CN108768225B - Pre-positioning dragging method and system of rotor and synchronous motor control system - Google Patents
Pre-positioning dragging method and system of rotor and synchronous motor control system Download PDFInfo
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- CN108768225B CN108768225B CN201810527883.XA CN201810527883A CN108768225B CN 108768225 B CN108768225 B CN 108768225B CN 201810527883 A CN201810527883 A CN 201810527883A CN 108768225 B CN108768225 B CN 108768225B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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- Control Of Ac Motors In General (AREA)
- Motor And Converter Starters (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a pre-positioning dragging method of a rotor, a pre-positioning dragging system of the rotor and a synchronous motor control system, wherein the pre-positioning dragging method of the rotor comprises the following steps: when a starting instruction is received, counting the accumulated starting times of the starting instruction; calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times; and controlling the rotor to start until the rotor rotates to a positioning angle. Through associating the positioning angle with the accumulated starting times, along with the increase of the accumulated starting times, the positioning angle is in continuous increase, the current flowing through each phase winding can be continuously changed along with the change of the angle, so that the heat generated by the three-phase winding of the synchronous motor is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the pre-positioning angle is constant is avoided, the situation that the temperatures of the three phase windings are close and the resistance values of the three phase windings are the same is ensured, and the working reliability of the motor is improved.
Description
Technical Field
The invention relates to the field of motor control, in particular to a pre-positioning dragging method of a rotor, a pre-positioning dragging system of the rotor and a synchronous motor control system.
Background
When the synchronous motor is frequently started, the temperature of one phase winding in the three-phase winding is higher than that of other phase windings, namely, the heating of the three-phase winding is uneven, the difference between the resistance of the phase winding and the resistance of other windings is increased, and the motor cannot output stably.
Therefore, how to control the winding of the synchronous motor with frequent starting and using states to generate heat uniformly becomes an urgent problem to be solved.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the present invention proposes a method for prepositioning a rotor for dragging.
A second aspect of the invention is to propose a pre-positioning dragging system of a rotor.
A third aspect of the present invention is to provide a synchronous machine control system.
In view of the above, according to a first aspect of the present invention, a method for prepositioning a rotor for dragging a synchronous motor is provided, where the method for prepositioning a rotor for dragging a rotor includes: when a starting instruction is received, counting the accumulated starting times of the starting instruction; calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times; and controlling the rotor to start until the rotor rotates to a positioning angle.
The invention provides a pre-positioning dragging method of a rotor, which is characterized in that when a starting instruction of a synchronous motor is received, the accumulated starting times of the synchronous motor at present are counted, and then the positioning angle of the rotor of the synchronous motor in a stator shafting of the synchronous motor is calculated according to the accumulated times, wherein the stator shafting, namely a stator ABC shafting, specifically comprises the following steps: and the center of the three-phase winding A, B, C is used as an origin, and the obtained shafting is formed by sequentially spacing rays of the A-phase winding, the B-phase winding and the C-phase winding at 120 degrees in the anticlockwise direction from the origin. The rotor is controlled to start until the rotor rotates to a positioning angle, so that the synchronous motor is controlled to operate by using the position-free sensor, the positioning angle is associated with the accumulated starting times, the positioning angle is in continuous increase along with the increase of the accumulated starting times, the current flowing through each phase winding can be continuously changed along with the change of the angle, the heat generated by the three-phase winding of the synchronous motor is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the preset angle is constant is avoided, the conditions that the temperatures of the three-phase windings are close and the resistance values of the three-phase windings are the same are ensured, and the working reliability of the motor.
The prepositioning dragging method of the rotor according to the invention can also have the following technical characteristics:
in the above technical solution, preferably, the formula for calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated number of starts is as follows:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is a positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
In the technical scheme, the positioning angle theta is related to k and m, wherein m is the accumulated starting times of the synchronous motor, k is a positive integer larger than or equal to 3, the positioning angle can be directly calculated according to the input accumulated starting times and k, the rotor is controlled to rotate to the positioning angle, the positioning angle is dynamically determined according to the accumulated starting times, and the problem that heating conditions of three-phase windings are inconsistent due to the fact that the positioning angle is constant is solved.
In the above technical solution, preferably, the rotor is controlled to start, specifically: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current, I, of the three-phase winding1The constant current is equal to or less than the rated current of the motor, and theta is a positioning angle.
