CN108540016A - A kind of startup method and device of motor - Google Patents

A kind of startup method and device of motor Download PDF

Info

Publication number
CN108540016A
CN108540016A CN201810397182.9A CN201810397182A CN108540016A CN 108540016 A CN108540016 A CN 108540016A CN 201810397182 A CN201810397182 A CN 201810397182A CN 108540016 A CN108540016 A CN 108540016A
Authority
CN
China
Prior art keywords
motor
command value
axis current
phase
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810397182.9A
Other languages
Chinese (zh)
Other versions
CN108540016B (en
Inventor
王声纲
陈跃
潘军
唐婷婷
王璠
徐明章
张新立
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sichuan Hongmei Intelligent Technology Co Ltd
Original Assignee
Sichuan Hongmei Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sichuan Hongmei Intelligent Technology Co Ltd filed Critical Sichuan Hongmei Intelligent Technology Co Ltd
Priority to CN201810397182.9A priority Critical patent/CN108540016B/en
Publication of CN108540016A publication Critical patent/CN108540016A/en
Application granted granted Critical
Publication of CN108540016B publication Critical patent/CN108540016B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • H02P1/50—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor by changing over from asynchronous to synchronous operation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • H02P1/52—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor by progressive increase of frequency of supply to motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention provides a kind of startup method and device of motor, this method, including：Pre-set controlling cycle；Control motor executes positioning stage and asynchronous dragging stage successively；In transition stage between asynchronous dragging stage and position-sensor-free velocity close-loop control stage, execute：According to the controlling cycle, the bid value for controlling the direct-axis current of the motor changes according to the mode negatively correlated with the time, and according to the controlling cycle, and the bid value for controlling the quadrature axis current of the motor changes in the way of being proportionate with the time；In real time according to the bid value of the current direct-axis current, the direct-axis current of the motor is controlled, and the quadrature axis current of the motor is controlled according to the bid value of the current quadrature axis current in real time；After the transition stage, controls the motor and execute the position-sensor-free velocity close-loop control stage.The present invention provides a kind of startup method and devices of motor, can improve the success rate of electric motor starting.

