CN108242903A - The control method and control system of permanent-magnet synchronous motor rotor position angle - Google Patents
The control method and control system of permanent-magnet synchronous motor rotor position angle Download PDFInfo
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- CN108242903A CN108242903A CN201810196291.4A CN201810196291A CN108242903A CN 108242903 A CN108242903 A CN 108242903A CN 201810196291 A CN201810196291 A CN 201810196291A CN 108242903 A CN108242903 A CN 108242903A
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- synchronous motor
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Classifications
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of control method and control method of permanent-magnet synchronous motor rotor position angle, the control method obtains position angular estimation equation to establish sliding formwork model.By acquiring permanent-magnetic synchronous motor stator current signal; the calculating of rotor-position can effectively be carried out; it realizes and is set without sensor; and; the input protection circuit after acquisition electric current and voltage; using realizing additional protection on hardware; wherein; protection circuit 10 is electrically connected with the controller or protection signal is directly inputted in PWM drive modules 9, controls the enabled of pwm signal, once failure signal; just pwm signal is directly blocked; it realizes hardware protection function, by the way of directly driving, reduces the possibility of control panel failure disturbance interrupted.
Description
Technical field
The invention belongs to motor control technology fields, and in particular to a kind of control of permanent-magnet synchronous motor rotor position angle
Method and control system.
Background technology
The advantages that AC permanent magnet synchronous motor is due to its efficient capacity usage ratio, excellent mechanical performance is controlled in industry
The numerous areas such as system, aerospace have been widely used.The mode of permanent magnet synchronous motor generally use vector controlled, the party
Formula needs to constantly detect rotor position angle for operation control, and rotor position angle is generally obtained using mechanical position sensor
, but the presence of mechanical pick-up device increases the volume and cost of motor, reduces the reliability of system, also limits at some
The popularization and application of special occasions.
And rely primarily on software in existing logic control and protected, when software then easily generates this when something goes wrong
Raw disaster.
Sliding mode observer is a kind of using electric informations such as motor stator parameter, Current Voltages, observes winding back emf, leads to
It crosses back-emf and obtains the software algorithm of motor rotor position angle, the algorithm is with strong robustness, control is simple, is easy to engineering reality
The advantages of existing.Since there are chattering phenomenons in sliding mode observer, need just to can obtain anti-electricity to observed result progress low-pass filtering
Gesture, but while buffeting is eliminated, delayed phase will also be generated by being observed signal, affect accuracy of detection,.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of permanent-magnet synchronous motor rotor position angles
Control system.
It is a further object of the invention to provide a kind of controls of the control system of permanent-magnet synchronous motor rotor position angle
Method.
The present invention is achieved by the following technical solutions：
A kind of control method of permanent-magnet synchronous motor rotor position angle, includes the following steps,
Sliding formwork model is established, obtains position angular estimation equation
In formulaMotor α, β axis back-emf for estimation；
za,zβFor α, β axis sliding formwork equivalent control function；
Motor rotor position angle for estimation；
ωcCutoff frequency for low-pass filter.
In the above-mentioned technical solutions, the step of offset angle compensation is carried out to above-mentioned position angle, the deviation angle are further included
Computational methods are using speed reference ω*Instead of actual speed ω, cutoff frequency ωcSelect speed reference ω*N times.
In the above-mentioned technical solutions, if speed reference ω*Much larger than present speed ω, gradually make to work as using partition strategy
Preceding speed omega closing speed reference value ω*；Speed reference and current speed value is made to keep certain difference, until with final reference
Value ω*Unanimously.
In the above-mentioned technical solutions, when permanent magnet synchronous motor uses sensorless strategy mode, when motor speed reaches one
Determine rotational speed omegaqWhen, it needs to be switched to the mode of speed and current double closed loop, before control mode switching, filter cutoff frequency is solid
It is set to switch speed ωqN times.
In the above-mentioned technical solutions, the offset angle compensation is carried out when rotating speed reaches its more than 20% rated speed again.
