CN107846166B - Method and device for detecting initial magnetic pole position of motor, and power conversion device - Google Patents
Method and device for detecting initial magnetic pole position of motor, and power conversion device Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/34—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention discloses a method and a device for detecting the initial magnetic pole position of a motor and a power conversion device, wherein the motor is a permanent magnet synchronous motor with an electric salient pole characteristic. The initial magnetic pole position detection method includes: applying a detection signal for detecting an initial magnetic pole phase to the motor, estimating a temporary magnetic pole phase of the motor based on a driving voltage or a driving current of the motor; adding a predetermined angle to the estimated temporary magnetic pole phase; and applying the detection signal to the motor from the added temporary magnetic pole phase, and determining the magnetic pole phase of the motor based on the driving voltage or the driving current of the motor. According to the invention, the starting of the motor can be reliably ensured.
Description
Technical Field
The present invention relates to a method and an apparatus for detecting an initial magnetic pole position of a motor, a power conversion apparatus, a control apparatus, and a control method.
Background
There are known various methods of estimating the phase of the magnetic pole of the rotor of a permanent magnet synchronous motor without using a sensor.
For example, there is an estimation method using the electrical saliency of an interior permanent magnet brushless motor. For example, a high-frequency signal is applied to a γ axis which is a control axis of a motor, current values on axes shifted by ± 45 ° from the γ axis are observed, and γ δ coordinates are rotated so that the current values on the two axes coincide with each other.
Further, there is also known a rotor magnetic pole phase estimation method in which a pulse voltage is superimposed on a γ axis, and a current I generated on a δ axis at that time is observedδAnd rotating the γ δ coordinate according to the symbol so that the γ axis coincides with the d axis.
However, in implementing the present invention, the inventors of the present invention have found that the above-described magnetic pole phase estimation method has at least the following problems. When the initial magnetic pole position is estimated by the above-described magnetic pole phase estimation method, the error phase θ, which is in principle converged between the γ axis (estimated magnetic pole phase) and the d axis (actual magnetic pole phase), is estimatedeAt a phase of 0 ° and 180 °. However, there is also actually convergence on the error phase θeA phase of ± 90 °. If the error phase is initially around 90 or close to θ due to some influence in the initial pole position estimateeAround ± 90 °, the estimation tends to stall. Once stopped at the error phase thetaeAt a phase of ± 90 °, even for starting the power supplyMechanically applied torque current IδIn practice, a current is applied to the d-axis, and thus it is difficult to generate a torque. Thus, a torque loss or shortage, or a shock (shock) may occur when starting the motor, and even a motor reverse rotation may occur.
Disclosure of Invention
In view of the above-described problems, the present invention provides a method and apparatus for detecting an initial magnetic pole position of a permanent magnet synchronous motor, a control apparatus, and a control method, which can estimate a magnetic pole phase that can reliably ensure the start of the motor.
According to an aspect of the present invention, there is provided an initial magnetic pole position detecting method of a motor. The motor is a permanent magnet synchronous motor with electrical salient pole characteristics. The initial magnetic pole position detection method includes: applying a detection signal for detecting an initial magnetic pole phase to the motor, estimating a temporary magnetic pole phase of the motor based on a driving voltage or a driving current of the motor; adding a predetermined angle to the estimated temporary magnetic pole phase; and applying the detection signal to the motor in a direction of the added temporary magnetic pole phase, determining a magnetic pole phase of the motor based on a driving voltage or a driving current of the motor.
The predetermined angle is an angle in a range excluding an interval of (n × 90 ° -5 °) to (n × 90 ° +5 °), where n is 0, 1, 2, 3. Preferably, any angle of the group of +/-45 °, + 315 °, + 315 ° is selected as the predetermined angle, so that it is easier to converge on one of the d-axis or-d-axis, i.e., any angle of 0 ° and 180 ° at the time of the second magnetic pole estimation.
According to an aspect of the present invention, the estimation of the temporary magnetic pole phase and the determination of the magnetic pole phase use the same magnetic pole estimation method, respectively including: acquiring a positive offset component and a negative offset component of a drive voltage or a drive current of the motor in directions respectively shifted by ± 45 ° from an applied phase of the detection signal, and correcting the temporary magnetic pole phase at a predetermined first correction angle according to a magnitude deviation of the positive offset component and the negative offset component until the magnitudes of the positive offset component and the negative offset component coincide. At this time, the detection signal may be a current or a voltage of a sine wave.
According to an aspect of the present invention, the estimation of the temporary magnetic pole phase and the determination of the magnetic pole phase use the same magnetic pole estimation method, respectively including: a vertical component of a drive voltage or a drive current of the motor in a direction leading 90 ° from an applied phase of the detection signal is acquired, and the provisional magnetic pole phase is corrected at a predetermined second correction angle according to a sign of a product of an integrated value of the vertical component and the detection signal until the integrated value of the vertical component converges to 0. In this case, the detection signal may be a pulse signal. The pulse signal may be a positive and negative pulse wave signal or a positive pulse wave signal.