In the technical scheme, the rotor is rotated to a positioning angle by introducing different preset currents into the three-phase winding, wherein the preset currents are associated with the positioning angle, the sizes of the currents introduced into the three-phase winding are different when the positioning angle is different, and the corresponding I is increased along with the increase of the accumulated starting times due to thetaA、IBAnd ICWill vary according to the same period, i.e. at the current I1When the starting times of the synchronous motor are constant and integral multiples of 3, the currents connected into the three-phase winding are the same, so that the heating conditions of the three-phase winding are the same, and the heating conditions of the three-phase winding are almost the same because the times of the current introduced into each phase in the three-phase winding cannot exceed one cycle period, and I is converted into the current of the three-phase winding1The limit value is smaller than the rated current, so that the condition that the current is too large when the current is introduced is avoided, the synchronous motor cannot generate the overcurrent condition, the condition that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of windings under the condition that the preset angle is constant is avoided, the temperature of the three-phase windings is close, the resistance value change of the three-phase windings is the same, and the working reliability of the motor is improved.
In the above technical solution, preferably, the rotor is controlled to start, specifically: applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage, I, of the three-phase winding2Constant current, R, equal to or less than the rated current of the motorSThe single-phase resistance of the three-phase winding is shown, and theta is a positioning angle.
In the technical scheme, the rotor is controlled to rotate to a positioning angle by applying preset voltage to the three-phase winding, wherein the preset voltage is associated with the positioning angle, when the positioning angle is different, the applied preset voltage between the three-phase winding terminals is also different, and the range of the phase voltage is determined according to the corresponding phase resistance and the rated current in the temperature limit range of the synchronous motor in consideration that the phase voltage of the three-phase winding cannot exceed the rated voltage, so that overvoltage is avoided, the aging of the synchronous motor is accelerated, and because the voltage in the three-phase winding is continuously changed along with the positioning angle, the corresponding UA、UBAnd UCWill exhibit a periodic variation, i.e. at the current I2Constant and synchronous motorWhen the starting times are integral multiples of 3, the heat generated in each phase of winding is the same, and the frequency of voltage application of each phase in the three-phase winding does not exceed one cycle, so that the heating conditions of the three-phase winding are almost the same, the situation that the electrifying heating temperature of one phase of winding is always higher than that of the other two phases of windings under the condition that the preset angle is constant is avoided, the temperature of the three-phase windings is close, the resistance value change of the three-phase windings is the same, and the working reliability of the motor is improved.
According to a second aspect of the present invention, a pre-positioning dragging system of a rotor is proposed. The method comprises the following steps: the acquisition unit is used for counting the accumulated starting times of the starting instruction when the starting instruction is received;
the calculating unit is used for calculating the positioning angle of the rotor of the synchronous motor in the stator shafting according to the accumulated starting times;
and the control unit is used for controlling the rotor to start until the rotor rotates to a positioning angle.
The invention provides a pre-positioning dragging system of a rotor, which is characterized in that an acquisition unit counts the accumulated starting times of the current synchronous motor when receiving a starting instruction of the synchronous motor, and a calculation unit calculates the positioning angle of the rotor of the synchronous motor in a stator shafting of the synchronous motor according to the accumulated times, wherein the stator shafting, namely a stator ABC shafting, specifically comprises the following steps: and the center of the three-phase winding A, B, C is used as an origin, and the obtained shafting is formed by sequentially spacing rays of the A-phase winding, the B-phase winding and the C-phase winding at 120 degrees in the anticlockwise direction by using the origin as a point. The control unit controls the rotor to start until the rotor rotates to a positioning angle, so that the synchronous motor is controlled to operate by using the position-free sensor, the positioning angle is associated with the accumulated starting times, the positioning angle is in continuous increase along with the increase of the accumulated starting times, the current flowing through each phase winding can be continuously changed along with the change of the angle, the heat generated by three-phase windings of the synchronous motor is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the preset angle is constant is avoided, the situation that the temperatures of the three-phase windings are close and the resistance values of the three-phase windings are the same is ensured, and the working reliability of the motor is.
The prepositioning dragging system of the rotor according to the invention can also have the following technical characteristics:
in the above technical solution, preferably, the calculation unit calculates the positioning angle by the following formula:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is a positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
In the technical scheme, the positioning angle theta is related to k and m, wherein m is the accumulated starting times of the synchronous motor, k is a positive integer larger than or equal to 3, the positioning angle can be directly calculated according to the input accumulated starting times and k, the rotor is controlled to rotate to the positioning angle, the positioning angle is dynamically determined according to the accumulated starting times, and the problem that heating conditions of three-phase windings are inconsistent due to the fact that the positioning angle is constant is solved.
