CN108462421A - A kind of permanent magnet synchronous motor position and velocity estimation under low speed operation - Google Patents
A kind of permanent magnet synchronous motor position and velocity estimation under low speed operation Download PDFInfo
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- CN108462421A CN108462421A CN201611147416.1A CN201611147416A CN108462421A CN 108462421 A CN108462421 A CN 108462421A CN 201611147416 A CN201611147416 A CN 201611147416A CN 108462421 A CN108462421 A CN 108462421A
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- permanent magnet
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- synchronous motor
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Abstract
A kind of permanent magnet synchronous motor of the present invention position and velocity estimation under low speed operation have very strong autostability, it starts to work so that permanent magnet synchronous motor can smoothly complete under different loads, in starting process, if motor load increases, then motor speed acceleration reduces, the differential seat angle of practical dq axis and setting dq axis reduces, and the bigger electromagnetic torque of generation makes system reach new balance；If motor load reduces, the differential seat angle of practical dq axis and setting dq axis increases, the electromagnetic torque that motor exports is caused to reduce, system reaches another stable state, simultaneously the present invention overcomes at low speeds, back-emf signal is weak, and noise is big, sliding formwork estimation error is big, or even can not do control technology problem with sliding formwork.
Description
Technical field
Position and speed that the present invention relates to Motor Control Field more particularly to a kind of permanent magnet synchronous motors under low speed operation
Evaluation method.
Background technology
For permanent magnet synchronous motor (PMSM), common vector control mode is the control mode of id=0, that is, is controlled
D shaft currents are 0, and torque current is represented with q shaft currents.For permanent magnet synchronous motor, when current of electric is concentrated mainly on q axis
When upper, the armature inductance variation caused by inductor saturation effect can be ignored substantially.In and under high rotating speed, rotor resistance
Influence of the non-linear factor of variation and inverter to rotor position estimate precision can be ignored substantially, therefore, in middle height
Under rotating speed, for the permanent magnet synchronous motor of id=0 control modes, the rotor position estimate based on counter electromotive force method has preferable
Performance.
And at low speeds, there are back-emf signal signal-to-noise ratio, and low, counter electromotive force is not easy extracts, rotor position estimate
Precision is poor.Therefore, it is necessary to additional start-up techniques to rise to certain rotating speed by motor from static, and can realize from outer synchronization onwards
Move the steady switching of vector control without position sensor.Although traditional V/F controls startup structure is simple, easy to implement,
It is in starting process, electric current is uncontrollable, easily causes larger current spike and torque ripple.
Invention content
The purpose of the present invention is being directed to defect existing for above-mentioned background technology, a kind of permanent magnet synchronous motor is provided and is transported in low speed
The lower position of row and velocity estimation.
To achieve the above object, a kind of permanent magnet synchronous motor position and velocity estimation, this method under low speed operation
Suitable for face paste formula permanent magnet synchronous motor, including：
Step 1, the initial position angle θ of rotor is obtained0, in open loop control mode, give rotor one
Constant vector Iq, in time T, make rotor in initial position θ0On the basis of uniform acceleration rotation electrical angle reach setting
Rotating speed v0And keep rotor in setting speed v0Running time T2, and setting speed v0Meeting can be by sliding mode observer just
Often estimation；
Step 2, in the case of no switching function, it is directly switch to no sensor closed loop control mode, is adopted using signal
Collect module and obtains electric current A phases and B phase currents IaAnd Ib, inverse electromotive force e is calculated by sliding mode observerαAnd eβ；
Step 3, the inverse electromotive force e of acquisition is utilizedαAnd eβ, and pass throughEstimate the position of rotor
Angle
Step 4, the position angle obtained in estimationOn the basis of, it is calculated by one and the relevant angle compensation function of rotating speed
Motor rotor position angle estimated value
Step 5, acquisition is utilizedAnd it is rightMake differential to obtain motor rotor speed v.
Further, rotor is according to per time T1The interior speed for increasing Δ θ is stepped up setting speed v0, and when
Between T be time T1Integral multiple, setting speed v0For the speed that synovial membrane observer can be estimated normally, in time T2Domestic demand ensures
Motor speed, which tends towards stability, operating status or reaches steady operational status.
Further, pass through angle compensation function #1Positions of=the vk to rotorCarry out angle compensation, wherein θ1
For offset angle, v is default given speed, and k is angle compensation coefficient.
Further, between the value range of angle compensation coefficient k is 0.001 to 0.004.