In the case of a positive pulse signal, in the estimation of the provisional magnetic pole phase and the determination of the magnetic pole phase, the provisional magnetic pole phase may be corrected at a predetermined second correction angle based on only the sign of the integral value of the vertical component.
According to another aspect of the present invention, there is provided an initial magnetic pole position detecting apparatus of a motor. The motor is a permanent magnet synchronous motor with electrical salient pole characteristics. The initial magnetic pole position detecting device includes: temporary magnetic pole phase estimation means for applying a detection signal for detecting an initial magnetic pole phase to the motor, and estimating a temporary magnetic pole phase based on a drive voltage or a drive current of the motor; phase correction means for adding a predetermined angle to the estimated temporary magnetic pole phase; and magnetic pole phase determining means for applying the detection signal to the motor in the direction of the added temporary magnetic pole phase, and determining the magnetic pole phase of the motor based on the drive voltage or drive current of the motor.
According to another aspect of the present invention, there is provided a power conversion apparatus including the above-described initial magnetic pole position detection apparatus.
According to still another aspect of the present invention, there is provided a control device that controls an initial magnetic pole position detecting mechanism of a motor. The motor is a permanent magnet synchronous motor with electrical salient pole characteristics. The initial magnetic pole position detection mechanism is connected to the motor, outputs a drive signal to the motor, and performs initial magnetic pole phase estimation using an electrical salient pole characteristic of the motor based on the drive signal. The control device includes: an output device for outputting a magnetic pole phase setting value to the initial magnetic pole position detection mechanism so that the initial magnetic pole position detection mechanism performs initial magnetic pole phase estimation using the magnetic pole phase setting value as an initial value; an input device that inputs the temporary magnetic pole phase estimated by the initial magnetic pole position detection mechanism; and a judging device that judges whether the input initial magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time, if it is judged by the judging device that the initial magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time, the output device adds the initial magnetic pole phase and a predetermined angle to output as the magnetic pole phase set value, and if not, the output device determines the temporary magnetic pole phase as the initial magnetic pole phase.
According to still another aspect of the present invention, there is provided a control method of controlling an initial magnetic pole position detecting mechanism of a motor. The motor is a permanent magnet synchronous motor with electrical salient pole characteristics. The initial magnetic pole position detection mechanism is connected to the motor, outputs a drive signal to the motor, and performs initial magnetic pole phase estimation using an electrical salient pole characteristic of the motor based on the drive signal. The control method comprises the following steps: an output step of outputting a magnetic pole phase set value to the initial magnetic pole position detection mechanism so that the initial magnetic pole position detection mechanism performs initial magnetic pole phase estimation using the magnetic pole phase set value as an initial value; an input step of inputting a temporary magnetic pole phase estimated by the initial magnetic pole position detection mechanism; and a judging step of judging whether the input temporary magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time, wherein in the outputting step, if the temporary magnetic pole phase is judged to be a result of performing the initial magnetic pole phase estimation for the first time by the judging means, the temporary magnetic pole phase is added with a predetermined angle to be output as a magnetic pole phase set value, and if not, the temporary magnetic pole phase is determined as the initial magnetic pole phase.
In addition, according to still another aspect of the present invention, there is also provided an initial magnetic pole position detecting system of a motor. The motor is a permanent magnet synchronous motor with electrical salient pole characteristics. The initial magnetic pole position detection system comprises an initial magnetic pole position detection mechanism and a control device, wherein the initial magnetic pole position detection mechanism is connected with the motor, outputs a driving signal to the motor, and executes initial magnetic pole phase estimation by utilizing the electrical salient pole characteristic of the motor based on the driving signal; and a control device that controls the initial magnetic pole phase estimation of the initial magnetic pole position detection mechanism, and includes: an output device for outputting a magnetic pole phase set value to the initial magnetic pole position detection mechanism; an input device that inputs the temporary magnetic pole phase estimated by the initial magnetic pole position detection mechanism; and a judging device for judging whether the inputted temporary magnetic pole phase is the result of executing the initial magnetic pole phase estimation for the first time; wherein the output means outputs the initial magnetic pole phase added with a predetermined angle as the magnetic pole phase set value if it is judged by the judgment means that the initial magnetic pole phase is the result of performing the initial magnetic pole phase estimation for the first time, and if not, the output means determines the temporary magnetic pole phase as the initial magnetic pole phase, and the initial magnetic pole position detection mechanism performs the initial magnetic pole phase estimation with the magnetic pole phase set value as an initial value upon receiving the magnetic pole phase set value.
