CN108667357B - Control method and control system of permanent magnet synchronous motor and computer equipment - Google Patents
Control method and control system of permanent magnet synchronous motor and computer equipment Download PDFInfo
- Publication number
- CN108667357B CN108667357B CN201810418805.6A CN201810418805A CN108667357B CN 108667357 B CN108667357 B CN 108667357B CN 201810418805 A CN201810418805 A CN 201810418805A CN 108667357 B CN108667357 B CN 108667357B
- Authority
- CN
- China
- Prior art keywords
- angle
- permanent magnet
- synchronous motor
- magnet synchronous
- voltage
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Abstract
The invention relates to a control method and a control system of a permanent magnet synchronous motor, wherein a position sensor is arranged on the permanent magnet synchronous motor, and the method comprises the following steps: applying a first voltage to the stator side of the permanent magnet synchronous motor, and acquiring a first feedback angle measured by a position sensor; applying a second voltage to the stator side of the permanent magnet synchronous motor, and acquiring a second feedback angle measured by the position sensor; determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle; the first voltage and the second voltage are the same in magnitude and opposite in direction. According to the control method of the permanent magnet synchronous motor, the measurement error of the electrical initial included angle between the position sensor and the permanent magnet synchronous motor can be effectively eliminated, and the measurement precision of the electrical initial included angle is improved.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and a control system of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor has the characteristics of high efficiency and high power density, and is a mainstream driving motor in the field of electric automobiles, but the position information of a rotor needs to be accurately detected for high-quality control of the permanent magnet synchronous motor. At present, the acquisition mode of the position information of the rotor of the permanent magnet synchronous motor is mainly divided into two modes, namely a position sensor mode and a non-position sensor mode. The rotor position detection method with a position sensor usually needs to be additionally provided with a position sensor such as a rotary transformer or an incremental encoder; the rotor position detection method without the position sensor is mainly evaluated through a model. In order to ensure reliability, realizability, control accuracy, and the like of the vehicle-mounted synchronous motor, a method of additionally mounting a position sensor is generally adopted to detect position information of the rotor.
In the practical application of the permanent magnet synchronous motor additionally provided with the position sensor, the initial position of the position sensor is not overlapped with the electrical initial position of the permanent magnet synchronous motor, certain deviation exists, namely an electrical initial included angle exists between the position sensor and the electrical initial position, and the electrical initial included angle needs to be measured and calibrated on line. When measuring and calibrating the electrical initial angle, a magnetic positioning method is usually adopted, and a voltage with a known direction and magnitude is loaded on the stator side of the motor, so that the stator generates a directional constant magnetic field, the magnetic field interacts with the constant magnetic field of the rotor, the rotor is forced to rotate to a position where the two magnetic fields are connected into a line and stop, and the electrical initial angle is measured.
However, in some cases, the conventional magnetic positioning method may cause the rotor to rotate to a position near the stator and stop, thereby causing the conventional magnetic positioning method to measure an inaccurate electrical initial angle.
Disclosure of Invention
Therefore, it is necessary to provide a control method of a permanent magnet synchronous motor capable of accurately measuring and calibrating an electrical initial included angle for solving the problem of errors in the conventional magnetic positioning method.
A control method of a permanent magnet synchronous motor, wherein a position sensor is arranged on the permanent magnet synchronous motor, and the method comprises the following steps:
applying a first voltage to the stator side of the permanent magnet synchronous motor, and acquiring a first feedback angle measured by a position sensor;
applying a second voltage to the stator side of the permanent magnet synchronous motor, and acquiring a second feedback angle measured by the position sensor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
According to the control method of the permanent magnet synchronous motor, the first feedback angle and the second feedback angle with a specific relationship are obtained by applying two voltages with the same magnitude and opposite directions to the stator side of the permanent magnet synchronous motor respectively, and then the electric initial included angle between the position sensor and the permanent magnet synchronous motor is deduced according to the two feedback angles with the specific relationship. The electrical initial included angle determined by the method can effectively eliminate included angle determination errors and improve determination precision.
