CN107196567B - The control method and system of permanent magnet synchronous motor - Google Patents
The control method and system of permanent magnet synchronous motor Download PDFInfo
- Publication number
- CN107196567B CN107196567B CN201710597624.XA CN201710597624A CN107196567B CN 107196567 B CN107196567 B CN 107196567B CN 201710597624 A CN201710597624 A CN 201710597624A CN 107196567 B CN107196567 B CN 107196567B
- Authority
- CN
- China
- Prior art keywords
- angle
- synchronous motor
- permanent magnet
- magnet synchronous
- differential seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- H02P6/21—Open loop start
-
- 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
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Motor And Converter Starters (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The embodiment of the present invention provides the control method and system of a kind of permanent magnet synchronous motor, belongs to permanent magnet synchronous motor control field.The control method of the permanent magnet synchronous motor comprise determining that the rotor of permanent magnet synchronous motor startup stage first time about the hypothesis angle for assuming rotating coordinate system, wherein the Ratio invariableness of revolving speed of the voltage vector magnitude for keeping the input of single electric current ring corresponding in startup stage relative to rotor；Obtain the actual angle about practical rotating coordinate system in first time lower rotor part；The first angle difference of calculation assumption angle and actual angle, and judge first angle difference whether in differential seat angle threshold range；And when first angle difference is in differential seat angle threshold range, judge whether first duration of the first angle difference in differential seat angle threshold range is greater than time threshold；If the first duration was greater than time threshold, permanent magnet synchronous motor is switched into closed-loop control state.Thus, it is possible to improve the stability of motor closed loop incision.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control fields, more particularly to a kind of method for controlling permanent magnet synchronous motor and are
System.
Background technique
With the rapid development of motor technology, the motor of some air-conditioning heat dissipation blowers and compressor is position-sensor-free
Permanent magnet synchronous motor, position-sensor-free permanent magnet synchronous motor before activation, due to rotor-position be it is unknown, need according to it
Winding parameter estimates rotor-position, and restarts motor after being estimated to rotor-position.
In the related art, it can be common that use the model of back-emf to drive the compressor of air-conditioning or refrigerator and with this
Estimate the position angle and speed of rotor, this implementation obtained biggish popularization due to easy to operate, more specifically about
The mode of single electric current starting: compressor frequency is pulled up to just to be directly switch into after certain frequency with speed open loop approach and is closed
Ring.
Present inventor has found in the implementation of the present invention: in electric motor starting, especially when motor band load opens
It moves or there are when larger or variation load, can be generated when directly switching from open-loop start-up circuit to Closed loop operation circuit
Biggish switching electric current even also results in the starting failure of motor when serious.
Summary of the invention
The purpose of the embodiment of the present invention is that the control method and system of a kind of permanent magnet synchronous motor are provided, it is existing to solve
Biggish switching caused by when permanent magnet synchronous motor in technology is directly switched by from open-loop start-up circuit to Closed loop operation circuit
The technical issues of electric current and electric motor starting fail.
To achieve the goals above, the embodiment of the present invention provides a kind of control method of permanent magnet synchronous motor, and wherein this is forever
Magnetic-synchro motor inputs to start based on single electric current ring, which is characterized in that the described method includes: determining the permanent magnet synchronous motor
Rotor startup stage first time about it is described assume rotating coordinate system hypothesis angle, wherein in the starting rank
The Ratio invariableness of revolving speed of the voltage vector magnitude that section keeps the single electric current ring input corresponding relative to the rotor；It obtains
The actual angle about practical rotating coordinate system of the rotor under the first time；Calculate the hypothesis angle and described
The first angle difference of actual angle, and judge the first angle difference whether in differential seat angle threshold range；And work as institute
When stating first angle difference in the differential seat angle threshold range, judge that first angle difference meets preset differential seat angle threshold value model
Whether the first duration enclosed is greater than preset first time threshold；If first duration is greater than described first
Between threshold value, then the permanent magnet synchronous motor is switched into closed-loop control state.
It is optionally, described that the permanent magnet synchronous motor is switched to closed-loop control state includes: to cancel hypothesiss rotation
Coordinate system is to the effect of the permanent magnet synchronous motor and obtains the revolving speed of the rotor；It is arranged based on the acquired revolving speed
The reference quadrature axis of the permanent magnet synchronous motor inputs, and the permanent magnet synchronous motor is switched to closed-loop control state.
It is optionally, described that the permanent magnet synchronous motor is switched to closed-loop control state includes: by the hypothesis angle
Direct-axis component is set as the reference d-axis input of the permanent magnet synchronous motor, and then executes at least one of following: utilizing
MTPA controller is 0 to control the adjustment reference d-axis input, by described gradually decrease with reference to d-axis input.