In the above-mentioned technical solutions, voltage equations of the PMSM under alpha-beta coordinate system is expressed as：
I in formulasFor stator current, is=(iα,iβ)T；
usFor stator voltage, us=(uα,uβ)T；
EsFor counter electromotive force of motor, Es=(Eα,Eβ)T；
A is coefficient matrix, A=(- Rs/Ls)I；
B is coefficient matrix, B=(1/Ls)I；
I is unit matrix；
RsFor stator resistance；
LsFor stator inductance；
Since the electrical time constant of PMSM is very small, back-emf is regarded as the disturbance quantity of system, obtained sliding formwork observation
Device equation is as follows：
In formulaFor stator current estimated value,
K is K=k.I, and wherein k is sliding formwork gain；
The electric current observation error equation that can obtain motor is subtracted each other in formula (1), (2):
In formulaFor slipform design；
If meet condition sT.s ＜ 0, then observer will enter sliding formwork state, have at this timeDefine equivalent control
System：
For ensure formula (4) convergence, sliding formwork gain k need to meet k ＞ max (| eα|,|eβ|)；
Due to containing counter electromotive force information in Z variables, contact transformation can obtain position angle and estimate anyway again after being filtered to it
Evaluation.
In the above-mentioned technical solutions, including rectifier bridge, inverter bridge, PWM drive modules, control panel, output and control panel are electric
Connection to detect the DC voltage detection circuit of rectifier bridge output voltage, export be electrically connected with control panel detecting forever
The current detection circuit of magnetic-synchro motor stator electric current and with the output of the DC voltage detection circuit and current detecting
The protection circuit of the output connection of circuit, the output of the protection circuit are connect respectively with control panel and PWM drive modules.
In the above-mentioned technical solutions, access three phase inverter bridge after the anode output concatenation charging resistor of the rectifier bridge
Input terminal in the charging resistor and is connected to D.C. contactor, the D.C. contactor by control panel drive conducting or
It disconnects.
In the above-mentioned technical solutions, voltage sample module is to acquire rectifier output voltage, including anode and cathode
The output of input terminal and first operational amplifier, first operational amplifier at voltage acquisition end is after signal adjustment unit
Signal processing module is connected to, meanwhile, the output of first operational amplifier is connect through resistance R4 with input terminal；Electric current is adopted
The mutual inductor that egf block exports to acquire rectifier current output, including being arranged on cathode, anode and cathode correspondence and institute
The mutual inductor both ends stated correspond to the second operational amplifier, simultaneously of electrical connection, and the output of the second operational amplifier is through electricity
Resistance R8 is connect with input terminal, and the output of the second operational amplifier is accessing third operational amplifier just after resistance R10
Pole, the output of the third operational amplifier are connected with cathode, and the output of the third operational amplifier is adjusted through signal
Signal processing module is connected to after unit, the signal adjustment unit includes two two poles that anode is connected with cathode successively
Pipe, the cathode of the diode connect positive voltage, plus earth, first operational amplifier or third operational amplifier
Output between two diodes with being electrically connected.
In the above-mentioned technical solutions, the protection signal circuit include anode respectively first operational amplifier or
The comparator of the output of third operational amplifier, the cathode are connect respectively with reference voltage and reference current, two input terminals
With two comparators output connection with or door and with it is described with or door output connection phase inverter, institute
The output terminal for the phase inverter stated is connected to PWM drive modules.
In the above-mentioned technical solutions, the main protection circuit includes base stage and three poles of the output terminal of the phase inverter
Pipe, the emitter ground connection of the triode are followed by positive supply and with the coil and connecing after electrode corresponding coil of connecting
And the diode that cathode is connect with positive supply.
The advantages of the present invention are：
According to previously described improvement sliding mode observer method, the present invention has carried out software volume using DSP28335 control panels
Journey realizes above-mentioned control algolithm, and has carried out motor test, and result of the test shows using improved sliding mode observer algorithm
The accuracy of detection of rotor position angle is effectively increased, the power factor of frequency converter has also obtained further raising.
By acquiring permanent-magnetic synchronous motor stator current signal, the calculating of rotor-position can be effectively carried out, realizes no biography
Sensor is set, moreover, the input protection circuit after acquisition electric current and voltage, using realizing additional protection on hardware, wherein, it protects
Protection circuit 10 is electrically connected with the controller or protection signal is directly inputted in PWM drive modules 9, controls making for pwm signal
Can, once failure signal, just directly blocks pwm signal, realize hardware protection function, by the way of directly driving, subtract
The possibility of few control panel failure disturbance interrupted.