In one embodiment, applying a first voltage to a stator side of a permanent magnet synchronous motor and obtaining a first feedback angle measured by a position sensor comprises: applying a first voltage to the stator side of the permanent magnet synchronous motor under a two-phase rotating dq coordinate system so as to rotate a rotor of the permanent magnet synchronous motor and generate a first feedback angle gamma; measuring a first feedback angle gamma and obtaining the first feedback angle gamma, wherein the first feedback angle gamma satisfies the following relation: gamma + theta0Wherein, it is synchronous to permanent magnetThe motor applies a first voltage to form a first included angle between the axis α of the stator winding and the axis d of the rotor winding0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, applying a second voltage to the stator side of the permanent magnet synchronous motor and obtaining a second feedback angle measured by the position sensor comprises: under the two-phase rotating dq coordinate system, applying a second voltage to the stator side of the permanent magnet synchronous motor to rotate the rotor of the permanent magnet synchronous motor and generate a second feedback angle gamma*(ii) a Determining a second feedback angle gamma*And obtaining a second feedback angle gamma*Wherein the second feedback angle γ*Satisfies the following relation:*＝γ*+θ0wherein, in the step (A),*after the second voltage is applied to the permanent magnet synchronous motor, a second included angle formed between a stator winding axis α shaft and a rotor winding axis d shaft is theta0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, the first angle and the second angle*The first angle and the second angle are axisymmetrical with respect to the stator winding axis α of the permanent magnet synchronous motor*Satisfies the following relation: -*。
In one embodiment, determining an initial electrical angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle comprises: determining a first included angle theta between the first feedback angle gamma and the first included angle and an electrical initial included angle theta according to the first feedback angle gamma0The relationship between; according to a second feedback angle gamma*Determining a second feedback angle gamma*At a second angle with respect to*And electrical initial angle theta0The relationship between; determining a first angle and a second angle*So that the electrical initial angle theta is0Satisfies the following relation:
in one embodiment, the amplitude of a first current generated when a first voltage is applied to the stator side of the permanent magnet synchronous motor and the amplitude of a second current generated when a second voltage is applied to the stator side of the permanent magnet synchronous motor do not exceed the rated current value of the permanent magnet synchronous motor.
A control system for a permanent magnet synchronous motor, the system comprising: a main controller, a permanent magnet synchronous motor and a power module, wherein the permanent magnet synchronous motor is provided with a position sensor, the main controller is respectively connected with the permanent magnet synchronous motor, the position sensor and the power module,
the power supply module is used for applying a first voltage or a second voltage to the stator side of the permanent magnet synchronous motor;
a position sensor for measuring a first feedback angle generated when a first voltage is applied to the permanent magnet synchronous motor or a second feedback angle generated when a second voltage is applied to the permanent magnet synchronous motor;
the main controller is used for acquiring a first feedback angle and a second feedback angle measured by the position sensor and determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
In one embodiment, the main controller comprises a memory module for storing an electrical initial angle of the position sensor to the permanent magnet synchronous motor.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
the control power supply module applies a first voltage to the stator side of the permanent magnet synchronous motor and obtains a first feedback angle measured by the position sensor;
the control power supply module applies a second voltage to the stator side of the permanent magnet synchronous motor and obtains a second feedback angle measured by the position sensor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
the control power supply module applies a first voltage to the stator side of the permanent magnet synchronous motor and obtains a first feedback angle measured by the position sensor;
the control power supply module applies a second voltage to the stator side of the permanent magnet synchronous motor and obtains a second feedback angle measured by the position sensor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
Drawings
Fig. 1 is a schematic flow chart of a control method of a permanent magnet synchronous motor according to an embodiment;
FIG. 2 is a schematic diagram of a coordinate system for applying a first voltage to a stator side of a permanent magnet synchronous motor according to an embodiment;
FIG. 3 is a schematic diagram of a coordinate system for applying a second voltage to a stator side of the PMSM according to one embodiment;
FIG. 4 is a schematic diagram of a control system of a permanent magnet synchronous motor according to an embodiment;
fig. 5 is a schematic structural diagram of a control system of a permanent magnet synchronous motor in another embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In one embodiment, as shown in fig. 1, a method for controlling a permanent magnet synchronous motor is provided, where a position sensor is disposed on the permanent magnet synchronous motor, and the permanent magnet synchronous motor and the position sensor are both connected to a controller through signal lines, and the method is applied to the controller for example, and includes the following steps:
and 102, applying a first voltage to the stator side of the permanent magnet synchronous motor, and acquiring a first feedback angle measured by a position sensor.