According to the invention, the starting of the motor can be reliably ensured.
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In order to illustrate the invention more clearly, embodiments of the invention are described below with reference to the drawings used for the embodiments of the invention, it being obvious that the drawings described below are only some embodiments of the invention and that, to a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic diagram showing the electrical salient pole characteristics of an interior permanent magnet synchronous motor;
FIG. 2 is a flow chart illustrating an initial magnetic pole position detection method according to the present invention;
fig. 3 is a functional block diagram showing an initial magnetic pole position detecting apparatus of a motor according to the present invention;
fig. 4 is a schematic diagram showing the configuration of an initial magnetic pole position detection system as an embodiment according to the present invention;
fig. 5 is a flowchart illustrating one example of an initial magnetic pole position detection method of a motor according to an embodiment of the present invention;
fig. 6 is a schematic diagram showing the configuration of an initial magnetic pole position detection mechanism according to embodiment 1 of the present invention;
fig. 7 is a flowchart showing one example of implementing the magnetic pole phase estimator in the magnetic pole position detecting mechanism shown in fig. 6;
fig. 8 is a schematic view showing the configuration of an initial magnetic pole position detection mechanism according to embodiment 2 of the present invention;
fig. 9 is a schematic diagram showing one example of implementing the magnetic pole phase estimator in the magnetic pole position detecting mechanism shown in fig. 8;
fig. 10 is a diagram showing one example of a probe signal employed according to embodiment 2 of the present invention.
Detailed Description
Embodiments of the present invention will be described below. It is to be understood that the embodiments described herein are for purposes of implementing a portion of the invention and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, shall fall within the scope of protection of the present invention. In the description of the embodiments of the present invention, for the sake of making the present invention clearer, detailed descriptions of related known functions and configurations and functions that are not directly related to the present invention are omitted.
It should be understood that the present invention is applicable to various permanent magnet synchronous motors, such as interior permanent magnet synchronous motors, etc., having electrically salient pole characteristics different from those of quadrature-axis inductances.
FIG. 1 isA schematic diagram showing the electrical saliency characteristics of an interior permanent magnet synchronous machine. A rotational coordinate system (dq coordinate system) and a control coordinate system (γ δ coordinate system) are shown in fig. 1. The dq coordinate system has a rotor N of the motor as a d-axis and an axis advanced by 90 ° in electrical angle with respect to the d-axis as a q-axis. The angle of error between the gamma-delta coordinate system and the dq coordinate is thetaeThe coordinate system of (2) is defined as a gamma axis with N being the estimated rotor position of the motor and a delta axis with an axis leading by 90 ° in electrical angle with respect to the gamma axis. As shown in the figure, the interior permanent magnet synchronous motor has an electrical salient pole characteristic in which quadrature axis inductance (q-axis inductance) is larger than direct axis inductance (d-axis inductance).
For the internal permanent magnet synchronous motor without the position sensor, the method for acquiring the initial magnetic pole position of the rotor is generally realized by estimating the magnetic pole position of the rotor and judging the polarity of the magnetic pole. Firstly, the electrical salient pole characteristics of the built-in permanent magnet synchronous motor, which are different from the quadrature axis inductance, are utilized, the initial magnetic pole phase estimation of the rotor is carried out by injecting a detection signal into a stator winding, and the error phase theta converged in principle is obtainedeAn initial pole phase that is a phase of 0 ° or 180 °. Then, the estimated initial magnetic pole phase is subjected to polarity determination, for example, two pulse signals in opposite directions are injected into the stator winding, the magnetic pole polarity is determined by comparing the values of the direct axis currents, and if the determination result is that the magnetic pole polarity coincides with the direct axis (the positive direction of the d axis), the magnetic pole position is determined as the initial magnetic pole position of the rotor magnetic pole, and if the electrical angle is 180 ° different from the direct axis, the magnetic pole position is determined as the initial magnetic pole position of the rotor magnetic pole after being corrected by 180 °. The determination of the polarity of the magnetic pole is not directly related to the present invention, and therefore, is not described in detail in the following description.
Fig. 2 is a schematic view illustrating an initial magnetic pole position detecting method of a motor according to the present invention. As shown in fig. 2, the initial magnetic pole position detecting method of the motor according to the present invention includes: a temporary magnetic pole phase estimation step S1, a phase correction step S2, and a magnetic pole position determination step S3.
In step S1, a detection signal for detecting an initial magnetic pole position of a rotor of the motor is applied to the motor, and a temporary magnetic pole phase θ of the motor is estimated based on a drive voltage or a drive current of the motor at that timeγ’。
In step S2, the estimated temporary magnetic pole phase θ is correctedγ' adding a predetermined angle Delta theta0As a correction of the magnetic pole phase θγ。
Subsequently, in step S3, the magnetic pole phase θ is correctedγThe motor is applied with a detection signal in the direction of (2), the driving voltage or the driving current of the motor at the moment is similarly acquired, the magnetic pole phase of the motor is estimated based on the driving voltage or the driving current, and the estimated magnetic pole phase is determined as the initial magnetic pole phase of the motor rotor.
