CN108712128B - Phase comparison method of alternating current servo system capable of overcoming influence of friction force - Google Patents

Phase comparison method of alternating current servo system capable of overcoming influence of friction force Download PDF

Info

Publication number
CN108712128B
CN108712128B CN201810578197.5A CN201810578197A CN108712128B CN 108712128 B CN108712128 B CN 108712128B CN 201810578197 A CN201810578197 A CN 201810578197A CN 108712128 B CN108712128 B CN 108712128B
Authority
CN
China
Prior art keywords
magnetic pole
rotation
equal
phase
encoder
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
Application number
CN201810578197.5A
Other languages
Chinese (zh)
Other versions
CN108712128A (en
Inventor
扶文树
储建华
赵海峰
王刚
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.)
Nanjing College of Information Technology
Original Assignee
Nanjing College of Information Technology
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 Nanjing College of Information Technology filed Critical Nanjing College of Information Technology
Priority to CN201810578197.5A priority Critical patent/CN108712128B/en
Publication of CN108712128A publication Critical patent/CN108712128A/en
Application granted granted Critical
Publication of CN108712128B publication Critical patent/CN108712128B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

Abstract

The invention provides a method for overcoming frictionThe phase comparison method of the force-influenced alternating current servo system comprises the following steps: establishing an alpha beta coordinate system of a phase coordinate system for compensating the influence of friction force, and setting a magnetic pole N in front of a phase to be positioned above an alpha axis; the readings of the position encoder are recorded by rotation in different directions of rotation, whereby the ideal pair of phase positions x, which compensate for the effect of friction forces, is calculated0. The phase comparison method of the alternating current servo system for overcoming the influence of the friction force utilizes a twice phase comparison method, compensates the influence of the friction force and makes up for the defects of the existing phase comparison technology.