Description

Starting method and device of motor
Technical Field
The invention relates to the technical field of motor control, in particular to a starting method and a starting device of a motor.
Background
The starting of the motor generally comprises a positioning stage, an asynchronous dragging stage, a transition stage from the asynchronous dragging stage to a position sensor-free speed closed-loop control stage and a position sensor-free speed closed-loop control stage.
In the prior art, when a transition phase is entered, a command value of a current direct-axis current is directly switched to a required target direct-axis current, and a command value of a current quadrature-axis current is directly switched to a required target quadrature-axis current. The control mode can realize smooth starting under the condition that the load of the motor is small. However, under the condition of a large load of the motor, the rotating speed of the motor rotor of the motor is greatly reduced under the influence of the load, and the direct-axis current and the quadrature-axis current are difficult to directly reach corresponding command values, so that the actual rotating speed of the motor rotor of the motor cannot quickly reach the command rotating speed, and the starting of the motor fails. For example, the motor of the compressor with the refrigerant R290 has a large load, and the start-up is often failed by the conventional start-up method.
As can be seen from the above description, when the motor is started by using the starting method of the motor in the prior art, the success rate is low.
Disclosure of Invention
The embodiment of the invention provides a starting method and a starting device of a motor, which can improve the success rate of motor starting.
In one aspect, an embodiment of the present invention provides a method for starting a motor, including:
presetting a control period;
controlling a motor to sequentially execute a positioning stage and an asynchronous dragging stage;
in a transition phase between the asynchronous dragging phase and the position sensor-less speed closed-loop control phase, performing:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
after the transition phase, controlling the motor to perform a position sensor-less speed closed-loop control phase.
Further, the air conditioner is provided with a fan,
the method further comprises the following steps:
presetting a positioning target current and a proportionality coefficient, and presetting the transition time of the transition stage;
the control method of a motor according to the present invention is a control method of a motor according to a control cycle, in which a command value for controlling a direct-axis current of the motor changes in a manner negatively correlated with time and a command value for controlling a quadrature-axis current of the motor changes in a manner positively correlated with time, including:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1For the transition time, IGDnCommand value of the direct-axis current for the nth control cycle in the transition phase, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
Further, the air conditioner is provided with a fan,
the method further comprises the following steps:
presetting a current fixed increment and a quadrature axis current threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
in the position sensorless speed closed loop control phase, performing:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate increment parameter for the (n-1) th of the control period in the position sensorless speed closed-loop control phase, I being the current fixed incrementBQnCommand value of the quadrature axis current for the nth control period in the position sensorless speed closed loop control phase, IBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
Further, the air conditioner is provided with a fan,
the method further comprises the following steps:
presetting a frequency fixed increment and a frequency threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is an initial value of a command value for the motor operating frequency during the position sensorless speed closed loop control phase,an increment is fixed for the frequency.
Further, the air conditioner is provided with a fan,
the method further comprises the following steps:
presetting positioning time, positioning holding time and positioning holding current of the positioning stage;
the control motor carries out the location stage in proper order, includes:
in the positioning phase, performing:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to the control period, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2And K is the control period.
Further, the air conditioner is provided with a fan,
the method further comprises the following steps:
presetting asynchronous dragging time and asynchronous dragging target frequency of the asynchronous dragging stage;
the control motor sequentially executes an asynchronous dragging stage, including:
performing, in the asynchronous drag phase:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
On the other hand, an embodiment of the present invention provides a starting apparatus for a motor, including:
a saving unit for saving the control period;
the positioning and asynchronous control unit is used for controlling the motor to sequentially execute a positioning stage and an asynchronous dragging stage;
a transition control unit for performing, in a transition phase between the asynchronous dragging phase and the position sensor-less speed closed-loop control phase:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
a closed-loop control unit for controlling the motor to perform a position-sensor-less speed closed-loop control phase after the transition phase.
Further, the air conditioner is provided with a fan,
the storage unit is further used for storing the positioning target current, the proportionality coefficient and the transition time of the transition stage;
the transition control unit is used for executing:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1For the transition time, IGDnIs the n-th in the transition phaseCommand value of the direct axis current of the control period, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
Further, the air conditioner is provided with a fan,
the holding unit is further used for holding the current fixed increment and the quadrature axis current threshold;
the closed-loop control unit is used for executing the following steps in the position-sensor-free speed closed-loop control stage:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate increment parameter for the (n-1) th of the control period in the position sensorless speed closed-loop control phase, I being the current fixed incrementBQnFor the nth phase in the position sensorless speed closed-loop control phaseCommand value of said quadrature current, I, of one said control periodBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
Further, the air conditioner is provided with a fan,
the storage unit is further used for storing the frequency fixed increment and the frequency threshold;
the closed-loop control unit is used for executing the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is an initial value of a command value for the motor operating frequency during the position sensorless speed closed loop control phase,an increment is fixed for the frequency.
Further, the air conditioner is provided with a fan,
the storage unit is further used for storing the positioning time, the positioning holding time and the positioning holding current of the positioning stage;
the positioning and asynchronous control unit is used for executing, in the positioning stage:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to the control period, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2And K is the control period.
Further, the air conditioner is provided with a fan,
the saving unit is further configured to save the asynchronous dragging time and the asynchronous dragging target frequency of the asynchronous dragging stage;
the positioning and asynchronous control unit is used for executing the following steps in the asynchronous dragging stage:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
In the embodiment of the invention, in the transition stage of starting the motor, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time, so that the direct-axis current and the quadrature-axis current can be smoothly changed, the requirements of the direct-axis current and the quadrature-axis current can be smoothly met, the smooth change of the rotating speed of the motor can be further ensured, the motor can be started smoothly under the condition of a large load, and the success rate of starting the motor is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a starting method of an electric motor according to an embodiment of the present invention;