In any of the above technical solutions, preferably, the control unit controls the rotor to start, specifically: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current, I, of the three-phase winding1The constant current is equal to or less than the rated current of the motor, and theta is a positioning angle.
In the technical scheme, the rotor is rotated to a positioning angle by introducing different preset currents into the three-phase winding, wherein the preset currents are associated with the positioning angle, the sizes of the currents introduced into the three-phase winding are different when the positioning angle is different, and the corresponding I is increased along with the increase of the accumulated starting times due to thetaA、IBAnd ICWill vary according to the same period, i.e. at the current I1When the starting times of the synchronous motor are constant and integral multiples of 3, the currents connected into the three-phase winding are the same, so that the heating conditions of the three-phase winding are the same, and the heating conditions of the three-phase winding are almost the same because the times of the current introduced into each phase in the three-phase winding cannot exceed one cycle period, and I is converted into the current of the three-phase winding1The limit value is smaller than the rated current, so that the condition that the current is too large when the current is introduced is avoided, the synchronous motor cannot generate the overcurrent condition, the condition that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of windings under the condition that the preset angle is constant is avoided, the temperature of the three-phase windings is close, the resistance value change of the three-phase windings is the same, and the working reliability of the motor is improved.
In any of the above technical solutions, preferably, the control unit controls the rotor to start, specifically: applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage, I, of the three-phase winding2Constant current, R, equal to or less than the rated current of the motorSThe single-phase resistance of the three-phase winding is shown, and theta is a positioning angle.
In the technical scheme, the rotor is controlled to rotate to a positioning angle by applying preset voltage to the three-phase winding, wherein the preset voltage is associated with the positioning angle, when the positioning angle is different, the applied preset voltage between the three-phase winding terminals is also different, and the range of the phase voltage is determined according to the corresponding phase resistance and the rated current in the temperature limit range of the synchronous motor in consideration that the phase voltage of the three-phase winding cannot exceed the rated voltage, so that overvoltage is avoided, the aging of the synchronous motor is accelerated, and because the voltage in the three-phase winding is continuously changed along with the positioning angle, the corresponding UA、UBAnd UCWill exhibit a periodic variation, i.e. at the current I2Constant and sameWhen the starting times of the step motor are integral multiples of 3, the heat generated in each phase of winding is the same, and the frequency of voltage application of each phase in the three-phase winding does not exceed one cycle period, so that the heating conditions of the three-phase winding are almost the same, and the condition that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of windings under the condition that the preset angle is constant is avoided, so that the temperature of the three-phase windings is close, the resistance value change of the three-phase winding is the same, and the working reliability of the motor is improved.
According to a third aspect of the present invention, a synchronous machine control system is presented. The synchronous motor control system comprises a synchronous motor, wherein the synchronous motor applies the steps of the prepositioned dragging method of the rotor.
The synchronous motor control system provided by the invention comprises a synchronous motor, wherein the synchronous motor adopts the steps of the pre-positioning dragging method of the rotor, so that the synchronous motor control system has all the beneficial technical effects of the pre-positioning dragging method of the rotor, and the description is omitted.
In the above technical solution, preferably, the synchronous machine control system further includes an IPM module for controlling the synchronous machine to operate.
In this embodiment, an IPM Module (Intelligent Power Module, which is a core component for controlling the operation of the permanent magnet synchronous motor) executes the steps of the above-mentioned pre-positioning dragging method for the rotor, so that the method has all the beneficial technical effects of the above-mentioned pre-positioning dragging method for the rotor, and is not described herein again.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 illustrates a flow diagram of a method of pre-positioning a drag of a rotor according to an embodiment of the present invention;
FIG. 2 shows a schematic block diagram of a pre-positioning drag system of a rotor of one embodiment of the present invention;
FIG. 3 shows a schematic block diagram of a synchronous motor control system of one embodiment of the present invention;
FIG. 4 shows a schematic block diagram of a synchronous motor control system of one embodiment of the present invention;
FIG. 5 illustrates the positioning angle of the rotor of the present invention in the stator shaft line;
FIG. 6 is a schematic diagram illustrating the flow of the present invention for switching a three-phase winding into a predetermined current;
FIG. 7 is a schematic block diagram illustrating the synchronous machine control system connections of one embodiment of the present invention;
fig. 8 shows a schematic flow diagram for controlling a synchronous machine without a position sensor.
Reference numerals:
wherein, the corresponding relationship between the reference numbers and the names of the components in fig. 7 is:
702 an ac power module, 704 a rectifier module, 706 a dc bus module, 708 an IPM module, 710 a micro control module, 712 a synchronous machine.
Detailed Description
So that the manner in which the above recited aspects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
An embodiment of a first aspect of the present invention provides a method for prepositioning drag of a rotor, and fig. 1 illustrates a flow diagram of the method for prepositioning drag of a rotor according to an embodiment of the present invention. The prepositioned dragging method of the rotor comprises the following steps:
s102, when a starting instruction is received, counting the accumulated starting times of the starting instruction;
s104, calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times;
and S106, controlling the rotor to start until the rotor rotates to a positioning angle.
The pre-positioning dragging method for the rotor provided by this embodiment, when receiving a start instruction of the synchronous motor, counts the cumulative start times of the synchronous motor at present, and further calculates the positioning angle of the rotor of the synchronous motor in the stator shafting of the synchronous motor according to the cumulative start times, where the stator shafting, i.e. the stator ABC shafting, specifically includes: and the center of the three-phase winding A, B, C is used as an origin, and the obtained shafting is formed by sequentially spacing rays of the A-phase winding, the B-phase winding and the C-phase winding at 120 degrees in the anticlockwise direction by using the origin as a point. The rotor is controlled to start until the rotor rotates to a positioning angle, so that the synchronous motor is controlled to operate by using the position-free sensor, the positioning angle is associated with the accumulated starting times, the positioning angle is in continuous increase along with the increase of the accumulated starting times, the current flowing through each phase winding can be continuously changed along with the change of the angle, the heat generated by the three-phase winding of the synchronous motor is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the preset angle is constant is avoided, the conditions that the temperatures of the three-phase windings are close and the resistance values of the three-phase windings are the same are ensured, and the working reliability of the motor.
In one embodiment of the present invention, preferably, the formula for calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times is as follows:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is a positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
In the embodiment, the positioning angle theta is related to k and m, wherein m is the accumulated starting times of the synchronous motor, k is a positive integer greater than or equal to 3, the positioning angle can be directly calculated according to the input accumulated starting times and k, the rotor is controlled to rotate to the positioning angle, the positioning angle is dynamically determined according to the accumulated starting times, and the problem that heating conditions of three-phase windings are inconsistent due to the fact that the positioning angle is constant is solved.
In one embodiment of the present invention, preferably, the rotor is controlled to start, specifically: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current, I, of the three-phase winding1The constant current is equal to or less than the rated current of the motor, and theta is a positioning angle.
In the embodiment, the rotor is rotated to the positioning angle by introducing different preset currents into the three-phase winding, wherein the preset currents are associated with the positioning angle, the magnitudes of the currents introduced into the three-phase winding are different when the positioning angles are different, and the corresponding I is increased along with the increase of the accumulated starting times due to the fact that thetaA、IBAnd ICWill vary according to the same period, i.e. at the current I1When the starting times of the synchronous motor are constant and integral multiples of 3, the currents connected into the three-phase winding are the same, so that the heating conditions of the three-phase winding are the same, and the heating conditions of the three-phase winding are almost the same because the times of the current introduced into each phase in the three-phase winding cannot exceed one cycle period, and I is converted into the current of the three-phase winding1The limit value is smaller than the rated current, so that the condition that the current is too large when the current is introduced is avoided, the synchronous motor cannot generate the overcurrent condition, the condition that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of windings under the condition that the preset angle is constant is avoided, the temperature of the three-phase windings is close, the resistance value change of the three-phase windings is the same, and the working reliability of the motor is improved.
In one embodiment of the present invention, preferably, the rotor is controlled to start, specifically: applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage, I, of the three-phase winding2Constant current, R, equal to or less than the rated current of the motorSThe single-phase resistance of the three-phase winding is shown, and theta is a positioning angle.