Description of the drawings
Fig. 1 is control system for permanent-magnet synchronous motor structure chart；
Fig. 2 is diode rectifier bridge internal structure chart；
Fig. 3 is three phase inverter bridge internal structure chart；
Fig. 4 is DC voltage Acquisition Circuit figure；
Fig. 5 is current collection circuit figure；
Fig. 6 is protection circuit diagram；
Fig. 7 improves sliding mode observer algorithm flow chart.
Wherein：
1st, three-phase alternating-current supply 2, diode rectifier
3rd, three phase inverter bridge 4, permanent magnet synchronous motor
5th, touch screen 6, DSP control panels
7th, DC voltage detection circuit 8, current detection circuit
9th, PWM drive modules 10, protection circuit
11st, charging resistor 12, D.C. contactor
13rd, bus capacitor 14, the first operational amplifier
15th, second operational amplifier 16, third operational amplifier
17th, comparator 18, comparator
19 or door 20, phase inverter
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, with reference to specific embodiment furtherly
Bright technical scheme of the present invention.
Embodiment one
A kind of control system of permanent-magnet synchronous motor rotor position angle, the UVW tri- including input terminal Yu three-phase alternating current 1
The three phase inverter bridge 3 of the rectifier bridge 2 and output terminals A BC three-phases of corresponding connection and 4 corresponding connection of permanent magnet synchronous motor, with
And PWM drive modules 9 and DSP control panels 9 and be electrically connected respectively with control panel detecting the straight of rectifier bridge output voltage
Voltage detecting circuit 7 is flowed, to detect the current detection circuit 8 of permanent-magnetic synchronous motor stator electric current and protection circuit 10, institute
The input of protection circuit 10 stated connects the output of DC voltage detection circuit and the output of current detection circuit, described
The output of protection circuit is connect respectively with control panel and PWM drive modules.
By acquiring permanent-magnetic synchronous motor stator current signal, the calculating of rotor-position can be effectively carried out, realizes no biography
Sensor is set, moreover, the input protection circuit after acquisition electric current and voltage, using realizing additional protection on hardware, wherein, it protects
Protection circuit 10 is electrically connected with the controller or protection signal is directly inputted in PWM drive modules 9, controls making for pwm signal
Can, once failure signal, just directly blocks pwm signal, realize hardware protection function, by the way of directly driving, subtract
The possibility of few control panel failure disturbance interrupted.
The input terminal of three phase inverter bridge is accessed after the anode output concatenation charging resistor 11 of the rectifier bridge, described is straight
Stream contactor 12 is turned on or off by the output driving of control panel 6.Charging resistor of the present invention when control system powers on just
It is serially connected in charge circuit, only reaches setting value in capacitance voltage, after charging, controller, that is, control panel can send out signal
D.C. contactor 12 is allowed to be closed, by charging resistor short circuit.Charging resistor is the indispensable part of control system charging circuit,
Overcurrent damage system device when preventing from charging is particularly suitable for the permanent magnet synchronous motor driving of large rotating inertia
Wherein, PWM drive modules select the SKHI22AH4R modules of Sai meter Kong companies, the module integrated driving and protection electricity
Road function, peripheral circuit is simple, without optocoupler or transformer isolation, can the pwm signal of DSP directly be connected to power module,
Facilitate application.
Fig. 2 is the internal structure chart of diode rectifier bridge, and specific connection mode is as follows：Diode rectifier bridge 2 is by six two
Pole pipe D1-D6 is formed, and the diode of upper bridge arm is D1, D3, D5, and the diode of lower bridge arm is D2, D4, D6, wherein diode D1
The cathode of anode and diode D2 connect and compose a bridge arm, the cathode of the anode and diode D4 of diode D3 connects and composes
One bridge arm, the anode of diode D5 connect and compose a bridge arm with the cathode of diode D6.
Fig. 3 is the internal structure chart of three phase inverter bridge, and specific connection mode is as follows：Three phase inverter bridge 3 is silicon-controlled by six
Q1-Q6 is formed, and upper bridge arm is made of silicon-controlled Q1, Q3, Q5, and lower bridge arm is made of silicon-controlled Q2, Q4, Q6, wherein silicon-controlled Q1
The collector of emitter and silicon-controlled Q2 connect and compose a bridge arm, the collector of the emitter of silicon-controlled Q3 and silicon-controlled Q4
A bridge arm is connected and composed, the emitter of silicon-controlled Q5 and the collector of silicon-controlled Q6 connect and compose a bridge arm.