The permanent magnet synchronous motor is a synchronous motor which generates a synchronous rotating magnetic field by a permanent magnet and excitation, and a rotor of the permanent magnet synchronous motor is provided with permanent magnetic steel and generates a rotating magnetic field; the stator of the permanent magnet synchronous motor is provided with a three-phase symmetrical winding, and three-phase symmetrical current is induced through armature reaction under the action of a rotating magnetic field. Furthermore, a position sensor is installed on the permanent magnet synchronous motor, and the position sensor can measure a position signal of the rotor of the permanent magnet synchronous motor. Specifically, when the permanent magnet synchronous motor is operated, a rotor of the permanent magnet synchronous motor generates a rotation angle, and the rotation angle can be measured by the position sensor.
In the embodiment, firstly, the position sensor is installed on the permanent magnet synchronous motor, so that the position sensor can accurately measure the rotation angle of the rotor of the permanent magnet synchronous motor; then the controller applies a first voltage to the stator side of the permanent magnet synchronous motor through the power supply module, so that the stator of the permanent magnet synchronous motor generates an excitation magnetic field, under the action of the excitation magnetic field, the rotor of the permanent magnet synchronous motor can rotate and stop at a certain position, and at the moment, the position sensor can measure the rotation angle of the rotor, namely a first feedback angle; finally, the controller acquires the first feedback angle through a signal line between the controller and the position sensor.
And 104, applying a second voltage to the stator side of the permanent magnet synchronous motor, and acquiring a second feedback angle measured by the position sensor.
Specifically, after step 102, the controller applies a second voltage to the stator side of the permanent magnet synchronous motor through the power module again, and the second voltage is the same as the first voltage in magnitude and opposite in direction; similarly, after the second voltage is applied to the stator side of the permanent magnet synchronous motor, the rotor of the permanent magnet synchronous motor rotates again and stops at a certain position, at this time, the position sensor can measure the rotation angle of the rotor, namely, the second feedback angle, and then the controller acquires the second feedback angle through a signal line between the position sensor and the controller.
And 106, determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle.
Specifically, when the position sensor is installed on the permanent magnet synchronous motor, the rotor of the permanent magnet synchronous motor has a deviation angle relative to the stator, which results in an electrical initial included angle between the initial position of the position sensor and the initial position of the permanent magnet synchronous motor, that is, the rotation angle of the rotor measured by the position sensor is not equal to the rotation angle of the rotor of the permanent magnet synchronous motor relative to the stator, and a deviation angle exists between the two angles, which is the electrical initial included angle.
In this embodiment, the controller applies a first voltage to the stator side of the permanent magnet synchronous motor through the power module, and determines a rotation angle of the rotor of the permanent magnet synchronous motor at the time, that is, a first feedback angle; and then applying a second voltage to the stator side of the permanent magnet synchronous motor through the power supply module, and measuring the rotation angle of the rotor of the permanent magnet synchronous motor at the moment, namely a second feedback angle. It can be known that the first voltage and the second voltage are the same in magnitude and opposite in direction, that is, the rotation angle of the rotor of the twice permanent magnet synchronous motor relative to the stator is symmetrical relative to the stator winding axis, and the rotation angle of the rotor of the twice permanent magnet synchronous motor relative to the stator and the first feedback angle or the second feedback angle are different by an angle difference of an electrical initial included angle, and further, the magnitude of the electrical initial included angle can be derived and calculated through the first feedback angle and the second feedback angle.
According to the control method of the permanent magnet synchronous motor, the first feedback angle and the second feedback angle with a specific relationship are obtained by applying two voltages with the same magnitude and opposite directions to the stator side of the permanent magnet synchronous motor respectively, and then the electric initial included angle between the position sensor and the permanent magnet synchronous motor is deduced according to the two feedback angles with the specific relationship. The electrical initial included angle determined by the method can effectively eliminate included angle determination errors and improve determination precision.