fig. 2 is a flowchart of another starting method for a motor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a starting apparatus of a motor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention, and based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a starting method of a motor, which may include the following steps:
step 101: presetting a control period;
step 102: controlling a motor to sequentially execute a positioning stage and an asynchronous dragging stage;
step 103: in a transition phase between the asynchronous dragging phase and the position sensor-less speed closed-loop control phase, performing:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
step 104: after the transition phase, controlling the motor to perform a position sensor-less speed closed-loop control phase.
In the embodiment of the invention, in the transition stage of starting the motor, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time, so that the direct-axis current and the quadrature-axis current can be smoothly changed, the requirements of the direct-axis current and the quadrature-axis current can be smoothly met, the smooth change of the rotating speed of the motor can be further ensured, the motor can be started smoothly under the condition of a large load, and the success rate of starting the motor is greatly improved.
In the embodiment of the present invention, the control period may be 1 ms.
In an embodiment of the invention, the method further comprises:
presetting a positioning target current and a proportionality coefficient, and presetting the transition time of the transition stage;
the control method of a motor according to the present invention is a control method of a motor according to a control cycle, in which a command value for controlling a direct-axis current of the motor changes in a manner negatively correlated with time and a command value for controlling a quadrature-axis current of the motor changes in a manner positively correlated with time, including:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1For the transition time, IGDnCommand value of the direct-axis current for the nth control cycle in the transition phase, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
In the embodiment of the invention, the intermediate angle parameter is gradually increased according to the formula I. Initial value theta of intermediate angle parameter0Which may be 0, then the intermediate angle parameter is gradually increased from 0 to 90 deg. in the transition phase according to formula one, and the transition phase ends when 90 deg. is reached. The length of the transition phase may be determined by setting the transition time.
In the embodiment of the invention, the command value of the direct-axis current starts from the positioning target current and changes along with the change of the intermediate angle parameter, and at the end of the transition phase, the command value of the direct-axis current reaches 0. As can be seen from equation two, the command value of the direct-axis current is periodically and smoothly decreased in the transition phase, so that the direct-axis current can also smoothly reach 0.
In the embodiment of the invention, the command value of the quadrature axis current starts from 0 and changes along with the change of the intermediate angle parameter, and at the end of the transition phase, the command value of the quadrature axis current reaches Id-Bλ. According to the formula III, the command value of the quadrature axis current is periodically and smoothly increased in the transition stage, so that the quadrature axis current can also smoothly reach Id-Bλ. The scaling factor may be determined in combination with actual motor commissioning, or may be determined empirically, for example: the scaling factor may be 0.5, 0.6, etc.
In the embodiment of the invention, the direct-axis current and the quadrature-axis current can be smoothly changed, so that the fluctuation caused by too large current change is avoided, and the motor can be started more stably.
In an embodiment of the invention, the method further comprises:
presetting a current fixed increment and a quadrature axis current threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
in the position sensorless speed closed loop control phase, performing:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate increment parameter for the (n-1) th of the control period in the position sensorless speed closed-loop control phase, I being the current fixed incrementBQnCommand value of the quadrature axis current for the nth control period in the position sensorless speed closed loop control phase, IBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
In the embodiment of the invention, the intermediate increment parameter is increased by tau every period according to the formula four. And τ is a fixed value, τ should not be too large, and τ can range from 2% to 10% of the positioning target current, for example: τ is 2% of the positioning target current, 5% of the positioning target current, 10% of the positioning target current, or the like.
In the embodiment of the invention, the command value of the quadrature axis current changes along with the change of the intermediate increment parameter, and as can be seen from the formula V, the command value of the quadrature axis current can realize smooth change. Wherein, the command value of the quadrature axis current is set as the initial value IBQ0It may be 0, that is, upon entering the position sensor-less speed closed-loop control phase, the command value of the quadrature axis current is set to 0, and then, the command value of the quadrature axis current is smoothly increased according to the formula five.
In an embodiment of the present invention, the protection routine relating to setting the speed of the motor is not executed when the position sensor speed closed-loop control phase is entered. At the end of the position sensor speed closed-loop control phase, the command value for the quadrature current is made to run as given by the speed loop, and all protection routines for the motor can be made to run.
In addition, in the embodiment of the present invention, the maximum value of the command value of the quadrature current is set by setting the quadrature current threshold, that is, the command value of the quadrature current cannot exceed the quadrature current threshold, and if the command value of the quadrature current obtained according to the formula five is greater than or equal to the quadrature current threshold, the command value of the quadrature current is fixed at the quadrature current threshold.
In an embodiment of the invention, the method further comprises:
presetting a frequency fixed increment and a frequency threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is at homeAn initial value of a command value for the motor operating frequency in the position sensorless speed closed-loop control phase,an increment is fixed for the frequency.
In an embodiment of the present invention, the command value of the motor operating frequency is increased every cycle according to the formula sixWherein,the positive number can be set as desired. The command value of the motor running frequency can be ensured to change smoothly through the formula six, and the motor running frequency can keep up with the change of the command value of the motor running frequency. Initial value f of command value of motor operating frequencyB0May be 0.
In addition, in the embodiment of the present invention, the maximum value of the command value of the motor operating frequency is set by setting the frequency threshold, that is, the command value of the motor operating frequency cannot exceed the frequency threshold, and if the command value of the motor operating frequency obtained according to the formula six is equal to or greater than the frequency threshold, the command value of the motor operating frequency is fixed at the frequency threshold.
In an embodiment of the invention, the method further comprises:
presetting positioning time, positioning holding time and positioning holding current of the positioning stage;
the control motor carries out the location stage in proper order, includes:
in the positioning phase, performing:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Within time according to the control periodPeriodically controlling the command value of the direct-axis current to vary according to a formula seven, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2And K is the control period.
