CN107979319A - A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method - Google Patents
A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method Download PDFInfo
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- 239000000126 substance Substances 0.000 claims description 3
- 238000002347 injection Methods 0.000 abstract description 6
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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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- 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
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
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Abstract
The present invention relates to a kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method, solves the problems, such as existing three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method positioning time and positioning accuracy contradiction.This method to the three-phase permanent magnet synchronous motor to remain static only by injecting 6 fundamental space voltage vectors, switching buffering of the switching by the use of the full off states of PWM as neighboring voltage vector between voltage vector, dead time need not be configured and only by gathering phase current response for PWM output signal by realizing, construct with the relevant variable of the trigonometric function at rotor magnetic pole initial position angle, the calculating for passing through antitrigonometric function is that the detection of rotor magnetic pole initial position can be achieved.Three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method provided by the invention is without complicated high frequency signal injection or train pulse voltage injection, implement simple, locating speed is fast, only passes through 6 basic voltage vectors, you can realizes quick, the high accuracy positioning of rotor magnetic pole initial position.
Description
Technical Field
The invention belongs to the field of motors, relates to a motor control method, and particularly relates to a surface-mounted three-phase permanent magnet synchronous motor rotor magnetic pole initial position positioning method.
Background
The three-phase permanent magnet synchronous motor has the characteristics of high power density, convenience in control, good control performance and the like. However, when the motor is started, the initial position of the magnetic pole of the motor rotor needs to be known, otherwise, the motor is failed to start, so that the position detection of the magnetic pole of the motor rotor is generally realized by adopting an encoder, the problem of motor starting can be solved by adopting an absolute encoder or an incremental encoder with UVW, but the cost is increased, and the initial positioning precision of the magnetic pole of the incremental encoder with UVW is only +/-30 degrees of electrical angle.
According to the traditional three-phase permanent magnet synchronous motor rotor magnetic pole position initial positioning method, a forced positioning method, a voltage pulse vector sequence positioning method, a high-frequency voltage injection positioning method, an INFORM inductance method and the like are adopted, the forced positioning method forces the motor to be pulled to a fixed position by electrifying a fixed voltage vector to the motor, although the method completes the initial positioning of the motor, the motor rotates, and the application requirements can not be met in some occasions; a voltage pulse vector sequence positioning method is characterized in that a voltage vector corresponding to the maximum current response is searched by injecting a series of voltage pulse vectors and comparing the amplitude of the motor synthesized phase current response corresponding to the voltage pulse vectors, wherein the corresponding angle is the position of the initial position of a rotor magnetic pole. The high-frequency voltage injection method needs to introduce high-frequency voltage signals into a motor winding, can determine the magnetic pole direction after complex high-frequency signal processing (band-pass filtering) and phase-locked loop adjustment, and can finally determine the initial position of the rotor magnetic pole only by combining the positive voltage vector injection with the direction voltage vector injection. The inductance method needs to actually calculate the inductance, and has a complex operation process and low precision.
Disclosure of Invention
The invention aims to solve the problems of long positioning time and low positioning precision of the traditional initial positioning method for the magnetic pole position of the rotor of the three-phase permanent magnet synchronous motor, and provides the initial positioning method for the magnetic pole position of the rotor of the surface-mounted three-phase permanent magnet synchronous motor.