Optionally, if the first angle difference is not in the differential seat angle threshold range, this method further include: execute
Whether following closed loop cuts determination step: judging second angle difference corresponding to the second time under the startup stage in institute
State in differential seat angle threshold range, and/or judge the second angle difference in the differential seat angle threshold range second continue
When whether the time is greater than the time threshold；If the second angle difference still not in the differential seat angle threshold range and/
Or second duration is not more than the time threshold, then the execution time of the incision of closed loop described in Iterative statistical determination step
Number；And when the execution number counted is more than frequency threshold value, determine that there are motor control failures.
Optionally, if the first angle difference is not in the differential seat angle threshold range, this method further include: pass through
Adjust single electric current ring input increase hypothesis direct-axis current component relevant to the hypothesiss angle and/or reduction with it is described
It is assumed that the relevant hypothesis quadrature axis current component of angle is adjusting the first angle difference to the differential seat angle threshold range.
Optionally, the adjustment single electric current ring input includes: to distribute angle in the hypothesis by control current phasor
The hypothesis d-axis of rotating coordinate system increases with the projection in quadrature axis is assumed described in the hypothesis direct-axis current component and/or reduction
It is assumed that quadrature axis current component.
Optionally, the actual angle about practical rotating coordinate system for obtaining the rotor includes: to be estimated by position
Gauge obtains the actual angle about practical rotating coordinate system of the rotor under the startup stage.
On the other hand the embodiment of the present invention provides a kind of control system of permanent magnet synchronous motor, wherein the permanent magnet synchronous motor
Started based on the input of single electric current ring, the system comprises: it is assumed that angle determination unit, for determining the permanent magnet synchronous motor
Rotor startup stage first time about it is described assume rotating coordinate system hypothesis angle, wherein in the starting rank
The Ratio invariableness of revolving speed of the voltage vector magnitude that section keeps the single electric current ring input corresponding relative to the rotor；It is practical
Angle acquiring unit, for obtaining the actual angle about practical rotating coordinate system of the rotor under the first time；
Angle calculation unit, for calculating the first angle difference for assuming angle and the actual angle；Angle judging unit is used
In judging the first angle difference whether in differential seat angle threshold range；Time judging unit, for working as the first angle
When difference is in the differential seat angle threshold range, judge that first angle difference meets the first of preset differential seat angle threshold range and holds
Whether the continuous time is greater than preset first time threshold；Closed loop cuts unit, if being greater than institute for first duration
First time threshold is stated, then the permanent magnet synchronous motor is switched into closed-loop control state.
Optionally, the closed loop incision unit includes: to assume to cancel module, for cancelling the hypothesis rotating coordinate system pair
The effect of the permanent magnet synchronous motor；Revolving speed obtains module, for obtaining the revolving speed of the rotor；Closed ring set module, is used for
The reference quadrature axis input of the permanent magnet synchronous motor is set based on the acquired revolving speed, by the permanent magnet synchronous motor
Switch to closed-loop control state.
Optionally, the closed loop incision unit is used to set the permanent-magnet synchronous for the direct-axis component for assuming angle
The reference d-axis of motor inputs, and then executes at least one of following: the adjustment ginseng is controlled using MTPA controller
It examines d-axis input, be 0 by described gradually decreased with reference to d-axis input.
Optionally, the system also includes accident analysis unit, which includes: judgement calling module, is used
If executing following closed loop incision determination step-in the first angle difference not in the differential seat angle threshold range and sentencing
Second angle difference corresponding to the second time broken under the startup stage whether in the differential seat angle threshold range, and/
Or judge whether second duration of the second angle difference in the differential seat angle threshold range is greater than the time threshold
When value；Statistical module, if for the second angle difference still not in the differential seat angle threshold range, and/or described the
Two duration were not more than the time threshold, then the execution number of the incision of closed loop described in Iterative statistical determination step；Failure point
Module is analysed, for determining that there are motor control failures when the execution number counted is more than frequency threshold value.
Optionally, the system also includes differential seat angle adjustment units, if for the first angle difference not described
In differential seat angle threshold range, inputted by adjusting the single electric current ring to increase hypothesis d-axis electricity relevant to the hypothesis angle
Flow component and/or reduce relevant to hypothesis angle hypothesis quadrature axis current component by the first angle difference adjust to
In the differential seat angle threshold range.
Optionally, the differential seat angle adjustment unit is used to distribute angle in the hypothesis rotational coordinates by control current phasor
Projection on the hypothesis d-axis and hypothesis quadrature axis of system inputs to adjust the single electric current ring.