In the embodiment of the invention, in the positioning stage, according to the formula seven, the command value of the direct-axis current can be enabled to be from IWD0And begins to increase gradually. Initial value I of command value of direct axis current in the positioning phaseWD0May be 0, in which case the commanded value for the direct current is gradually increased from 0 to IW. The positioning hold current may be the same as the positioning target current.
In addition, in the positioning stage, the command value of the quadrature axis current can be 0, the initial value of the command value of the motor running frequency is 0, the included angle between the current vector and the fixed coordinate value α can be positioned, and T is passed through in the positioning stage2Thereafter, the command value for controlling the direct-axis current remains unchanged, forcing the motor rotor to the position of the present current vector.
In an embodiment of the invention, the method further comprises:
presetting asynchronous dragging time and asynchronous dragging target frequency of the asynchronous dragging stage;
the control motor sequentially executes an asynchronous dragging stage, including:
performing, in the asynchronous drag phase:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
In the embodiment of the invention, in the asynchronous dragging stage, the command value of the running frequency of the motor is changed according to the formula eight. Initial value f of command value of motor operating frequencyY0May be 0. When f isY0When the command value is 0, the command value of the motor running frequency reaches f after the asynchronous dragging stage is finishedY。
In the asynchronous dragging phase, the current vector can be maintained unchanged, specifically, based on the command value of the direct-axis current and the command value of the quadrature-axis current in the positioning phase, the command value of the direct-axis current is maintained as the positioning holding current, and the command value of the quadrature-axis current is maintained as 0.
As shown in fig. 2, an embodiment of the present invention provides a starting method of a motor, which may include the following steps:
step 201: presetting a control period, presetting a positioning target current and a proportionality coefficient, presetting transition time of a transition stage, presetting a current fixed increment and a quadrature axis current threshold, presetting a frequency fixed increment and a frequency threshold, presetting positioning time, positioning holding time and positioning holding current of a positioning stage, and presetting asynchronous dragging time and asynchronous dragging target frequency of an asynchronous dragging stage.
Step 202: controlling the motor to perform in the positioning phase: the command value for initializing the direct-axis current is IWD0(ii) a Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to a control period, and before T in the positioning stage2And after time, the command value for controlling the direct-axis current is kept unchanged, and the direct-axis current of the motor is controlled in real time according to the current command value of the direct-axis current.
Specifically, the formula seven is:
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2Setting the positioning time as K, and setting the control period as K; i isWD0May be 0.
The positioning stage can be set to TStatorThen, before the positioning stage, T2After time, the rest of (T)Stator-T2) The command value for controlling the direct-axis current remains unchanged.
Step 203: controlling the motor to execute in an asynchronous dragging stage: command value f for initializing motor operating frequencyY0(ii) a According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight; and controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time.
Specifically, the formula eight is:
wherein f isYnCommand value of motor operating frequency for nth control period in asynchronous dragging phase, fYn-1Command value f for motor operating frequency of n-1 control period in asynchronous dragging phaseYFor asynchronous dragging of the target frequency, T3For asynchronous drag time, K is the control period, fY0Is the initial value of the command value of the motor operating frequency in the asynchronous dragging phase. f. ofY0May be 0.
Step 204: controlling the motor to perform in a transition phase between an asynchronous dragging phase and a position sensor-less speed closed-loop control phase: the intermediate angle parameter is periodically controlled to change according to a formula I, the command value of the direct-axis current of the motor is periodically controlled to change according to a formula II, and the command value of the quadrature-axis current of the motor is periodically controlled to change according to a formula III.
Specifically, the first formula is:
the second formula is:
IGDn＝Id-B*cosθn；
the third formula is:
IGQn＝Id-B*λ*sinθn；
wherein, thetanIs the value of the intermediate angle parameter, theta, of the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1To transition time, IGDnCommand value of direct-axis current for nth control period in transition phase, Id-BTo locate the target current, IGQnThe command value of quadrature axis current of the nth control period in the transition stage is λ, which is a proportionality coefficient, the range of λ is (0,1), and n is a positive integer.
Step 205: controlling the motor to execute in a position sensor-free speed closed-loop control stage: initializing the quadrature axis current of the motor to a command value of IBQ0The command value for initializing the motor operating frequency of the motor is fB0(ii) a According to the control period, periodically controlling the intermediate increment parameter to change according to a formula IV, according to the control period, periodically controlling the command value of the quadrature axis current to change according to a formula V, and judging IBQnIf the current is greater than or equal to the quadrature axis current threshold, if so, IBQnAssigning as a quadrature axis current threshold; according to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f isBnAssigning as a frequency threshold; controlling the quadrature axis current in real time according to the current command value of the quadrature axis current; and controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time.
Specifically, the formula four is:
εn＝εn-1+τ；
the fifth formula is:
IBQn＝IBQn-1+εn；
the formula six is:
wherein epsilonnFor the value of the intermediate incremental parameter of the nth control period in the position-sensorless speed closed-loop control phase, εn-1The value of the intermediate increment parameter for the (n-1) th control cycle in the position-sensorless speed closed-loop control phase is tau, a current fixed increment, IBQnCommand value of quadrature axis current for nth control period in position sensorless speed closed loop control phase, IBQn-1Command value of quadrature axis current for the (n-1) th control period in the position sensorless speed closed loop control phase, IBQ0Is the initial value of the command value of the quadrature axis current in the position sensorless speed closed loop control phase.
fBnCommand value f for motor operating frequency of nth control period in position sensorless speed closed-loop control phaseBn-1Command value f for motor operating frequency of n-1 control period in position sensorless speed closed-loop control phaseB0Is the initial value of the command value for the motor operating frequency during the position sensor-less speed closed loop control phase,fixed increments for frequency.
In the embodiment of the invention, after the motor is controlled to execute the positioning stage, the asynchronous dragging stage, the transition stage and the position sensor-free speed closed-loop control stage, the motor can be started in a real time.
The embodiment of the invention is suitable for starting the motor in the compressor. For example: the method is suitable for starting the motor of the inverter compressor with the refrigerant R290.
As shown in fig. 3, an embodiment of the present invention provides a starting apparatus for a motor, including:
a holding unit 301 for holding a control cycle;
a positioning and asynchronous control unit 302 for controlling the motor to sequentially perform a positioning stage and an asynchronous dragging stage;
a transition control unit 303, configured to, in a transition phase between the asynchronous dragging phase and the position-sensor-less speed closed-loop control phase, perform:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