According to the present invention, the initial magnetic pole phase is determined by performing the magnetic pole position estimation once, performing the angle correction, and then performing the magnetic pole position estimation again, whereby the initial magnetic pole phase having the phase error of 0 ° or 180 ° can be accurately obtained while avoiding the phase having the phase error of ± 90 °, and the reliable start of the motor can be ensured.
When estimated magnetic pole phase thetaγConvergence on the error phase θeAt a phase of 90 deg., the magnetic pole phase estimation can be performed again with a small angle of rotation from the error phase thetaeA phase shift of 90 °, so that the angle Δ θ is predetermined here0Any angle may be used. Capable of making the estimated magnetic pole phase from the error phase thetaeThe angular range of the phase shift of 90 ° differs depending on factors such as the specification of the motor, whether the motor is loaded or not, and the magnitude of the load. For example, an arbitrary angle may be selected as the predetermined angle Δ θ from a range excluding the interval from (n × 90 ° -5 °) to (n × 90 ° +5 °) on the dq coordinates0Wherein n is 0, 1, 2, 3. Preferably, any angle of +/-45 °, + 315 °, + 315 ° is selected as the predetermined angle Δ θ0This makes it easier to converge on the d-axis or-d-axis when the magnetic pole estimation is performed again to determine the magnetic pole position.
Here, the detection signal for detecting the initial magnetic pole phase of the motor rotor may be a rotation signal, and may be, for example, a sine wave current or a sine wave voltage. The pulse signal may be, for example, a positive/negative pulse signal or a positive pulse signal. The detection signal is preferably a high-frequency signal, for example, a high-frequency rotation signal or a high-frequency pulse signal.
Fig. 3 is a functional block diagram illustrating an initial magnetic pole position detecting apparatus of a motor according to an embodiment of the present invention.
As shown in fig. 3, the initial magnetic pole position detecting apparatus 1 includes: a temporary magnetic pole phase estimation device 10, a phase correction device 20, and a magnetic pole phase determination device 30.
The temporary magnetic pole phase estimation device 10 applies a detection signal for detecting an initial magnetic pole position of a rotor of the motor to the motor, and estimates a temporary magnetic pole phase θ of the motor based on a drive voltage or a drive current of the motor at that timeγ’。
The phase correction device 20 corrects the estimated temporary magnetic pole phase thetaγ' adding a predetermined angle Delta theta0θ is used as a correction magnetic pole phase (hereinafter also referred to as a magnetic pole phase set value as needed)γ。
Magnetic pole phase determining device 30 is correcting magnetic pole phase thetaγThe motor is applied with a detection signal in the direction of (2), the drive voltage or drive current of the motor at that time is similarly acquired, and the magnetic pole phase of the motor is estimated based on this as the initial magnetic pole phase of the motor rotor.
The power conversion apparatus according to the present invention may include initial magnetic pole position detection means 1 by which the initial magnetic pole position of the motor is detected for motor starting by the initial magnetic pole position detection means 1.
Next, an initial magnetic pole position detection system and an initial magnetic pole position detection control method as embodiments according to the present invention are explained based on fig. 4 and 5. Fig. 4 is a schematic diagram showing the configuration of an initial magnetic pole position detection system according to an embodiment of the present invention, and fig. 5 is a flowchart showing one example of an initial magnetic pole position detection control method in the initial magnetic pole position detection system according to an embodiment of the present invention.
The initial magnetic pole position detection system performs initial magnetic pole position detection of the rotor of the motor M, obtaining the initial magnetic pole position of the rotor, for use in start control of the motor M. As shown in FIG. 4, the initial magnetic pole position detecting system includes a control device 101 and an initial magnetic poleA position detection mechanism 102. The control device 101 outputs a magnetic pole phase setting value θ to the initial magnetic pole position detection means 102γThe magnetic pole position estimation of the initial magnetic pole position detection mechanism 102 is controlled. The initial magnetic pole position detection means 102 receives the magnetic pole phase setting value θ from the control device 101γGenerating a detection signal V for detecting an initial magnetic pole phaseγRefObserving a drive signal of the motor generated based on the detection signal to perform magnetic pole phase estimation, estimating and outputting a magnetic pole phase estimation value thetaγ’。
The control device 101 includes an output device 1011, a determination device 1012, and an input device 1013.
Next, a method of controlling the detection of the initial magnetic pole position in the initial magnetic pole position detection system will be described with reference to fig. 5.
