CN107222137A - The control method and system of permagnetic synchronous motor - Google Patents
The control method and system of permagnetic synchronous motor Download PDFInfo
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- CN107222137A CN107222137A CN201710595923.XA CN201710595923A CN107222137A CN 107222137 A CN107222137 A CN 107222137A CN 201710595923 A CN201710595923 A CN 201710595923A CN 107222137 A CN107222137 A CN 107222137A
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- angle
- synchronous motor
- differential seat
- permagnetic synchronous
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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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
- 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
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- 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 a kind of control method and system of permagnetic synchronous motor, belongs to the control technology field of permagnetic synchronous motor.The control method of the permagnetic synchronous motor includes：Determine the hypothesis angle on assuming rotating coordinate system of the rotor of permagnetic synchronous motor in the very first time of startup stage；Obtain the actual angle on actual rotating coordinate system in very 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；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 more than time threshold；If the first duration was more than time threshold, permagnetic synchronous motor is switched into closed-loop control state.Thereby, it is possible to improve the stability and robustness of the incision of motor closed loop.
Description
Technical field
The present invention relates to permagnetic synchronous motor control field, more particularly to a kind of method for controlling permanent magnet synchronous motor and it is
System.
Background technology
With developing rapidly for motor technology, the motor of some air-conditioning heat dissipation blower fan and compressor is position-sensor-free
Permagnetic synchronous motor, position-sensor-free permagnetic synchronous motor before activation, because rotor-position is unknown, it is necessary to according to it
Winding parameter estimated rotor-position, and restarts after rotor-position is estimated to motor.
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
To estimate the position angle and speed of rotor, this implementation has obtained larger popularization due to simple to operate, more specifically on
The mode that single electric current starts：Compressor frequency is pulled up to after certain frequency to be just directly switch into speed open loop approach and closed
Ring.
Present inventor has found during the present invention is realized：Opened in electric motor starting, especially when motor belt motor is carried
When moving or there is larger or change load, it can be produced when directly switching from open-loop start-up loop to Closed loop operation loop
Larger switching electric current, even also results in the startup failure of motor when serious.
The content of the invention
The purpose of the embodiment of the present invention is to provide the control method and system of a kind of permagnetic synchronous motor, existing to solve
Permagnetic synchronous motor in technology when open-loop start-up loop directly switches to Closed loop operation loop caused by larger switching
Electric current and the technical problem of electric motor starting failure.
To achieve these goals, on the one hand the embodiment of the present invention provides a kind of control method of permagnetic synchronous motor, its
In the permagnetic synchronous motor inputted and start based on single electric current ring, methods described includes：Determine turning for the permagnetic synchronous motor
Hypothesis angle on assume rotating coordinate system of the son in the very first time of startup stage；Obtain described under the very first time
The actual angle on actual rotating coordinate system of rotor；Calculate the first angle for assuming angle and the actual angle poor
Value, and judge the first angle difference whether in differential seat angle threshold range；And when the first angle difference is described
When in differential seat angle threshold range, judge first angle difference meet differential seat angle threshold range the first duration whether be more than when
Between threshold value；If first duration is more than the time threshold, the permagnetic synchronous motor is switched into closed loop control
State processed.
Optionally, it is described the permagnetic synchronous motor is switched into closed-loop control state to include：Cancel the hypothesis rotation
Coordinate system is to the effect of the permagnetic synchronous motor and obtains the rotating speed of the rotor；Set based on the acquired rotating speed
The reference quadrature axis input of the permagnetic synchronous motor, closed-loop control state is switched to by the permagnetic synchronous motor.
Optionally, if the first angle difference is not in the differential seat angle threshold range, this method also includes：Perform
Following closed loop cuts determination step：Judge the second angle difference corresponding to the second time under the startup stage whether in institute
State in differential seat angle threshold range, and/or judge the second angle difference when the second of the differential seat angle threshold range continues
Between whether be more than the time threshold when；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 closed loop described in Iterative statistical cuts the execution number of times of determination step；
And when the execution number of times counted exceedes frequency threshold value, it is determined that there is motor control failure.