Further, in step 2, it need to assume that permanent magnet synchronous motor magnetic circuit is linear and not consider that magnetic circuit is saturated, meanwhile, ignore
Sluggishness in motor and eddy-current loss, and the three-phase windings of the face paste formula permanent magnet synchronous motor are in star structure, for face paste formula
Permanent magnet synchronous motor, there are Ld=Lq=Ls, for the equation of permanent magnet synchronous motor two-phase voltage-electric current under alpha-beta coordinate system
For：
dis/ dt=Ais+B[Us-es],
Wherein,In formula, RsFor the stator phase resistance of motor, LsFor stator
Inductance,
is=[iα iβ]TFor stator current, component iα、iβRespectively stator α and β shaft currents；
Mathematical model of the face paste formula permanent magnet synchronous motor under static alpha-beta coordinate be：
Component Uα、UβRespectively stator α and β shaft voltages；
eα=-ΨfωeSin θ, eβ=ΨfωeCos θ, es=[eα eβ]T=[- Ψfωesinθ ΨfωeCos θ] it is electricity
The counter electromotive force of machine stator, ΨfFor the magnetic linkage that permanent magnet generates, and ωe, θ be rotor velocity and position angle,
Us=[Uα Uβ]TFor the stator voltage of motor,
Then there is the error dynamics equation of sliding mode observer：
Wherein,In formula,For isEstimated value, k be sliding formwork increase
Benefit, componentFor stator α shaft currents iαEstimated value, componentFor stator β shaft currents iβEstimated value, sgn () be symbol letter
Number.
Further, the electric current I that signal acquisition module obtainsaAnd IbIt is acquired by current Hall sensor.
A kind of permanent magnet synchronous motor of the present invention position and velocity estimation under low speed operation have very strong self-stabilization
Property so that permanent magnet synchronous motor can be smoothly completed under different loads and be started to work, in starting process, if motor is negative
It carries and increases, then motor speed acceleration reduces, and the differential seat angle of practical dq axis and setting dq axis reduces, the bigger electromagnetic torque of generation
System is set to reach new balance；If motor load reduces, the differential seat angle of practical dq axis and setting dq axis increases, and causes motor defeated
The electromagnetic torque that goes out reduces, and system reaches another stable state, while the present invention overcomes at low speeds, back-emf signal
Weak, noise is big, and sliding formwork estimation error is big, or even can not do control technology problem with sliding formwork.
Specific implementation mode
For technology contents, construction feature, institute's reached purpose and the effect that the present invention will be described in detail, implementation is hereby enumerated below
Example is explained in detail.
A kind of permanent magnet synchronous motor of the present invention position and velocity estimation under low speed operation, are suitable for face paste formula permanent magnetism
Synchronous motor is particularly suitable for face paste formula permanent magnet synchronous motor under slow-speed of revolution operating condition to the position of rotor and speed
Estimation.
A kind of permanent magnet synchronous motor of the present invention position and velocity estimation under low speed operation include the following steps：
Step 1, the initial position θ of rotor is obtained0, in open loop control mode, give one perseverance of rotor
Determine vector Iq, in time T, make rotor in initial position θ0On the basis of even acceleration rotation electrical angle reach setting speed
v0And keep rotor in setting speed v0Running time T2, wherein rotor is according to per time T1The interior speed for increasing Δ θ
Degree is stepped up setting speed v0, and time T is time T1Integral multiple, setting speed v0It can be normal for synovial membrane observer
The speed of estimation, in time T2Domestic demand ensures that motor speed tends towards stability and operating status or reaches steady operational status, and motor turns
Son reaches to uniform acceleration setting speed v in time T0During two-phase synchronous rotary shafting and permanent magnet synchronous motor reality
The differential seat angle of border coordinate system A-B-C reduces, and correspondingly, actual q shaft currents component gradually increases, when the electromagnetic torque of generation is big
When load torque, the setting dq coordinate systems of motor start that practical dq coordinate systems is followed to rotate；
Step 2, in the case of no switching function, it is directly switch to no sensor closed loop control mode, is adopted using signal
Collect module and obtains A phases and B phase currents IaAnd Ib, inverse electromotive force e is calculated by sliding mode observerαAnd eβ；
Step 3, the inverse electromotive force e of acquisition is utilizedαAnd eβ, and pass throughEstimate the position of rotor
Angle
Step 4, the position angle obtained in estimationOn the basis of, it is calculated by one and the relevant angle compensation function of rotating speed
Motor rotor position angle estimated value
Step 5, acquisition is utilizedAnd it is rightMake differential to obtain motor rotor speed v.
