CN108322122A - A kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method - Google Patents
A kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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Abstract
The present invention relates to a kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method, solve the problems, such as that existing salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method positioning time is long, positioning accuracy is not high.This method includes the following steps：1, the PWM cycle T that can reach saturation phase current is determinedPWM；2, using unsaturation control controlling cycle T1=0.2TPWM~0.25TPWMAcquire motor A, B, C phase unsaturation phase current；3, rotor magnetic pole inceptive direction angle θ is calculated using step 2 collection result0raw；4, θ is chosen0rawClose mutually load is with TPWMThe phase current in period in order to control acquires the saturation phase current of the phase；5, bias angle θ is calculated0offset, and calculate θ0=θ0raw+θ0offset.The salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method of the present invention is without complicated high frequency signal injection or train pulse voltage injection, and implementation is simple, and locating speed is fast, and positioning accuracy is high.
Description
Technical field
The invention belongs to motor fields, are related to a kind of motor control method, more particularly to a kind of salient pole type three-phase permanent is same
Walk rotor magnetic pole initial position localization method.
Background technology
Salient pole type three-phase permanent magnet synchronous motor has power density is big, easy to control, control performance is good, speed adjustable range is big etc.
Feature.But when the electric motor starting, rotor magnetic pole initial position need to be known, otherwise can start failure, therefore general using volume
Code device realizes that the position detection of rotor magnetic pole can be solved using absolute type encoder or with the incremental encoder of UVW
Certainly electric motor starting problem, but the increase of cost is brought, and the incremental encoder with UVW, magnetic pole initial alignment precision is only
For +/- 30 ° of electrical angles.
Traditional salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method, by forces location method,
Voltage pulse vector sequence positioning mode, high frequency signal injection positioning mode, INFORM inductance methods etc., forces location method is by giving motor
Forced motor is pulled to fixed position by logical fixed voltage vector, and although this method completes motor initial alignment, but motor occurs
Rotation, in certain occasions cannot be satisfied application requirement；Voltage pulse vector sequence positioning mode, is sweared by a series of voltage pulse
It is maximum to find current-responsive by comparing the amplitude of the corresponding motor synthesis phase current response of voltage pulse vector for the injection of amount
Corresponding voltage vector, corresponding angle is rotor magnetic pole initial position place, but rotor is easy to turn under this method
It is dynamic, need to find suitable voltage vector magnitude and duration to ensure single machine rotor rotation amplitude within the allowable range, and
Positioning accuracy depends on the group number of voltage vector injection, and is influenced by PWM dead time effects, and next group of voltage vector injection
Before, it is necessary to assure the response of the voltage vector of previous group has completely disappeared, and the positioning consuming time is long, and positioning accuracy is by shadow
It rings.High frequency signal injection method need to be passed through high-frequency voltage signal in machine winding, and through complicated high frequency signals, (band logical is filtered
Wave) and after phaselocked loop adjusts, it may be determined that pole orientation, pole polarity also need to combine positive and direction voltage vector injection ability
Final to determine rotor magnetic pole initial position, although this method positioning accuracy is higher, positioning time is long.INFORM inductance methods need
Inductance is actually calculated, operating process is complicated, and precision is not high.
Invention content
It is an object of the invention to solve existing salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment side
The problem that method positioning time is long, positioning accuracy is not high, it is initial to provide a kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole
Location positioning method, when this method is shorter by the basic voltage vectors voltage-duration being passed through to machine winding, motor magnetic
Field utilizes the structure saliency of motor in unsaturated state, constructs calculation formula, obtains rotor magnetic pole inceptive direction
Angle, then by the extension voltage vector duration, so that motor-field is shown saturation saliency, correct magnetic pole both forward and reverse directions,
It is motor without coding so as to effective and quick realization salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment
Device controls or the initial alignment of incremental encoder provides effective startup position signal.