Optionally, if the first angle difference is not in the differential seat angle threshold range, this method also includes：Pass through
Adjust single electric current ring input increase the hypothesis direct-axis current component related to the hypothesis angle and/or reduction with it is described
It is assumed that the related hypothesis quadrature axis current component of angle adjusts the first angle difference to the differential seat angle threshold range.
Optionally, the adjustment single electric current ring input includes：Angle is distributed by control electric current vector described to assume
Projection on the hypothesis d-axis and hypothesis quadrature axis of rotating coordinate system inputs to adjust the single electric current ring.
Optionally, the corresponding current phasor amplitude of the single electric current ring input is kept in the startup stage relative to institute
State the Ratio invariableness of the rotating speed of rotor.
On the other hand the embodiment of the present invention provides a kind of control system of permagnetic synchronous motor, the wherein permagnetic synchronous motor
Started based on the input of single electric current ring, the system includes：It is assumed that angle determination unit, for determining the permagnetic synchronous motor
Rotor startup stage the very first time on assume rotating coordinate system hypothesis angle；Actual angle acquiring unit, is used
In the actual angle on actual rotating coordinate system for obtaining the rotor under the very first time；Differential seat angle computing unit,
First angle difference for calculating the hypothesis angle and the actual angle；Angle judging unit, for judging described
Whether one angle difference is in differential seat angle threshold range；Time judging unit, for when the first angle difference is at the angle
When in the poor threshold range of degree, judge whether first duration of the first angle difference in the differential seat angle threshold range is more than
Time threshold；Closed loop cuts unit, if being more than the time threshold for first duration, the permanent magnetism is same
Step motor switches to closed-loop control state.
Optionally, the closed loop incision unit includes：It is assumed that cancellation module, for cancelling the hypothesis rotating coordinate system pair
The effect of the permagnetic synchronous motor；Rotating speed acquisition module, the rotating speed for obtaining the rotor；Closed ring set module, is used for
The reference quadrature axis of the permagnetic synchronous motor is set to input based on the acquired rotating speed, by the permagnetic synchronous motor
Switch to closed-loop control state.
Optionally, the system also includes accident analysis unit, and the accident analysis unit includes：Judge calling module, use
If in the first angle difference not in the differential seat angle threshold range, performing following closed loop incision determination step-sentence
Break the startup stage under the second time corresponding to second angle difference 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 more than the time threshold
During value；Statistical module, if for the second angle difference still not in the differential seat angle threshold range, and/or described
Two duration were not more than the time threshold, then closed loop described in Iterative statistical cuts the execution number of times of determination step；Failure point
Module is analysed, for when the execution number of times counted exceedes frequency threshold value, it is determined that there is motor control failure.
Optionally, the system also includes：Differential seat angle adjustment unit, if for the first angle difference not described
In differential seat angle threshold range, the hypothesis d-axis electricity related to the hypothesis angle is increased by adjusting the single electric current ring input
Flow component and/or reduction the hypothesis quadrature axis current component related to the hypothesis angle 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 electric current vector
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 with interacting for position estimator by obtaining in the startup stage
Under the rotor the actual angle on actual rotating coordinate system.
On the other hand, the present invention provides the finger that is stored with a kind of machinable medium, the machinable medium
Order, the instruction is used for the control method for causing machine to perform the above-mentioned permagnetic synchronous motor of the application.