Pass through angle compensation function #1Position angles of=the vk to rotorCarry out angle compensation, wherein θ1To compensate angle
Degree, v are given speed, and k is angle compensation coefficient.
Between the value range of angle compensation coefficient k is 0.001 to 0.004.
In step 2, it need to assume that permanent magnet synchronous motor magnetic circuit is linear and not consider that magnetic circuit is saturated, meanwhile, ignore in motor
Sluggish and eddy-current loss, and the three-phase windings of the face paste formula permanent magnet synchronous motor are in star structure, for face paste formula permanent-magnet synchronous
Motor, there are Ld=Lq=Ls, for permanent magnet synchronous motor, the equation of two-phase voltage-electric current is under alpha-beta coordinate system：
dis/ dt=Ais+B[Us-es],
Wherein,In formula, RsFor the stator phase resistance of motor, LsFor stator
Inductance,
is=[iα iβ]TFor stator current, component iα、iβRespectively stator α and β shaft currents；
Mathematical model of the face paste formula permanent magnet synchronous motor under static alpha-beta coordinate be：
Component Uα、UβRespectively stator α and β shaft voltages；
eα=-ΨfωeSin θ, eβ=ΨfωeCos θ, es=[eα eβ]T=[- Ψfωesinθ ΨfωeCos θ] it is electricity
The counter electromotive force of machine stator, ΨfFor the magnetic linkage that permanent magnet generates, and ωe, θ be rotor velocity and position angle,
Us=[Uα Uβ]TFor the stator voltage of motor,
Then there is the error dynamics equation of sliding mode observer：
Wherein,In formula,For isEstimated value, k be sliding formwork increase
Benefit, componentFor stator α shaft currents iαEstimated value, componentFor stator β shaft currents iβEstimated value, sgn () be symbol letter
Number.
In specific embodiment, the electric current I of signal acquisition module acquisitionaAnd IbIt is acquired by current Hall sensor.
In conclusion a kind of permanent magnet synchronous motor of the present invention position and velocity estimation under low speed operation have very
Strong autostability so that permanent magnet synchronous motor can be smoothly completed under different loads and be started to work, in starting process
In, if motor load increases, motor speed acceleration reduces, and the differential seat angle of practical dq axis and setting dq axis reduces, generation
Bigger electromagnetic torque makes system reach new balance；If motor load reduces, the differential seat angle of practical dq axis and setting dq axis increases
Greatly, the electromagnetic torque that motor exports is caused to reduce, system reaches another stable state, while the present invention overcomes at low speeds,
Back-emf signal is weak, and noise is big, and sliding formwork estimation error is big, or even can not do control technology problem with sliding formwork.
The above-mentioned technical solution is only a kind of permanent magnet synchronous motor position and velocity estimation under low speed operation
Preferred embodiment, it is any in a kind of permanent magnet synchronous motor of the present invention under low speed operation position and on the basis of velocity estimation
Made by equivalent transformation or replacement be included within the scope of the present invention.
Claims (6)
1. a kind of permanent magnet synchronous motor position and velocity estimation under low speed operation, it is same that this method is suitable for face paste formula permanent magnetism
Motor is walked, including：
Step 1, the initial position angle θ of rotor is obtained0, in open loop control mode, give one constant arrow of rotor
Measure Iq, in time T, make rotor in initial position angle θ0On the basis of even acceleration rotation electrical angle reach setting speed v0And
Keep rotor in setting speed v0Running time T2, and setting speed v0It wants normally to be estimated by sliding mode observer；
Step 2, in the case of no switching function, it is directly switch to no sensor closed loop control mode, utilizes signal acquisition mould
Block obtains A phases and B phase currents IaAnd Ib, I is obtained by coordinate transformαAnd Iβ, sliding mode observer is recycled to calculate inverse electromotive force
eαAnd eβ；
Step 3, the inverse electromotive force e of acquisition is utilizedαAnd eβ, and pass throughEstimate the position angle of rotor
Step 4, the position angle obtained in estimationOn the basis of, motor is calculated by one and the relevant angle compensation function of rotating speed
Rotor position angle estimated value
Step 5, acquisition is utilizedAnd it is rightMake differential to obtain motor rotor speed v.
2. a kind of permanent magnet synchronous motor as described in claim 1 position and velocity estimation, feature under low speed operation
It is：Pass through angle compensation function #1Positions of=the vk to rotorCarry out angle compensation, wherein θ1For offset angle, v
To preset given speed, k is angle compensation coefficient.