a closed loop control unit 304 for controlling the electric machine to perform a position sensor less speed closed loop control phase after the transition phase.
In an embodiment of the present invention, the storing unit is further configured to store a positioning target current, a scaling factor, and a transition time of the transition phase;
the transition control unit is used for executing:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1For the transition time, IGDnCommand value of the direct-axis current for the nth control cycle in the transition phase, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
In an embodiment of the present invention, the saving unit is further configured to save the current fixed increment and the quadrature axis current threshold;
the closed-loop control unit is used for executing the following steps in the position-sensor-free speed closed-loop control stage:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate increment parameter for the (n-1) th of the control period in the position sensorless speed closed-loop control phase, I being the current fixed incrementBQnCommand value of the quadrature axis current for the nth control period in the position sensorless speed closed loop control phase, IBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
In an embodiment of the present invention, the storing unit is further configured to store a frequency fixed increment and a frequency threshold;
the closed-loop control unit is used for executing the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is an initial value of a command value for the motor operating frequency during the position sensorless speed closed loop control phase,an increment is fixed for the frequency.
In an embodiment of the present invention, the saving unit is further configured to save the positioning time, the positioning maintaining time, and the positioning maintaining current of the positioning stage;
the positioning and asynchronous control unit is used for executing, in the positioning stage:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to the control period, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWIs that it isPositioning the holding current, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2And K is the control period.
In an embodiment of the present invention, the saving unit is further configured to save the asynchronous dragging time and the asynchronous dragging target frequency of the asynchronous dragging stage;
the positioning and asynchronous control unit is used for executing the following steps in the asynchronous dragging stage:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
Because the information interaction, execution process, and other contents between the units in the device are based on the same concept as the method embodiment of the present invention, specific contents may refer to the description in the method embodiment of the present invention, and are not described herein again.
The embodiment of the invention provides a readable medium, which comprises an execution instruction, and when a processor of a storage controller executes the execution instruction, the storage controller executes the starting method of any motor provided by the embodiment of the invention.
An embodiment of the present invention provides a storage controller, including: a processor, a memory, and a bus;
the memory is used for storing an execution instruction, the processor is connected with the memory through the bus, and when the memory controller runs, the processor executes the execution instruction stored in the memory, so that the memory controller executes any one of the motor starting methods provided by the embodiments of the present invention.
The embodiments of the invention have at least the following beneficial effects:
1. in the embodiment of the invention, in the transition stage of starting the motor, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time, so that the direct-axis current and the quadrature-axis current can be smoothly changed, the requirements of the direct-axis current and the quadrature-axis current can be smoothly met, the smooth change of the rotating speed of the motor can be further ensured, the motor can be started smoothly under the condition of a large load, and the success rate of starting the motor is greatly improved.
2. In the embodiment of the invention, in the speed closed-loop control stage without the position sensor, the command value for periodically controlling the quadrature axis current is gradually increased, and the change process of the command value of the quadrature axis current is smoother, so that the quadrature axis current can be smoothly changed, the rotating speed of the motor can be smoothly changed, the motor can be smoothly started under the condition of a larger load, and the success rate of starting the motor is greatly improved.
3. In the embodiment of the invention, in the speed closed-loop control stage without the position sensor, the command value for periodically controlling the running frequency of the motor is gradually increased, and the change process of the command value for the running frequency of the motor is smoother, so that the running frequency of the motor can be ensured to be smoothly changed, the motor can be smoothly started under the condition of a larger load, and the success rate of starting the motor is greatly improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it is to be noted that: the above description is only a preferred embodiment of the present invention, and is only used to illustrate the technical solutions of the present invention, and not to limit the protection scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. A starting method of a motor is characterized in that,
presetting a control cycle, comprising:
controlling a motor to sequentially execute a positioning stage and an asynchronous dragging stage;
in a transition phase between the asynchronous dragging phase and the position sensor-less speed closed-loop control phase, performing:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
after the transition phase, controlling the motor to perform a position sensor-less speed closed-loop control phase.
2. The method of claim 1,
further comprising:
presetting a positioning target current and a proportionality coefficient, and presetting the transition time of the transition stage;
the control method of a motor according to the present invention is a control method of a motor according to a control cycle, in which a command value for controlling a direct-axis current of the motor changes in a manner negatively correlated with time and a command value for controlling a quadrature-axis current of the motor changes in a manner positively correlated with time, including:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1The intermediate angle parameter for the (n-1) th control cycle in the transition phaseA value of (A), K is the control period, T1For the transition time, IGDnCommand value of the direct-axis current for the nth control cycle in the transition phase, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
3. The method of claim 1,
further comprising:
presetting a current fixed increment and a quadrature axis current threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
in the position sensorless speed closed loop control phase, performing:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate incremental parameter for the n-1 th of the control period in the position sensorless speed closed-loop control phaseIncrement, IBQnCommand value of the quadrature axis current for the nth control period in the position sensorless speed closed loop control phase, IBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
4. The method of claim 1,
further comprising:
presetting a frequency fixed increment and a frequency threshold;
the step of controlling the motor to execute a position sensor-free speed closed-loop control stage comprises the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is an initial value of a command value for the motor operating frequency during the position sensorless speed closed loop control phase,an increment is fixed for the frequency.
5. The method according to any one of claims 1 to 4,
further comprising:
presetting positioning time, positioning holding time and positioning holding current of the positioning stage;
the control motor carries out the location stage in proper order, includes:
in the positioning phase, performing:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to the control period, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2Setting the positioning time as K, and setting the control period as K;
and/or the presence of a gas in the gas,
further comprising:
presetting asynchronous dragging time and asynchronous dragging target frequency of the asynchronous dragging stage;
the control motor sequentially executes an asynchronous dragging stage, including:
performing, in the asynchronous drag phase:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
6. A starting apparatus for an electric motor, comprising:
a saving unit for saving the control period;
the positioning and asynchronous control unit is used for controlling the motor to sequentially execute a positioning stage and an asynchronous dragging stage;
a transition control unit for performing, in a transition phase between the asynchronous dragging phase and the position sensor-less speed closed-loop control phase:
according to the control period, the command value for controlling the direct-axis current of the motor is changed in a manner of negative correlation with time, and according to the control period, the command value for controlling the quadrature-axis current of the motor is changed in a manner of positive correlation with time;
controlling the direct axis current of the motor according to the current command value of the direct axis current in real time, and controlling the quadrature axis current of the motor according to the current command value of the quadrature axis current in real time;
a closed-loop control unit for controlling the motor to perform a position-sensor-less speed closed-loop control phase after the transition phase.
7. The apparatus of claim 6,
the storage unit is further used for storing the positioning target current, the proportionality coefficient and the transition time of the transition stage;
the transition control unit is used for executing:
periodically controlling the intermediate angle parameter to change according to a formula I, wherein the formula I is as follows:
the command value for periodically controlling the direct-axis current of the motor is changed according to a second formula, wherein the second formula is as follows:
IGDn＝Id-B*cosθn；
the command value for periodically controlling the quadrature axis current of the motor is changed according to a formula III, wherein the formula III is as follows:
IGQn＝Id-B*λ*sinθn；
wherein, thetanThe value of the intermediate angle parameter, θ, for the nth control period in the transition phasen-1Is the value of the intermediate angle parameter for the (n-1) th control period in the transition phase, K being the control period, T1For the transition time, IGDnCommand value of the direct-axis current for the nth control cycle in the transition phase, Id-BFor the positioning of the target current, IGQnAnd the command value of the quadrature axis current of the nth control period in the transition stage is λ, which is the proportionality coefficient, the range of the λ is (0,1), and n is a positive integer.
8. The apparatus of claim 6,
the holding unit is further used for holding the current fixed increment and the quadrature axis current threshold;
the closed-loop control unit is used for executing the following steps in the position-sensor-free speed closed-loop control stage:
initializing the command value of the quadrature axis current of the motor to IBQ0；
Periodically controlling the intermediate increment parameter to change according to a formula IV according to the control period, wherein the formula IV is as follows:
εn＝εn-1+τ；
according to the control period, the command value of the quadrature axis current is periodically controlled to change according to a formula five, and I is judgedBQnIf the quadrature axis current threshold is larger than or equal to the quadrature axis current threshold, if so, IBQnAssigning a value to the quadrature axis current threshold, wherein the formula five is:
IBQn＝IBQn-1+εn；
controlling the quadrature axis current in real time according to the current command value of the quadrature axis current;
wherein epsilonnThe value of said intermediate incremental parameter, ε, for the nth said control period in said position sensorless speed closed-loop control phasen-1τ being the value of the intermediate increment parameter for the (n-1) th of the control period in the position sensorless speed closed-loop control phase, I being the current fixed incrementBQnCommand value of the quadrature axis current for the nth control period in the position sensorless speed closed loop control phase, IBQn-1Command value, I, of the quadrature axis current for the (n-1) th of the control period in the position sensorless speed closed loop control phaseBQ0Is the initial value of the commanded value of the quadrature axis current during the position sensorless speed closed loop control phase.
9. The apparatus of claim 6,
the storage unit is further used for storing the frequency fixed increment and the frequency threshold;
the closed-loop control unit is used for executing the following steps:
initializing a command value of a motor operating frequency of the motor to fB0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula six, and f is judgedBnWhether the frequency is greater than or equal to the frequency threshold value, if so, f is carried outBnAssigning a value to the frequency threshold, wherein the sixth formula is:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isBnCommand value of the motor operating frequency for the nth control cycle in the position sensorless speed closed loop control phase, fBn-1Command value of the motor operating frequency for the (n-1) th of the control cycle in the position sensorless speed closed-loop control phase, fB0Is an initial value of a command value for the motor operating frequency during the position sensorless speed closed loop control phase,an increment is fixed for the frequency.
10. The apparatus according to any one of claims 6 to 9,
the storage unit is further used for storing the positioning time, the positioning holding time and the positioning holding current of the positioning stage;
the positioning and asynchronous control unit is used for executing, in the positioning stage:
initializing the command value of the direct-axis current to IWD0；
Before the positioning stage T2Periodically controlling the command value of the direct-axis current to change according to a formula seven in time according to the control period, wherein the formula seven is as follows:
before the positioning stage T2After the time, the command value for controlling the direct-axis current is kept unchanged;
controlling the direct-axis current of the motor in real time according to the current command value of the direct-axis current;
wherein, IWDnCommand value of the direct-axis current for the nth control cycle in the positioning phase, IWDn-1Command value of the direct axis current for the (n-1) th control cycle in the positioning phase, IWHolding current for said positioning, IWD0Is an initial value of the command value of the direct-axis current in the positioning phase, T2Setting the positioning time as K, and setting the control period as K;
and/or the presence of a gas in the gas,
the saving unit is further configured to save the asynchronous dragging time and the asynchronous dragging target frequency of the asynchronous dragging stage;
the positioning and asynchronous control unit is used for executing the following steps in the asynchronous dragging stage:
initializing the command value of the motor running frequency to be fY0；
According to the control period, the command value for periodically controlling the running frequency of the motor is changed according to a formula eight, wherein the formula eight is as follows:
controlling the motor running frequency of the motor according to the current command value of the motor running frequency in real time;
wherein f isYnCommand value of the motor operating frequency for the nth control cycle in the asynchronous dragging phase, fYn-1Command value of the motor operating frequency for the (n-1) th control cycle in the asynchronous dragging phase, fYFor the asynchronous drag target frequency, T3For the asynchronous drag time, K for the control period, fY0Is an initial value of a command value of the motor operation frequency in the asynchronous dragging phase.
CN201810397182.9A 2018-04-28 2018-04-28 Starting method and device of motor Active CN108540016B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810397182.9A CN108540016B (en) 2018-04-28 2018-04-28 Starting method and device of motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810397182.9A CN108540016B (en) 2018-04-28 2018-04-28 Starting method and device of motor