By above-mentioned technical proposal, by rotor it is assumed that rotating coordinate system and the position angle under actual rotating coordinate system
Degree difference is judged that if, when the first angle difference of the very first time is in the range of angle threshold, continuation judges that first angle is poor
Whether the first duration that value meets differential seat angle threshold range is more than time threshold, and is only more than the time in the first duration
In the case of threshold value, permagnetic synchronous motor is just switched into closed-loop control state；Thus, judging from opened loop control loop switch
The stabilization for the rotor-position that the closed loop incision moment estimated also has been ensured while satisfaction to the location estimation of close loop control circuit
Property, it can solve to cause fluctuating and unstable for estimated rotor-position because the motor load of startup stage is excessive or changes
Problem, to improve the stability and robustness of the incision of motor closed loop.
The further feature and advantage of the embodiment of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is that the embodiment of the present invention is further understood for providing, and constitutes a part for specification, with
The embodiment in face is used to explain the embodiment of the present invention together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure：
Fig. 1 is the schematic flow sheet of the control method of the permagnetic synchronous motor of one embodiment of the invention；
Fig. 2 is position of the rotor in start-up course showing on actual 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 permagnetic synchronous motor of the embodiment of the present invention
Structure schematic diagram；
Fig. 4 is the schematic flow sheet of the control method of the permagnetic synchronous motor of another embodiment of the present invention；
Fig. 5 is the schematic flow sheet of the control method of the permagnetic synchronous motor of further embodiment of this invention；
Fig. 6 is will under the operating mode of heavier loads using the motor of the method for controlling permanent magnet synchronous motor of the embodiment of the present invention
Current waveform schematic diagram during electric motor starting to closed loop phase；
Fig. 7 is a kind of structural representation of the control system of permagnetic synchronous motor of one embodiment of the invention.
Description of reference numerals
401 assume the actual angle acquiring unit of angle determination unit 402
The angle judging unit of 403 differential seat angle computing unit 404
The closed loop of 405 time judging unit 406 cuts unit
Embodiment
The embodiment of the embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this
The embodiment of place description is merely to illustrate and explain the present invention embodiment, is not intended to limit the invention embodiment.
The schematic flow sheet of the control method of the permagnetic synchronous motor of one embodiment of the invention is illustrated that referring to Fig. 1, should
Method is specifically included：
Step 101：Rotor is started based on the input of single electric current ring；
Step 102：Determine the rotor of permagnetic synchronous motor startup stage the very first time on assuming rotational coordinates
The hypothesis angle of system；
Step 103：Obtain the actual angle on actual rotating coordinate system in very first time lower rotor part；
More specifically, as an example, can be realized 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；
Reference picture 2, it illustrates the signal on actual angle, hypothesis angle and first angle difference, wherein solid line portion
Divide to depict and assume that rotating coordinate system, dotted portion depict actual rotating coordinate system, and assume rotational coordinates
System is comprising hypothesis d-axis d* axles and assumes that quadrature axis q* axles, actual rotating coordinate system have d-axis d axles and quadrature axis q axles, and in reality
Existing angle Δ θ between border rotating coordinate system and hypothesis rotating coordinate system, wherein Δ θ are related to first angle difference.
In the present embodiment, hypothesis rotating coordinate system is by means of during input to detect actual rotating coordinate system, can pass through
Single electric current ring inputs to the curtage signal of d* axles and q* axles to complete the process, for example：Input the electricity of d* axles and q* axles
Flow id* and iq*, can make id* kept in start-up course it is constant and by setting iq* to be improved with the increase of working frequency
And set amplitude limit value to complete said process for it.
Step 105：Judge first angle difference whether in differential seat angle threshold range；
By the implementation of step 105, it can detect whether first angle difference, such as Δ θ in certain threshold range；
It is possible thereby to determine to assume rotating coordinate system whether the laminating or approximate laminating between actual coordinate system, 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, judge first angle difference in differential seat angle threshold
Whether the first duration in the range of value is more than time threshold；
It is understood that the differential seat angle threshold range and time threshold can be presetting, such as by multiple
With reference to determined by experiment.
Disclosure and optimization as another aspect, it is determined that first angle difference is not in differential seat angle threshold range or differs
When farther out, it can be increased by adjusting the input of single electric current ring and assume that direct-axis current component id* or reduction assume quadrature axis current
Component iq* adjusts first angle difference to differential seat angle threshold range.