Description

Phase comparison method of alternating current servo system capable of overcoming influence of friction force
Technical Field
The invention relates to a phase alignment method, in particular to a phase alignment method of an alternating current servo system, which overcomes the influence of friction.
Background
The opposite phase is a debugging step before the AC servo system leaves a factory, and aims to enable the servo to accurately acquire the magnetic pole position of the motor rotor at the beginning of normal operation. The current phase-contrast technology adopted by servo manufacturers neglects the influence of friction force, and the servo driver in the prior art cannot accurately acquire the initial position of the magnetic pole of the motor during operation, so that the overall operation performance of the servo is influenced. In the vector control scheme of the alternating current servo system, the actual currents of two channels of a d axis and a q axis in a current loop are converted from actual phase currents through CLARK and PARK, and the mathematical expression of the conversion is as follows:
Figure BDA0001687697180000011
in the formula (1), iuAnd ivActual currents of the U and V phases, θeAs electrical angle of the motor, idAnd iqThe actual currents for the d and q axes. SVPWM (space vector pulse width modulation) in the vector control scheme is based on an alpha beta coordinate system, and voltage under dq coordinate system needs to be instructed
Figure BDA0001687697180000012
And
Figure BDA0001687697180000013
command voltage converted to alpha-beta coordinate system by inverse PARK conversion
Figure BDA0001687697180000014
And
Figure BDA0001687697180000015
the conversion equation is as follows:
Figure BDA0001687697180000016
in the formula (2), the reaction mixture is,
Figure BDA0001687697180000017
and
Figure BDA0001687697180000018
respectively, a voltage command in a dq coordinate system,
Figure BDA0001687697180000019
and
Figure BDA00016876971800000110
are respectively a voltage command in an alpha beta coordinate system, thetaeIs the electrical angle of the motor. It can be seen that the error of the electrical angle directly affects id、iqAnd
Figure BDA00016876971800000111
and (4) calculating.
The actual alternating current permanent magnet synchronous motor is simplified into a two-pole electromagnetic structure as shown in fig. 1, three-phase stator coils are respectively U1U2, V1V2 and W1W2, U1, V1 and W1 are the starting ends of the coils, U2, V2 and W2 are the tail ends of the coils, U, V and W are respectively the axes of the three-phase stator coils to form a uvw shaft of the motor, and two poles of a rotor permanent magnet are respectively S and N. In the opposite phase state, the direction of the current in the stator coils is as shown in fig. 1. Neglecting the influence of the friction force of a rotating pair of the motor, under the action of the magnetic flux of the stator coil, the axis of the SN of the permanent magnet is coincided with the u axis, and the N pole points to the positive direction of the u axis. Such a phase-contrast state in which the friction force is ignored is referred to as an ideal phase-contrast state, and is a phase-contrast state that the phase-contrast technique desires to obtain, and in this case, the electrical angle θ of the motor is 0.
The essence of the phase alignment is to provide a reference position for the servo to calculate the electrical angle during operation, in the phase alignment state of fig. 1, the reading of the encoder is reset to 0 by a software method, and during the servo operation, the motor rotates to the electrical angle of any position:
Figure BDA00016876971800000112
in the formula (3), θ is the electrical angle of the motor, Vmax is the maximum reading of the encoder, p is the pole pair number of the motor, x is the reading of the encoder, and mod is a modulus function.
However, the conventional phase correlation technique does not consider the influence of friction force, and the process is performed in an α β coordinate system. The implementation process is as follows: setting up
Figure BDA0001687697180000021
Starting SVPWM, rotating the magnetic pole counterclockwise from the initial position to the position shown in FIG. 2 or FIG. 3, and recording the reading x of the position encoder at the moment, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the phase comparison process, the value range of T is more than or equal to 0 and less than or equal to T, and T is the duration time of the phase comparison process. As shown in FIGS. 2 and 3, due to the influence of the frictional force, the axis of SN is angularly deviated from the α -axis by θ in the phase-opposition state1、θ2The motor rotor is kept in a static state under the action of electromagnetic torque and friction torque. The friction torques in fig. 2 and 3 are equal and opposite according to the symmetry of the motor rotating pair, so that theta1＝θ2. At this time, the electrical angle θe＝θ1＝θ2The error that will be produced by the calculation of the electromechanical angle is δ θe＝θ1＝θ2. The software flow of the implementation is shown in fig. 4.
Disclosure of Invention
The invention aims to provide a phase comparison method of an alternating current servo system overcoming the influence of friction force,
in order to solve the above technical problem, the present invention provides a phase alignment method for an ac servo system that overcomes the influence of friction, comprising the following steps:
step 1, establishing a phase coordinate system for compensating the influence of friction force as an alpha beta coordinate system, and setting a phase-front magnetic pole N to be positioned above an alpha axis;
and 2, starting phase comparison, and specifically comprising the following steps:
step 2.1, setting
Figure BDA0001687697180000022
Starting SVPWM, the magnetic pole rotates clockwise from the initial position to reach the position that the magnetic pole N just passes through the alpha-axis positive half shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T1，T1The duration of the rotation in this step;
step 2.2, setting
Figure BDA0001687697180000023
Starting SVPWM, the magnetic pole rotates anticlockwise from the position reached in step 2.1 to reach the position where the magnetic pole N just passes through the positive half shaft of the beta shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T2，T2The duration of the rotation in this step;
step 2.3, setting
Figure BDA0001687697180000024
Starting SVPWM, rotating the magnetic pole clockwise from the position reached in step 2.2 to the position where the magnetic pole N just passes through the positive half shaft of the alpha shaft, and recording the reading x of the position encoder at the moment1Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T3，T3The duration of the rotation in this step;
step 2.4, setting
Figure BDA0001687697180000025
Starting SVPWM, the magnetic pole rotates clockwise from the position reached in step 2.3, and reaches the position where the magnetic pole N just reaches the negative half shaft of the beta shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T4，T4The duration of the rotation in this step;
step 2.5, setting
Figure BDA0001687697180000031
Starting SVPWM, rotating the magnetic pole anticlockwise from the position reached in step 2.4 to reach the position where the magnetic pole N just passes through the alpha-axis positive half shaft, and recording the reading x of the position encoder at the moment2Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T5，T5The duration of the rotation in this step;
step 2.6, let the maximum reading of the encoder be VmaxX through step 2.3 and step 2.51、x2Calculating an ideal pair phase position x that compensates for the effect of friction0。
Further, in step 2.6, the ideal pair phase position x is calculated which compensates for the friction influence0The formula of (1) is: (1) when 0 point of the encoder is at x1And x2And x is0At 0 point and x2In between, then x0＝(x1+x2+Vmax+ 1)/2; (2) when 0 point of the encoder is at x1And x2And x is0At 0 point and x1In between, then x0＝(x1+x2-Vmax-1)/2; (3) when 0 point of the encoder is not in x1And x2In between, then x0＝(x1+x2)/2。
The invention has the beneficial effects that: the method of the invention can overcome the influence of friction in the prior art and improve the calculation precision of the electrical angle.
Drawings
FIG. 1 is an ideal phase alignment;
FIG. 2 is a phase comparison state obtained by the prior art;
FIG. 3 is another phase comparison state obtained by the prior art phase comparison technique;
FIG. 4 is a software flow of a prior art phase contrast technique;
FIG. 5 is a schematic illustration of the phase alignment process of the present invention to compensate for the effects of friction;
fig. 6 is a software flow of the phase comparison method of the present invention.
Detailed Description
As shown in fig. 5 and 6, the phase comparison method of the ac servo system overcoming the influence of friction force disclosed by the present invention comprises the following steps:
step 1, establishing a phase coordinate system for compensating the influence of friction force as an alpha beta coordinate system, and setting a phase-front magnetic pole N to be positioned above an alpha axis;
and 2, starting phase comparison, and specifically comprising the following steps:
step 2.1, setting
Figure BDA0001687697180000032
Starting SVPWM, the magnetic pole rotates clockwise from the initial position to the position where the magnetic pole N just passes through the positive half axis of the alpha axis, namely the position shown in the figure 5 (1), wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T1，T1The duration of the rotation in this step;
step 2.2, setting
Figure BDA0001687697180000041
Starting SVPWM, the magnetic pole rotates anticlockwise from the position reached in step 2.1, and reaches the position where the magnetic pole N just passes through the positive half shaft of the beta axis, namely the position shown in figure 5 (2), wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T2，T2The duration of the rotation in this step;
and 2. step 2.3, setting
Figure BDA0001687697180000042
Starting SVPWM, the magnetic pole rotates clockwise from the position reached in step 2.2 to the position where the magnetic pole N just passes through the positive half shaft of the alpha shaft, namely the position shown in the graph (3) in FIG. 5, and the reading x of the position encoder at this time is recorded1Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T3，T3The duration of the rotation in this step;
step 2.4, setting
Figure BDA0001687697180000043
Starting SVPWM, the magnetic pole rotates clockwise from the position reached in step 2.3 to the position where the magnetic pole N just reaches the negative half axis of the beta axis, i.e. the position shown in the diagram (4) in FIG. 5, where U isNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T4，T4The duration of the rotation in this step;
step 2.5, setting
Figure BDA0001687697180000044
Starting SVPWM, the magnetic pole rotates anticlockwise from the position reached in step 2.4, the position where the magnetic pole N just passes through the positive half shaft of the alpha shaft is reached, namely the position shown in the figure (5) in figure 5, and the reading x of the position encoder at the moment is recorded2Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T5，T5The duration of the rotation in this step;
step 2.6, let the maximum reading of the encoder be VmaxX through step 2.3 and step 2.51、x2Calculating an ideal pair phase position x that compensates for the effect of friction0。
Wherein in step 2.6, an ideal pair phase position x is calculated which compensates for the influence of friction0The formula of (1) is: (1) when 0 point of the encoder is at x1And x2And x is0At 0 point and x2In between, then x0＝(x1+x2+Vmax+ 1)/2; (2) when 0 point of the encoder is at x1And x2And x is0At 0 point and x1In between, then x0＝(x1+x2-Vmax-1)/2; (3) when 0 point of the encoder is not in x1And x2In between, then x0＝(x1+x2)/2。
The phase alignment method of the alternating current servo system capable of overcoming the influence of the friction force, disclosed by the invention, can overcome the influence of the friction force in the existing phase alignment technology, and improves the calculation precision of the electrical angle.

Claims (1)

1. A phase comparison method of an alternating current servo system overcoming the influence of friction force is characterized by comprising the following steps:
step 1, establishing an alpha beta coordinate system of a phase coordinate system for compensating the influence of friction force, and setting a forward magnetic pole N to be positioned above an alpha axis;
and 2, starting phase comparison, and specifically comprising the following steps:
step 2.1, setting
Figure FDA0003057853790000011
Starting SVPWM, the magnetic pole rotates clockwise from the initial position to reach the position that the magnetic pole N just passes through the alpha-axis positive half shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T1，T1The duration of the rotation in this step;
step 2.2, setting
Figure FDA0003057853790000012
Starting SVPWM, the magnetic pole rotates anticlockwise from the position reached in step 2.1 to reach the position where the magnetic pole N just passes through the positive half shaft of the beta shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T2，T2For the continuation of the rotation of this stepTime;
step 2.3, setting
Figure FDA0003057853790000013
Starting SVPWM, rotating the magnetic pole clockwise from the position reached in step 2.2 to the position where the magnetic pole N just passes through the positive half shaft of the alpha shaft, and recording the reading x of the position encoder at the moment1Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T3，T3The duration of the rotation in this step;
step 2.4, setting
Figure FDA0003057853790000014
Starting SVPWM, the magnetic pole rotates clockwise from the position reached in step 2.3, and reaches the position where the magnetic pole N just reaches the negative half shaft of the beta shaft, wherein UNIs the voltage corresponding to the rated current of the motor, T is the time variable of the rotation in the step, and the value range is that T is more than or equal to 0 and less than or equal to T4，T4The duration of the rotation in this step;
step 2.5, setting
Figure FDA0003057853790000015
Starting SVPWM, rotating the magnetic pole anticlockwise from the position reached in step 2.4 to reach the position where the magnetic pole N just passes through the alpha-axis positive half shaft, and recording the reading x of the position encoder at the moment2Wherein U isNT is a voltage corresponding to the rated current of the motor, and is a time variable of the rotation in the step, and the value range of T is more than or equal to 0 and less than or equal to T5，T5The duration of the rotation in this step;
step 2.6, let the maximum reading of the encoder be VmaxX through step 2.3 and step 2.51、x2Calculating an ideal pair phase position x that compensates for the effect of friction0；
In step 2.6, assume x2>x1Calculating the ideal pair phase position x which compensates for the effect of friction0The formula of (1) is: (1) when 0 point of the encoder is at x1And x2And x is0At 0 point and x2In between, then x0＝(x1+x2+Vmax+ 1)/2; (2) when 0 point of the encoder is at x1And x2And x is0At 0 point and x1In between, then x0＝(x1+x2-Vmax-1)/2; (3) when 0 point of the encoder is not in x1And x2In between, then x0＝(x1+x2)/2。
CN201810578197.5A 2018-06-07 2018-06-07 Phase comparison method of alternating current servo system capable of overcoming influence of friction force Active CN108712128B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810578197.5A CN108712128B (en) 2018-06-07 2018-06-07 Phase comparison method of alternating current servo system capable of overcoming influence of friction force

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810578197.5A CN108712128B (en) 2018-06-07 2018-06-07 Phase comparison method of alternating current servo system capable of overcoming influence of friction force

Publications (2)

Publication Number Publication Date
CN108712128A CN108712128A (en) 2018-10-26
CN108712128B true CN108712128B (en) 2021-10-01

Family

ID=63870438

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810578197.5A Active CN108712128B (en) 2018-06-07 2018-06-07 Phase comparison method of alternating current servo system capable of overcoming influence of friction force

Country Status (1)

Country Link
CN (1) CN108712128B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114070150B (en) * 2021-11-29 2023-06-09 重庆长安新能源汽车科技有限公司 Method, device and storage medium for improving efficiency and power of permanent magnet synchronous motor

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050104582A1 (en) * 2003-11-18 2005-05-19 Fanuc Ltd. Position-of-magnetic-pole detecting device
CN101821942A (en) * 2007-10-12 2010-09-01 株式会社安川电机 Motor control device and magnetic pole position estimation method
CN101960103A (en) * 2008-03-03 2011-01-26 日锻汽门株式会社 Phase changing device for automobile engine
CN102317874A (en) * 2008-01-29 2012-01-11 三菱电机株式会社 Magnetic pole position estimation method for AC synchronous motor
CN103401504A (en) * 2013-08-06 2013-11-20 中国科学院光电技术研究所 Method of correcting initial position of rotor of permanent magnet synchronous motor
US20130307452A1 (en) * 2012-05-21 2013-11-21 Fanuc Corporation Magnetic pole position detecting device for detecting magnetic pole position of rotor in permanent-magnet synchronous motor
CN104079215A (en) * 2013-03-26 2014-10-01 上海电驱动股份有限公司 Precise detection and adjustment method for initial position of permanent-magnet synchronous motor rotor for vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050104582A1 (en) * 2003-11-18 2005-05-19 Fanuc Ltd. Position-of-magnetic-pole detecting device
CN101821942A (en) * 2007-10-12 2010-09-01 株式会社安川电机 Motor control device and magnetic pole position estimation method
CN102317874A (en) * 2008-01-29 2012-01-11 三菱电机株式会社 Magnetic pole position estimation method for AC synchronous motor
CN101960103A (en) * 2008-03-03 2011-01-26 日锻汽门株式会社 Phase changing device for automobile engine
US20130307452A1 (en) * 2012-05-21 2013-11-21 Fanuc Corporation Magnetic pole position detecting device for detecting magnetic pole position of rotor in permanent-magnet synchronous motor
CN104079215A (en) * 2013-03-26 2014-10-01 上海电驱动股份有限公司 Precise detection and adjustment method for initial position of permanent-magnet synchronous motor rotor for vehicle
CN103401504A (en) * 2013-08-06 2013-11-20 中国科学院光电技术研究所 Method of correcting initial position of rotor of permanent magnet synchronous motor

Also Published As

Publication number Publication date
CN108712128A (en) 2018-10-26

Similar Documents

Publication Publication Date Title
CN107134964B (en) Five-phase fault-tolerant permanent magnet motor position sensorless control method based on extended state observer
CN109302111B (en) Hybrid position observer of permanent magnet synchronous motor and position-sensorless servo system
US8497655B2 (en) Method and apparatus for estimating rotor position in a sensorless synchronous motor
CN106330046B (en) The five mutually fault-tolerant magneto method for controlling position-less sensor based on certain loads
CN103825525A (en) Improved sensor-less permanent magnetic synchronous motor speed estimation method
CN107834935A (en) A kind of initial absolute position detection method of permanent-magnetic synchronous motor rotor
CN105227025A (en) A kind of permagnetic synchronous motor low carrier is than control system without position sensor and control method thereof
CN104767445B (en) A kind of mounted permasyn morot method for controlling torque in face of no current feedback
CN110729940A (en) Method for detecting initial phase of permanent magnet synchronous motor
CN105915142A (en) PMSM (permanent magnet synchronous motor) rotor position and rotating speed estimation method based on decoupling adaptive observer
CN108712128B (en) Phase comparison method of alternating current servo system capable of overcoming influence of friction force
CN110601631A (en) Direct thrust control method of flux switching type permanent magnet linear motor based on duty ratio modulation
CN108933553B (en) Improved permanent magnet synchronous motor rotor position detection method
CN110635732A (en) Double-interruption permanent magnet synchronous motor high-speed driving control method based on time sequence lag compensation
CN110601633A (en) Permanent magnet synchronous motor initial phase detection system
CN113114080A (en) Direct torque control method for non-magnetic chain ring of permanent magnet synchronous motor
CN117277878A (en) Motor load starting control method based on phase angle compensation
JP4899788B2 (en) Drive control method for permanent magnet synchronous motor
CN111193451A (en) Method for judging starting time and position of three-phase motor
CN113141139B (en) Five-closed-loop control method and system for double three-phase permanent magnet motor
CN113179069A (en) MTPA control method of maximum torque point tracking embedded permanent magnet synchronous motor
CN108306565B (en) Motor sensorless control method based on improved disturbance observer
CN113054882A (en) PMSM magnetic encoder initial angle identification and correction method
CN107994833B (en) Rotor initial position detection device of permanent magnet synchronous motor
CN107579682B (en) Direct self-control method for variable switch point of brushless DC motor

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