The technical solution adopted by the present invention to solve the technical problems is：A kind of salient pole type three-phase permanent magnet synchronous motor rotor
Magnetic pole initial position localization method, it is characterised in that：Include the following steps：
Step 1：PWM cycle TPWMDetermination；
PWM cycle is initialized asIt is a length of when being carried out to motorPWM control：Wherein,Input electrical angle
For 0 ° of voltage vector,For the full off states of PWM,The voltage that electrical angle is 180 ° is inputted to swear
Amount,For the full off states of PWM,Moment acquisition A phase current values are denoted asWhen it is a length of'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 being carried 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 value, PWM cycle at this time is denoted as TPWM；
Step 2：Unsaturated state phase current signal acquires, and acquires the phase current of two-wheeled A, B, C phase successively；
Enable unsaturation acquisition control cycle T1=0.2TPWM~0.25TPWM, it is ensured that current of electric is in always in gatherer process
Unsaturated state；
The phase current acquisition of first round A phase carries out motor to continue 7T1PWM control, 0~2T1Input the electricity that electrical angle is 0 °
Press vector, 2T1~3T1For the full off states of PWM, 3T1~5T1Input voltage vector, the 5T that electrical angle is 180 °1~7T1For PWM
Full off state, in 1T1Moment acquisition phase current is denoted as iA11+, in 2T1Moment acquisition phase current is denoted as iA12+, in 4T1Moment adopts
Collection phase current is denoted as iA11-, in 5T1Moment acquisition phase current is denoted as iA12-；
The phase current acquisition of first round B phase is carried out after the completion of the phase current acquisition of first round A phase, the first round B phase current of phase is adopted
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 120 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 300 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iB11+, in 2T1Moment acquisition phase current is denoted as iB12+, in 4T1Moment acquisition phase current is denoted as iB11-, in 5T1
Moment 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
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 240 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 60 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iC11+, in 2T1Moment acquisition phase current is denoted as iC12+, in 4T1Moment acquisition phase current is denoted as iC11-, in 5T1
Moment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, is denoted as i successivelyA11+、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 denoted as successively
iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
Step 3：Current signal processing；
Wherein：
Step 4：The calculating at rotor magnetic pole inceptive direction angle；
It will[0,2 π] is mapped to, then
Step 5：Rotor magnetic pole initial position electrical angle θ0Polarity correction calculates；
To θ0rawMagnetic pole positive-negative polarity carries out judgement correction, determines final magnetic pole initial position electrical angle θ0；
Step 5.1：The selection of polarity deterministic process on-load voltage vector institute symbolic animal of the birth year；
If svp is the phase belonging to selected voltage vector,
Work as svp=phA, polarity deterministic process on-load voltage vector belongs to A phases, then positive voltage vector electrical angle is 0 °, negative voltage
Vector electrical angle is 180 °；Work as svp=phB, polarity deterministic process on-load voltage vector belongs to B phases, then positive voltage vector electric angle
Degree is 120 °, and negative voltage vector electrical angle is 300 °；Work as svp=phC, polarity deterministic process on-load voltage vector belongs to C phases, then
Positive voltage vector electrical angle is 240 °, and negative voltage vector electrical angle is 60 °；
Step 5.2：The polarity of acquisition svp phases judges phase current iX1+、iX2+、iX1-、iX2-；
Using TPWMJudging phase current collection period for polarity, it is ensured that current of electric can reach saturation state in gatherer process,
Show saturation saliency；The phase current acquisition of svp phases carries out motor to continue 7TPWMPWM control, 0~2TPWMInput is just
Voltage vector, 2TPWM~3TPWMFor the full off states of PWM, 3TPWM~5TPWMInput negative voltage vector, 5TPWM~7TPWMIt is complete for PWM
Off state, in 1TPWMMoment acquisition phase current is denoted as iX1+, in 2TPWMMoment acquisition phase current is denoted as iX2+, in 4TPWMMoment adopts
Collection phase current is denoted as iX1-, in 5TPWMMoment acquisition phase current is denoted as iX2-；
Step 5.3：Calculate bias angle；
Enable Δ iX=| iX2--iX1-|-|iX2+-iX1+|；
According to following formula, bias angle θ is determined0offset：
θ0offset=π [(svp==phA) (Δ iX＞ 0)+(svp==phB) (Δ iX＜ 0) (θ0raw＜ 0)
+ (svp==phC) (Δ iX＜ 0)]；
In formula, (svp==phA), (svp==phB), (svp==phC), (Δ iX＞ 0), (Δ iX＜ 0), (θ0raw＜
0) it is judgement formula, judges when formula meets for 1, is 0 when being unsatisfactory for；
Step 5.4：According to θ0raw、θ0offsetCalculate rotor magnetic pole initial position electrical angle θ0：
θ0=θ0raw+θ0offset。
In step 2, in the phase current gatherer process of A, B, C three-phase, each phase phase current acquisition is finally two T1Week
The PWM of phase breaks state entirely, it is ensured that after the completion of the phase current acquisition of current phase, the current-responsive of negative voltage vector is reduced to 0, disappears
Except the influence acquired to next phase phase current.
