub- location informationdq,
Wherein, σ is angle of eccentricity, k1,k2,k3, the value of σ are as follows: Utilize arctan function
Solve position angle:
Since the arctan function period is π, position, which resolves, has biasing, when direct-axis current is modulated, filtered knot
Fruit be negative (A < 0) when, need to increase by 90 ° of angle of eccentricity, otherwise do not need biasing and set.
3. permanent magnet synchronous motor according to claim 1 without sensor initial position detection method, it is characterised in that institute
The rotor magnetic pole judgment method stated is a kind of magnetic pole method of discrimination based on carrier frequency component method, the specific steps of this method
Are as follows:
(B1) high-frequency signal is injected, stator inductance is in critical saturation state at this time, by the second Taylor series of magnetic linkage are as follows:
Wherein, ψdFor d-axis magnetic linkage, ψfFor constant, LdFor d-axis inductance, idFor direct-axis current,ψ'd' (0) < 0；
It resolves its direct-axis current and transforms under two-phase natural system of coordinates:
Wherein, subscript c indicates carrier component；Subscript * represents conjugate complex number, iαβcFor inverter output carrier signal in two-phase
Current-responsive under static natural system of coordinates, L10And L20Respectively zero point stream when average inductance and half poor inductance, IpcFor carrier wave
Frequency content electric current positive-sequence component amplitude, IncFor carrier frequency component electric current negative sequence component amplitude, IscFor carrier frequency component electricity
Stream saturation component amplitude；
(B2) magnetic pole information is extracted by heterodyne method, by the current-responsive under two-phase natural system of coordinates by taking it after signal modulation
Real part, and be the cosine function cos (ω of carrier frequency with frequencyct-θe) be multiplied, it can be obtained rotor magnetic after low-pass filtering
Pole control information εpolIf the signal less than 0, illustrates that estimated location converges on N extreme direction, that is, show not needing to correct；If the letter
Number be greater than 0, illustrate that estimated location converges on S extreme direction, demonstrate the need for addition 180 ° of electrical angles amendment.
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| CN108574444A (en) * | 2018-05-08 | 2018-09-25 | 天津工业大学 | One kind being used for initial position detection method for permanent magnet synchronous electric motor rotor |
| CN110620535B (en) * | 2018-06-19 | 2020-06-12 | 中车株洲电力机车研究所有限公司 | Permanent magnet synchronous motor stator resistance online measurement method, device, medium and motor |
| CN109327172A (en) * | 2018-10-25 | 2019-02-12 | 核工业理化工程研究院 | Method for controlling permanent magnet synchronous motor and control system based on pulsating high frequency signal injection |
| CN109546904B (en) * | 2018-11-20 | 2020-05-19 | 上海交通大学 | Rotor position detection method of double three-phase permanent magnet synchronous motor |
| JP7188169B2 (en) * | 2019-02-18 | 2022-12-13 | コニカミノルタ株式会社 | MOTOR CONTROL DEVICE, METHOD FOR ESTIMATING INITIAL POSITION OF ROTOR'S POLES, AND IMAGE FORMING DEVICE |
| CN109936315B (en) * | 2019-03-29 | 2020-09-04 | 四川虹美智能科技有限公司 | Motor rotor position detection method and device |
| CN113691181B (en) * | 2020-05-18 | 2024-03-19 | 广东威灵电机制造有限公司 | Motor inductance detection method and device, motor controller and storage medium |
| US11374521B2 (en) * | 2020-06-12 | 2022-06-28 | Texas Instruments Incorporated | Motor resistance and inductance values from initial position detection timing parameters |
| CN112087175B (en) * | 2020-08-31 | 2021-10-22 | 东南大学 | Speed identification method for permanent magnet synchronous motor |
| CN117639593A (en) * | 2023-11-28 | 2024-03-01 | 江南大学 | PMSM (permanent magnet synchronous motor) position estimation method based on virtual axis random pulse injection |
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