The technical scheme adopted by the invention for solving the technical problem is as follows: a surface-mounted three-phase permanent magnet synchronous motor rotor magnetic pole initial position positioning method comprises the following steps:
the method comprises the following steps: PWM period T PWM Determination of (1);
PWM period initialization toThe duration of the motor isPWM control of (2): wherein the content of the first and second substances,a voltage vector with an input electrical angle of 0 DEG,Is in a PWM full-off state,A voltage vector with an input electrical angle of 180 DEG,For a PWM full OFF state, inConstantly collecting A-phase current values and recordingIn the time period ofWhen the PWM control is finished, ifIf the current is less than the rated current peak value of the motor, the PWM period is gradually increased to enable the motor to workp =1, 2, 3 \8230k, k is the PWM cycle increment and the motor is run for a duration of timePWM control of (1), acquisitionAnd judgeIn relation to the peak value of the rated current of the motor untilEqual to or more than the rated current peak value of the motor, and the PWM period at the moment is recorded as T PWM ；
Step two: phase current signal acquisition, namely acquiring phase currents of an A phase, a B phase and a C phase of two wheels in sequence;
the phase current collection of the first round of A phase is carried out for continuously 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with input electric angle of 0 degree, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 180 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i A11+ At 2T PWM The current collected at the moment is recorded as i A12+ At 4T PWM The current collected at the moment is recorded as i A11- At 5T PWM The current collected at the moment is recorded as i A12- (ii) a First of allAfter the phase current collection of the phase A is finished, the phase current collection of the phase B of the first round is carried out, and the phase current collection of the phase B of the first round carries out continuous 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with 120 degree input electric angle, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 300 degree, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i B11+ At 2T PWM The current collected at the moment is recorded as i B12+ At 4T PWM The current collected at the moment is recorded as i B11- At 5T PWM The current collected at the moment is recorded as i B12- ；
After the phase current acquisition of the phase B of the first round is finished, the phase current acquisition of the phase C of the first round is carried out, and the phase current acquisition of the phase C of the first round carries out continuous 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with input electric angle of 240 degree, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 60 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i C11+ At 2T PWM The current collected at the moment is recorded as i C12+ At 4T PWM The current collected at the moment is recorded as i C11- At 5T PWM The current collected at the moment is recorded as i C12- ；
And (5) arranging the phase current acquisition results of the first round, and sequentially recording the phase current acquisition results as i A11+ 、i A12+ 、i A11- 、i A12- 、i B11+ 、i B12+ 、i B11- 、i B12- 、i C11+ 、i C12+ 、i C11- 、i C12- ；
The phase current acquisition of the second round is the same as the phase current acquisition method of the first round, and the phase current acquisition results of the second round are sequentially recorded as i A21+ 、i A22+ 、i A21 -、i A22- 、i B21+ 、i B22+ 、i B11- 、i B12- 、i C21+ 、i C22+ 、i C11- 、i C12- ；
Step three: processing a current signal;
wherein:
step four: rotor magnetic pole initial position electric angle theta 0 Calculating;
preferably, the method is characterized in that: in the first stepk＝2μs。
In the second step, in the phase current collection process of the three phases A, B and C, the last phase current collection is in a PWM full-off state of two PWM periods, so that the current response of a negative voltage vector is reduced to 0 after the phase current collection of the current phase is completed, and the influence on the current collection of the next phase is eliminated.
The states of 6 switching tubes respectively connected with the three-phase inverter circuit connected with the three-phase windings of the motors A, B and C and respectively connected with the windings of the motor A phase, the motor B phase and the motor C phase are respectively marked as S AH 、S AL 、S BH 、S BL 、S CH 、S CL (ii) a The voltage vector with the input electrical angle of 0 degree is input, and the combination of the switch states is marked as S AH S AL S BH S BL S CH S CL =100101; the voltage vector with 180 degrees of input electrical angle and the combination of the switch states are marked as S AH S AL S BH S BL S CH S CL =011010; the input electric angle is a voltage vector of 120 degrees, and the combination of the switch states is recorded as S AH S AL S BH S BL S CH S CL =011001; the input electric angle is a voltage vector of 300 degrees, and the combination of the switch states is recorded as S AH S AL S BH S BL S CH S CL =100110; the input electric angle is 240 degrees of voltage vector, and the combination of the switch states is marked as S AH S AL S BH S BL S CH S CL =010110; the input electric angle is a voltage vector of 60 degrees, and the combination of the switch states is recorded as S AH S AL S BH S BL S CH S CL =101001.PWM full-off state, the combination of the switch states is recorded as S AH S AL S BH S BL S CH S CL ＝000000。
The invention can effectively and quickly realize the initial positioning of the magnetic pole position of the rotor of the three-phase permanent magnet synchronous motor and provide an effective starting position signal for the initial positioning of the motor without encoder control or an incremental encoder.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic view of phase current collection points of phase a of the present invention.
Detailed Description
The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings.