In step 2, the basic voltage vectors voltage-duration being passed through to machine winding is shorter, and motor-field, which is in, does not satisfy
And state, using the structure salient pole of salient-pole permanent-magnet synchronous motor, d axle inductances Ld is less than q axle inductance Lq, constructs and rotor magnetic
The relevant variable of trigonometric function of pole initial position angle, can be realized rotor magnetic pole inceptive direction by the calculating of antitrigonometric function
Angle θ0rawDetection.Again in steps of 5, by with rotor magnetic pole inceptive direction angle θ0rawImmediate (angle is less than 30 °) is corresponding
One group of positive and negative voltage vector of phase inputs the PWM controls in full period, it is ensured that motor-field is in saturation state, magnetic pole when saturation
Positive direction inductance is saturated, and is less than the inductance of negative direction, using the difference of the current-responsive of forward and reverse voltage vector, in conjunction with rotor magnetic
Pole inceptive direction angle θ0rawThe bias angle θ of magnetic pole inceptive direction can be realized0offsetDetection, so rotor magnetic pole is initial
Deflection θ0rawWith bias angle θ0offsetAddition can be obtained rotor magnetic pole initial position electrical angle.
Preferably, it is characterized in that：In step 1K=2 μ s.
The salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole position initial alignment method of the present invention is without complicated high frequency
Voltage injects or the injection of train pulse voltage, implements simply, and locating speed is fast, and positioning accuracy is high.
Description of the drawings
The present invention will be further described below in conjunction with the accompanying drawings.
Fig. 1 is the unsaturated phase current collection point schematic diagram of A phases in step 2 of the present invention.
Fig. 2 is that the polarity of svp phases in step 5.2 of the present invention judges phase current collection point schematic diagram.
Specific implementation mode
Below by specific embodiment and in conjunction with attached drawing, the present invention is further described.
Embodiment：A kind of salient pole 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：Wherein,Input electrical angle
For 0 ° of voltage vector,For the full off states of PWM,The voltage that electrical angle is 180 ° is inputted to swear
Amount,For the full off states of PWM,Moment acquisition A phase current values are denoted asWhen it is a length of'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 being carried 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 value, PWM cycle at this time is denoted as TPWM；
Step 2：Unsaturated state phase current signal acquires, and acquires the phase current of two-wheeled A, B, C phase successively；
Enable unsaturation controlling cycle T1=0.2TPWM~0.25TPWM, it is ensured that current of electric is in non-full always in gatherer process
And state；The phase current of A phases acquires as shown in Figure 1, B phases, the period control of C phase phase currents acquisition and acquisition time and A phases
Unanimously；
The phase current acquisition of first round A phase carries out motor to continue 7T1PWM control, 0~2T1Input the electricity that electrical angle is 0 °
Press vector, 2T1~3T1For the full off states of PWM, 3T1~5T1Input voltage vector, the 5T that electrical angle is 180 °1~7T1For PWM
Full off state, in 1T1Moment acquisition phase current is denoted as iA11+, in 2T1Moment acquisition phase current is denoted as iA12+, in 4T1Moment adopts
Collection phase current is denoted as iA11-, in 5T1Moment acquisition phase current is denoted as iA12-；
The phase current acquisition of first round B phase is carried out after the completion of the phase current acquisition of first round A phase, the first round B phase current of phase is adopted
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 120 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 300 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iB11+, in 2T1Moment acquisition phase current is denoted as iB12+, in 4T1Moment acquisition phase current is denoted as iB11-, in 5T1
Moment 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
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 240 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 60 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iC11+, in 2T1Moment acquisition phase current is denoted as iC12+, in 4T1Moment acquisition phase current is denoted as iC11-, in 5T1
Moment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, is denoted as i successivelyA11+、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 denoted as successively
iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
Step 3：Current signal processing；
Wherein：
Step 4：The calculating at rotor magnetic pole inceptive direction angle；
It will[0,2 π] is mapped to, then
Step 5：Rotor magnetic pole initial position electrical angle θ0Polarity correction calculates；
To θ0rawMagnetic pole positive-negative polarity carries out judgement correction, determines final magnetic pole initial position electrical angle θ0；
Step 5.1：The selection of polarity deterministic process on-load voltage vector institute symbolic animal of the birth year；
If svp is the phase belonging to selected voltage vector,
Work as svp=phA, polarity deterministic process on-load voltage vector belongs to A phases, then positive voltage vector electrical angle is 0 °, negative voltage
Vector electrical angle is 180 °；Work as svp=phB, polarity deterministic process on-load voltage vector belongs to B phases, then positive voltage vector electric angle
Degree is 120 °, and negative voltage vector electrical angle is 300 °；Work as svp=phC, polarity deterministic process on-load voltage vector belongs to C phases, then
Positive voltage vector electrical angle is 240 °, and negative voltage vector electrical angle is 60 °；
Step 5.2：The polarity of acquisition svp phases judges phase current iX1+、iX2+、iX1-、iX2-；The polarity of svp phases judges that phase current is adopted
Collection is as shown in Figure 2；
Using TPWMJudging phase current collection period for polarity, it is ensured that current of electric can reach saturation state in gatherer process,
Show saturation saliency；The phase current acquisition of svp phases carries out motor to continue 7TPWMPWM control, 0~2TPWMInput is just
Voltage vector, 2TPWM~3TPWMFor the full off states of PWM, 3TPWM~5TPWMInput negative voltage vector, 5TPWM~7TPWMIt is complete for PWM
Off state, in 1TPWMMoment acquisition phase current is denoted as iX1+, in 2TPWMMoment acquisition phase current is denoted as iX2+, in 4TPWMMoment adopts
Collection phase current is denoted as iX1-, in 5TPWMMoment acquisition phase current is denoted as iX2-；
Step 5.3：Calculate bias angle；
Enable Δ iX=| iX2--iX1-|-|iX2+-iX1+|；
According to following formula, bias angle θ is determined0offset：
θ0offset=π [(svp==phA) (Δ iX＞ 0)+(svp==phB) (Δ iX＜ 0) (θ0raw＜ 0)
+ (svp==phC) (Δ iX＜ 0)]；
In formula, (svp==phA), (svp==phB), (svp==phC), (Δ iX＞ 0), (Δ iX＜ 0), (θ0raw＜
0) it is judgement formula, judges when formula meets for 1, is 0 when being unsatisfactory for；
Step 5.4：According to θ0raw、θ0offsetCalculate rotor magnetic pole initial position electrical angle θ0：
θ0=θ0raw+θ0offset。
By taking the three-phase salient-pole 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 0.7 Ω of motor phase resistance, motor d axle inductances are 10mH, and q axle inductances are equal, are 16mH.Rotor magnetic
Pole initial position electrical angle is 210 °.
Step 1：Determine PWM cycle TPWM=432 μ s.
Step 2：It enablesAcquisition corresponding current value be：
| Variable | iA11+ | iA12+ | iA11- | iA12- | iA21+ | iA22+ | iA21- | iA22- | ΔiA |
| Value/A | 3.7180 | 7.4099 | -0.0771 | -3.8632 | 3.7446 | 7.4361 | -0.0509 | -3.8370 | 14.9556 |
| Variable | iB11+ | iB12+ | iB11- | iB12- | iB21+ | iB22+ | iB21- | iB22- | ΔiB |
| Value/A | 2.4172 | 4.8314 | -0.0087 | -2.4335 | 2.4247 | 4.8390 | -0.0012 | -2.4260 | 9.6781 |
| Variable | iC11+ | iC12+ | iC11- | iC12- | iC21+ | iC22+ | iC21- | iC22- | ΔiC |
| Value/A | 3.7788 | 7.5711 | -0.0550 | -3.8066 | 3.7909 | 7.5833 | -0.0433 | -3.7951 | 15.0880 |
Step 3：Current signal processing；
Due to sin_val ＞ 0, cos_val ＜ 0, therefore the angle that arc tangent is found out should be at the second quadrant.
Step 4：Rotor magnetic pole inceptive direction angle θ0rawIt calculates；
Step 5：Rotor magnetic pole initial position electrical angle θ0Polarity correction calculates；
Polarity deterministic process on-load voltage vector belongs to C phases, then positive voltage
Vector electrical angle is 240 °, and negative voltage vector electrical angle is 60 °；Acquisition C phase polarity judges phase current：
| Variable | iX1+ | iX2+ | iX1- | iX2- | ΔiX |
| Value/A | 15.4901 | 33.6491 | -14.6672 | -28.4854 | -4.3407 |
Therefore rotor magnetic pole initial position angle θ0：
θ0=θ0raw+θ0offset+ 180 °=211.0888 ° of π=31.0888 °=0.5426rad+.
Rotor magnetic pole initial position angular estimation error is 210 ° of-θ0=210 ° -211.0888 °=- 1.0888 °, estimation essence
Degree is far above +/- 30 °.
Claims (2)
1. a kind of salient pole 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：Wherein,Input electrical angle
For 0 ° of voltage vector,For the full off states of PWM,The voltage that electrical angle is 180 ° is inputted to swear
Amount,For the full off states of PWM,Moment acquisition A phase current values are denoted asWhen it is a length of's
At the end of PWM is controlled, ifLess than the rated current peak value of motor, then it is stepped up PWM cycle, enabledFor PWM cycle increment, and while being carried out to motor, 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 value, at this time
PWM cycle is denoted as TPWM；
Step 2：Unsaturated state phase current signal acquires, and acquires the phase current of two-wheeled A, B, C phase successively；
Enable unsaturation acquisition control cycle T1=0.2TPWM~0.25TPWM, it is ensured that current of electric is in non-always in gatherer process
Saturation state；
The phase current acquisition of first round A phase carries out motor to continue 7T1PWM control, 0~2T1Input the voltage that electrical angle is 0 °
Vector, 2T1~3T1For the full off states of PWM, 3T1~5T1Input voltage vector, the 5T that electrical angle is 180 °1~7T1It is complete for PWM
Off state, in 1T1Moment acquisition phase current is denoted as iA11+, in 2T1Moment acquisition phase current is denoted as iA12+, in 4T1Moment acquires
Phase current is denoted as iA11-, in 5T1Moment acquisition phase current is denoted as iA12-；
The phase current acquisition of first round B phase is carried out after the completion of the phase current acquisition of first round A phase, the first round B phase current of phase is adopted
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 120 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 300 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iB11+, in 2T1Moment acquisition phase current is denoted as iB12+, in 4T1Moment acquisition phase current is denoted as iB11-, in 5T1
Moment 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