Publications (2)

Publication Number Publication Date
CN108540016A true CN108540016A (en) 2018-09-14
CN108540016B CN108540016B (en) 2020-07-07

Family

ID=63475550

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810397182.9A Active CN108540016B (en) 2018-04-28 2018-04-28 Starting method and device of motor

Country Status (1)

Country Link
CN (1) CN108540016B (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109921697A (en) * 2019-01-23 2019-06-21 四川虹美智能科技有限公司 A kind of electric motor starting method and apparatus
CN111262494A (en) * 2020-03-12 2020-06-09 北京环卫集团环卫装备有限公司 Control method and device of permanent magnet synchronous motor, storage medium and processor
CN111585482A (en) * 2020-04-22 2020-08-25 华帝股份有限公司 Control method of brushless direct current motor
CN112269076A (en) * 2020-09-29 2021-01-26 四川虹美智能科技有限公司 Compressor start-up detection device and method
CN113162507A (en) * 2021-05-08 2021-07-23 佛山市威灵洗涤电机制造有限公司 Fan control method, fan, household appliance and readable storage medium
WO2024078146A1 (en) * 2022-10-10 2024-04-18 华润微集成电路(无锡)有限公司 Motor starting method and motor starting circuit
WO2024098861A1 (en) * 2022-11-10 2024-05-16 华润微集成电路(无锡)有限公司 Electric-motor start control method, apparatus and system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104242765A (en) * 2014-08-28 2014-12-24 四川长虹电器股份有限公司 Starting method for permanent magnet synchronous motor
CN105529979A (en) * 2016-02-01 2016-04-27 四川长虹电器股份有限公司 Closed-loop control method for motor starting speed
CN106330020A (en) * 2016-11-03 2017-01-11 四川长虹电器股份有限公司 Motor start-up smooth transition control method
CN107104619A (en) * 2017-07-10 2017-08-29 绵阳美菱软件技术有限公司 The quadrature axis current method of adjustment and device of a kind of motor
CN107482956A (en) * 2017-08-23 2017-12-15 绵阳美菱软件技术有限公司 A kind of method and device in controlled motor dragging stage, a kind of motor

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN104242765A (en) * 2014-08-28 2014-12-24 四川长虹电器股份有限公司 Starting method for permanent magnet synchronous motor
CN105529979A (en) * 2016-02-01 2016-04-27 四川长虹电器股份有限公司 Closed-loop control method for motor starting speed
CN106330020A (en) * 2016-11-03 2017-01-11 四川长虹电器股份有限公司 Motor start-up smooth transition control method
CN107104619A (en) * 2017-07-10 2017-08-29 绵阳美菱软件技术有限公司 The quadrature axis current method of adjustment and device of a kind of motor
CN107482956A (en) * 2017-08-23 2017-12-15 绵阳美菱软件技术有限公司 A kind of method and device in controlled motor dragging stage, a kind of motor

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109921697A (en) * 2019-01-23 2019-06-21 四川虹美智能科技有限公司 A kind of electric motor starting method and apparatus
CN111262494A (en) * 2020-03-12 2020-06-09 北京环卫集团环卫装备有限公司 Control method and device of permanent magnet synchronous motor, storage medium and processor
CN111262494B (en) * 2020-03-12 2022-04-01 北京环卫集团环卫装备有限公司 Control method and device of permanent magnet synchronous motor, storage medium and processor
CN111585482A (en) * 2020-04-22 2020-08-25 华帝股份有限公司 Control method of brushless direct current motor
CN112269076A (en) * 2020-09-29 2021-01-26 四川虹美智能科技有限公司 Compressor start-up detection device and method
CN112269076B (en) * 2020-09-29 2023-06-02 四川虹美智能科技有限公司 Compressor start detection device and method
CN113162507A (en) * 2021-05-08 2021-07-23 佛山市威灵洗涤电机制造有限公司 Fan control method, fan, household appliance and readable storage medium
WO2022237059A1 (en) * 2021-05-08 2022-11-17 佛山市威灵洗涤电机制造有限公司 Fan control method, fan, household appliance, and readable storage medium
CN113162507B (en) * 2021-05-08 2022-12-23 佛山市威灵洗涤电机制造有限公司 Fan control method, fan, household appliance and readable storage medium
WO2024078146A1 (en) * 2022-10-10 2024-04-18 华润微集成电路(无锡)有限公司 Motor starting method and motor starting circuit
WO2024098861A1 (en) * 2022-11-10 2024-05-16 华润微集成电路(无锡)有限公司 Electric-motor start control method, apparatus and system

Also Published As

Publication number Publication date
CN108540016B (en) 2020-07-07

Similar Documents

Publication Publication Date Title
CN108540016B (en) Starting method and device of motor
CN104917435B (en) Startup control method, device, motor and the compressor of motor
US7944163B2 (en) Sensorless controlling apparatus of brushless motor
EP1986317B1 (en) Stator resistance adaptation in sensorless PMSM drives
CN110350482B (en) Motor locked-rotor protection method and device
JP2003259679A (en) Vector control inverter apparatus and rotation driving apparatus
CN104980069B (en) A kind of brshless DC motor double loop speed-regulating system Multipurpose Optimal Method
CN110112975B (en) Motor parameter online identification method and system
CN105099319B (en) Control the device of induction machine
CN110601613A (en) BLDCM closed-loop starting method and device without position sensor and BLDCM control equipment
KR102309413B1 (en) Apparatus and method for controlling switching of high speed wiring mode of a motor
Szczepanski et al. Comparison of Constraint-handling Techniques Used in Artificial Bee Colony Algorithm for Auto-Tuning of State Feedback Speed Controller for PMSM.
Cimini et al. Model predictive control solution for permanent magnet synchronous motors
JP2012249355A (en) Motor controller and motor starting method using the same
CN112838799A (en) Asynchronous motor optimal efficiency control method based on parameter online observation
JP2005168196A (en) Inverter controller, drive controller of compressor, refrigerator and inverter control method, and recording medium
CN107104619A (en) The quadrature axis current method of adjustment and device of a kind of motor
CN106707161A (en) Motor counter-electromotive force coefficient off line identification method
CN109660156B (en) Motor starting control method and device
CN114928272A (en) Frequency converter runaway starting method and frequency converter thereof
CN110057145B (en) High-pressure-difference starting control method and device for compressor and air conditioner
CN111058224B (en) Motor operation control method and system, drum washing machine and storage medium
JP6947562B2 (en) Air conditioner
Nayak et al. Optimization of PI coeffecients of permanent magnet synchronous motor drive
CN112448618A (en) Motor starting positioning method and device, air conditioner, equipment and medium

Legal Events

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