Optionally, the actual angle acquiring unit includes position estimator.
On the other hand, the present invention provides a kind of machine readable storage medium, and finger is stored on the machine readable storage medium
It enables, which is used for so that machine executes the control method of the above-mentioned permanent magnet synchronous motor of the application.
Through the above technical solutions, the revolving speed according to the corresponding voltage vector magnitude of single electric current ring input relative to rotor
The mode of Ratio invariableness start permanent magnet synchronous motor, rotor can be smoothly transitted into target switch speed, and by rotor
It is assumed that the position angle difference under rotating coordinate system and practical rotating coordinate system is judged, if at first jiao of first time
When degree difference is within the scope of angle threshold, continue to judge that first angle difference meets the first of preset differential seat angle threshold range and continues
Whether the time is greater than preset first time threshold, and only in the case where the first duration being greater than first time threshold,
Permanent magnet synchronous motor is switched into closed-loop control state；Judging as a result, from opened loop control loop switch to close loop control circuit
Location estimation the stability of rotor-position that the closed loop incision moment is estimated also has been ensured while meet, can solve because of starting
The motor load in stage is excessive or changes and cause the fluctuation and unstable problem of estimated rotor-position, to improve motor
The stability and robustness of closed loop incision.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the flow diagram of the control method of the permanent magnet synchronous motor of one embodiment of the invention；
Fig. 2 is the position of rotor during startup showing about practical rotating coordinate system and virtual rotating coordinate system
It is intended to；
Fig. 3 is principle frame of the electric machine control system when implementing the control method of permanent magnet synchronous motor of the embodiment of the present invention
Structure schematic diagram；
Fig. 4 is the flow diagram of the control method of the permanent magnet synchronous motor of another embodiment of the present invention；
Fig. 5 is the flow diagram of the control method of the permanent magnet synchronous motor of further embodiment of this invention；
Fig. 6 is a kind of structural schematic diagram of the control system of permanent magnet synchronous motor of one embodiment of the invention.
Description of symbols
401 assume 402 actual angle acquiring unit of angle determination unit
403 differential seat angle computing unit, 404 angle judging unit
405 time judging unit, 406 closed loop cuts unit
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
Referring to it is shown in fig. 1 be one embodiment of the invention permanent magnet synchronous motor control method flow diagram, should
Method specifically includes:
Step 101: inputted based on single electric current ring to start rotor, wherein keeping single electric current ring input institute right in startup stage
Ratio invariableness of the voltage vector magnitude answered relative to the revolving speed of rotor；
Step 102: determine the rotor of permanent magnet synchronous motor startup stage first time about assuming rotational coordinates
The hypothesis angle of system；
Step 103: obtaining the actual angle about practical rotating coordinate system in first time lower rotor part；
More specifically, realized as an example, can be by means of position estimator, for example, by with position estimator
Interaction obtain the actual angle.
Step 104: the first angle difference of calculation assumption angle and actual angle；
Referring to Fig. 2, it illustrates about actual angle, assume the signal of angle and first angle difference, wherein solid line portion
It is point discribed assume that rotating coordinate system, dotted portion it is discribed be practical rotating coordinate system, and assume rotational coordinates
System is comprising assuming d-axis d*Axis and hypothesis quadrature axis q*Axis, practical rotating coordinate system have d-axis d axis and quadrature axis q axis, and in reality
Existing angle Δ θ between rotating coordinate system and hypothesis rotating coordinate system, wherein Δ θ is related to first angle difference.At this
In embodiment, practical rotating coordinate system is detected by means of rotating coordinate system is assumed during input, can be and pass through list
Electric current loop is input to d*Axis and q*The current or voltage signal of axis completes the process, such as: input d*Axis and q*The electric current id of axis*
And iq*, id can be made*It remains unchanged during startup and passes through setting iq*It is improved with the increase of working frequency and is it
Amplitude limit value is set to complete the above process.
Further, it during step 101 is implemented, can be during starting, keep voltage vector magnitude
VsWith rotational speed setup f*Ratio invariableness and limit the appropriate amplitude of voltage minimum value be Vsmin.As shown in figure 3, in step 101
Implementation phase, logic switch are at 101-106, the d of conventional vector control at this time*Shaft current ring and speed ring PI controller are opened
Road only retains q*Shaft current PI controller, is given as the constant being arranged according to operating condition, and output is q*Shaft voltage is given
Vq *。d*Shaft voltage is givenThe amplitude for guaranteeing synthesized voltage vector is Vs, and it is given to be proportional to frequency.It needs
Illustrate, at this time the concurrent working of closed loop location estimator, but the estimated location of its output and revolving speed are not involved in closed loop.