In a specific embodiment, the parameters of the permanent magnet synchronous machine are: rated power of 100W, rated voltage of 48V, rated current of 2.5A, rated rotation speed of 3000rpm, rated torque of 0.32Nm, peak torque of 0.95Nm, back electromotive force of 8.2V/1000rpm, moment coefficient of 0.128Nm/A, and rotor inertia of 0.051 x 10-4Kg*m2The winding resistance is 2.2 omega, the winding inductance is 3mH, and the weight is 0.47 Kg.
In this embodiment, the three-phase system parameters of the permanent magnet synchronous motor may be converted into equivalent two-phase system parameters, and a two-phase rotating dq coordinate system is established based on the equivalent two-phase system parameters, wherein the d-axis represents a rotor winding axis when no voltage is applied to the stator side of the permanent magnet synchronous motor, and the axis coincides with a stator winding axis α of the permanent magnet synchronous motor, which is also referred to as a longitudinal axis or a straight axis of the rotor; the q-axis represents a direction at 90 ° spatial angle from the longitudinal axis, also referred to as the quadrature or transverse axis of the rotor.
Specifically, as shown in fig. 2, under the two-phase rotating dq coordinate system, the controller controls the power module to apply a first voltage U to the stator side of the permanent magnet synchronous motors(0, U), the stator of the permanent magnet synchronous motor generates an excitation magnetic field, the rotor of the permanent magnet synchronous motor rotates and stops at a certain position under the action of the excitation magnetic field, the position sensor measures the rotating angle of the rotor, namely a first feedback angle gamma, and then the controller acquires the first feedback angle gamma through a signal line between the position sensor and the controller. Wherein, the position of the d' axis in fig. 2 is the position where the rotor stops rotating, and as can be seen from fig. 2, the first feedback angle γ satisfies the following relation: gamma + theta0Wherein a first voltage U is applied to the permanent magnet synchronous motors(0, U) a first angle formed between axis α of the rear stator winding and axis d' of the rotor winding0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
Further, as shown in fig. 3, the controller controls the power module to apply a second voltage to the stator side of the permanent magnet synchronous motor again
As shown in fig. 3, the second voltage
And a first voltage UsThe sizes of (0, U) are the same and the directions are opposite. Likewise, a second voltage is applied to the stator side of the permanent magnet synchronous machine
Then, the rotor of the permanent magnet synchronous motor rotates again and stops at a certain position, and at this time, the position sensor can measure the rotating angle of the rotor, namely, the second feedback angle gamma*And the controller acquires the second feedback angle gamma through a signal line between the position sensor and the controller*. Wherein the position of the d' axis in fig. 3 is the position where the rotor stops rotating, and it can be seen from fig. 3 that the second feedback angle γ*Satisfies the following relation:*＝γ*+θ0wherein, in the step (A),*after the second voltage is applied to the permanent magnet synchronous motor, a second included angle formed between a stator winding axis α shaft and a rotor winding axis d' shaft is theta0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
Further, due to the first voltage Us(0, U) and a second voltage
The first included angle and the second included angle are equal in size and opposite in direction*Axisymmetric, i.e., first and second angles, with respect to the stator winding axis α of the PMSM*Satisfies the following relation: -*. From the three relationships, the following relationship can be finally derived:
wherein the first feedback angle gamma and the second feedback angle gamma*The angle theta can be measured by the position sensor, and the initial electrical included angle theta between the position sensor and the permanent magnet synchronous motor0Can also openAnd (4) performing over calculation.
In the present embodiment, it is to be noted that the first voltage U is applied to the stator side of the permanent magnet synchronous motorsAmplitude of first current generated at (0, U) and application of second voltage to stator side of permanent magnet synchronous motor
The amplitude of the second current generated in the process should not exceed the rated current value of the permanent magnet synchronous motor.
The method for controlling the permanent magnet synchronous motor further explains a method for measuring the electric initial included angle between the position sensor and the permanent magnet synchronous motor by rotating a mathematical model of a dq coordinate system, obtains two rotor rotating angles with specific relation by applying two voltages with the same size and opposite directions, and further deduces and calculates to obtain the size of the electric initial included angle.