Set pair motor carries out continuing 7T1PWM control, 0~2T1Input voltage vector, the 2T that electrical angle is 240 °1~3T1It is complete for PWM
Off state, 3T1~5T1Input voltage vector, the 5T that electrical angle is 60 °1~7T1For the full off states of PWM, in 1T1Moment adopts
Collection phase current is denoted as iC11+, in 2T1Moment acquisition phase current is denoted as iC12+, in 4T1Moment acquisition phase current is denoted as iC11-, in 5T1
Moment acquisition phase current is denoted as iC12-；
First round phase current collection result is arranged, is denoted as i successivelyA11+、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 denoted as successively
iA21+、iA22+、iA21-、iA22-、iB21+、iB22+、iB21-、iB22-、iC21+、iC22+、iC21-、iC22-；
Step 3：Current signal processing；
Wherein：
Step 4：The calculating at rotor magnetic pole inceptive direction angle；
It will[0,2 π] is mapped to, then
Step 5：Rotor magnetic pole initial position electrical angle θ0Polarity correction calculates；
To θ0rawMagnetic pole positive-negative polarity carries out judgement correction, determines final magnetic pole initial position electrical angle θ0；
Step 5.1：The selection of polarity deterministic process on-load voltage vector institute symbolic animal of the birth year；
If svp is the phase belonging to selected voltage vector,
Work as svp=phA, polarity deterministic process on-load voltage vector belongs to A phases, then positive voltage vector electrical angle is 0 °, negative voltage
Vector electrical angle is 180 °；Work as svp=phB, polarity deterministic process on-load voltage vector belongs to B phases, then positive voltage vector electric angle
Degree is 120 °, and negative voltage vector electrical angle is 300 °；Work as svp=phC, polarity deterministic process on-load voltage vector belongs to C phases, then
Positive voltage vector electrical angle is 240 °, and negative voltage vector electrical angle is 60 °；
Step 5.2：The polarity of acquisition svp phases judges phase current iX1+、iX2+、iX1-、iX2-；
Using TPWMJudging phase current collection period for polarity, it is ensured that current of electric can reach saturation state in gatherer process,
Show saturation saliency；The phase current acquisition of svp phases carries out motor to continue 7TPWMPWM control, 0~2TPWMInput is just
Voltage vector, 2TPWM~3TPWMFor the full off states of PWM, 3TPWM~5TPWMInput negative voltage vector, 5TPWM~7TPWMIt is complete for PWM
Off state, in 1TPWMMoment acquisition phase current is denoted as iX1+, in 2TPWMMoment acquisition phase current is denoted as iX2+, in 4TPWMMoment adopts
Collection phase current is denoted as iX1-, in 5TPWMMoment acquisition phase current is denoted as iX2-；
Step 5.3：Calculate bias angle；
Enable Δ iX=| iX2--iX1-|-|iX2+-iX1+|；
According to following formula, bias angle θ is determined0offset：
θ0offset=π [(svp==phA) (Δ iX＞ 0)+(svp==phB) (Δ iX＜ 0) (θ0raw＜ 0)
+ (svp==phC) (Δ iX＜ 0)]；
In formula, (svp==phA), (svp==phB), (svp==phC), (Δ iX＞ 0), (Δ iX＜ 0), (θ0raw＜
0) it is judgement formula, judges when formula meets for 1, is 0 when being unsatisfactory for；
Step 5.4：According to θ0raw、θ0offsetCalculate rotor magnetic pole initial position electrical angle θ0：
θ0=θ0raw+θ0offset。
2. a kind of salient pole type three-phase permanent magnet synchronous motor rotor magnetic pole initial position localization method according to claim 1,
It is characterized in that：In step 1K=2 μ s.
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| CN110058155A (en) * | 2019-04-02 | 2019-07-26 | 深圳市振邦智能科技股份有限公司 | The determination method of the pole compressor N and the pole S, system and storage medium |
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