Example (b): a method for positioning the initial position of a magnetic pole of a rotor of a surface-mounted three-phase permanent magnet synchronous motor. The method comprises the following steps:
the method comprises the following steps: PWM period T PWM Determination of (1);
PWM period initialization toTo the motorHas a duration ofPWM control of (2): wherein the content of the first and second substances,a voltage vector with an input electrical angle of 0 DEG,Is in a PWM full-off state,A voltage vector with an input electrical angle of 180 DEG,For a PWM full OFF state, inThe current value of A phase collected at any moment is recorded asIn a time period ofWhen the PWM control is finished, ifIf the current is less than the rated current peak value of the motor, the PWM period is gradually increased to enable the motor to workp =1, 2, 3 \8230k, k is the PWM cycle increment and the motor is run for a duration of timePWM control of (1), acquisitionAnd judgeIn relation to the peak value of the rated current of the motor up toEqual to or more than the rated current peak value of the motor, and the PWM period is recorded as T PWM ；
Step two: phase current signal acquisition, wherein phase currents of two phases A, B and C are sequentially acquired;
the phase current collection of the first round of A phase is carried out for continuously 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with input electric angle of 0 degree, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 180 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i A11+ At 2T PWM The current collected at the moment is recorded as i A12+ At 4T PWM The current collected at the moment is recorded as i A11- At 5T PWM The current collected at the moment is recorded as i A12- (ii) a After the phase current acquisition of the phase A of the first round is finished, the phase current acquisition of the phase B of the first round is carried out, and the phase current acquisition of the phase B of the first round carries out continuous 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with 120 degree input electric angle, 2T PWM ～3T PWM In PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 300 degree, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i B11+ At 2T PWM The current collected at the moment is recorded as i B12+ At 4T PWM The current collected at the moment is recorded as i B11- At 5T PWM The current collected at the moment is recorded as i B12- ；
After the phase current collection of the phase B of the first round is finished, the phase current collection of the phase C of the first round is carried out, and the phase current collection of the phase C of the first round carries out continuous 7T on the motor PWM PWM control of (3), 0 to 2T PWM Voltage vector with input electric angle of 240 degree, 2T PWM ～3T PWM In PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 60 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i C11+ At 2T PWM The current collected at the moment is recorded as i C12+ At 4T PWM The current collected at the moment is recorded as i C11- At 5T PWM The current collected at the moment is recorded as i C12- ；
And (5) finishing the first wheel phase current acquisition results, and recording the first wheel phase current acquisition results as i in sequence A11+ 、i A12+ 、i A11- 、i A12- 、i B11+ 、i B12+ 、i B11- 、i B12- 、i C11+ 、i C12+ 、i C11- 、i C12- ；
The phase current acquisition of the second round is the same as the phase current acquisition method of the first round, and the phase current acquisition results of the second round are sequentially recorded as i A21+ 、i A22+ 、i A21- 、i A22- 、i B21+ 、i B22+ 、i B11- 、i B12- 、i C21+ 、i C22+ 、i C11- 、i C12- ；
Phase current collection of the phase A is shown in figure 1, and the cycle control and collection time points of phase current collection of the phase B and the phase C are consistent with the phase A; step three: processing a current signal;
wherein:
step four: rotor magnetic pole initial position electric angle theta 0 Calculating;
taking a 16-antipodal three-phase surface-mounted permanent magnet synchronous motor as an example, the rated current of the motor is 23.7A, the peak value of the rated current of the motor is 33.5A, the direct-current bus voltage Vdc of the three-phase inverter circuit is 540V, the phase resistance of the motor is 0.7 omega, and the d-axis inductance and the q-axis inductance of the motor are equal and are both 10mH. The initial position of the magnetic pole of the motor rotor is 30 electrical degrees.
The method comprises the following steps: determining PWM period T PWM ＝400μs；
Step two: collecting phase currents of A, B and C phases of two wheels; the corresponding current values collected were:
step three: processing a current signal;
and sin _ val and cos _ val are both <0, so the angle found by the arctangent should be in the third quadrant;
step four: rotor magnetic pole initial position electric angle theta 0 Calculating;
the initial position estimate error is thus: 15.6473-30 ° = -14.3527 °.
The method for judging the magnitude of the current response value by adopting 6 basic voltage pulse vectors in the conventional three-phase permanent magnet synchronous motor rotor magnetic pole position initial positioning method has the theoretical positioning precision of +/-30 electrical angles, and if the initial position positioning precision is further improved, other SVPWM voltage vectors synthesized based on the 6 basic voltage vectors need to be further injected, so that the positioning time is prolonged.