In one embodiment, as shown in fig. 4, there is provided a control system 400 for a permanent magnet synchronous motor, the system comprising: main controller 410, permanent magnet synchronous machine 420 and power module 430, the last position sensor 421 that is provided with of permanent magnet synchronous machine, main controller are connected with permanent magnet synchronous machine 420, position sensor 421 and power module 430 respectively, wherein:
a power module 430 for applying a first voltage or a second voltage to a stator side of the permanent magnet synchronous motor 420;
a position sensor 421 for measuring a first feedback angle generated when a first voltage is applied to the permanent magnet synchronous motor 420 or a second feedback angle generated when a second voltage is applied to the permanent magnet synchronous motor 420;
the main controller 410 is configured to obtain a first feedback angle and a second feedback angle measured by the position sensor 421, and determine an electrical initial included angle between the position sensor 421 and the permanent magnet synchronous motor 420 according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
In one embodiment, the main controller 410 further includes a storage module 411, where the storage module 411 is configured to store an electrical initial included angle between the position sensor and the permanent magnet synchronous motor, so that the controller 410 performs offset cancellation on the feedback angle measured by the position sensor 421, so as to obtain an accurate rotation angle of the rotor of the permanent magnet synchronous motor 420 relative to the stator.
For specific limitations of the control system of the permanent magnet synchronous motor, reference may be made to the above limitations of the control method of the permanent magnet synchronous motor, which are not described herein again. All or part of each module in the control system of the permanent magnet synchronous motor can be realized by software, hardware and a combination thereof.
In one embodiment, a computer device is provided that may be a stand-alone controller. The computer device comprises a processor, a memory, a data interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement a control method of a permanent magnet synchronous motor.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
the control power supply module applies a first voltage to the stator side of the permanent magnet synchronous motor and obtains a first feedback angle measured by the position sensor;
the control power supply module applies a second voltage to the stator side of the permanent magnet synchronous motor and obtains a second feedback angle measured by the position sensor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the method for applying a first voltage to a stator side of a permanent magnet synchronous motor and acquiring a first feedback angle measured by a position sensor comprises the following steps: applying a first voltage to the stator side of the permanent magnet synchronous motor under a two-phase rotating dq coordinate system so as to rotate a rotor of the permanent magnet synchronous motor and generate a first feedback angle gamma; measuring a first feedback angle gamma and obtaining the first feedback angle gamma, wherein the first feedback angle gamma satisfies the following relation: gamma + theta0Wherein, a first included angle is formed between a stator winding axis α shaft and a rotor winding axis d shaft after a first voltage is applied to the permanent magnet synchronous motor0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
applying a second voltage to a stator side of the permanent magnet synchronous motor and acquiring a second feedback angle measured by a position sensor, the permanent magnet synchronous motor control method includes: under the two-phase rotating dq coordinate system, applying a second voltage to the stator side of the permanent magnet synchronous motor to rotate the rotor of the permanent magnet synchronous motor and generate a second feedback angle gamma*(ii) a Determining a second feedback angle gamma*And obtaining a second feedback angle gamma*Wherein the second feedback angle γ*Satisfies the following relation:*＝γ*+θ0wherein, in the step (A),*after the second voltage is applied to the permanent magnet synchronous motor, a second included angle formed between a stator winding axis α shaft and a rotor winding axis d shaft is theta0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the first angle and the second angle*The first angle and the second angle are axisymmetrical with respect to the stator winding axis α of the permanent magnet synchronous motor*Satisfies the following relation: -*。
In one embodiment, the processor, when executing the computer program, further performs the steps of:
according to the first feedback angle and the second feedback angle, the electric initial included angle between the position sensor and the permanent magnet synchronous motor is determined, and the method comprises the following steps: determining a first included angle theta between the first feedback angle gamma and the first included angle and an electrical initial included angle theta according to the first feedback angle gamma0The relationship between; according to a second feedback angle gamma*Determining a second feedback angle gamma*At a second angle with respect to*And electrical initial angle theta0The relationship between; determining a first angle and a second angle*So that the electrical initial angle theta is0Satisfies the following relation:
in one embodiment, the processor, when executing the computer program, further performs the steps of:
the amplitude of a first current generated when a first voltage is applied to the stator side of the permanent magnet synchronous motor and the amplitude of a second current generated when a second voltage is applied to the stator side of the permanent magnet synchronous motor do not exceed the rated current value of the permanent magnet synchronous motor.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
the control power supply module applies a first voltage to the stator side of the permanent magnet synchronous motor and obtains a first feedback angle measured by the position sensor;
the control power supply module applies a second voltage to the stator side of the permanent magnet synchronous motor and obtains a second feedback angle measured by the position sensor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
the first voltage and the second voltage are the same in magnitude and opposite in direction.