Specifically, diode rectifier bridge 2 is that alternating current is converted to direct current in main circuit, and charging resistor 11 and direct current connect
Tentaculum 12 prevents overcurrent in charging, and bus capacitor 13 is used for stable DC voltage, and three phase inverter bridge 3 is used for permanent-magnet synchronous
The vector controlled of motor 4 is realized.4 ends of diode rectifier bridge 2, that is, cathode output end and charging resistor 11, D.C. contactor 12
One end connects, and 5 ends, that is, cathode output end of diode rectifier bridge 2 and 2 ends of the cathode of bus capacitor 13, three phase inverter bridge 3 connect
It connects.Charging resistor 11, D.C. contactor 12 the other end connect with 1 end of the anode of bus capacitor 13 and three phase inverter bridge 3,
3,4,5 ends of three phase inverter bridge 3 are connected with A, B, C of permanent magnet synchronous motor 4.
Control panel, as DSP control panels 6 are electrically connected to realize corresponding electrical connection.Wherein DSP control panels 6 are the control of system
Core, acquisition, pwm signal output (pulse width modulation), motor control algorithms and defencive function for voltage and current signal
And the realization of the functions such as man-machine communication.
The touch screen 5 communicated with dsp controller is further included, touch screen 5 is mainly used for realizing permanent magnet synchronous motor parameter
Display and regulatory function.The touch screen 5 selects 7 cun of touch screens of Beijing the Kunlun on-state company, and model TPC7062K is touched
Touch screen to be powered by 24V DC power supplies, be communicated using RS232 modes and DSP, be integrated with liquid crystal display, touch panel, control and
The units such as data storage.Software is divided into running environment picture configuration software and data communication protocol, and the two is embedded in version using MCGS
Configuration software and its script driving developing instrument are write.
Wherein, protection circuit 10 is electrically connected with the controller or protection signal is input in PWM drive modules 9, controls
Pwm signal enables, once failure signal, just directly blocks pwm signal, realizes hardware protection function, using directly drive
Dynamic mode reduces the possibility of control panel failure disturbance interrupted.
Embodiment two
The DC voltage detection circuit 7 of the present invention inputs to acquire rectifier output voltage including anode and cathode
The output of first operational amplifier 14, first operational amplifier 14 at end and voltage acquisition end is after resistance R5 again through letter
Signal processing module is connected to after number adjustment unit, meanwhile, the output of first operational amplifier is through resistance R4 and input
End connection, and on resistance R4 and it is connected to capacitance C2.Meanwhile it is followed by the electrode input end of the first operational amplifier through capacitance C1
Ground, meanwhile, it is additionally provided with resistance R3 in parallel with the capacitance C1.
Current detection circuit is to acquire motor stator electric current, including the sensor being arranged on stator, anode and negative
The second operational amplifier 15 of extremely corresponding electrical connection corresponding with the sensor both ends, simultaneously, second operation amplifier
The output of device is connect through resistance R8 with input terminal, while resistance R8 is parallel with capacitance C5, the second operational amplifier it is defeated
Go out after resistance R10 to access the anode of third operational amplifier 16, the anode of the third operational amplifier is after resistance R11
Ground connection, the output of the third operational amplifier are connected with cathode, and the output of the third operational amplifier is through signal tune
Signal processing module is connected to after whole unit.Wherein, the signal adjustment unit include two successively anode connected with cathode
Diode D8 and D7 or the cathode of D9 and D10, the diode D8 or D9 connect positive voltage, diode D9 or D10 are just
Pole is grounded, and is electrically connected and is exported to control between the output of first operational amplifier or third operational amplifier and two diodes
Making sheet, while gone back on the diode D7 or D10 of ground side and be connected to capacitance or C3 or C6.
The protection circuit 10 includes two anodes difference first operational amplifiers or third operational amplifier
Output comparator 17,18, the cathode of the comparator 17,18 described in two connect respectively with reference voltage and reference current,
The output connections of two input terminals and two comparators with or door 19 and with it is described with or door output connection
Phase inverter 20, the output terminal of the phase inverter are connected to PWM drive modules, while be provided in PWM drive module input terminals
Clamped resistance R12.
To realize the action of D.C. contactor, its coil, the coil drive of control panel output can be directly driven by control panel
Circuit includes the triode that base stage is connected through resistance with the output terminal, the emitter ground connection of the triode, collector
The corresponding coil of series connection is followed by positive supply and with the coil and connecing and diode that cathode is connect with positive supply.
Specifically, resistance R1 connections feedback voltage V olInput1 ports, the other end and resistance R4, capacitance C2 and operation
Amplifier 14 negative terminal connection, resistance R4, capacitance C2 the other end connect with the output terminal of operational amplifier 14.Resistance R2 connections
Feedback voltage V olInput2 ports, the other end are connect with the anode of resistance R3, capacitance C1 and operational amplifier 14, resistance R3,
The other end of capacitance C1 is connect with AGND.One end of resistance R5 is connect with the output terminal of operational amplifier 14, the other end and capacitance
The anode connection of C3, the cathode of diode D7, diode D8.The other end of capacitance C3, the anode of diode D7 are connect with AGND,
The cathode of diode D8 is connect with 3.3V, and voltage output signal is connect with the anode of diode D8, the cathode of diode D7.
Fig. 5 is current detection circuit figure, and specific connection relation is as follows：
Resistance R6 connection feedback current CurInput1 ports, the other end and resistance R8, capacitance C5 and operational amplifier 15
Negative terminal connection, resistance R8, capacitance C5 the other end connect with the output terminal of operational amplifier 15.Resistance R7 connection feedback currents
CurInput2 ports, the other end connect with the anode of resistance R9, capacitance C4 and operational amplifier 15, resistance R9, capacitance C4
The other end is connect with AGND.One end of resistance R10 is connect with the output terminal of operational amplifier 15, the other end and resistance R11, operation
The anode connection of amplifier 16, one end of resistance R11 are connect with 3.3V, and the other end is connect with the anode of operational amplifier 16.Fortune
The negative terminal for calculating amplifier 16 is connect with its output terminal, the output terminal of operational amplifier 16 and capacitance C6, diode D10 cathode,
The anode connection of diode D9.The other end of capacitance C6, the anode of diode D10 are connect with AGND, the cathode of diode D9 with
3.3V connections, current output signal are connect with the anode of diode D9, the cathode of diode D10.
Fig. 6 is protection circuit diagram, and connection relation is as follows：
The negative terminal of comparator 17 and feedback current CurFk ports, anode are connect with 3.3V, 1 foot of output terminal and/or door 19
Connection, negative terminal and the feedback voltage V olFk ports of comparator 18, anode are connect with 3.3V, and 2 feet of output terminal and/or door 19 connect
It connects or the output terminal of door 19 is connect with the input terminal of phase inverter 20, output terminal and resistance R12, the protection signal Pro of phase inverter 20
Connection, zero one end of resistance R12 is connect with 3.3V.
Embodiment three
(1) aufbauprinciple of sliding mode observer
Voltage equations of the PMSM under alpha-beta coordinate system can be expressed as：
I in formulasFor stator current, is=(iα,iβ)T；
usFor stator voltage, us=(uα,uβ)T；
EsFor counter electromotive force of motor, Es=(Eα,Eβ)T；
A is coefficient matrix, A=(- Rs/Ls)I；
B is coefficient matrix, B=(1/Ls)I；
I is unit matrix；
RsFor stator resistance；
LsFor stator inductance.
Since the electrical time constant of PMSM is very small, back-emf is regarded as the disturbance quantity of system, obtained sliding formwork observation
Device equation is as follows：
In formulaFor stator current estimated value,
K is K=k.I, and wherein k is sliding formwork gain.
The electric current observation error equation that can obtain motor is subtracted each other in formula (1), (2):
In formulaFor slipform design.
If meet condition sT.s ＜ 0, then observer will enter sliding formwork state, have at this timeDefine equivalent control
System：
For ensure formula (4) convergence, sliding formwork gain k need to meet k ＞ max (| eα|,|eβ|)。
Due to containing counter electromotive force information in Z variables, contact transformation can obtain position angle and estimate anyway again after being filtered to it
Evaluation：
In formulaMotor α, β axis back-emf for estimation；
za,zβFor α, β axis sliding formwork equivalent control function；
Motor rotor position angle for estimation；
ωcCutoff frequency for low-pass filter.
(2) compensation method
Due to obtaining back-emf using low-pass filter, phase delay is introduced, phase delay is cut with low-pass filter
Only frequency is related, and cutoff frequency is lower, and phase delay is bigger, it is therefore desirable to phase delay centainly be compensated, compensation method
Usually two kinds：
1. as the cutoff frequency ω of low-pass filtercDuring for fixed value, calculated accordingly according to actual motion speed omega
Deviation angle Δ θ is rightIt compensates to obtain rotor position angle estimated value θ：
2. the cutoff frequency ω of low-pass filtercWhen not using fixed value, value is typically chosen in actual motion speed omega
N times (N values generally take 2~5, such as 3), since N values are constant, offset angle Δ θ is fixed value, further according to formula (7)
To rotor position angle estimated value θ.
In above two method, since cutoff frequency is fixed in method 1, compensation effect is unknown when motor is in middle low speed
It is aobvious, therefore use the method for becoming cutoff frequency in 2 more, but both of which actual speed offset value calculation, and using nothing
The calculated value of actual speed is easily affected during position algorithm, particularly in motor control mode switching, once compensation angle
Degree calculating deviation is larger, and rotor position angle is inaccurate, can seriously affect motor operation, even results in protection and shuts down, exists thus
Following improvement has been carried out on the basis of method 2：
(1) when calculating deviation angle, using speed reference ω*Instead of actual speed ω, cutoff frequency ωcSelect speed ginseng
Examine value ω*N times.
If 1. speed reference ω*Much larger than present speed ω, using partition strategy, make speed reference and present speed
Value keeps certain difference, until with final reference value ω*Unanimously；
Partition strategy：If speed reference ω*Much larger than present speed ω, cutoff frequency ωcReselection final speed is not joined
Examine value ω*N times, but select to keep the speed reference of certain difference DELTA ω with current rotational speed omegaN times, whereinWhen motor actual speed reachesWhen, if speedStill it is much smaller than ω*, cutoff frequency ωcIt selects and current
Rotating speedKeep the speed reference of certain difference DELTA ωN times, whereinAnd so on, until motor
Rotating speed reaches final setting speed ω*, cutoff frequency ωcReselection ω*N times.Difference DELTA ω is setting value.Even speed is joined
Examine value ω*Much larger than present speed ω, cutoff frequency ω is stepped up by the form being increased stepwisec, until it reaches speed ginseng
Examine value ω*N times.
Wherein, the angle value estimated according to sliding mode observer, the current of motor can be obtained to angle value differential post filtering
Rotary speed ω, and with speed reference ω*It compares.Speed reference is carried out defeated by testing crew by external (touch screen)
Enter setting.
2. permanent magnet synchronous motor uses sensorless strategy mode, when motor speed reaches certain rotational speed omegaqWhen, it needs
The mode of speed and current double closed loop is switched to, therefore before control mode switching, filter cutoff frequency is fixed as switch speed
ωqN times.Due to speed-changing ωqGenerally the 10% of rated speed, to this section of rotating speed before switching usually after electric motor starting
In section, filter cutoff frequency is fixed as switch speed ωqN times, do not follow rotation speed change and be adjusted.
(2) in terms of compensation policy：When permanent magnet synchronous motor is in middle low speed, counter electromotive force is smaller, sliding mode observer meter
It is less accurate to calculate, and progress deviation angle compensation effect is bad at this time, and after motor completes control mode switching, rotating speed reaches its volume
It is best that deviation angle compensation effect is carried out when determining more than 20% rotating speed again.
According to previously described improvement sliding mode observer method, the present invention has carried out software volume using DSP28335 control panels
Journey realizes above-mentioned control algolithm, and has carried out motor test, and result of the test shows using improved sliding mode observer algorithm
The accuracy of detection of rotor position angle is effectively increased, the power factor of frequency converter has also obtained further raising.
Fourth embodiment
Fig. 7 is programmed in DSP control panels 6 using C language and transported to improve sliding mode observer algorithm flow chart, control algolithm
It goes, (a) is main program flow chart in Fig. 7, and (b) is timer interrupt sub routine flow chart, and timer interrupt sub routine is in main journey
It is performed in sequence, main to complete the vector control algorithm that large rotating inertia controls and speed and current is bicyclic, specific embodiment is as follows：
Main program specific embodiment is as follows：
(I) start
Program starts, from main program entrance, S1；
(II) it initializes
The initialization of DSP is carried out, completes DSP peripheral clocks, house dog, I/O port (input and output) and interrupt vector table
Initial work, S2；
(III) configuration register
Timer, PWM registers, SCI registers and interrupt register, and enabled related interrupts function, S3 is configured；
(IV) initializers parameter
The relevant parameters such as initialization timer, PWM duty cycle, delay time, RS232 communication softwares, S4；
(V) cycle waits for
Into major cycle, waiting timer, which interrupts, to be occurred, S5；
(VI) it performs interrupt routine and returns
Timer interrupt sub routine is performed, returns to main program after the completion, cycle waits for, S6.
Timer interrupt sub routine specific embodiment is as follows：
(I) it interrupts and starts
Interruption occurs, into timer interrupt program, S7；
(II) whether have been turned on
Judge whether motor starts, if having been started up, perform and improve sliding mode observer algorithm, otherwise opened into motor positioning
Dynamic program, S8；
(III) motor positioning starting
Into after electric motor starting program, lead to a sufficiently large DC current to motor stator winding first, determine rotor
The pre-determined bit of motor is completed, is started using I-F control modes, the switching that motor is taken to setting turns to given initial position in position
Speed, S9；
(IV) sliding mode observer is improved
Sliding mode observer algorithm is performed, calculates the rotor position angle of motor, and join according to current rotating speed and setting speed
Value is examined, calculates offset angle value, and perform corresponding compensation policy, S10；
(V) whether can switch
Judge whether motor reaches the speed-changing of setting, if meeting condition, otherwise actuating motor switchover policy interrupts
It completes to return to main program, motor is waited for reach setting speed, S11；
(VI) motor switching control
After motor reaches setting speed, actuating motor switchover policy switches to the vector controlled side of speed and current double closed loop
Formula, S12；
(VII) motor two close cycles are run
Carry out vector coordinate transform, actuating motor space vector control algorithm ensures after motor switching or during normal operation
All under the vector control mode of speed and current double closed loop, S13；
(VIII) it interrupts and completes to return to main program
Motor operation control algolithm is completed, interrupts and completes to return to main program, S14.
Illustrative description has been done to the present invention above, it should explanation, in the situation for the core for not departing from the present invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (10)
1. a kind of control method of permanent-magnet synchronous motor rotor position angle, which is characterized in that establish sliding formwork model, obtain position
Angular estimation equation
In formulaMotor α, β axis back-emf for estimation；
za,zβFor α, β axis sliding formwork equivalent control function；
Motor rotor position angle for estimation；
ωcCutoff frequency for low-pass filter.
2. control method as described in claim 1, which is characterized in that further include and offset angle compensation is carried out to above-mentioned position angle
Step, the deviation angle computational methods are using speed reference ω*Instead of actual speed ω, cutoff frequency ωcSelect speed
Reference value ω*N times.
3. control method as claimed in claim 2, which is characterized in that if speed reference ω*Much larger than present speed ω, adopt
Gradually make present speed ω closing speed reference values ω with partition strategy*；Speed reference is made to keep certain with current speed value
Difference, until with final reference value ω*Unanimously.
4. control method as claimed in claim 3, which is characterized in that permanent magnet synchronous motor uses sensorless strategy mode
When, when motor speed reaches certain rotational speed omegaqWhen, it needs to be switched to the mode of speed and current double closed loop, in control mode switching
Before, filter cutoff frequency is fixed as switch speed ωqN times.
5. control method as claimed in claim 2, which is characterized in that rotating speed carries out again when reaching its more than 20% rated speed
The offset angle compensation.
6. control method as described in claim 1, which is characterized in that voltage equations of the PMSM under alpha-beta coordinate system is expressed as：
I in formulasFor stator current, is=(iα,iβ)T；
usFor stator voltage, us=(uα,uβ)T；
EsFor counter electromotive force of motor, Es=(Eα,Eβ)T；
A is coefficient matrix, A=(- Rs/Ls)I；
B is coefficient matrix, B=(1/Ls)I；
I is unit matrix；
RsFor stator resistance；
LsFor stator inductance；
Since the electrical time constant of PMSM is very small, back-emf is regarded as the disturbance quantity of system, obtained sliding mode observer side
Journey is as follows：
In formulaFor stator current estimated value,
K is K=k.I, and wherein k is sliding formwork gain；
The electric current observation error equation that can obtain motor is subtracted each other in formula (1), (2):
In formulaFor slipform design；
If meet condition sT.s ＜ 0, then observer will enter sliding formwork state, have at this timeDefine equivalent control：
For ensure formula (4) convergence, sliding formwork gain k need to meet k ＞ max (| eα|,|eβ|)；
Due to containing counter electromotive force information in Z variables, contact transformation can obtain the estimated value of position angle anyway again after being filtered to it.
7. a kind of control system realized such as claim 1-6 any one of them permanent-magnet synchronous motor rotor position angles,
It is characterized in that：Including rectifier bridge, inverter bridge, PWM drive modules, control panel, output is electrically connected whole to detect with control panel
The DC voltage detection circuit of bridge output voltage is flowed, output is electrically connected electric to detect permanent-magnetic synchronous motor stator with control panel
The current detection circuit of stream and with the output connection of the output of the DC voltage detection circuit and current detection circuit
Circuit is protected, the output of the protection circuit is connect respectively with control panel and PWM drive modules.
8. a kind of control system of permanent-magnet synchronous motor rotor position angle according to claim 7, it is characterised in that：Institute
The input terminal of three phase inverter bridge is accessed after the anode output concatenation charging resistor for the rectifier bridge stated, in the charging resistor simultaneously
D.C. contactor is connected to, the D.C. contactor is turned on or off by control panel driving.
9. a kind of control system of permanent-magnet synchronous motor rotor position angle according to claim 7, it is characterised in that：Electricity
Sampling module is pressed to acquire rectifier output voltage, including anode and negative input and first operation at voltage acquisition end
The output of amplifier, first operational amplifier is connected to signal processing module after signal adjustment unit, meanwhile, it is described
The output of the first operational amplifier connect through resistance R4 with input terminal；Current sampling module is electric to acquire rectifier output
Stream, the mutual inductor including being arranged on cathode output, anode and cathode correspond to electrical connection corresponding with the mutual inductor both ends
Second operational amplifier, simultaneously, the output of the second operational amplifier is connect through resistance R8 with input terminal, and described second
The output of operational amplifier accesses the anode of third operational amplifier after resistance R10, the third operational amplifier it is defeated
Go out and connected with cathode, the output of the third operational amplifier is connected to signal processing module after signal adjustment unit, institute
The signal adjustment unit stated includes two diodes that anode is connected with cathode successively, and the cathode of the diode connects positive electricity
Pressure, plus earth are electrically connected between the output of first operational amplifier or third operational amplifier and two diodes.
10. a kind of control system of permanent-magnet synchronous motor rotor position angle according to claim 7, it is characterised in that：
The protection signal circuit includes the ratio of the output of anode difference first operational amplifier or third operational amplifier
Compared with device, the cathode is connect respectively with reference voltage and reference current, the output of two input terminals and two comparators
Connection with or door and with it is described with or door output connection phase inverter, the output terminal of the phase inverter is connected to
PWM drive modules.
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| CN109245650A (en) * | 2018-09-30 | 2019-01-18 | 核工业理化工程研究院 | The parameter identification method of permanent magnet synchronous motor and the control system of permanent magnet synchronous motor |
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| CN112398377A (en) * | 2020-11-14 | 2021-02-23 | 西安智宇科技有限责任公司 | Low-voltage sensorless FOC motor driving system |
| CN113949318A (en) * | 2021-10-22 | 2022-01-18 | 中国科学院光电技术研究所 | Novel inductive motor counter potential compensation circuit based on operational amplifier |
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| CN111987964B (en) * | 2019-05-22 | 2022-04-26 | 中车株洲电力机车研究所有限公司 | Management method and system for position-sensorless control system and related components |
| CN112398377A (en) * | 2020-11-14 | 2021-02-23 | 西安智宇科技有限责任公司 | Low-voltage sensorless FOC motor driving system |
| CN113949318B (en) * | 2021-10-22 | 2023-09-19 | 中国科学院光电技术研究所 | Novel inductive motor counter potential compensation circuit based on operational amplifier |
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