Claims (2)
1. A surface-mounted three-phase permanent magnet synchronous motor rotor magnetic pole initial position positioning method is characterized in that: the method comprises the following steps:
the method comprises the following steps: PWM period T PWM Determination of (1);
PWM period initialization toThe duration of the motor isPWM control of (2): wherein the content of the first and second substances,a voltage vector with an input electrical angle of 0 DEG,Is in a PWM full-off state,A voltage vector with an input electrical angle of 180 DEG,For a PWM full OFF state, inConstantly collecting A-phase current values and recordingIn the time period ofWhen the PWM control is finished, ifWhen the current is less than the rated current peak value of the motor, the PWM period is gradually increased to enablep =1, 2, 3 \8230k, k is the PWM cycle increment and the motor is run for a duration of timePWM control of (1), acquisitionAnd judgeIn relation to the peak value of the rated current of the motor untilEqual to or more than the rated current peak value of the motor, and the PWM period at the moment is recorded as T PWM ；
Step two: phase current signal acquisition, wherein phase currents of two phases A, B and C are sequentially acquired;
continuous 7T is carried out on the motor by the first round of phase current collection of the phase A PWM 0 to 2T of PWM control of PWM Voltage vector with input electric angle of 0 degree, 2T PWM ～3T PWM In PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 180 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i A11+ At 2T PWM The current collected at the moment is recorded as i A12+ At 4T PWM The current collected at the moment is recorded as i A11- At 5T PWM The current collected at the moment is recorded as i A12- (ii) a After the phase current acquisition of the phase A of the first round is finished, the phase current acquisition of the phase B of the first round is carried out, and the phase current acquisition of the phase B of the first round carries out continuous 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with 120 degree input electric angle, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 300 degree, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i B11+ At 2T PWM The current collected at the moment is recorded as i B12+ At 4T PWM The current collected at the moment is recorded as i B11- At 5T PWM The current collected at the moment is recorded as i B12- ；
After the phase current acquisition of the phase B of the first round is finished, the phase current acquisition of the phase C of the first round is carried out, and the phase current acquisition of the phase C of the first round carries out continuous 7T on the motor PWM 0 to 2T of PWM control of PWM Voltage vector with input electric angle of 240 degree, 2T PWM ～3T PWM For PWM full OFF state, 3T PWM ～5T PWM Voltage vector with input electric angle of 60 degrees, 5T PWM ～7T PWM For PWM full OFF state, at 1T PWM The current collected at the moment is recorded as i C11+ At 2T PWM The current collected at the moment is recorded as i C12+ At 4T PWM The current collected at the moment is recorded as i C11- At 5T PWM The current collected at the moment is recorded as i C12- ；
And (5) arranging the phase current acquisition results of the first round, and sequentially recording the phase current acquisition results as i A11+ 、i A12+ 、i A11- 、i A12- 、i B11+ 、i B12+ 、i B11- 、i B12- 、i C11+ 、i C12+ 、i C11- 、i C12- ；
The phase current acquisition of the second round is the same as the phase current acquisition method of the first round, and the phase current acquisition results of the second round are sequentially recorded as i A21+ 、i A22+ 、i A21- 、i A22- 、i B21+ 、i B22+ 、i B11- 、i B12- 、i C21+ 、i C22+ 、i C11- 、i C12- ；
Step three: processing a current signal;
wherein:
step four: rotor magnetic pole initial position electric angle theta 0 Calculating;
2. the method for positioning the initial position of the rotor magnetic pole of the surface-mounted three-phase permanent magnet synchronous motor according to claim 1, wherein the method comprises the following steps: in the first stepk＝2μs。
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| CN108880388A (en) * | 2018-07-12 | 2018-11-23 | 华中科技大学 | A kind of permanent magnet synchronous motor initial position discrimination method and device |
| CN114221592A (en) * | 2021-12-17 | 2022-03-22 | 南京达风数控技术有限公司 | Servo motor magnetic pole initial position identification method |
| CN114915228A (en) * | 2022-06-16 | 2022-08-16 | 福州大学 | Six-phase series three-phase double-permanent magnet synchronous motor rotor initial position decoupling observation method |
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| CN108880388A (en) * | 2018-07-12 | 2018-11-23 | 华中科技大学 | A kind of permanent magnet synchronous motor initial position discrimination method and device |
| CN114221592A (en) * | 2021-12-17 | 2022-03-22 | 南京达风数控技术有限公司 | Servo motor magnetic pole initial position identification method |
| CN114915228A (en) * | 2022-06-16 | 2022-08-16 | 福州大学 | Six-phase series three-phase double-permanent magnet synchronous motor rotor initial position decoupling observation method |
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