CN109428524A - Permanent magnet synchronous motor closed loop switching method - Google Patents
Permanent magnet synchronous motor closed loop switching method Download PDFInfo
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- CN109428524A CN109428524A CN201811139730.4A CN201811139730A CN109428524A CN 109428524 A CN109428524 A CN 109428524A CN 201811139730 A CN201811139730 A CN 201811139730A CN 109428524 A CN109428524 A CN 109428524A
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- permanent magnet
- rotating speed
- magnet synchronous
- switching
- synchronous motor
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Classifications
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- 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
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
Abstract
The present invention relates to a kind of permanent magnet synchronous motor closed loop switching methods, are run with Field orientable control algorithm, and wherein the open loop forced service stage is by being set with the given rotating speed SpdIF of rotor and switching rotating speed of target SpdSwitch；And indexing decay formula IqReg=Ipark × (e‑Wt), when given rotating speed SpdIF accelerates to switching rotating speed of target SpdSwitch, the quadrature axis target current IqReg for inputting quadrature axis pi regulator decays according to exponential damping formula；By calculating the difference △ θ between the given position angle θ 2 in open loop forced service stage of estimated position angle θ 3 and rotor of motor rotor position, when △ θ is close to 0, it is determined as load balanced state, and carry out the switching in operation with closed ring stage.The switching that this method can make the open loop forced service of permanent magnet synchronous motor cut operation with closed ring is smooth, stable and reliable, meets the convertible frequency air-conditioner outdoor compressor of high-quality, the requirement of blower application, the value with commercialization.
Description
Technical field
The present invention relates to motor control technology field more particularly to a kind of permanent magnet synchronous motor closed loop switching methods.
Background technique
The motor that convertible frequency air-conditioner industry uses is permanent magnet synchronous motor (abbreviation PMSM), permanent magnet synchronous motor control algolithm
Typically vector control algorithm, that is, Field orientable control algorithm (abbreviation FOC)；Vector control algorithm by coordinate transform,
Current sample and reconstruct, position estimation, velocity loop regulator, electric current loop adjuster, space vector modulation (abbreviation SVPWM) structure
At current most of position estimation methods can not accurately estimate motor position under the conditions of permanent magnet synchronous motor zero-speed and Ultra-Low Speed
Confidence breath causes motor cannot achieve safe and reliable directly from stationary state starting.
Industry starts method using a kind of traditional three step for the starting overwhelming majority of permanent magnet synchronous motor at present.Described three
Starting method is walked, i.e., stage, open loop forced service stage and operation with closed ring stage three phases is pre-positioned by rotor and carries out electricity
The starting of machine.
First step rotor is pre-positioned the stage, is that fixed magnetic direction is given by current regulator, forces rotor rotation
Onto given position, this process is a semi-loop control, that is, electric current loop operation with closed ring, speed ring open loop, is given
The given position angle for having rotor fixed.
In the second step open loop forced service stage, the state of the first step is maintained, give a fixed load torque, given simultaneously
The revolving speed and angle that acceleration rising is fixed from zero-speed, can generate the magnetic field for accelerating rotation at this time, rotor is forced to follow
Given rotating excitation field accelerates rotation, and position estimation estimates the location information (packet of rotor after rotor speed reaches certain speed
Include revolving speed and position angle), third step can be cut at this time.
In the third step operation with closed ring stage, electric current loop closed loop, by the location information closed-loop speed ring of estimation, speed ring is adjusted
Device work.
Under normal circumstances, due to loading entirely different (open loop when the open loop forced service stage switches to the operation with closed ring stage
The forced service stage is given load torque, and the operation with closed ring stage is actual load torque), so if directly being cut
It changes, current of electric necessarily significantly shakes appearance, leads to handoff procedure current break, triggers overcurrent protection, leads when serious
Cause electric motor starting failure or permanent magnet demagnetization.
Therefore, how effectively to make open loop forced service stage of electric motor starting steadily reliable seamless incision operation with closed ring
Stage is one of this field institute major issue urgently to be solved.
Summary of the invention
It is an object of the invention to provide a kind of permanent magnet synchronous motor closed loop switching side in order to overcome the deficiencies of the prior art
Method.
Permanent magnet synchronous motor closed loop switching method is run using Field orientable control algorithm, including the rotor pre-determined bit stage,
Open loop forced service stage and operation with closed ring stage, in the open loop forced service stage, electric current loop operation with closed ring, speed ring is opened
Inscription of loop, the open loop forced service stage the following steps are included:
S1, the given rotating speed SpdIF for being set with rotor, switching rotating speed of target SpdSwitch and load balance are sentenced
Determine angular range；
S2, it is set with exponential damping formula, when given rotating speed SpdIF accelerates to switching rotating speed of target SpdSwitch, made
The quadrature axis target current IqReg of quadrature axis pi regulator input in electric current loop decays according to exponential damping formula；
S3, the estimated position angle θ 3 for calculating motor rotor position and rotor are in the open loop forced service stage to positioning
Angle difference △ θ between angle setting θ 2 determines that rotor is in when angle difference △ θ is within balance judgement angular range
Load balanced state, and carry out the switching in operation with closed ring stage.
Its application principle is as follows:
Closed loop phase is cut in open loop during startup, because the characteristics of exponential curve is that rate of decay just starts maximum,
Rate gradually becomes smaller afterwards, last infinite tendency 0, thus by increase by one judgement triggering quadrature axis target current IqReg according to
The method of exponential curve decaying can effectively meet motor in open loop and cut closed loop procedure load balance characteristic；And then pass through
The angle difference △ θ of estimated position angle θ 3 and given position angle θ 2 to be determined as load balanced state, with meet motor from
The accurate judgement that closed loop opportunity is cut in open loop needs.
Further, the exponential damping formula is IqReg=Ipark × (e-Wt), wherein Ipark is that fortune is forced in open loop
Row order section gives constant current, and W=1/ τ, τ are time constant.
Further, timeconstantτ range of choice is 1~5rad/s；Preferably 1rad/s, meeting the starting of air conditioner time wants
It asks.
Further, in step S3, the balance determines that angular range is 0 to 5 degree.
Further, in step S2, it is set with the acceleration K of given rotating speed SpdIF, given rotating speed SpdIF is according to adding
Speed K accelerates to switching rotating speed of target SpdSwitch from 0.
Further, in step S2, when given rotating speed SpdIF accelerates to switching rotating speed of target SpdSwitch, electricity
Machine rotor stops accelerating, and triggers switching mark SwitchTrig, make quadrature axis target current IqReg according to exponential damping formula into
Row decaying.
Further, in step S2, the exponential damping of quadrature axis target current IqReg passes through high-pass filter or low pass
Filter is realized.
Further, when switching to the operation with closed ring stage, the torque current IsReg for enabling speed regulator export is given initial
Value is motor quadrature axis actual feedback currents Iq.
When switching to the operation with closed ring stage, general speed regulator start to work output be all adjusted since 0, however
Actual loading at this time is not 0, so speed regulator is adjusted since 0, just to need the regular hour that could track actual
Load, therefore adjust that there are temporal lag, and from 0 track upper actual loading to adjuster during, PI output
There are errors with actual loading for load, lead to fluctuation of motor current, seriously may cause step-out；By to conventional speed adjuster
It is modified, when the initial value of speed regulator is designed as actual loading, into after closed loop, the adjusting of speed regulator is just
The regulating time from 0 to actual loading can be saved, so that speed regulator output is quick, stablizes, is switched smooth and reliable.
A kind of permanent magnet synchronous motor closed loop switching method proposed by the present invention, can be such that the open loop operation of permanent magnet synchronous motor cuts
The switching for entering operation with closed ring is smooth, stable and reliable, meet high-quality convertible frequency air-conditioner outdoor compressor, blower application want
It asks, the value with commercialization.
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor FOC control algolithm functional block diagram；
Fig. 2 is rotating speed of target, open loop given rotating speed conversion process schematic diagram in the embodiment of the present invention；
Fig. 3 is the estimated angle in the embodiment of the present invention, open loop given angle conversion process schematic diagram；
Fig. 4 is triggering switching mark/closed loop mark conversion process schematic diagram in the embodiment of the present invention；
Fig. 5 is the motor three-phase current conversion process schematic diagram in the embodiment of the present invention；
Fig. 6 is the ac-dc axis target current conversion process schematic diagram in the embodiment of the present invention；
Fig. 7 is that the frequency conversion outdoor fan (PMSM) in the embodiment of the present invention surveys starting current waveform diagram.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to make technical solution of the present invention, purpose and its advantage more clearly
Explanation is further explained in the present invention.
Permanent magnet synchronous motor use control algolithm as shown in Figure 1, using Id=0 control strategy；What it included
The effect of functional module and the functional module is as shown in table 1, and wherein the definition of variable and the variable is as shown in table 2.
Table 1:
Table 2:
A kind of permanent magnet synchronous motor closed loop switching method of the invention uses Starting mode for three traditional step starting sides
Method, therefore starting state can be divided into rotor pre-determined bit stage, open loop forced service stage and these three ranks of operation with closed ring stage
Section, and wherein the open loop forced service stage includes open loop accelerator and closed loop procedure is cut in open loop, switch S1~S4 according to
The different stages switch over；In conjunction with Fig. 1, show that the working condition in each stage is as shown in table 3.
Table 3:
A kind of permanent magnet synchronous motor closed loop switching method of the invention is to increase a judgement in the open loop forced service stage
The quadrature axis target current IqReg of triggering, enables IqReg decay according to exponential curve, makes the estimated position angle θ 3 and electricity of motor position
The angle difference △ θ of the angle of the given position angle θ 2 in machine open loop forced service stage is gradually decreased；It is preset with balance and determines angle
Spending range is 0 to 5 degree, as the estimated position angle θ 3 for the motor position for estimating the open loop forced service stage by position estimation
Determine within angular range with the angle difference △ θ of the given position angle θ 2 in motor open loop forced service stage in the balance
When, that is, it is judged as that △ θ close to 0 state, to be determined as that rotor is in load balanced state, and carries out cutting for operation with closed ring stage
It changes.
Simultaneously in the operation with closed ring stage, speed regulator exports initial value=actual feedback electricity of electric current IsReg
Iq is flowed, adjusts the output of speed regulator since actual feedback currents Iq is as initial value, realizes that electric current and revolving speed are steady
Reliably carry out the switching of open loop to closed loop.
As shown in Figures 2 to 6, start-up course is as follows:
Rotor is pre-positioned the stage: switching various states according to corresponding table 3, rotor goes to the angle of pre-determined bit, motor
Actual rotor is parallel with given angle θ 1, and real electrical machinery rotor position angle θ 3 and given position angle differ 90 degree at this time, gives and turns
Speed is 0 at this time, and machine winding applies DC voltage at this time, so flowing through DC current in machine winding.
The open loop forced service stage:
Open loop accelerator: switch various states according to corresponding table 3, the given rotating speed SpdIF of open loop adds according to fixed
Speed K from 0 accelerate to speed-changing SpdSwitch when, SpdIF stops accelerating, which becomes open loop accelerator, at this time position
Angle setting is integrated to obtain (∫ SpdIFdt) by revolving speed, and the amplitude of the process current of electric remains unchanged, and equal with Ipark, wherein K is
Constant.
Closed loop procedure is cut in open loop: after open loop accelerates revolving speed to reach speed-changing SpdSwitch, triggering a switching mark
(SwitchTrig), SwitchTrig, which belongs to, forces open loop operation module, when open loop given rotating speed is greater than speed-changing, that is, SpdIF
>=SpdSwitch moment, SwitchTrig become 1 from 0, as a trigger signal.Indicate that handoff procedure starts at this time,
IqReg starts to decay according to exponential curve.
Enter open loop at this time and cut closed loop procedure, is decayed using IqReg according to exponential curve, decay formula are as follows: IqReg=
Ipark×(e-Wt)；W=1/ τ, τ are time constant；So that IqReg at any time t and carry out exponential curve decaying；And it can be by changing
Become W to adjust the speed of switching curve；At the same time, angle difference Δ θ=θ 3- θ 2 is calculated, determines to be negative when Δ θ is close to 0
Equilibrium state is carried, closed loop is cut, is triggered closed loop mark (CloseFlag).
The operation with closed ring stage: when motor enters closed loop phase, speed regulator is exported into configuration initial value, speed first
Initial value=motor quadrature axis actual feedback currents Iq of the torque current IsReg of adjuster output；It is opened according to 3 switch operating of table
S1~S4 is closed, then speed regulator works at this time, and motor enters operation with closed ring.
A kind of permanent magnet synchronous motor closed loop switching method according to the present invention, the motor applied to frequency inverter air conditioner outdoor fan
On, survey motor phase current waveform is as shown in Figure 7.
The exponential damping of the quadrature axis target current IqReg is realized by the operation of single order high-pass filter, because single order is high
Bandpass filter time-domain function is exactly exponential function, and meet the present invention claims attenuation curve；Or by low-pass filter with
Indirect operation is realized；Or the application demand of IqReg exponential damping can be met by look-up method rendering index curve.
The foregoing is merely the preferred embodiment of the present invention not to depart from this for those skilled in the art
Under the premise of the implementation principle of invention, it can still modify to the embodiment, and corresponding modification also should be regarded as this hair
Bright protection scope.
Claims (8)
1. permanent magnet synchronous motor closed loop switching method is run using Field orientable control algorithm, including rotor is pre-positioned the stage, opens
Ring forced service stage and operation with closed ring stage, in the open loop forced service stage, electric current loop operation with closed ring, speed ring open loop
Operation, which is characterized in that the open loop forced service stage the following steps are included:
S1, the given rotating speed SpdIF for being set with rotor, switching rotating speed of target SpdSwitch and load balance determine angle
Spend range；
S2, it is set with exponential damping formula, when given rotating speed SpdIF accelerates to switching rotating speed of target SpdSwitch, makes electric current
The quadrature axis target current IqReg of quadrature axis pi regulator input in ring decays according to exponential damping formula；
S3, the estimated position angle θ 3 for calculating motor rotor position and rotor are in the given position angle in open loop forced service stage
Angle difference △ θ between θ 2, when angle difference △ θ is when the balance determines within angular range, judgement rotor is in load
Equilibrium state, and carry out the switching in operation with closed ring stage.
2. permanent magnet synchronous motor closed loop switching method as described in claim 1, which is characterized in that the exponential damping formula
Are as follows: IqReg=Ipark × (e-Wt), wherein Ipark is the open loop forced service stage to constant current, and W=1/ τ, τ are the time
Constant.
3. permanent magnet synchronous motor closed loop switching method as claimed in claim 2, which is characterized in that timeconstantτ range of choice
For 1~5rad/s.
4. permanent magnet synchronous motor closed loop switching method as described in claim 1, which is characterized in that described flat in step S3
Weighing apparatus determines that angular range is 0 to 5 degree.
5. permanent magnet synchronous motor closed loop switching method as described in claim 1, which is characterized in that in step S2, be set with
The acceleration K of given rotating speed SpdIF, given rotating speed SpdIF accelerate to switching rotating speed of target from 0 according to acceleration K
SpdSwitch。
6. permanent magnet synchronous motor closed loop switching method as described in claim 1, which is characterized in that in step S2, when given
When revolving speed SpdIF accelerates to switching rotating speed of target SpdSwitch, rotor stops accelerating, and triggers switching mark
SwitchTrig makes quadrature axis target current IqReg decay according to exponential damping formula.
7. permanent magnet synchronous motor closed loop switching method as described in claim 1, which is characterized in that in step S2, quadrature axis mesh
The exponential damping for marking electric current IqReg is realized by high-pass filter or low-pass filter.
8. the permanent magnet synchronous motor closed loop switching method as described in claim 1 to 7 is any, which is characterized in that switch to closed loop
When the operation phase, the torque current IsReg for enabling speed regulator export gives the actual feedback currents that initial value is motor quadrature axis
Iq。
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111193442A (en) * | 2020-04-09 | 2020-05-22 | 南京美均电子科技有限公司 | Open-loop switching closed-loop control method for PMSM motor based on non-inductive FOC algorithm |
| CN111682824A (en) * | 2020-06-15 | 2020-09-18 | 温州长江汽车电子有限公司 | Open-loop starting strategy based on power angle self-balancing characteristic |
| CN111756298A (en) * | 2020-06-17 | 2020-10-09 | 深圳和而泰智能控制股份有限公司 | Motor starting method and related device |
| CN111953257A (en) * | 2020-07-13 | 2020-11-17 | 广东工业大学 | Method for improving starting performance of permanent magnet synchronous motor with periodic fluctuation of load torque |
| CN113131822A (en) * | 2021-04-13 | 2021-07-16 | 无锡威孚高科技集团股份有限公司 | Open-loop switching closed-loop control method and device for speed of permanent magnet synchronous motor without position sensor vector control |
| CN113307164A (en) * | 2021-06-01 | 2021-08-27 | 中联重科股份有限公司 | Steady speed regulation control method and device, rotation system, crane and electronic equipment |
| CN117767835A (en) * | 2024-02-22 | 2024-03-26 | 江苏纳通能源技术有限公司 | Non-inductive motor starting control method, device, system and storage medium |
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| CN113131822A (en) * | 2021-04-13 | 2021-07-16 | 无锡威孚高科技集团股份有限公司 | Open-loop switching closed-loop control method and device for speed of permanent magnet synchronous motor without position sensor vector control |
| CN113131822B (en) * | 2021-04-13 | 2022-05-13 | 无锡威孚高科技集团股份有限公司 | Open-loop switching closed-loop control method and device for speed of position-sensorless vector control permanent magnet synchronous motor |
| CN113307164A (en) * | 2021-06-01 | 2021-08-27 | 中联重科股份有限公司 | Steady speed regulation control method and device, rotation system, crane and electronic equipment |
| CN117767835A (en) * | 2024-02-22 | 2024-03-26 | 江苏纳通能源技术有限公司 | Non-inductive motor starting control method, device, system and storage medium |
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