In step S001, the output device 1011 sets the magnetic pole phase setting value θγSet to an arbitrary value and output to the initial magnetic pole position detection mechanism 102 to start initial magnetic pole position estimation. The initial magnetic pole position detecting means 102 receives the magnetic pole phase setting value θγThen, the magnetic pole phase estimation is started to obtain a temporary magnetic pole phase thetaγ’。
In step S002, the input device 1013 inputs the temporary magnetic pole phase θ estimated by the initial magnetic pole position detection means 102γ’。
In step S003, the determination means 1012 determines the temporary magnetic pole phase θγ' is the result of the first estimation.
If the estimated magnetic pole phase is the first estimation result, the process proceeds to step S004, and the output device 1011 outputs the temporary magnetic pole phase θγ' adding a predetermined angle Delta theta0As the magnetic pole phase setting value thetaγAnd outputs it to the initial magnetic pole position detection mechanism 102 to perform the initial magnetic pole position estimation again. Here, the predetermined angle Δ θ is set0Set to 45 °.
If the estimated magnetic pole phase is not the first estimation result, the process proceeds to step S005, and the output device 1011 sets the temporary magnetic pole phase θγ' determined as the initial pole phase.
Next, an embodiment of the initial magnetic pole position detection mechanism 102 in the initial magnetic pole position detection system and an implementation of the magnetic pole phase estimator 1026 therein are explained based on fig. 6 and 7. Fig. 6 is a schematic diagram showing the configuration of the initial magnetic pole position detection mechanism 102 according to embodiment 1 of the present invention. Fig. 7 is a flowchart showing one example of implementing the magnetic pole phase estimator 1026 in the magnetic pole position detecting mechanism 102 described above.
As shown in fig. 6, the magnetic pole position detecting mechanism 102 includes a signal generator 1021, a space vector calculator 1022, an inverter unit 1023, a current detector 1024, a three-phase two-phase converter 1025, and a magnetic pole phase estimator 1026.
The magnetic pole position detection means 102 receives the magnetic pole phase setting value θ from the control device 101γSetting the magnetic pole phase to the value thetaγSetting the initial value to start the initial magnetic pole phase estimation. Specifically, the signal generator 1021 generates a detection signal for detecting the initial magnetic pole position of the rotor, here by way of example, a high-frequency sine wave voltage VγRef. The space vector calculator 1022 receives the high-frequency sine wave voltage V from the signal generator 1021γRefThe three-phase voltage command values Vu, Vv, Vw are converted to be indicated to the inverter unit 1023. The inverter unit 1023 outputs three-phase drive signals to the motor M based on the three-phase voltage command values Vu, Vv, Vw from the space vector calculator 1022. The inverter unit 1023 includes, for example, a gate driver and an inverter. The current detector 1024 detects a drive current of the motor M. For example, the current detector 1024 detects drive currents of at least two phases among the three-phase drive currents Iu, Iv, Iw of the motor M. The three-phase two-phase inverter 1025 converts the drive current of the motor M detected by the current detector 1024 into a direct-axis current IγAnd quadrature axis current Iδ. The initial pole phase estimator 1026 inputs the direct-axis current I from the three-phase two-phase converter 1025γAnd quadrature axis current IδTo estimate a temporary magnetic pole phase theta of the rotorγ’。
Next, an embodiment of the magnetic pole phase estimator 1026 will be mainly described with reference to fig. 7. Magnetic pole phase estimator 1 according to the present embodiment026 obtaining drive voltage or drive current of motor from detection signal VγRefApplying a positive offset component and a negative offset component in a direction of a phase offset of ± 45 °, by a predetermined first correction angle Δ θ in accordance with a magnitude deviation of the positive offset component and the negative offset component1And correcting the temporary magnetic pole phase until the magnetic pole phase with the positive offset component and the negative offset component consistent in magnitude is obtained.
Specifically, as shown in fig. 7, first, a direct-axis current I at k · Ts seconds (Ts is a sampling time) is input from the three-phase two-phase converter 1025γ(k) And quadrature axis current Iδ(k) (S101), then, two current components (respectively corresponding to the positive offset component and the negative offset component of the present invention) in directions respectively deviated by ± 45 ° from the γ axis are calculated from these currents, and respective effective values I are calculatedγ+45°(k) And Iγ﹣45°(k) (S102). Next, in step S103, it is determined whether the magnitudes of the two effective values match. Specifically, the absolute value of the difference between the two effective values is calculated and it is judged whether or not it is smaller than a preset allowable difference epsilon. If the difference is smaller than the allowable error epsilon (S103: YES), the two effective values are considered to be equal, and the estimated value theta of the magnetic pole phase at that time is determinedm(k) As estimated temporary magnetic pole phase thetaγ' output to the control device 101(S106), and ends this estimation. If the absolute value of the difference between the two effective values is not less than the allowable error ε (S103: No), the two effective values are judged to be not equal to each other, and the process proceeds to step S104, where a predetermined first correction angle Δ θ is determined according to the magnitude deviation of the two current components1The temporary magnetic pole phase is corrected. In particular, the effective value I of the two current components is calculatedγ+45°(k) And Iγ﹣45°(k) And when the difference is greater than 0, the value is equal to thetam(k) Adding a first correction angle Delta theta1Less than 0 minus a first correction angle Delta theta1Zero is added 0 as θm(k + 1). Then, the loop increases step k by 1, and returns to step S101 to continue the processing of each step.