Step 105: judging first angle difference whether in differential seat angle threshold range；
By the implementation of step 105, can detecte whether first angle difference, such as Δ θ are in certain threshold range；
It is possible thereby to determine assume rotating coordinate system whether fitting between actual coordinate system or approximate fitting, that is, whether expire
The condition of the more accurate location estimation of foot.
Step 106: when first angle difference is in differential seat angle threshold range, judging first angle difference in differential seat angle threshold
Whether the first duration within the scope of value is greater than time threshold；
It is understood that the differential seat angle threshold range and time threshold can be presetting, such as by multiple
Referring to determined by experiment.
As the disclosure and optimization of another aspect, first angle difference is being determined not in differential seat angle threshold range or is being differed
When farther out, it can be inputted by adjusting single electric current ring to increase and assume direct-axis current component id*Or it reduces and assumes quadrature axis current
Component iq*First angle difference is adjusted to differential seat angle threshold range.
Step 107: if the first duration was greater than time threshold, permanent magnet synchronous motor being switched into closed-loop control shape
State.
It should be noted that the inventor of this hair application has found during practicing the application: utilizing assumed coordinate system
Closing to reality coordinate system is removed to estimate the physical location of rotor, that is, reduces practical rotating coordinate system and assumes rotating coordinate system
Between angle；May sometime to put the angle smaller, for example, 0 or close to 0, but due to other in start-up course
Disturbing factor, such as the load or varying duty born by motor and the angle for leading to estimated hypothesis rotating coordinate system
May exist and float, it could even be possible to there can be biggish floating.In some cases, since electric motor starting rotor speed
Degree starts to be gradually increasing, and causes the response time of motor longer, and the frequency fluctuation when reaching near stationary value is also compared
Greatly and the fluctuation be also possible to it is more than related to load, and be also possible to be and the internal structure of permanent magnet synchronous motor itself
Configuration it is related.
It is more specifically executed about step 107, can be the effect cancelled and assume rotating coordinate system to permanent magnet synchronous motor
And obtain the revolving speed of rotor；The reference quadrature axis input of permanent magnet synchronous motor is set based on acquired revolving speed, permanent magnetism is same
Step motor switches to closed-loop control state.More specifically, as shown in figure 3, the closed loop switchover policy can be with trigger switch by open loop
It is switched over when (step 107) the transition of startup stage (step 101-106) to closed-loop control stage.In step 107, institute is real
The stage applied, as shown in figure 3, given can change by the speed regulator of closed-loop speed system of q shaft current provides, and d axis
Given value of current can be equal to switching moment d*The given value of shaft current, and be gradually decrease to zero in closed loop transition stage and keep,
Or the offer of MTPA controller is provided, thus complete handoff procedure.
Stability and robustness that motor closed loop is cut can be improved in the implementation of method through this embodiment as a result,.
The flow diagram of the control method of the permanent magnet synchronous motor of another embodiment of the present invention is shown referring to fig. 4,
This method specifically includes:
Step 201: inputted based on single electric current ring to start rotor, wherein keeping single electric current ring input institute right in startup stage
Ratio invariableness of the voltage vector magnitude answered relative to the revolving speed of rotor；
Step 202: determine the rotor of permanent magnet synchronous motor startup stage first time about assuming rotational coordinates
The hypothesis angle of system；
Step 203: obtaining the actual angle about practical rotating coordinate system in first time lower rotor part；
Step 204: the first angle difference of calculation assumption angle and actual angle；
Step 205: judging first angle difference whether in differential seat angle threshold range；
About the explanation of step 201-205, it is referred to the explanation of foregoing embodiments, identical content is not gone to live in the household of one's in-laws on getting married herein
It states.
Step 206: executing following closed loop incision determination step: judging second corresponding to the second time under startup stage
Whether angle difference is in differential seat angle threshold range, and/or judges second of second angle difference in differential seat angle threshold range
Whether the duration is greater than time threshold；
Step 207: if second angle difference is not still in differential seat angle threshold range, and/or the second duration is little
In time threshold, then Iterative statistical closed loop cuts the execution number of determination step；
Step 208: when the execution number counted is more than frequency threshold value, determining that there are motor control failures.
Thus, it is possible to when electric motor starting can not cut Closed loop operation circuit and alarm is to warn user to take in time
Corresponding maintenance measure.
As further open and optimization, the behaviour of addition modulation single electric current ring input between step 206 and step 207
Make, it is possible thereby to realize the adjustment of automation to increase the probability for the condition for meeting closed loop incision, is successfully started up with increasing motor
The chance of operation；About the operation of modulation single electric current ring input, it is referred to the description of foregoing embodiments, identical content is herein not
It is repeated here.