Step 107：If the first duration was more than time threshold, permagnetic synchronous motor is switched into closed-loop control shape
State.
It should be noted that the inventor of this hair application has found during the application is put into practice：Utilize assumed coordinate system
Remove closing to reality coordinate system to estimate the physical location of rotor, that is, reduce actual rotating coordinate system and assume 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, load or the varying duty for example born by motor and cause the angle of estimated hypothesis rotating coordinate system
May exist and float, it could even be possible to there can be larger 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 with the internal structure of permagnetic synchronous motor in itself
Configuration it is related.
More specifically performed on step 107, can cancel the effect for assuming rotating coordinate system to permagnetic synchronous motor
And obtain the rotating speed of rotor；The reference quadrature axis of permagnetic synchronous motor is set to input based on acquired rotating 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
Startup stage (step 101-106) when closed-loop control stage (step 107) transition to switching over.In step 107, institute is real
The stage applied, as shown in figure 3, the given of q shaft currents can change by the speed regulator of closed-loop speed system to provide, and d axles
Given value of current can be equal to the set-point of switching moment d* shaft current, and be gradually decrease to zero in closed loop transition stage and keep,
Or the offer of MTPA controllers is provided, thus complete handoff procedure.
Thus, stability and robustness that motor closed loop is cut can be improved by the implementation of the present embodiment method.
The schematic flow sheet of the control method of the permagnetic synchronous motor of another embodiment of the present invention is illustrated that referring to Fig. 4,
This method is specifically included：
Step 201：Rotor is started based on the input of single electric current ring；
Step 202：Determine the rotor of permagnetic synchronous motor startup stage the very first time on assuming rotational coordinates
The hypothesis angle of system；
Step 203：Obtain the actual angle on actual rotating coordinate system in very first time lower rotor part；
Step 204：The first angle difference of calculation assumption angle and actual angle；
Step 205：Judge first angle difference whether in differential seat angle threshold range；
On step 201-205 explanation, the explanation of foregoing embodiments is referred to, identical content is not gone to live in the household of one's in-laws on getting married herein
State.
Step 206：Perform following closed loop incision determination step：Judge 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 more 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 the execution number of times of time threshold, then Iterative statistical closed loop incision determination step；
Step 208：When the execution number of times counted exceedes frequency threshold value, it is determined that there is motor control failure.
Thus, it is possible to when electric motor starting can not cut Closed loop operation loop, 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, successfully started up with increasing motor
The chance of operation；On the operation of modulation single electric current ring input, the description of foregoing embodiments is referred to, identical content is herein not
It is repeated here.
In order that the technical scheme for obtaining the application is easier to be understood by the public, it will come below continuing with Fig. 5 to this hair
The control method of the permagnetic synchronous motor of a bright specific embodiment is illustrated.More specifically, this method includes：
Step 301：Is/ f single electric currents ring starts, and accelerates to rotate using current inner loop motor.
In the implementation process of the step 301, rotational speed setup is ramp signal, is produced by integration and assumes rotating coordinate system
Dq* given position angle.Keep current phasor amplitude IsWith rotational speed setup f* Ratio invariableness, by system operations real-time update electricity
Vector is pressed, so that motor accelerates rotation, traction rotor smoothly starts.The given value of current value of d* axles and q* axles is respectively
IsCos (γ) and IsSin (γ), γ are that current phasor distributes angle, and in the implementation process of step 301, γ can remain 90 degree
Or other fixed values.It is used as step 301 further disclosure and optimization, current phasor amplitude IsIt is permanent with rotational speed setup f* ratios
Fixed, f* is given gradually to be increased by zero so that IsIt is also gradually to increase, therefore in open-loop start-up immediate current substantially without impact.
And it also requires explanation, in step 301, according to the torque expression formula of permagnetic synchronous motor, can be obtained in vacation
Torque is in position fixing system：
Using IsWhen/f is controlled and current phasor entirely falls within q* axles, γ=90 degree.According to force balance principle, angle delta
θ constantly changes with the change of load, and reaches balance, there is an angle between assumed coordinate system and actual coordinates
Degree is poor, and rotor can be positioned in the position of advanced 90 ° of assumed coordinate system when pure unloaded.So that the control has torque-work(
The characteristic of angle self-balancing, and can anti-disturbance strongly.
Step 302：Pose adjustment, motor accelerates to default frequency fthdAfterwards, check the angle, θ * of dq* coordinate systems with closing
Differential seat angle Δ θ (Δ θ=θ *-θ) between the dq coordinate systems θ of ring estimator output.If Δ θ ＞ θthdThen reduce γ, if Δ
θ ＜-θthdThen increase γ, adjust IsElectric current distribution on two axles of dq* coordinate systems, forces assumed coordinate system to actual coordinate
It is close so that the declinate between dq* coordinate systems and dq coordinate systems is in θthdWithin.
In step 302, Is/ f, which starts, reaches frequency fthdAfterwards, give and also deposited between coordinate system dq* and actual coordinates dq
In a differential seat angle Δ θ, according to torque expression formula and torque balance equation, and the angle is influenceed by load.Need
It could smooth out and reliably switch after Δ θ is eliminated, the method for adjustment of angle difference can change γ between dq* and dq, i.e.,
Change distribution of the given value of current vector in d* axles and q* axles.It can be seen from motor torque-generator rotor angle equilibrium principle, if increase d* axles
Electric current reduces q* shaft currents, then on the contrary angle difference reduces, then increase, accordingly reduction assumed coordinate system and actual coordinates
Between angle difference.
As the further open and optimization of step 302, the regulation of the differential seat angle can combine PI rings complete,
More specifically, can be the input that angle difference Δ θ is set to PI rings, and using-γ as PI rings output.
As the further open and optimization of step 302, it can progressively reduce current phasor while γ angles are adjusted
Principle that is given, being balanced according to above-mentioned permagnetic synchronous motor generator rotor angle, now angle difference can also reduce, and can also effectively subtract
Impact of the low current when switching closed loop.
Step 303, by contrasting Δ θ and θthd, judge whether the condition of closed loop incision meets and whether is position estimator
It more can accurately observe rotor-position and rotating speed.If Δ θ absolute values maintain Tthd1Time is less than θthd, then decision condition
Meet, otherwise continue to judge.
Step 304, closed loop transition stage, if the judgement in step 303 meets closed loop incision condition, by dq* coordinates
Angle value needed for system incision dq coordinate systems, i.e. vector controlled changes to be provided by closed loop location estimator, and motor thus is cut into closed loop
Control.
Step 305：The fault verification stage, if greater than Tthd2Time does not meet condition, then increases Is/ f ratios restart electricity
Machine start-up course；And fail decision condition satisfaction if restarted for continuous three times, then show electrical fault.It may be appreciated
It is that the frequency threshold value in embodiment is solely for example for three times, and is not used as the limitation to scope of embodiments.
By the implementation of the embodiment method, a kind of achievable position-sensor-free can be provided and start and take over seamlessly
Permagnetic synchronous motor start method, and thus overcome permagnetic synchronous motor band under the conditions of position-sensor-free in correlation technique
Carry difficulty in starting and Open-closed-loop switches rough deficiency, impact of the electric current when switching closed loop, increase electricity can be effectively reduced
The probability that machine is successfully started up.
The result that embodiment method shown in Figure 6 is obtained in practical application, as shown in fig. 6, it shows
Be heavier loads operating mode under by current waveform during electric motor starting to closed loop phase.Wherein, the peak value of given value of current is
30A.By this test result indicates that：It is smoother using the whole transient process of the present embodiment, indicate this embodiment scheme
The gentle startup to motor can be still realized under conditions of heavier loads, it demonstrates the effective of scheme of the embodiment of the present invention
Property and feasibility.
On the implementation of embodiment of the method above, it can be completed by the form of automatically controlled software.In view of this, originally
Inventive embodiments also provide a kind of machinable medium, and be stored with instruction on the machinable medium, and the instruction is used
The control method of the above-mentioned permagnetic synchronous motor of the application is performed in causing machine；And the machine can be single-chip microcomputer, miniature place
Manage device etc..
It will be appreciated by those skilled in the art that realizing that all or part of step in above-described embodiment method can be by
Program instructs the hardware of correlation to complete, and the program storage is in a storage medium, including some instructions are to cause one
Individual (can be single-chip microcomputer, chip etc.) or processor (processor) perform the whole of each embodiment methods described of the application
Or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
A kind of structural representation of the control system of permagnetic synchronous motor of one embodiment of the invention is illustrated that referring to Fig. 7
Figure, the permagnetic synchronous motor inputs to start based on single electric current ring, and the system consists of assuming that angle determination unit 401, actual corners
Spend acquiring unit 402, differential seat angle computing unit 403, angle judging unit 404, time judging unit 405 and closed loop incision unit
406, wherein it is assumed that angle determination unit 401 is determined for the very first time of the rotor in startup stage of permagnetic synchronous motor
On assume rotating coordinate system hypothesis angle；Actual angle acquiring unit 402 can be used for obtaining to be turned under the very first time
The actual angle on actual 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, when first angle difference is in differential seat angle threshold range, judging that first angle is poor
Whether the first duration that value meets differential seat angle threshold range is more than time threshold；Closed loop incision unit 406 can be used for as
Really the first duration was more than time threshold, then permagnetic synchronous motor was switched into closed-loop control state.
Said system embodiment can be set as the auxiliary starting system of permagnetic synchronous motor, on the present invention
The more ins and outs and technique effect of embodiment system are referred to the description above with respect to embodiment of the method, its method and step
It can be performed by the corresponding unit of system or module, consider that not in this to go forth in length.
Further aspect of the embodiment of the present invention provides in a kind of compressor (not shown), the compressor and is provided with above-mentioned permanent magnetism
The control system of synchronous motor, so that can also have the technology that foregoing embodiments are illustrated using the compressor for having the motor
Scheme and technique effect.
Further aspect of the embodiment of the present invention provides a kind of household electrical appliance, and the household electrical appliance can be refrigerator, air-conditioning etc., with
And the domestic air conditioning can be configured with the compressor described by above-described embodiment.
The optional embodiment of example of the present invention is described in detail above in association with accompanying drawing, still, the embodiment of the present invention is not limited
Detail in above-mentioned 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 scheme carry out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various possible combinations no longer separately illustrate.
In addition, can also be combined between a variety of embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is run counter to, it should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (13)
1. a kind of control method of permagnetic synchronous motor, the wherein permagnetic synchronous motor input to start based on single electric current ring, its
It is characterised by, methods described includes：
Determine the hypothesis on assuming rotating coordinate system of the rotor of the permagnetic synchronous motor in the very first time of startup stage
Angle；
Obtain the actual angle on actual rotating coordinate system of the rotor under the very first time；
Calculate it is described assume the first angle difference of angle and the actual angle, 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 more than time threshold；
If first duration is more than the time threshold, the permagnetic synchronous motor is switched into closed-loop control shape
State.
2. according to the method described in claim 1, it is characterised in that described that the permagnetic synchronous motor is switched into closed-loop control
State includes：
Cancel and described assume rotating coordinate system to the effect of the permagnetic synchronous motor and obtain the rotating speed of the rotor；
The reference quadrature axis of the permagnetic synchronous motor is set to input based on the acquired rotating speed, by the permanent-magnet synchronous
Motor switches to closed-loop control state.
3. according to the method described in claim 1, it is characterised in that if the first angle difference is not in the differential seat angle threshold
In the range of value, this method also includes：
Perform following closed loop incision determination step：Judge the 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 more 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 execution number of times of the time threshold, then closed loop incision determination step described in Iterative statistical；And
When the execution number of times counted exceedes frequency threshold value, it is determined that there is motor control failure.
4. according to the method described in claim 1, it is characterised in that if the first angle difference is not in the differential seat angle threshold
In the range of value, this method also includes：
Increased by adjusting the single electric current ring input and the hypothesis direct-axis current component for assuming that angle is related and/or drop
The low hypothesis quadrature axis current component related to the hypothesis angle adjusts the first angle difference to the differential seat angle threshold
In the range of value.
5. method according to claim 4, it is characterised in that the adjustment single electric current ring input includes：
By control electric current vector distribute angle it is described hypothesis rotating coordinate system assume d-axis and assume quadrature axis on projection come
Adjust the single electric current ring input.
6. according to the method described in claim 1, it is characterised in that the single electric current ring input institute is kept in the startup stage
The Ratio invariableness of corresponding rotating speed of the current phasor amplitude relative to the rotor.
7. a kind of control system of permagnetic synchronous motor, the wherein permagnetic synchronous motor input to start based on single electric current ring, its
It is characterised by, the system includes：
It is assumed that angle determination unit, for determine the rotor of the permagnetic synchronous motor startup stage the very first time on
It is assumed that the hypothesis angle of rotating coordinate system；
Actual angle acquiring unit, the reality on actual rotating coordinate system for obtaining the rotor under the very first time
Border angle；
Differential seat angle computing unit, the first angle difference for calculating the hypothesis 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 when the first angle difference is in the differential seat angle threshold range, judging first angle
Whether the first duration that difference meets differential seat angle threshold range is more than the time threshold；
Closed loop cuts unit, if being more than the time threshold for first duration, by the permanent magnet synchronous electric
Machine-cut shifts to closed-loop control state.
8. system according to claim 7, it is characterised in that the closed loop incision unit includes：
It is assumed that cancellation module, for cancelling effect of the hypothesis rotating coordinate system to the permagnetic synchronous motor；
Rotating speed acquisition module, the rotating speed for obtaining the rotor；
Closed ring set module, for setting the reference quadrature axis of the permagnetic synchronous motor defeated based on the acquired rotating speed
Enter, the permagnetic synchronous motor is switched into closed-loop control state.
9. system according to claim 7, it is characterised in that the system also includes accident analysis unit, the failure point
Analysis unit includes：
Calling module is judged, if for the first angle difference not in the differential seat angle threshold range, performed following
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 judge second duration of the second angle difference in the differential seat angle threshold range whether more than described
During 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 closed loop described in Iterative statistical cuts the execution number of times of determination step；
Failure analysis module, for when the execution number of times counted exceedes frequency threshold value, it is determined that there is motor control event
Barrier.
10. system according to claim 7, it is characterised 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, passing through adjustment
The single electric current ring input assumes to increase to the hypothesis direct-axis current component for assuming that angle is related and/or reduction with described
The related hypothesis quadrature axis current component of angle adjusts the first angle difference to the differential seat angle threshold range.
11. system according to claim 10, it is characterised in that the differential seat angle adjustment unit is used to pass through control electric current
Vector distributes projection of the angle on the hypothesis d-axis and hypothesis quadrature axis of the hypothesis rotating coordinate system to adjust the single electric current ring
Input.
12. system according to claim 7, it is characterised in that the actual angle acquiring unit by with location estimation
The interaction of device obtains the actual angle on actual rotating coordinate system of the rotor under the startup stage.
13. be stored with instruction on a kind of machinable medium, the machinable medium, the instruction is used to cause machine
Perform claim requires the control method of the permagnetic synchronous motor any one of 1-6.
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