In the above, with reference to fig. 6 and 7, one embodiment of the magnetic pole position detecting mechanism 102 and the magnetic pole phase thereofOne embodiment of the bit estimator 1026 is illustrated. In this example, the current components I in directions respectively deviated from ± 45 ° with respect to the control axis (γ axis, i.e., the application axis of the detection signal) are observedγ+45 and IγAnd (5) estimating the phase of the control shaft with the two current components consistent in magnitude by rotating the gamma delta coordinate with the magnitude deviation of-45.
However, from the above example, it is obvious to those skilled in the art that the magnetic pole phase estimation method by observing the two inductance components in the directions respectively deviated from ± 45 ° with respect to the control axis can be applied to the present invention.
In addition, the initial magnetic pole position detection means 102 in the initial magnetic pole position detection system according to the present invention may adopt other embodiments.
Next, another embodiment of the initial magnetic pole position detecting mechanism 102 and an implementation of the magnetic pole phase estimator 1026' therein will be described with reference to fig. 8 to 10. Fig. 8 is a schematic diagram showing the configuration of the initial magnetic pole position detection mechanism 102 according to embodiment 2 of the present invention. Fig. 9 is a flowchart showing one example of implementing the magnetic pole phase estimator 1026' in the magnetic pole position detection mechanism 102 described above. Fig. 10 is a diagram showing one example of a probe signal employed according to embodiment 2 of the present invention.
Here, the magnetic pole position detection mechanism 102 shown in fig. 8 is different from the magnetic pole position detection mechanism 102 shown in fig. 6 only in that the magnetic pole phase estimator 1026' generates the positive and negative pulse current signal I from the signal generator 1021γRefAs a detection signal for detecting the initial magnetic pole position of the rotor, and also inputs the detection signal I from the signal generator 1021' to the magnetic pole phase estimator 1026γRef. Here, the positive and negative pulse current signals IγRefThe shape of (d) is not particularly limited, and may be any shape such as a square wave or a triangular wave. Here a square wave signal is preferred, more preferably an intermittent square wave signal, as shown in fig. 10. In addition, positive and negative pulse current signals IγRefIt is also preferably a high frequency signal. Therefore, in the illustration of fig. 8, the same reference numerals as in fig. 6 are used for the same components as in fig. 6And will not be described in detail with respect to the magnetic pole position detection mechanism 102 shown in fig. 8.
Next, an implementation of the magnetic pole phase estimator 1026' is mainly described with reference to fig. 9. The magnetic pole phase estimator 1026' according to the present embodiment obtains the slave detection signal I of the drive voltage or drive current of the motorγRefIs applied with a vertical component I in a direction leading by 90 DEG (delta axis)δBased on the product f of the integrated value of the vertical component and the detection signalγAt a predetermined second correction angle Δ θ2The temporary magnetic pole phase is corrected until the integral value of the vertical component converges to 0. Wherein the product f of the integral value of the vertical component and the detection signalγCan be represented by the following formulae (1) and (2).
Wherein, IγIs a gamma-axis current, IδIs delta axis current, LqIs q-axis inductance, LdIs d-axis inductance, RsIs stator resistance, θeIs the phase error between the gamma axis and the d axis.
Specifically, as shown in fig. 9, first, a direct-axis current I at k · Ts seconds (Ts is a sampling time) is input from the three-phase two-phase converter 1025γ(k) And quadrature axis current Iδ(k) (S201). Then, according to the high-frequency positive-negative pulse current signal IγRefThe value of (S202) causes the process to branch.
When it is judged as I in step S202γRefWhen not 0, sign (I) at time point t is performedγRef(k))·∫Iδdt operation, stored in fγ(t) (S203). Next, in steps S204, S205, and S206, according to fγ(t) determines the correction direction, i.e. whether the predetermined second correction angle Δ θ 2 takes a positive or a negative sign. Then, the loop returns to step k by 1(S207)Step S201 continues the processing of each step.
When it is judged as I in step S202γRefAnd when the value is 0, the processing of the other branch is executed. That is, the last I is judgedγRefWhether or not (k-1) is 0 (S208). If the determination is 0 (S208: YES), the magnetic pole phase estimation value theta is maintainedm(k+1)＝θm(k) (S209). If the judgment is not 0 (S208: NO), the second correction angle Delta theta is determined according to the processing below the previous step S2032The magnetic pole phase is corrected (S210).
Next, I is reset for the processing of the branch of steps S203 to S206 of the next cycleδThe integral term of (S211).
In this manner, the magnetic pole phase is corrected until the integral value of the vertical component converges to 0. Specifically, it may be considered that when the execution time satisfying the magnetic pole phase estimation reaches a predetermined time length, for example, 0.1 second, or it may be considered that when the integral value of the vertical component is smaller than a predetermined allowable error, the integral value of the vertical component is considered to converge to 0, thereby the magnetic pole phase estimation value θ at that time is estimatedm(k) As estimated temporary magnetic pole phase thetaγ' is output to the control device 101, and ends this estimation.
In addition, if a unidirectional pulse signal such as a positive pulse signal is injected as the detection signal, the magnetic pole phase may be corrected only in accordance with the sign of the integrated value of the above-described vertical component, regardless of the sign of the detection signal.
The present invention has been described in detail based on the embodiments of the present invention with reference to the accompanying drawings. According to the embodiments of the present invention, the initial magnetic pole phase is determined by performing the magnetic pole phase estimation once, performing the angle correction, and then performing the magnetic pole phase estimation again, so that the initial magnetic pole phase having the phase error of 0 ° or 180 ° can be accurately obtained while avoiding the phase having the phase error of ± 90 °, and thus the reliable start of the motor can be ensured.
In the above-described embodiment, the initial magnetic pole phase estimation is performed by injecting the probe signal for detecting the initial magnetic pole position in a state where the motor is stopped, but the initial magnetic pole phase estimation may be performed by superimposing the probe signal while injecting the drive command to the motor and driving the motor. At this time, it is preferable to inject a detection signal having a frequency different from the driving frequency of the motor.
In the above-described embodiment, the initial magnetic pole phase estimation is performed by providing the current detector to detect the drive current of the motor, but the initial magnetic pole phase estimation may be performed by providing the voltage detector to detect the drive voltage of the motor.
Those of skill in the art will appreciate that at least a portion of the various illustrative devices, mechanisms, elements, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
While the embodiments of the present invention have been described with reference to the accompanying drawings, the contents and specific terms used in the drawings and the description are only for illustrating the present invention and are not intended to limit the meaning or the scope of the present invention described in the claims. Therefore, various modifications and other equivalent embodiments can be made by those skilled in the art without departing from the spirit of the present invention, and it is to be understood that these modifications and other equivalent embodiments are also included in the scope of the present invention defined in the claims of the present application.
Claims (7)
1. An initial magnetic pole position detection method for a motor, the motor being a permanent magnet synchronous motor having an electrically salient pole characteristic, the initial magnetic pole position detection method comprising:
applying a detection signal for detecting an initial magnetic pole phase to the motor, estimating a temporary magnetic pole phase of the motor based on a driving voltage or a driving current of the motor;
adding a predetermined angle to the estimated temporary magnetic pole phase; and
applying the detection signal to the motor in a direction of the added temporary magnetic pole phase, determining an initial magnetic pole phase of the motor based on a driving voltage or a driving current of the motor,
the predetermined angle is an angle in a range excluding an interval of (n × 90 ° -5 °) to (n × 90 ° +5 °), where n is 0, 1, 2, 3,
the detection signal is a current or voltage of a sine wave,
the estimating of the temporary magnetic pole phase and the determining of the initial magnetic pole phase each include: acquiring a positive offset component and a negative offset component of a drive voltage or a drive current of the motor in directions respectively shifted by ± 45 ° from an applied phase of the detection signal, and correcting the temporary magnetic pole phase at a predetermined first correction angle according to a magnitude deviation of the positive offset component and the negative offset component until the magnitudes of the positive offset component and the negative offset component coincide.
2. The initial magnetic pole position detecting method according to claim 1,
the predetermined angle is any angle selected from the group of +/-45 °, + 315 °, + 315 °.
3. An initial magnetic pole position detection device for a motor, the motor being a permanent magnet synchronous motor having an electrically salient pole characteristic, the initial magnetic pole position detection device comprising:
temporary magnetic pole phase estimation means for applying a detection signal for detecting an initial magnetic pole phase to the motor, and estimating a temporary magnetic pole phase based on a drive voltage or a drive current of the motor;
phase correction means for adding a predetermined angle delta theta to the estimated temporary magnetic pole phase0(ii) a And
magnetic pole phase determining means for applying the detection signal to the motor in the direction of the added temporary magnetic pole phase, determining an initial magnetic pole phase of the motor based on a drive voltage or a drive current of the motor,
the predetermined angle is an angle in a range excluding an interval of (n × 90 ° -5 °) to (n × 90 ° +5 °), where n is 0, 1, 2, 3,
the detection signal is a current or voltage of a sine wave,
the temporary magnetic pole phase estimation device and the magnetic pole phase determination device each include: acquiring a positive offset component and a negative offset component of a drive voltage or a drive current of the motor in directions respectively shifted by ± 45 ° from an applied phase of the detection signal, and correcting the temporary magnetic pole phase at a predetermined first correction angle according to a magnitude deviation of the positive offset component and the negative offset component until the magnitudes of the positive offset component and the negative offset component coincide.
4. The initial magnetic pole position detecting device according to claim 3,
the predetermined angle is any angle selected from the group of +/-45 °, + 315 °, + 315 °.
5. A power conversion device comprising the initial magnetic pole position detection device according to claim 3 or 4.
6. A control device that controls an initial magnetic pole position detection mechanism of a motor, the motor being a permanent magnet synchronous motor having an electrical salient pole characteristic, the initial magnetic pole position detection mechanism being connected to the motor, outputting a drive signal to the motor, and performing initial magnetic pole phase estimation using the electrical salient pole characteristic of the motor based on the drive signal, the control device comprising:
an output device for outputting a magnetic pole phase setting value to the initial magnetic pole position detection mechanism so that the initial magnetic pole position detection mechanism performs initial magnetic pole phase estimation using the magnetic pole phase setting value as an initial value;
an input device that inputs the temporary magnetic pole phase estimated by the initial magnetic pole position detection mechanism; and
a judging means for judging whether the inputted temporary magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time,
wherein the output means outputs the temporary magnetic pole phase added with a predetermined angle as the magnetic pole phase set value if it is judged by the judging means that the temporary magnetic pole phase is the result of performing the initial magnetic pole phase estimation for the first time, and if not, determines the temporary magnetic pole phase as the initial magnetic pole phase,
the estimating of the temporary magnetic pole phase and the determining of the initial magnetic pole phase each include: acquiring a positive offset component and a negative offset component of a drive voltage or a drive current of the motor in directions respectively shifted by ± 45 ° from an applied phase of a detection signal, correcting the temporary magnetic pole phase at a predetermined first correction angle according to a magnitude deviation of the positive offset component and the negative offset component until the magnitudes of the positive offset component and the negative offset component coincide,
the detection signal is a sine wave current or voltage.
7. A control method of controlling an initial magnetic pole position detection mechanism of a motor, the motor being a permanent magnet synchronous motor having an electrical salient pole characteristic, the initial magnetic pole position detection mechanism being connected to the motor, outputting a drive signal to the motor, and performing initial magnetic pole phase estimation using the electrical salient pole characteristic of the motor based on the drive signal, the control method comprising:
an output step of outputting a magnetic pole phase set value to the initial magnetic pole position detection mechanism so that the initial magnetic pole position detection mechanism performs initial magnetic pole phase estimation using the magnetic pole phase set value as an initial value;
an input step of inputting a temporary magnetic pole phase estimated by the initial magnetic pole position detection mechanism; and
a judging step of judging whether the inputted temporary magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time,
in the outputting step, if it is judged by the judging means that the temporary magnetic pole phase is a result of performing the initial magnetic pole phase estimation for the first time, the temporary magnetic pole phase is added to a predetermined angle and output as a magnetic pole phase set value, and if not, the temporary magnetic pole phase is determined as an initial magnetic pole phase,
the estimating of the temporary magnetic pole phase and the determining of the initial magnetic pole phase each include: acquiring a positive offset component and a negative offset component of a drive voltage or a drive current of the motor in directions respectively shifted by ± 45 ° from an applied phase of a detection signal, correcting the temporary magnetic pole phase at a predetermined first correction angle according to a magnitude deviation of the positive offset component and the negative offset component until the magnitudes of the positive offset component and the negative offset component coincide,
the detection signal is a sine wave current or voltage.
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| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
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| JP5194838B2 (en) * | 2008-01-29 | 2013-05-08 | 三菱電機株式会社 | Method for estimating magnetic pole position of AC synchronous motor |
| CN102843091B (en) * | 2012-09-07 | 2015-08-12 | 南京航空航天大学 | A kind of determination methods of permanent-magnetic synchronous motor rotor initial position |
| JP5761243B2 (en) * | 2013-03-29 | 2015-08-12 | 株式会社安川電機 | Motor control device and magnetic pole position estimation method |
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| CN101043196A (en) * | 2006-03-24 | 2007-09-26 | 株式会社日立制作所 | Synchro motor drive device |
| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| CN102427322A (en) * | 2011-10-27 | 2012-04-25 | 哈尔滨工业大学 | Method for detecting initial position of rotor of gearless tractor for elevator |
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