In order to enable the technical solution of the application is easier to be understood by the public, will come below continuing with Fig. 5 to this hair
The control method of the permanent magnet synchronous motor of a bright specific embodiment is illustrated.More specifically, this method comprises:
Step 301:Vs/ f starting, rotational speed setup is ramp signal, integrated generation assumed coordinate system dq*Given position
Angle θ*, voltage vector magnitude V is kept during startupsWith rotational speed setup f*Than it is constant and limit its minimum value be Vsmin.By
This, duty ratio needed for can ensureing single resistance sampling obtains effective guarantee.
At this point, the d of conventional vector control*Shaft current ring and speed ring PI controller open circuit, only retain q*Shaft current PI control
Device, is given as the constant being arranged according to operating condition, and output is q*Shaft voltage gives Vq *。d*Shaft voltage is givenThe amplitude for guaranteeing synthesized voltage vector is Vs, and it is given to be proportional to frequency.It should be noted that closing at this time
Ring position estimator concurrent working, but the estimated location of its output and revolving speed are not involved in closed loop.
As a result, with the raising of given rotating speed, driving motor accelerates rotation, and traction rotor, which smoothly starts to target, switches speed
Spend fthr, so that open-loop start-up moment electric current substantially without impact.
Step 302: angle adjustment, motor accelerate to preset frequency fthrAfterwards, dq is checked*The angle, θ of coordinate system*With closed loop
Angle Δ θ between the dq coordinate system θ of position estimator output.
More specifically, if Δ θ > θthrThen reduce q*Shaft current is given, at this time due to VsIt is limited at corresponding with frequency
In one fixed value, d*Voltage, electric current on axis will increase.If Δ θ <-θthrThen increase q*Axis is given, d*Voltage on axis will
Reduce.Change q*Original equation of motion equilibrium state is destroyed after shaft current is given, torque-generator rotor angle is automatically adjusted to new put down
Weighing apparatus state makes existing differential seat angle between assumed coordinate system and actual coordinates be reduced to θthrWithin.
Step 303: decision stage, by comparing Δ θ and θthd, judge whether the condition of closed loop incision meets and position
Whether estimator more can accurately observe rotor-position and revolving speed.If Δ θ absolute value maintains Tthd1Time is less than θthd,
Then decision condition meets, and otherwise continues to determine.
Step 304: incision closed loop switches moment, and vector controlled cuts the coordinate based on closed loop location estimator output angle
System, the given of q shaft current are provided by speed regulator, and d shaft current is given as the output valve of zero or MTPA controller.
Step 305: if it is greater than Tthd2Time does not meet condition, then increases Vs/ f ratio restarts start-up course.If even
Continue to restart three times and fail decision condition satisfaction, then shows failure.It is understood that this is used only as example three times, but not
As the restriction to the present embodiment range.
By the implementation of the embodiment method, a kind of achievable position-sensor-free starting can be provided and smoothly switched
Permanent magnet synchronous motor start method, and thus overcome permanent magnet synchronous motor band under the conditions of position-sensor-free in the related technology
It carries difficulty in starting and Open-closed-loop switches rough deficiency, impact of the electric current when switching closed loop can be effectively reduced, increase electricity
The probability that machine successfully starts up.
About the implementation of embodiment of the method above, it can be by the form of automatically controlled software and to complete.In view of this, this
Inventive embodiments also provide a kind of machine readable storage medium, and instruction is stored on the machine readable storage medium, which uses
In the control method for making machine execute the above-mentioned permanent magnet synchronous motor of the application；And the machine can be single-chip microcontroller, miniature place
Manage device etc..
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that one
The whole of a (can be single-chip microcontroller, chip etc.) or processor (processor) execution each embodiment the method for the application
Or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
A kind of structural representation of the control system of permanent magnet synchronous motor of one embodiment of the invention is shown referring to Fig. 6
Figure, the permanent magnet synchronous motor input to start based on single electric current ring, which consists of assuming that angle determination unit 401, actual corners
It spends acquiring unit 402, differential seat angle computing unit 403, angle judging unit 404, time judging unit 405 and closed loop and cuts unit
406, wherein it is assumed that angle determination unit 401 is determined for first time of the rotor in startup stage of permanent magnet synchronous motor
About assume rotating coordinate system hypothesis angle；Actual angle acquiring unit 402 can be used for obtaining to be turned under first time
The actual angle about practical rotating coordinate system of son；Differential seat angle computing unit 403 can be used for calculation assumption angle and reality
The first angle difference of angle；Whether angle judging unit 404 can be used for judging first angle difference in differential seat angle threshold value model
In enclosing；Time judging unit 405 can be used for judging that first angle is poor when first angle difference is in differential seat angle threshold range
Whether the first duration that value meets differential seat angle threshold range is greater than time threshold；Closed loop incision unit 406 can be used for as
First duration of fruit is greater than time threshold, then permanent magnet synchronous motor is switched to closed-loop control state.
The above system embodiment can be the auxiliary starting system as permanent magnet synchronous motor and be arranged, about the present invention
The more technical details and technical effect of embodiment system are referred to the description above with respect to embodiment of the method, method and step
It can be executed by the corresponding unit of system or module, consider that not in this to go forth in length.
On the one hand the embodiment of the present invention also provides a kind of compressor (not shown), be provided with above-mentioned permanent magnetism in the compressor
The control system of synchronous motor, so that the technology that also can have foregoing embodiments to be illustrated using the compressor for having the motor
Scheme and technical effect.
On the one hand the embodiment of the present invention also provides a kind of household electrical appliance, which can be refrigerator, air-conditioning etc., with
And the domestic air conditioning can be configured with compressor described in above-described embodiment.
The optional embodiment of example of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously unlimited
Detail in above embodiment can be to the embodiment of the present invention in the range of the technology design of the embodiment of the present invention
Technical solution carry out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (12)
1. a kind of control method of permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is inputted based on single electric current ring to start,
It is characterized in that, which comprises
Determine the rotor of the permanent magnet synchronous motor startup stage first time about the hypothesis for assuming rotating coordinate system
Angle, wherein keeping voltage vector magnitude corresponding to the single electric current ring input relative to the rotor in the startup stage
Revolving speed Ratio invariableness；
Obtain the actual angle about practical rotating coordinate system of the rotor under the first time；
Calculate it is described assume angle and the actual angle first angle difference, and judge the first angle difference whether
In differential seat angle threshold range；And
When the first angle difference is in the differential seat angle threshold range, judge the first angle difference in the angle
Whether the first duration in poor threshold range is greater than time threshold；
It include operation below with by the permanent magnetism by executing if first duration is greater than the time threshold
Synchronous motor switches to closed-loop control state:
By it is described assume angle direct-axis component be set as the permanent magnet synchronous motor reference d-axis input, and then execute with
It is at least one of lower: controlled using MTPA controller adjustment it is described with reference to d-axis input, by it is described with reference to d-axis input by
Gradually it is reduced to 0.
2. the method according to claim 1, wherein described switch to closed-loop control for the permanent magnet synchronous motor
State includes:
Cancel the hypothesis rotating coordinate system to the effect of the permanent magnet synchronous motor and obtains the revolving speed of the rotor；
The reference quadrature axis input of the permanent magnet synchronous motor is set based on the acquired revolving speed, by the permanent-magnet synchronous
Motor switches to closed-loop control state.
3. the method according to claim 1, wherein if the first angle difference is not in the differential seat angle threshold
It is worth in range, this method further include:
It executes following closed loop incision determination step: judging second angle difference corresponding to the second time under the startup stage
Whether in the differential seat angle threshold range, and/or judge the second angle difference in the differential seat angle threshold range
When whether the second duration was greater than the time threshold；
If the second angle difference is not still in the differential seat angle threshold range, and/or second duration is little
In the time threshold, then closed loop described in Iterative statistical cuts the execution number of determination step；And
When the execution number counted is more than frequency threshold value, determine that there are motor control failures.
4. the method according to claim 1, wherein if the first angle difference is not in the differential seat angle threshold
It is worth in range, this method further include:
It is inputted by adjusting the single electric current ring to increase hypothesis direct-axis current component relevant to the hypothesis angle and/or drop
Low hypothesis quadrature axis current component relevant to the hypothesis angle is adjusting the first angle difference to the differential seat angle threshold
It is worth in range.
5. according to the method described in claim 4, it is characterized in that, the adjustment single electric current ring input includes:
By control current phasor distribute angle it is described assume rotating coordinate system assume d-axis and assume quadrature axis on projection come
Increase the hypothesis direct-axis current component and/or reduces the hypothesis quadrature axis current component.
6. a kind of control system of permanent magnet synchronous motor, wherein the permanent magnet synchronous motor is inputted based on single electric current ring to start,
It is characterized in that, the system comprises:
It is assumed that angle determination unit, for determine the rotor of the permanent magnet synchronous motor startup stage first time about
It is assumed that the hypothesis angle of rotating coordinate system, wherein the voltage arrow for keeping the single electric current ring input corresponding in the startup stage
Measure Ratio invariableness of the amplitude relative to the revolving speed of the rotor；
Actual angle acquiring unit, for obtaining the reality about practical rotating coordinate system of the rotor under the first time
Border angle；
Angle calculation unit, for calculating the first angle difference for assuming angle and the actual angle；
Angle judging unit, for judging the first angle difference whether in differential seat angle threshold range；
Time judging unit, for judging described first when the first angle difference is in the differential seat angle threshold range
Whether first duration of the angle difference in the differential seat angle threshold range is greater than time threshold；
Closed loop cuts unit, includes following by executing if being greater than the time threshold for first duration
Operation the permanent magnet synchronous motor is switched to closed-loop control state:
By it is described assume angle direct-axis component be set as the permanent magnet synchronous motor reference d-axis input, and then execute with
It is at least one of lower: controlled using MTPA controller adjustment it is described with reference to d-axis input, by it is described with reference to d-axis input by
Gradually it is reduced to 0.
7. the control system of permanent magnet synchronous motor according to claim 6, which is characterized in that the closed loop cuts unit packet
It includes:
It is assumed that cancelling module, for cancelling effect of the hypothesis rotating coordinate system to the permanent magnet synchronous motor；
Revolving speed obtains module, for obtaining the revolving speed of the rotor；
Closed ring set module, the reference quadrature axis for the permanent magnet synchronous motor to be arranged based on the acquired revolving speed are defeated
Enter, the permanent magnet synchronous motor is switched into closed-loop control state.
8. system according to claim 6, which is characterized in that the system also includes accident analysis unit, the failures point
Analysing unit includes:
Calling module is determined, if executed following for the first angle difference not in the differential seat angle threshold range
Closed loop cuts determination step
Judge second angle difference corresponding to the second time under the startup stage whether in the differential seat angle threshold range
It is interior, and/or to judge whether second duration of the second angle difference in the differential seat angle threshold range is greater than described
When time threshold；
Statistical module, if for the second angle difference still not in the differential seat angle threshold range, and/or described second
Duration is not more than the time threshold, then the execution number of the incision of closed loop described in Iterative statistical determination step；
Failure analysis module, for when the execution number counted is more than frequency threshold value, determining that there are motor control events
Barrier.
9. system according to claim 6, which is characterized in that the system also includes:
Differential seat angle adjustment unit, if for the first angle difference not in the differential seat angle threshold range, by adjusting
The single electric current ring inputs to increase hypothesis direct-axis current component relevant to the hypothesis angle and/or reduce and the hypothesis
The relevant hypothesis quadrature axis current component of angle adjusts the first angle difference to the differential seat angle threshold range.
10. system according to claim 9, which is characterized in that the differential seat angle adjustment unit is used for through control electric current
Vector distributes projection of the angle on the hypothesis d-axis for assuming rotating coordinate system and hypothesis quadrature axis to adjust the single electric current ring
Input.
11. system according to claim 6, which is characterized in that the actual angle acquiring unit by with location estimation
The interaction of device obtains the actual angle about practical rotating coordinate system of the rotor under the startup stage.
12. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Perform claim requires the control method of permanent magnet synchronous motor described in any one of 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710597624.XA CN107196567B (en) | 2017-07-20 | 2017-07-20 | The control method and system of permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710597624.XA CN107196567B (en) | 2017-07-20 | 2017-07-20 | The control method and system of permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107196567A CN107196567A (en) | 2017-09-22 |
| CN107196567B true CN107196567B (en) | 2019-10-18 |
Family
ID=59885083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710597624.XA Active CN107196567B (en) | 2017-07-20 | 2017-07-20 | The control method and system of permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107196567B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107623467B (en) * | 2017-10-24 | 2020-01-07 | 厦门金龙汽车新能源科技有限公司 | Starting method of synchronous motor speed sensorless |
| CN108964557A (en) * | 2018-06-27 | 2018-12-07 | 青岛海尔智能技术研发有限公司 | Compressor control method and device, storage medium |
| CN109039160B (en) * | 2018-06-27 | 2021-07-30 | 青岛海尔智能技术研发有限公司 | Compressor starting method and device and storage medium |
| CN110690837B (en) * | 2018-07-05 | 2021-09-21 | 广东威灵汽车部件有限公司 | Motor control method and system based on vector control system and storage medium |
| CN109039159B (en) * | 2018-09-20 | 2020-09-11 | 珠海格力节能环保制冷技术研究中心有限公司 | Startup control method and device and processor |
| CN109428524B (en) * | 2018-09-28 | 2020-08-25 | 佛山市顺德区和而泰电子科技有限公司 | Closed-loop switching method for permanent magnet synchronous motor |
| CN111211715B (en) * | 2018-11-22 | 2023-04-25 | 杭州先途电子有限公司 | Motor control method and system and controller |
| CN111289894B (en) * | 2018-12-10 | 2022-02-25 | 广东威灵汽车部件有限公司 | Locked rotor detection method, system and device of motor and storage medium |
| CN110943669B (en) * | 2019-10-25 | 2023-10-20 | 海尔(深圳)研发有限责任公司 | Method and device for starting permanent magnet synchronous motor and intelligent equipment |
| CN111525852A (en) * | 2020-03-06 | 2020-08-11 | 创驱（上海）新能源科技有限公司 | Starting method of motor without position sensor |
| CN112067022B (en) * | 2020-09-07 | 2023-03-28 | 深圳市汇川技术股份有限公司 | Rotary transformer state detection method, device, digital signal processing chip and medium |
| CN113659883A (en) * | 2021-07-20 | 2021-11-16 | 广州安捷制造有限公司 | Starting method and device of variable frequency compressor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102647134A (en) * | 2012-04-01 | 2012-08-22 | 南京航空航天大学 | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor |
| CN105356811A (en) * | 2015-12-10 | 2016-02-24 | 东南大学 | Method for detecting initial position of permanent magnet synchronous motor |
| CN105356812A (en) * | 2015-10-23 | 2016-02-24 | 杭州娃哈哈精密机械有限公司 | Starting circuit and starting method of permanent magnet synchronous motor |
-
2017
- 2017-07-20 CN CN201710597624.XA patent/CN107196567B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102647134A (en) * | 2012-04-01 | 2012-08-22 | 南京航空航天大学 | Efficiency optimization control method without angle sensor for permanent magnet synchronous motor |
| CN105356812A (en) * | 2015-10-23 | 2016-02-24 | 杭州娃哈哈精密机械有限公司 | Starting circuit and starting method of permanent magnet synchronous motor |
| CN105356811A (en) * | 2015-12-10 | 2016-02-24 | 东南大学 | Method for detecting initial position of permanent magnet synchronous motor |
Non-Patent Citations (1)
| Title |
|---|
| 永磁同步电机无位置传感器矢量控制系统的研究;袁泽剑等;《电气传动自动化》;20000831;第22卷(第4期);第21-23页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107196567A (en) | 2017-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107196567B (en) | The control method and system of permanent magnet synchronous motor | |
| CN107222137B (en) | The control method and system of permanent magnet synchronous motor | |
| JP5534935B2 (en) | Rotation sensorless control device | |
| CN109428524B (en) | Closed-loop switching method for permanent magnet synchronous motor | |
| US10447185B2 (en) | Starting method and apparatus for permanent magnet synchronous motor, power system, and unmanned aerial vehicle | |
| CN107204726A (en) | The control method and system of permagnetic synchronous motor | |
| JPH1118477A (en) | Initial pole position estimation method of permanent magnet type brushless motor | |
| CN110149080B (en) | Flux weakening control method and device for permanent magnet synchronous motor | |
| CN110492805A (en) | Method for controlling permanent magnet synchronous motor, system and storage medium based on fuzzy control | |
| JP2022029446A (en) | Robust starting system and method for interior permanent magnet synchronous motor control | |
| US11606050B2 (en) | Method and system for controlling electric motor, and controller | |
| CN109713961A (en) | Method for controlling permanent magnet synchronous motor, device and electronic equipment | |
| CN111740656A (en) | Motor control method and related device | |
| Guo et al. | Coupling and digital control delays affected stability analysis of permanent magnet synchronous motor current loop control | |
| JP5517851B2 (en) | Refrigeration equipment having a motor control device and a compressor drive device using the motor control device | |
| CN110943669B (en) | Method and device for starting permanent magnet synchronous motor and intelligent equipment | |
| CN112737462A (en) | Method and device for identifying initial state of permanent magnet synchronous motor | |
| CN110838810A (en) | Motor control method and device | |
| CN116582050A (en) | Starting method and device of non-inductive FOC control mode and electronic equipment | |
| CN109546909A (en) | A kind of AC permanent magnet synchronous motor revolving speed tracking starting method | |
| Yan et al. | Sensorless direct torque controlled drive of brushless DC motor based on fuzzy logic | |
| CN113691184A (en) | Motor control method and device, motor and readable storage medium | |
| Cho et al. | Torque ripple reduction and fast torque response strategy of direct torque control for permanent-magnet synchronous motor | |
| JP2019115504A (en) | Washing machine | |
| JP6947562B2 (en) | Air conditioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |