CN107979319B - 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 PDF

Info

Publication number
CN107979319B
CN107979319B CN201711435449.0A CN201711435449A CN107979319B CN 107979319 B CN107979319 B CN 107979319B CN 201711435449 A CN201711435449 A CN 201711435449A CN 107979319 B CN107979319 B CN 107979319B
Authority
CN
China
Prior art keywords
pwm
phase current
phase
acquisition
denoted
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711435449.0A
Other languages
Chinese (zh)
Other versions
CN107979319A (en
Inventor
王立强
雷美珍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Heilongjiang Hanze Petroleum Equipment Co ltd
Original Assignee
Zhejiang University of Water Resources and Electric Power
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Water Resources and Electric Power filed Critical Zhejiang University of Water Resources and Electric Power
Priority to CN201711435449.0A priority Critical patent/CN107979319B/en
Publication of CN107979319A publication Critical patent/CN107979319A/en
Application granted granted Critical
Publication of CN107979319B publication Critical patent/CN107979319B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The present invention relates to a kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization methods, solve 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, which only passes through, injects 6 fundamental space voltage vectors to the three-phase permanent magnet synchronous motor to remain static, the switching that the full off state of PWM is used in switching as neighboring voltage vector between voltage vector buffers, it realizes without configuring dead time for PWM output signal and only by acquisition phase current response, variable relevant to the trigonometric function at rotor magnetic pole initial position angle is constructed, the detection of rotor magnetic pole initial position can be realized by the calculating of antitrigonometric function.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, and only by 6 basic voltage vectors, quick, the high accuracy positioning of rotor magnetic pole initial position can be realized.

Description

A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method
Technical field
The invention belongs to motor fields, are related to a kind of motor control method, in particular to a kind of surface-mount type three-phase permanent is same Walk rotor magnetic pole initial position localization method.
Background technique
Three-phase permanent magnet synchronous motor has the characteristics that power density is big, easy to control, control performance is good.But the electric motor starting When, it need to know rotor magnetic pole initial position, otherwise will start failure, therefore rotor magnetic is generally realized using encoder The position detection of pole can solve electric motor starting problem using absolute type encoder or with the incremental encoder of UVW, but The increase of cost, and the incremental encoder with UVW are brought, magnetic pole initial alignment precision is only +/- 30 ° of electrical angles.
Traditional three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method, passes through forces location method, voltage arteries and veins Vector sequence positioning mode, high frequency signal injection positioning mode, INFORM inductance method etc. are rushed, forces location method to motor is logical by fixing Forced motor is pulled to fixed position by voltage vector, and although this method completes motor initial alignment, but motor is turned It is dynamic, application requirement is unable to satisfy in certain occasions；Voltage pulse vector sequence positioning mode, passes through a series of voltage pulse vector It is corresponding to find current-responsive maximum by comparing the amplitude of the corresponding motor synthesis phase current response of voltage pulse vector for injection Voltage vector, where corresponding angle is rotor magnetic pole initial position, but rotor is easy rotation under this method, needs Suitable voltage vector magnitude and duration are found to ensure single machine rotor rotation amplitude within the allowable range, and positioning accurate Group number of the degree dependent on voltage vector injection, and influenced by PWM dead time effect, and before next group of voltage vector injection, it is necessary to Guarantee that the response of the voltage vector of previous group has completely disappeared, consuming time is long for positioning, and positioning accuracy is impacted.High-frequency electrical Injection method is pressed, high-frequency voltage signal need to be passed through in machine winding, through complicated high frequency signals (bandpass filtering) and locking phase After ring is adjusted, it can determine that pole orientation, pole polarity also need to combine the injection of positive and direction voltage vector that could finally determine Rotor magnetic pole initial position, although this method positioning accuracy is higher, positioning time is long.INFORM inductance method need to be calculated actually Inductance out, operating process is complicated, and precision is not high.
Summary of the invention
It is an object of the invention to solve existing three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method positioning The problem that time is long, positioning accuracy is not high provides a kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position positioning Method, this method can effectively and quickly realize three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment, be motor without volume The initial alignment of the control of code device or incremental encoder provides effective starting position signal.
The technical solution adopted by the present invention to solve the technical problems is: a kind of surface-mount type three-phase permanent magnet synchronous motor rotor Magnetic pole initial position localization method, comprising the following steps:
Step 1: PWM cycle TPWMDetermination；
PWM cycle is initialized asIt is a length of when being carried out to motorPWM control: whereInput electricity Angle be 0 ° voltage vector,For the full off state of PWM,Input the electricity that electrical angle is 180 ° Pressure vector,For the full off state of PWM,Moment acquisition A phase current values are denoted asIn Shi ChangweiPWM control at the end of, ifLess than the rated current peak value of motor, then it is stepped up PWM cycle, enabledP=1,2,3 ..., k be PWM cycle increment, and to motor carry out when it is a length ofPWM control, acquisitionAnd judgeWith the relationship of rated current of motor peak value, untilEqual to or more than rated current of motor peak value, at this time PWM cycle be denoted as TPWM；
Step 2: phase current signal acquisition successively acquires the phase current of two-wheeled A, B, C phase；
The phase current acquisition of first round A phase carries out motor to continue 7TPWMPWM control, 0~2TPWMInputting electrical angle is 0 ° of voltage vector, 2TPWM~3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput electrical angle be 180 ° voltage vector, 5TPWM~7TPWMFor the full off state of PWM, in 1TPWMMoment acquisition phase current is denoted as iA11+, in 2TPWMMoment acquires phase current note For iA12+, in 4TPWMMoment acquisition phase current is denoted as iA11-, in 5TPWMMoment acquisition phase current is denoted as iA12-；The phase of first round A phase The phase current acquisition of first round B phase is carried out after the completion of current acquisition, the phase current acquisition of first round B phase continues motor 7TPWMPWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 120 °PWM~3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 300 °PWM~7TPWMFor the full off state of PWM, in 1TPWMMoment acquisition Phase current is denoted as iB11+, in 2TPWMMoment acquisition phase current is denoted as iB12+, in 4TPWMMoment acquisition phase current is denoted as iB11-, 5TPWMMoment acquisition phase current is denoted as iB12-；
The phase current acquisition of first round C phase, the phase electricity of first round C phase are carried out after the completion of the phase current acquisition of first round B phase Stream acquisition carries out motor to continue 7TPWMPWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 240 °PWM~ 3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 60 °PWM~7TPWMIt is turned off entirely for PWM State, in 1TPWMMoment acquisition phase current is denoted as iC11+, in 2TPWMMoment acquisition phase current is denoted as iC12+, in 4TPWMMoment acquisition Phase current is denoted as iC11-, in 5TPWMMoment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, i is successively denoted asA11+、iA12+、iA11-、iA12-、iB11+、iB12+、iB11-、 iB12-、iC11+、iC12+、iC11-、iC12-；
Second wheel phase current acquisition is identical as first round phase current acquisition method, and the second wheel phase current collection result is successively remembered For iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
Step 3: current signal processing；
Wherein:
Step 4: rotor magnetic pole initial position electrical angle θ0It calculates；
Preferably, it is characterized by: in step 1K=2 μ s.
In step 2, in the phase current collection process of A, B, C three-phase, each phase phase current acquisition is finally two PWM The PWM in period breaks state entirely, it is ensured that and after the completion of the phase current acquisition of current phase, the current-responsive of negative voltage vector is reduced to 0, Eliminate the influence acquired to next phase phase current.
The three-phase inverting circuit being connected with motor A, B, C three-phase windings be connected respectively with motor A phase, B phase, C phase winding 6 The state of a switching tube is denoted as S respectivelyAH、SAL、SBH、SBL、SCH、SCL；Input the voltage vector that electrical angle is 0 °, switch state group Conjunction is denoted as SAHSALSBHSBLSCHSCL=100101；The voltage vector that electrical angle is 180 ° is inputted, Switch State Combination in Power Systems is denoted as SAHSALSBHSBLSCHSCL=011010；The voltage vector that electrical angle is 120 ° is inputted, Switch State Combination in Power Systems is denoted as SAHSALSBHSBLSCHSCL=011001；The voltage vector that electrical angle is 300 ° is inputted, Switch State Combination in Power Systems is denoted as SAHSALSBHSBLSCHSCL=100110；The voltage vector that electrical angle is 240 ° is inputted, Switch State Combination in Power Systems is denoted as SAHSALSBHSBLSCHSCL=010110；The voltage vector that electrical angle is 60 ° is inputted, Switch State Combination in Power Systems is denoted as SAHSALSBHSBLSCHSCL=101001.The full off state of PWM, Switch State Combination in Power Systems are denoted as SAHSALSBHSBLSCHSCL=000000.
The present invention can effectively and quickly realize three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment, be motor without The initial alignment of encoder control or incremental encoder provides effective starting position signal.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is the phase current collection point schematic diagram of A phase of the present invention.
Specific embodiment
Below by specific embodiment and in conjunction with attached drawing, the present invention is further described.
A kind of embodiment: surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method.This method includes Following steps:
Step 1: PWM cycle TPWMDetermination；
PWM cycle is initialized asIt is a length of when being carried out to motorPWM control: whereInput electricity Angle be 0 ° voltage vector,For the full off state of PWM,Inputting electrical angle is 180 ° Voltage vector,For the full off state of PWM,Moment acquisition A phase current values are denoted asIn Shi ChangweiPWM control at the end of, ifLess than the rated current peak value of motor, then it is stepped up PWM cycle, enabledP=1,2,3 ..., k be PWM cycle increment, and to motor carry out when it is a length ofPWM control, acquisitionAnd judgeWith the relationship of rated current of motor peak value, untilEqual to or more than rated current of motor peak value, at this time PWM cycle is denoted as TPWM；
Step 2: phase current signal acquisition successively acquires the phase current of two-wheeled A, B, C phase；
The phase current acquisition of first round A phase carries out motor to continue 7TPWMPWM control, 0~2TPWMInputting electrical angle is 0 ° of voltage vector, 2TPWM~3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput electrical angle be 180 ° voltage vector, 5TPWM~7TPWMFor the full off state of PWM, in 1TPWMMoment acquisition phase current is denoted as iA11+, in 2TPWMMoment acquires phase current note For iA12+, in 4TPWMMoment acquisition phase current is denoted as iA11-, in 5TPWMMoment acquisition phase current is denoted as iA12-；The phase of first round A phase The phase current acquisition of first round B phase is carried out after the completion of current acquisition, the phase current acquisition of first round B phase continues motor 7TPWMPWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 120 °PWM~3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 300 °PWM~7TPWMFor the full off state of PWM, in 1TPWMMoment acquisition Phase current is denoted as iB11+, in 2TPWMMoment acquisition phase current is denoted as iB12+, in 4TPWMMoment acquisition phase current is denoted as iB11-, 5TPWMMoment acquisition phase current is denoted as iB12-；
The phase current acquisition of first round C phase, the phase electricity of first round C phase are carried out after the completion of the phase current acquisition of first round B phase Stream acquisition carries out motor to continue 7TPWMPWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 240 °PWM~ 3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 60 °PWM~7TPWMIt is turned off entirely for PWM State, in 1TPWMMoment acquisition phase current is denoted as iC11+, in 2TPWMMoment acquisition phase current is denoted as iC12+, in 4TPWMMoment acquisition Phase current is denoted as iC11-, in 5TPWMMoment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, i is successively denoted asA11+、iA12+、iA11-、iA12-、iB11+、iB12+、iB11-、 iB12-、iC11+、iC12+、iC11-、iC12-；
Second wheel phase current acquisition is identical as first round phase current acquisition method, and the second wheel phase current collection result is successively remembered For iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
The phase current of A phase acquires as shown in Figure 1, B phase, the period control of C phase phase current acquisition and acquisition time and A phase Unanimously；
Step 3: current signal processing；
Wherein:
Step 4: rotor magnetic pole initial position electrical angle θ0It calculates；
By taking the three-phase surface-mount type permanent magnet synchronous motor of 16 pairs of pole as an example, rated current of motor 23.7A, rated current of motor Peak value is 33.5A, and three-phase inverting circuit DC bus-bar voltage Vdc is 540V, 0.7 Ω of motor phase resistance, motor d axle inductance and q Axle inductance is equal, is 10mH.Rotor magnetic pole initial position is 30 ° of electrical angles.
Step 1: PWM cycle T is determinedPWM=400 μ s；
Step 2: the phase current of acquisition two-wheeled A, B, C phase；The corresponding current value of acquisition are as follows:
Step 3: current signal processing；
And sin_val and cos_val is < 0, therefore the angle that arc tangent is found out should be at third quadrant；
Step 4: rotor magnetic pole initial position electrical angle θ0It calculates；
Thus initial position estimation error is obtained are as follows: 15.6473 ° -30 °=- 14.3527 °.
6 fundamental voltage pulse vectors are used in existing three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method Judge the method for current-responsive value size, theory orientation precision is +/- 30 ° of electrical angles, to further increase initial position Positioning accuracy also needs to further inject into other SVPWM voltage vectors synthesized based on 6 basic voltage vectors, this will lead to fixed The lengthening of position time, the three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method of this programme only need 6 fundamental voltages Initial position fix precision can be greatly improved while quick positioning in the combination of vector and the full off state of PWM.

Claims (2)

1. a kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method, it is characterised in that: including following Step:
Step 1: PWM cycle TPWMDetermination；
PWM cycle is initialized asIt is a length of when being carried out to motorPWM control: whereInput electrical angle For 0 ° of voltage vector,For the full off state of PWM,The voltage that electrical angle is 180 ° is inputted to swear Amount,For the full off state of PWM,Moment acquisition A phase current values are denoted asIn Shi Changwei's At the end of PWM is controlled, ifLess than the rated current peak value of motor, then it is stepped up PWM cycle, enabledP= 1,2,3 ..., k is PWM cycle increment, and while carrying out to motor is a length ofPWM control, acquisitionAnd judgeWith electricity The relationship of machine rated current peak value, untilEqual to or more than rated current of motor peak value, PWM cycle at this time is denoted as TPWM；
Step 2: phase current signal acquisition successively acquires the phase current of two-wheeled A, B, C phase；
The phase current acquisition of first round A phase carries out motor to continue 7TPWMPWM control, 0~2TPWMInputting electrical angle is 0 ° Voltage vector, 2TPWM~3TPWMFor the full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 180 °PWM ~7TPWMFor the full off state of PWM, in 1TPWMMoment acquisition phase current is denoted as iA11+, in 2TPWMMoment acquisition phase current is denoted as iA12+, in 4TPWMMoment acquisition phase current is denoted as iA11-, in 5TPWMMoment acquisition phase current is denoted as iA12-；The phase electricity of first round A phase The phase current acquisition of first round B phase is carried out after the completion of stream acquisition, the phase current acquisition of first round B phase carries out motor to continue 7TPWM PWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 120 °PWM~3TPWMFor the full off state of PWM, 3TPWM~ 5TPWMInput voltage vector, the 5T that electrical angle is 300 °PWM~7TPWMFor the full off state of PWM, in 1TPWMMoment acquires phase current It is denoted as iB11+, in 2TPWMMoment acquisition phase current is denoted as iB12+, in 4TPWMMoment acquisition phase current is denoted as iB11-, in 5TPWMMoment Acquisition phase current is denoted as iB12-；
The phase current acquisition of first round C phase is carried out after the completion of the phase current acquisition of first round B phase, the first round C phase current of phase is adopted Collection carries out motor to continue 7TPWMPWM control, 0~2TPWMInput voltage vector, the 2T that electrical angle is 240 °PWM~3TPWMFor The full off state of PWM, 3TPWM~5TPWMInput voltage vector, the 5T that electrical angle is 60 °PWM~7TPWMFor the full off state of PWM, In 1TPWMMoment acquisition phase current is denoted as iC11+, in 2TPWMMoment acquisition phase current is denoted as iC12+, in 4TPWMMoment acquires phase current It is denoted as iC11-, in 5TPWMMoment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, i is successively denoted asA11+、iA12+、iA11-、iA12-、iB11+、iB12+、iB11-、iB12-、 iC11+、iC12+、iC11-、iC12-；
Second wheel phase current acquisition is identical as first round phase current acquisition method, and the second wheel phase current collection result is successively denoted as iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
Step 3: current signal processing；
Wherein:
Step 4: rotor magnetic pole initial position electrical angle θ0It calculates；
2. a kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method according to claim 1, It is characterized by: in step 1K=2 μ s.
CN201711435449.0A 2017-12-26 2017-12-26 A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method Active CN107979319B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711435449.0A CN107979319B (en) 2017-12-26 2017-12-26 A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711435449.0A CN107979319B (en) 2017-12-26 2017-12-26 A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method

Publications (2)

Publication Number Publication Date
CN107979319A CN107979319A (en) 2018-05-01
CN107979319B true CN107979319B (en) 2019-10-25

Family

ID=62007731

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711435449.0A Active CN107979319B (en) 2017-12-26 2017-12-26 A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method

Country Status (1)

Country Link
CN (1) CN107979319B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4239372B2 (en) * 1999-09-17 2009-03-18 株式会社安川電機 Initial magnetic pole estimation device for AC synchronous motor
JP2005065415A (en) * 2003-08-13 2005-03-10 Fuji Electric Holdings Co Ltd Magnetic pole position detector for permanent-magnet synchronous motor
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
CN102497155B (en) * 2011-11-25 2014-03-05 大连尚能科技发展有限公司 Permanent magnet synchronization motor rotor magnetic pole position presumption method
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
CN103166563B (en) * 2013-04-12 2016-02-03 上海维宏电子科技股份有限公司 Permagnetic synchronous motor rotor position initial alignment detection method
CN103560736B (en) * 2013-10-28 2016-04-13 华南理工大学 A kind of static off-line parameter identification method of permagnetic synchronous motor
CN103944474B (en) * 2013-12-23 2018-07-13 上海大郡动力控制技术有限公司 The method of rapid solving permanent-magnetic synchronous motor rotor initial angle position
KR101684073B1 (en) * 2015-03-10 2016-12-08 엘에스산전 주식회사 Method for detecting initial magnetic-pole position of rotor in permanent magnet synchronous motor
CN106655952B (en) * 2017-03-08 2018-12-18 北京工业大学 A kind of current envelops collimation method detecting permanent-magnetic synchronous motor rotor initial position

Also Published As

Publication number Publication date
CN107979319A (en) 2018-05-01

Similar Documents

Publication Publication Date Title
CN102931903B (en) A kind of permanent-magnet synchronous motor rotor initial position detection method
CN106655952B (en) A kind of current envelops collimation method detecting permanent-magnetic synchronous motor rotor initial position
CN105932925A (en) Current loop control system based FPGA, and servo device
CN103078586A (en) Non-location technology for three-phase electro-magnetic double-salient pole machine starting and accelerating based on induction method
CN104767434A (en) Rotor phase commutation position detection and phase commutation control method for brushless direct current motor
CN102624276A (en) Novel dead-zone effect compensation method of AC servo inverter
CN113300647B (en) Static AC-DC axis inductance identification method for permanent magnet synchronous motor
CN101969292B (en) Method for identifying stator resistance parameters
CN108712127B (en) Method and device for controlling switched reluctance motor without position sensor
CN107979319B (en) A kind of surface-mount type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method
CN108322105A (en) Permanent magnet synchronous motor stationary state method for detecting initial position of rotor
CN103250343A (en) Inductance measurement device and measurement method for synchronous electric motor
CN107425774B (en) Permanent magnet synchronous motor d-axis inductance discrimination method and device
CN108847800A (en) Durface mounted permanent magnet synchronous motor resistance-inductance parameter offline identification method
CN103684143B (en) A kind of electric excitation biconvex electrode electric machine based on commutation point current response starts acceleration position-sensor-free method
CN111585480B (en) BLDCM rotor initial position detection circuit and method without position sensor
CN103743987B (en) The ADC sampling fault detection method of microprocessor in electric machine control system
CN102904502B (en) A kind of Sensorless Control Technique for four phase double salient-pole electric machines
CN110912482A (en) Permanent magnet synchronous motor flux linkage and temperature estimation method
CN102012454A (en) Zero passage detection method and device of counter electromotive force of permanent magnet direct current brushless Hall motor
CN103780193A (en) Method for detecting initial position of rotor of power robot
CN105356811A (en) Method for detecting initial position of permanent magnet synchronous motor
CN115913043A (en) Method and device for detecting initial position of permanent magnet synchronous motor rotor
CN114301353B (en) Method and device for detecting initial position of rotor of multi-three-phase permanent magnet synchronous motor
CN108322122A (en) A kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right

Effective date of registration: 20230329

Address after: Room 455, 4th floor, business building, Shangkun Zixuan Plaza, 338 Zixuan Road, Sandun Town, Xihu District, Hangzhou, Zhejiang 310000

Patentee after: Hangzhou liangchuang Technology Consulting Co.,Ltd.

Address before: 310018 no.508, No.2 street, economic and Technological Development Zone, Jianggan District, Hangzhou City, Zhejiang Province

Patentee before: ZHEJIANG University OF WATER RESOURCES AND ELECTRIC POWER

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20231025

Address after: 151400 East of Andong 1st Avenue and South of Andong 4th Road, Anda Comprehensive Development Zone, Suihua City, Heilongjiang Province

Patentee after: Heilongjiang Hanze Petroleum Equipment Co.,Ltd.

Address before: Room 455, 4th floor, business building, Shangkun Zixuan Plaza, 338 Zixuan Road, Sandun Town, Xihu District, Hangzhou, Zhejiang 310000

Patentee before: Hangzhou liangchuang Technology Consulting Co.,Ltd.

TR01 Transfer of patent right