In one embodiment, the computer program when executed by the processor further performs the steps of:
in the stator of a permanent magnet synchronous machineThe method for applying a first voltage to a side and obtaining a first feedback angle measured by a position sensor includes: applying a first voltage to the stator side of the permanent magnet synchronous motor under a two-phase rotating dq coordinate system so as to rotate a rotor of the permanent magnet synchronous motor and generate a first feedback angle gamma; measuring a first feedback angle gamma and obtaining the first feedback angle gamma, wherein the first feedback angle gamma satisfies the following relation: gamma + theta0Wherein, a first included angle is formed between a stator winding axis α shaft and a rotor winding axis d shaft after a first voltage is applied to the permanent magnet synchronous motor0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, the computer program when executed by the processor further performs the steps of:
applying a second voltage to a stator side of the permanent magnet synchronous motor and acquiring a second feedback angle measured by a position sensor, the permanent magnet synchronous motor control method includes: under the two-phase rotating dq coordinate system, applying a second voltage to the stator side of the permanent magnet synchronous motor to rotate the rotor of the permanent magnet synchronous motor and generate a second feedback angle gamma*(ii) a Determining a second feedback angle gamma*And obtaining a second feedback angle gamma*Wherein the second feedback angle γ*Satisfies the following relation:*＝γ*+θ0wherein, in the step (A),*after the second voltage is applied to the permanent magnet synchronous motor, a second included angle formed between a stator winding axis α shaft and a rotor winding axis d shaft is theta0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the first angle and the second angle*The first angle and the second angle are axisymmetrical with respect to the stator winding axis α of the permanent magnet synchronous motor*Satisfies the following relation: -*。
In one embodiment, the computer program when executed by the processor further performs the steps of:
according to the first feedback angle and the second feedback angle, the electric initial included angle between the position sensor and the permanent magnet synchronous motor is determined, and the method comprises the following steps: according to the first feedback angle gammaDetermining a first feedback angle gamma, a first included angle and an electrical initial included angle theta0The relationship between; according to a second feedback angle gamma*Determining a second feedback angle gamma*At a second angle with respect to*And electrical initial angle theta0The relationship between; determining a first angle and a second angle*So that the electrical initial angle theta is0Satisfies the following relation:
in one embodiment, the computer program when executed by the processor further performs the steps of:
the amplitude of a first current generated when a first voltage is applied to the stator side of the permanent magnet synchronous motor and the amplitude of a second current generated when a second voltage is applied to the stator side of the permanent magnet synchronous motor do not exceed the rated current value of the permanent magnet synchronous motor.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A control method of a permanent magnet synchronous motor is provided with a position sensor, and is characterized by comprising the following steps:
applying a first voltage to the stator side of the permanent magnet synchronous motor, and acquiring a first feedback angle measured by the position sensor, wherein the first feedback angle is the rotation angle of the rotor;
applying a second voltage to the stator side of the permanent magnet synchronous motor, and acquiring a second feedback angle measured by the position sensor, wherein the second feedback angle is the rotation angle of the rotor;
determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
wherein the first voltage and the second voltage have the same magnitude and opposite directions.