3. a kind of permanent magnet synchronous motor as claimed in claim 2 position and velocity estimation, feature under low speed operation
It is：Between the value range of angle compensation coefficient k is 0.001 to 0.004.
4. a kind of permanent magnet synchronous motor position and velocity estimation under low speed operation as claimed in claim 2 or claim 3, special
Sign is：Rotor is according to per time T1The interior angle for increasing Δ θ is stepped up setting speed v0, and time T is time T1
Integral multiple, in time T2Domestic demand ensures that motor speed tends towards stability and operating status or reaches steady operational status.
5. a kind of permanent magnet synchronous motor as described in claims 1 to 3 any one position and velocity estimation under low speed operation
Method, it is characterised in that：In step 2, it need to assume that permanent magnet synchronous motor magnetic circuit is linear and not consider that magnetic circuit is saturated, meanwhile, ignore
Sluggishness in motor and eddy-current loss, and the three-phase windings of the face paste formula permanent magnet synchronous motor are in star structure, for face paste formula
Permanent magnet synchronous motor, there are Ld=Lq=Ls, for the equation of permanent magnet synchronous motor two-phase voltage-electric current under alpha-beta coordinate system
For：
dis/ dt=Ais+B[Us-es],
Wherein,In formula, RsFor the stator phase resistance of motor, LsFor stator inductance,
is=[iα iβ]TFor stator current, component iα、iβRespectively stator α and β shaft currents；
Mathematical model of the face paste formula permanent magnet synchronous motor under static alpha-beta coordinate be：
Component Uα、UβRespectively stator α and β shaft voltages；
eα=-ΨfωeSin θ, eβ=ΨfωeCos θ, es=[eα eβ]T=[- Ψfωesinθ ΨfωeCos θ] determine for motor
The counter electromotive force of son, ΨfFor the magnetic linkage that permanent magnet generates, and ωe, θ be rotor velocity and position angle,
Us=[Uα Uβ]TFor the stator voltage of motor,
Then there is the error dynamics equation of sliding mode observer：
Wherein,In formula,For isEstimated value, k be sliding formwork gain, point
AmountFor stator α shaft currents iαEstimated value, componentFor stator β shaft currents iβEstimated value, sgn () be sign function.
6. a kind of permanent magnet synchronous motor as described in claim 1 position and velocity estimation, feature under low speed operation
It is：The electric current I that signal acquisition module obtainsαAnd IβIt is acquired by current Hall sensor.
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Cited By (4)
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| CN110572089A (en) * | 2019-09-30 | 2019-12-13 | 南京德朔实业有限公司 | Electric tool and control method thereof |
| CN110572105A (en) * | 2019-07-22 | 2019-12-13 | 广东工业大学 | method for improving sensorless control starting performance of permanent magnet synchronous motor |
| CN111049455A (en) * | 2018-10-15 | 2020-04-21 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
| CN115967303A (en) * | 2023-02-14 | 2023-04-14 | 四川奥库科技有限公司 | Variable frequency motor double-dragging control method |
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| CN105811843A (en) * | 2016-05-10 | 2016-07-27 | 北京泓慧国际能源技术发展有限公司 | Optional rotation speed quick starting method for permanent magnet synchronous motor |
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| CN101127500A (en) * | 2006-08-17 | 2008-02-20 | 上海日立电器有限公司 | DC frequency conversion controller and its method for controlling speed of permanent magnetic synchronous electromotor rotor |
| CN103219933A (en) * | 2013-02-26 | 2013-07-24 | 常州信息职业技术学院 | Permanent-magnet synchronous motor start-up smooth switching method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111049455A (en) * | 2018-10-15 | 2020-04-21 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
| CN111049455B (en) * | 2018-10-15 | 2023-10-31 | 北京大豪科技股份有限公司 | Stepping motor control method, device, equipment and storage medium |
| CN110572105A (en) * | 2019-07-22 | 2019-12-13 | 广东工业大学 | method for improving sensorless control starting performance of permanent magnet synchronous motor |
| CN110572089A (en) * | 2019-09-30 | 2019-12-13 | 南京德朔实业有限公司 | Electric tool and control method thereof |
| CN110572089B (en) * | 2019-09-30 | 2024-03-19 | 南京泉峰科技有限公司 | Electric tool and control method thereof |
| CN115967303A (en) * | 2023-02-14 | 2023-04-14 | 四川奥库科技有限公司 | Variable frequency motor double-dragging control method |
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Application publication date: 20180828 |