In the embodiment, the rotor is controlled to rotate to a positioning angle by applying a preset voltage to the three-phase winding, wherein the preset voltage is related to the positioning angle, when the positioning angles are different, the applied preset voltage between the terminals of the three-phase winding is also different, and the range of the phase voltage is determined according to the corresponding phase resistance and the rated current within the temperature limit range of the synchronous motor in consideration that the phase voltage of the three-phase winding cannot exceed the rated voltage, so that overvoltage is avoided, the aging of the synchronous motor is accelerated, and as the voltage in the three-phase winding is continuously changed along with the positioning angles, the corresponding U is continuously changedA、UBAnd UCWill exhibit a periodic variation, i.e. at the current I2When the starting times of the synchronous motor are constant and integral multiples of 3, the heat generated in each phase of winding is the same, and the frequency of voltage application of each phase in the three-phase winding does not exceed one cycle period, so that the heating conditions of the three-phase winding are almost the same, the situation that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of winding under the condition that the preset angle is constant is avoided, the temperature of the three-phase winding is close, the resistance value change of the three-phase winding is the same, and the working reliability of the motor is improved.
Embodiments of a second aspect of the present invention provide a pre-positioning drag system for a rotor. FIG. 2 illustrates a schematic block diagram of a pre-positioning drag system 200 of a rotor according to an embodiment of the present invention, the pre-positioning drag system 200 of the rotor comprising:
the acquiring unit 202 is configured to count the accumulated starting times of the starting instruction when the starting instruction is received;
the calculating unit 204 is used for calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times;
and the control unit 206 is used for controlling the rotor to start until the rotor rotates to the positioning angle.
In the pre-positioning dragging system 200 for the rotor provided by the present invention, when the obtaining unit 202 receives the start instruction of the synchronous motor, the cumulative start times of the synchronous motor at present are counted, and the calculating unit 204 calculates the positioning angle of the rotor of the synchronous motor in the stator shafting of the synchronous motor according to the cumulative times, wherein the stator shafting, i.e. the stator ABC shafting, specifically includes: and the center of the three-phase winding A, B, C is used as an origin, and the obtained shafting is formed by sequentially spacing rays of the A-phase winding, the B-phase winding and the C-phase winding at 120 degrees in the anticlockwise direction by using the origin as a point. The control unit 206 controls the rotor to start until the rotor rotates to a positioning angle, so that the synchronous motor is controlled to operate by using the position-free sensor, the positioning angle is associated with the accumulated starting times, the positioning angle is in continuous increase along with the increase of the accumulated starting times, the current flowing through each phase winding can be continuously changed along with the change of the angle, the heat generated by three-phase windings of the synchronous motor is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the preset angle is constant is avoided, the situation that the temperatures of the three-phase windings are close and the resistance values of the three-phase windings are the same is ensured, and the working reliability of the motor is.
In one embodiment of the present invention, preferably, the calculation unit calculates the positioning angle by the following formula:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is a positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
In the embodiment, the positioning angle theta is related to k and m, wherein m is the accumulated starting times of the synchronous motor, k is a positive integer greater than or equal to 3, the positioning angle can be directly calculated according to the input accumulated starting times and k, the rotor is controlled to rotate to the positioning angle, the positioning angle is dynamically determined according to the accumulated starting times, and the problem that heating conditions of three-phase windings are inconsistent due to the fact that the positioning angle is constant is solved.
In an embodiment of the present invention, preferably, the control unit 206 controls the rotor to start, specifically: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current, I, of the three-phase winding1The constant current is equal to or less than the rated current of the motor, and theta is a positioning angle.
In the embodiment, the rotor is rotated to the positioning angle by introducing different preset currents into the three-phase winding, wherein the preset currents are associated with the positioning angle, the magnitudes of the currents introduced into the three-phase winding are different when the positioning angles are different, and the corresponding I is increased along with the increase of the accumulated starting times due to the fact that thetaA、IBAnd ICWill vary according to the same period, i.e. at the current I1When the starting times of the synchronous motor are constant and integral multiples of 3, the currents connected into the three-phase winding are the same, so that the heating conditions of the three-phase winding are the same, and the heating conditions of the three-phase winding are almost the same because the times of the current introduced into each phase in the three-phase winding cannot exceed one cycle period, and I is converted into the current of the three-phase winding1The limit value is less than the rated current, so that the condition that the current is too large in the process of passing through the synchronous motor is avoided, the synchronous motor is ensured not to have an overcurrent condition, the condition that the electrifying heating temperature of one phase winding is higher than that of the other two phase windings under the condition that the preset angle is constant is avoided, the temperature of the three phase windings is close, the resistance value change of the three phase windings is the same, and the working reliability of the motor is improvedAnd (4) sex.
In an embodiment of the present invention, preferably, the control unit 206 controls the rotor to start, specifically: applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage, I, of the three-phase winding2Constant current, R, equal to or less than the rated current of the motorSThe single-phase resistance of the three-phase winding is shown, and theta is a positioning angle.
In the technical scheme, the rotor is controlled to rotate to a positioning angle by applying preset voltage to the three-phase winding, wherein the preset voltage is associated with the positioning angle, when the positioning angle is different, the applied preset voltage between the three-phase winding terminals is also different, and the range of the phase voltage is determined according to the corresponding phase resistance and the rated current in the temperature limit range of the synchronous motor in consideration that the phase voltage of the three-phase winding cannot exceed the rated voltage, so that overvoltage is avoided, the aging of the synchronous motor is accelerated, and because the voltage in the three-phase winding is continuously changed along with the positioning angle, the corresponding UA、UBAnd UCWill exhibit a periodic variation, i.e. at the current I2When the starting times of the synchronous motor are constant and integral multiples of 3, the heat generated in each phase of winding is the same, and the frequency of voltage application of each phase in the three-phase winding does not exceed one cycle period, so that the heating conditions of the three-phase winding are almost the same, the situation that the electrifying heating temperature of one phase of winding is higher than that of the other two phases of winding under the condition that the preset angle is constant is avoided, the temperature of the three-phase winding is close, the resistance value change of the three-phase winding is the same, and the working reliability of the motor is improved.
In an embodiment of the third aspect of the invention, a synchronous machine control system 300 is provided. Fig. 3 shows a schematic block diagram of a synchronous motor control system 300 according to an embodiment of the present invention, the synchronous motor control system 300 comprising a synchronous motor 302, the synchronous motor 302 applying the steps of the pre-positioning dragging method of the rotor as described above.
In this embodiment, the synchronous motor 302 employs the steps of the above-mentioned pre-positioning dragging method for the rotor, so that all the beneficial technical effects of the above-mentioned pre-positioning dragging method for the rotor are achieved, and the details are not repeated herein.
Fig. 4 shows a schematic block diagram of a synchronous motor control system 400 of one embodiment of the present invention. As shown in fig. 4, the synchronous motor control system 400 includes: an IPM module 402 and a synchronous machine 404, wherein the IPM module 402 is configured to control the operation of the synchronous machine 404.
In this embodiment, the IPM Module 402(Intelligent Power Module, which is a core component for controlling the operation of the pmsm), wherein the IPM Module 402 performs the steps of the above-mentioned pre-positioning dragging method for the rotor, so that the method has all the beneficial technical effects of the above-mentioned pre-positioning dragging method for the rotor, and therefore, the detailed description thereof is omitted here.
Fig. 5 shows the positioning angle of the rotor of the present invention in the stator shaft line. A, B, C represents the A phase winding, the B phase winding and the C phase winding of the three-phase winding on the stator respectively, wherein the A phase winding is used as a reference, and theta is a positioning angle.
Fig. 6 shows a schematic flow chart of the three-phase winding of the present invention for switching in a preset current. When the counted accumulated starting times are 3L times, the phase A winding is connected with a positive current, and the phase B winding and the phase C winding are not connected with the positive current; when the counted and accumulated starting times are 3L +1 times, the phase B winding is connected with a positive current, and the phase A winding and the phase C winding are not connected with the positive current; when the counted and accumulated starting times are 3L +2 times, the phase C winding is connected with a positive current, and the phase A winding and the phase B winding are not connected with the positive current; wherein L is an integer greater than 0; therefore, the heat generated in the three-phase windings of the A-phase winding, the B-phase winding and the C-phase winding is almost the same, the situation that the electrifying heating temperature of one phase winding is higher than that of the other two phases winding can not occur, the temperature of the three-phase windings is close, the resistance value change of the three-phase windings is the same, and the working reliability of the motor is improved.
Fig. 7 is a schematic block diagram showing the connection relationship of the synchronous motor control system 700 according to the embodiment of the present invention.
The ac power module 702 is configured to provide ac power to the rectifier module 704, the dc bus module 706 transmits the dc power rectified by the rectifier module 704 to the IPM module 708, and the IPM module 708 controls the synchronous motor 712 to operate according to a control instruction of the micro control module 710, wherein the micro control module 710 performs the steps of the above-mentioned pre-positioning dragging method for the rotor, so that the heat generated by the three-phase windings of the synchronous motor is almost the same, thereby avoiding that the energization heating temperature of one phase of winding is always higher than that of the other two phase of windings under the condition of constant pre-positioning angle, thereby ensuring that the temperatures of the three-phase windings are close and the resistance changes of the three-phase windings are the same, and improving the reliability of.
Fig. 8 shows a schematic flow diagram for controlling a synchronous machine without a position sensor. Specifically, the method comprises the following steps:
s802, pre-positioning;
s804, open-loop dragging;
and S806, closed-loop control.
In the step S802, the positioning angle of the rotor in the stator shaft system is calculated and determined, in the step S804, the rotor is controlled to rotate to the corresponding positioning angle, and in the step S806, the operation is controlled by using a position-free sensor.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method for prepositioning dragging of a rotor for a synchronous motor, comprising:
when a starting instruction is received, counting the accumulated starting times of the starting instruction;
calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times;
controlling the rotor to start until the rotor rotates to the positioning angle;
the formula for calculating the positioning angle of the rotor of the synchronous motor in the stator shaft system according to the accumulated starting times is as follows:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is the positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
2. The method for prepositioning dragging a rotor according to claim 1, wherein the controlling the rotor to start comprises: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current of the three-phase winding, I1The constant current is equal to or less than the rated current of the motor, and theta is the positioning angle.
3. The method for prepositioning dragging a rotor according to claim 1, wherein the controlling the rotor to start comprises:
applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage of the three-phase winding, I2A constant current equal to or less than a rated current of the motor, RSThe single-phase resistance of the three-phase winding is shown, and theta is the positioning angle.
4. A pre-positioning dragging system of a rotor for a synchronous machine, characterized in that it comprises:
the device comprises an acquisition unit, a starting unit and a starting unit, wherein the acquisition unit is used for counting the accumulated starting times of a starting instruction when the starting instruction is received;
the calculation unit is used for calculating the positioning angle of the rotor of the synchronous motor in the stator shafting according to the accumulated starting times;
the control unit is used for controlling the rotor to start until the rotor rotates to the positioning angle;
the calculation unit calculates the positioning angle according to the following formula:
the stator shaft system takes the phase A as a reference, the anticlockwise direction is positive, theta is the positioning angle, k is a positive integer larger than or equal to 3, and m is the accumulated starting times.
5. The pre-positioning dragging system for a rotor according to claim 4, wherein said control unit controls said rotor to start, in particular: different preset currents are connected to the three-phase winding, and the preset currents are calculated through the following formula:
wherein, IA、IB、ICFor a predetermined current of the three-phase winding, I1The constant current is equal to or less than the rated current of the motor, and theta is the positioning angle.
6. The pre-positioning drag system of a rotor of claim 4,
the control unit controls the rotor to start, and specifically comprises: applying a preset voltage to the three-phase winding, the preset voltage being calculated by the following formula:
wherein, UA、UB、UCFor a predetermined voltage of the three-phase winding, I2A constant current equal to or less than a rated current of the motor, RSThe single-phase resistance of the three-phase winding is shown, and theta is the positioning angle.
7. A synchronous machine control system, characterized in that it comprises a synchronous machine applying the steps of the pre-positioning dragging method of a rotor according to any one of claims 1 to 3.
8. The synchronous machine control system of claim 7, further comprising:
and the IPM module is used for controlling the synchronous motor to operate.
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| TW575718B (en) * | 2001-12-11 | 2004-02-11 | Honda Motor Co Ltd | Method of starting an electric brushless rotating machine for driving an internal combustion engine |
| CN101984554B (en) * | 2010-12-01 | 2013-01-02 | 东元总合科技（杭州）有限公司 | Method for starting motor without sensor |
| GB2549742B (en) * | 2016-04-26 | 2020-06-17 | Dyson Technology Ltd | Method of determining the rotor position of a permanent-magnet motor |
| CN106160615A (en) * | 2016-08-03 | 2016-11-23 | 珠海格力节能环保制冷技术研究中心有限公司 | Electric machine control system, compressor and motor heating starting method |
| CN106911279B (en) * | 2017-04-25 | 2019-05-07 | 广东工业大学 | A kind of method of DC brushless motor sensorless start-up |
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