2. The method of claim 1, wherein applying a first voltage to a stator side of the PMSM and obtaining a first feedback angle measured by the position sensor comprises:
applying a first voltage to the stator side of the permanent magnet synchronous motor under a two-phase rotating dq coordinate system to enable a rotor of the permanent magnet synchronous motor to rotate and generate a first feedback angle gamma;
measuring the first feedback angle gamma and obtaining the first feedback angle gamma, wherein the first feedback angle gamma satisfies the following relation:
＝γ+θ0wherein, a first included angle is formed between a stator winding axis α shaft and a rotor winding axis d shaft after a first voltage is applied to the permanent magnet synchronous motor0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
3. The method of claim 2, wherein applying a second voltage to the stator side of the PMSM and obtaining a second feedback angle measured by the position sensor comprises:
applying a second voltage to a stator side of the PMSM under a two-phase rotating dq coordinate system to rotate a rotor of the PMSM and generate the second feedback angle gamma*；
Determining the second feedback angle gamma*And obtaining the second feedback angle gamma*Wherein the second feedback angle γ*Satisfies the following relation:
*＝γ*+θ0wherein, in the step (A),*after the second voltage is applied to the permanent magnet synchronous motor, a second included angle formed between a stator winding axis α shaft and a rotor winding axis d shaft is theta0Is the electrical initial included angle between the position sensor and the permanent magnet synchronous motor.
4. The method of claim 3, wherein the first angle and the second angle are set according to a predetermined rule*Is axisymmetrical with respect to the stator winding axis α of the PMSM, the first angle and the second angle*Satisfies the following relation:
＝-*。
5. the method of claim 4, wherein determining an initial electrical angle between the position sensor and the PMSM according to the first feedback angle and the second feedback angle comprises:
determining the first feedback angle gamma, the first included angle and the electrical initial included angle theta according to the first feedback angle gamma0The relationship between;
according to the second feedback angle gamma*Determining the second feedback angle gamma*At a second angle with respect to the*And said electrical initial angle theta0The relationship between;
determining the first angle and the second angle*Such that the electrical initial angle theta is0Satisfies the following relation:
6. the control method of a permanent magnet synchronous motor according to any one of claims 1 to 5, wherein the magnitude of the first current generated when the first voltage is applied to the stator side of the permanent magnet synchronous motor and the magnitude of the second current generated when the second voltage is applied to the stator side of the permanent magnet synchronous motor do not exceed the rated current value of the permanent magnet synchronous motor.
7. A control system of a permanent magnet synchronous motor, which is applied to the control method of the permanent magnet synchronous motor according to any one of claims 1 to 6, characterized by comprising: the device comprises a main controller, a permanent magnet synchronous motor and a power module, wherein the permanent magnet synchronous motor is provided with a position sensor, the main controller is respectively connected with the permanent magnet synchronous motor, the position sensor and the power module,
the power supply module is used for applying a first voltage or a second voltage to the stator side of the permanent magnet synchronous motor;
a position sensor configured to measure a first feedback angle generated when the first voltage is applied to the permanent magnet synchronous motor or a second feedback angle generated when the second voltage is applied to the permanent magnet synchronous motor, the first feedback angle and the second feedback angle being angles of rotation of the rotor;
the main controller is used for acquiring a first feedback angle and a second feedback angle measured by the position sensor and determining an electrical initial included angle between the position sensor and the permanent magnet synchronous motor according to the first feedback angle and the second feedback angle;
wherein the first voltage and the second voltage have the same magnitude and opposite directions.
8. The PMSM control system of claim 7, wherein the main controller includes a memory module for storing an electrical initial angle of the position sensor with the PMSM.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418805.6A CN108667357B (en) | 2018-05-04 | 2018-05-04 | Control method and control system of permanent magnet synchronous motor and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418805.6A CN108667357B (en) | 2018-05-04 | 2018-05-04 | Control method and control system of permanent magnet synchronous motor and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108667357A CN108667357A (en) | 2018-10-16 |
| CN108667357B true CN108667357B (en) | 2020-10-16 |
Family
ID=63780711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810418805.6A Active CN108667357B (en) | 2018-05-04 | 2018-05-04 | Control method and control system of permanent magnet synchronous motor and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108667357B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414287B (en) * | 2020-11-09 | 2021-12-28 | 北京理工大学 | Permanent magnet synchronous motor position calibration method without current sensor |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4708992B2 (en) * | 2005-12-12 | 2011-06-22 | 日立オートモティブシステムズ株式会社 | Position detecting apparatus and synchronous motor driving apparatus using the same |
| JP5719715B2 (en) * | 2011-07-26 | 2015-05-20 | 日立オートモティブシステムズ株式会社 | Inverter device |
| CN104734589B (en) * | 2013-12-20 | 2017-07-07 | 联合汽车电子有限公司 | The method that deviation angle is demarcated in permagnetic synchronous motor |
| CN106856386B (en) * | 2015-12-09 | 2018-12-25 | 上海三菱电梯有限公司 | The calibration method of magnetic pole position of permanent magnet synchronous motor rotor information |
| CN106130415B (en) * | 2016-03-31 | 2018-10-19 | 恒大法拉第未来智能汽车（广东）有限公司 | Method for demarcating motor and control device |
| CN106100486A (en) * | 2016-07-01 | 2016-11-09 | 东南大学 | Permagnetic synchronous motor initial position based on amphiorentation voltage vector determines method |
| CN106533277B (en) * | 2016-12-28 | 2019-04-09 | 北京新能源汽车股份有限公司 | A kind of motor rotation becomes the method for calibration and device of dead-center position |
-
2018
- 2018-05-04 CN CN201810418805.6A patent/CN108667357B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108667357A (en) | 2018-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4502734B2 (en) | Origin offset amount calculation method for motor rotational position detection device and motor control device using this calculation method | |
| JP5933844B2 (en) | Angular error correction device and angular error correction method for position detector | |
| EP3557755B1 (en) | Method for testing initial position angle of electric motor rotor | |
| WO2007034689A1 (en) | Ac synchronous motor initial magnetic pole position estimation device and its method | |
| CN110581681B (en) | Zero calibration method and device for permanent magnet synchronous motor position sensor | |
| EP3486107B1 (en) | Resolver offset correction device and method of eco-friendly vehicle | |
| US20120059642A1 (en) | Method and device for the angle sensor-free detection of the position of the rotor shaft of a permanently excited synchronous machine on the basis of current signals and voltage signals | |
| CN105048921A (en) | Phase current measurement diagnostic | |
| JP2010029028A (en) | Motor controller | |
| CN108667357B (en) | Control method and control system of permanent magnet synchronous motor and computer equipment | |
| CN111355412A (en) | Self-checking method and system for initial angle of rotary transformer zero position of permanent magnet synchronous motor | |
| EP3157164A1 (en) | Ac-rotary-machine control device and electric power-steering system provided with ac-rotary-machine control device | |
| CN110601610A (en) | Method and device for identifying zero offset of permanent magnet synchronous motor and rotary transformer | |
| JP6636206B2 (en) | Apparatus and method for correcting torque pulsation of electric motor, control device for elevator | |
| CN109951124B (en) | Temperature compensation method and device of asynchronous motor and control system | |
| US20210293583A1 (en) | Method for checking the setting of an angular position sensor of a rotor for a vehicle | |
| Gopalakrishnan et al. | Impact of position sensor accuracy on the performance of propulsion IPM drives | |
| CN110785922B (en) | Method and device for determining the azimuth angle of a rotor of a synchronous machine | |
| CN115242143A (en) | Sine wave controller of direct-current variable-frequency compressor and motor parameter matching method | |
| US11870376B2 (en) | Method and device for calibrating an offset angle | |
| US11411516B2 (en) | Detection and control of electric machine with any combination of position sensor number of pole pairs and electric machine number of pole pairs | |
| JP2013138559A (en) | Method and device for calibrating angle sensor attached to synchronous motor | |
| KR101597440B1 (en) | Method for calibrating resolver offset | |
| JP2000050700A (en) | Control method for synchronous motor | |
| CN111865163A (en) | Motor zero position detection device and method, vector control system and storage 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 | ||
| CP03 | Change of name, title or address |
Address after: Building 7, No. 15, Weiting Tingrong Street, Suzhou Industrial Park, Jiangsu Province, 215000 Patentee after: Suzhou Hager Electric Control Co.,Ltd. Address before: No. 89, Weixin Road, Suzhou Industrial Park, Jiangsu Province, 215100 Patentee before: SUZHOU HAIGE NEW ENERGY AUTO ELECTRIC CONTROL SYSTEM TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |