CN109428530A - The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result - Google Patents
The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result Download PDFInfo
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- CN109428530A CN109428530A CN201710791700.0A CN201710791700A CN109428530A CN 109428530 A CN109428530 A CN 109428530A CN 201710791700 A CN201710791700 A CN 201710791700A CN 109428530 A CN109428530 A CN 109428530A
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- rotor
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- initial position
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result, this method makes motor operation to stable state first, keeps input q shaft current iq=0；Increase motor speed ω, inputs d shaft current id, and change i in a certain rangedValue, while detecting the voltage U of d axisd；If UdOnly level off to zero in the range of variation by a small margin, it was demonstrated that rotor initial position detection is accurate before starting；, whereas if UdValue constantly increase or reduce, illustrating the testing result of initial position of rotor, there are deviations, need to shut down and be detected again with correction error.The accuracy of this method verifying initial position of rotor detection simultaneously corrects error that may be present, improves the precision of rotor-position detection, reaches maximization motor output torque, improve the stability of motor operation.
Description
Technical field
The present invention relates to a kind of methods for diagnosing permanent-magnetic synchronous motor rotor initial position detection result.
Background technique
Permanent magnet synchronous motor the characteristics of its own due to being widely used, specifically, the permanent magnet knot of rotor
Electric energy loss when structure runs driving motor is smaller, has higher efficiency compared with common induction machine, higher
Power factor (PF) and bigger detent torque, meet the requirement of energy-saving and emission-reduction, low-carbon environment-friendly.Furthermore its is small in size, light-weight,
It is its one of advantage.
Currently, vector controlled (FOC) is a kind of mature, mainstream control means of permanent magnet synchronous motor.It needs to select
The a certain rotating excitation field axis of motor is selected as specific synchronization rotational coordinate ax, can specifically be divided into rotor field-oriented, air gap magnetic
Field orientation and stator flux orientation.However in addition to rotor field-oriented, there is coupling in the magnetic linkage of motor and close in remaining both of which
System makes control become complicated instead, only rotor field-oriented, by imitating the control mode of direct current generator, by stator around
The Current Decomposition of group is magnetic-field component and torque component, realizes decoupling control.The control algolithm is required according to rotor permanent magnet
Magnetic direction determines the direction of stator field, this allows for becoming especially to weigh to the detection of rotor-position before electric motor starting
It wants.In general, the detection of rotor-position is carried out using sensors such as such as rotary transformers, or with no sensor
Technology estimates the initial position of rotor that the method that mainstream uses is that high frequency electrocardiography and direct current are locked according to algorithm
Method of principal axes.
The saliency principle of motor is utilized in High Frequency Injection, injects a kind of continue to stator winding by artificial
High frequency low voltage signal, the corresponding stator current signal generated of acquisition motor, then rotor is therefrom isolated by data processing
Position and polarity information.
Direct current lock shaft rule is at least two alternate direct currents for being passed through a certain size by the threephase stator winding to motor
Electric current, stator has a fixed phase angle at this time, and the d axis of rotor will be locked on corresponding phase angle, thus
Current rotor-position is obtained.
However, either using sensor detection initial position of rotor according further to algorithm carry out position estimation, all because
There is indeterminable problems in the presence of factors such as dampings for the processing of analog signal or rotor, until making the detection knot to rotor-position
There is a certain error for fruit, to influence the vector controlled of motor.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of diagnosis permanent-magnetic synchronous motor rotor initial position detection knots
The method of fruit, the accuracy of this method verifying initial position of rotor detection simultaneously correct error that may be present, improve rotor-position
The precision of detection reaches maximization motor output torque, improves the stability of motor operation.
In order to solve the above technical problems, the present invention diagnoses the method packet of permanent-magnetic synchronous motor rotor initial position detection result
Include following steps:
Step 1: being opened after being detected using high frequency electrocardiography or direct current lock shaft method to original position of electric motor's rotator
Dynamic motor is simultaneously run to stable state；
Step 2: keeping the electric current i of input q axisq=0, so that the magnetic linkage of q axis is zero, to remove q axis magnetic linkage to d axis electricity
Press UdInfluence；
Step 3: increasing motor speed ω, d shaft current i is inputtedd, and the minimum weak magnetoelectricity stream of motor to motor can be with
Change i within the scope of the maximum allowed current of receivingdThe size of value, while measuring the voltage U of d axisd；
Step 4: if with idThe variation of value, UdValue only level off to zero in the range of change, show UdValue only by
The influence of armature winding resistance is arrived, and q axis is aligned with the magnetic field of rotor at this time, the magnetic field orthotropic of d axis and rotor, it was demonstrated that electricity
Machine rotor initial position detection result is accurate；, whereas if UdValue constantly increases or reduces, and illustrates original position of electric motor's rotator
There are deviations for testing result, need to shut down and be detected again with correction error.
Since the method for present invention diagnosis permanent-magnetic synchronous motor rotor initial position detection result uses above-mentioned technical side
Case, i.e. this method make motor operation to stable state first, keep input q shaft current iq=0；Increase motor speed ω, input d axis electricity
Flow id, and change i in a certain rangedValue, while detecting the voltage U of d axisd；If UdOnly level off to zero in the range of
Variation by a small margin, it was demonstrated that rotor initial position detection is accurate before starting；, whereas if UdValue constantly increase or reduce,
Illustrating the testing result of initial position of rotor, there are deviations, need to shut down and be detected again with correction error.At the beginning of this method verifies rotor
The accuracy of beginning position detection simultaneously corrects error that may be present, improves the precision of rotor-position detection, reaches maximization motor
Output torque improves the stability of motor operation.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and embodiments:
Fig. 1 is d-q axis schematic diagram when original position of electric motor's rotator detection is accurate；
Fig. 2 is that there are the d-q axis schematic diagrames of amperometry when measured deviation for original position of electric motor's rotator；
Fig. 3 is that there are the d-q axis schematic diagrames of voltage analysis when measured deviation for original position of electric motor's rotator.
Specific embodiment
The method that the present invention diagnoses permanent-magnetic synchronous motor rotor initial position detection result includes the following steps:
Step 1: being opened after being detected using high frequency electrocardiography or direct current lock shaft method to original position of electric motor's rotator
Dynamic motor is simultaneously run to stable state；
Step 2: keeping the electric current i of input q axisq=0, so that the magnetic linkage of q axis is zero, to remove q axis magnetic linkage to d axis electricity
Press UdInfluence；
Step 3: increasing motor speed ω, d shaft current i is inputtedd, and the minimum weak magnetoelectricity stream of motor to motor can be with
Change i within the scope of the maximum allowed current of receivingdThe size of value, while measuring the voltage U of d axisd；
Step 4: if with idThe variation of value, UdValue only level off to zero in the range of change, show UdValue only by
The influence of armature winding resistance is arrived, and q axis is aligned with the magnetic field of rotor at this time, the magnetic field orthotropic of d axis and rotor, it was demonstrated that electricity
Machine rotor initial position detection result is accurate；, whereas if UdValue constantly increases or reduces, and illustrates original position of electric motor's rotator
There are deviations for testing result, need to shut down and be detected again with correction error.Theoretically, when q axis is aligned with the magnetic field of rotor, d axis with
When the magnetic field orthotropic of rotor, UdFor the product of motor stator winding resistance and d shaft current, in general, stator winding resistance
Value is in milliohm rank, even if being different the motor value in 10 milliohm grades or so, while motor acceptable is maximum allowable
Electric current is because motor model, IGBT drive module etc. are because being known as biggish variation, and in general, maximum value is in several hundred peace ranks；Cause
If this original position of electric motor's rotator is correct, UdIt is only changed in the range of being similar to zero for one, relative to rotor
There are larger differences for the state of initial positional deviation.
It similarly, can also be using holding iq=0, by idIt is maintained at the value of a non-zero, by adjusting electricity in a certain range
The method of machine rotational speed omega diagnoses come the result detected to initial position of rotor, almost the same with the principle of this method, all
It is that diagnosis is realized according to the voltage equation under motor stable state.
After completing to the identification of original position of electric motor's rotator, starting motor is up to motor operation is in stable state.At this point, electric
The instantaneous magnetic linkage of machine does not change, so the magnetic linkage and voltage equation of motor d axis and q axis are respectively as follows:
ψd=Ldid+ψf
ψq=Lqiq
Ud=-ω ψq+Rsid
Uq=ω ψd+Rsiq
Wherein: ψdAnd ψqFor d axis, the stator magnetic linkage of q axis, ψfFor rotor flux, UdAnd UqFor the voltage of stator d, q axis, Ld
And LqFor the armature inductance of d, q axis, idAnd iqFor the electric current of d, q axis, RsFor the resistance of armature winding, ω is the electric angle speed of motor
Degree.
When motor operation is in stable state, keeping the electric current of q axis is 0, then at this time:
ψq=0
Ud=Rsid
Ud=Rsid
The size for changing d shaft current at this time, observes the voltage on d axis.As shown in Figure 1, if rotor-position identification is accurate
Errorless, q axis is aligned with rotor-position, and d axis is vertical with q axis, then the electric current of d axis will not generate projection on q axis, so d axis
Voltage UdNo matter idHow to change all only can because of armature resistance presence and generate one level off to zero very little value.And because
For according to the characteristic of motor, RsValue be known, so when setting idWhen value is fixed, obtained theoretical value and survey can be used
Magnitude is mutually authenticated.
When the detection of initial position of rotor is there are when error, i.e., q axis fails to be aligned with the magnetic field position of rotor, such as schemes
Shown in 2, there is two coordinate systems in magnetic field at this time: quadrature axis is aligned with rotor field, the d-axis true seat orthogonal with rotor field
Mark system, two axis are indicated with d-q；There are the pseudo-coordinates of deviation angle error, two axis are indicated with d'-q'.
Assuming that there are angle of deviation θ for the detection of initial position of rotor, then inputs all at this time, output and to voltage
Observation is all based on pseudo-coordinates d'-q', keeps i according to testing processq'=0, input the electric current i on a d' axisd', because partially
The presence of declinate θ, id'It can actually be decomposed, be projected on the d-q axis of true coordinates system, generate electric current idAnd iq.Also
It is to say, keeps i according to pseudo-coordinatesq'=0, input current id', practical to both provide electricity on the d axis and q axis of true coordinates system
Stream.Voltage equation according to motor, it can be determined that fastened in true coordinates produce voltage U outdAnd Uq.And between voltage and current
There are a phase anglesAnd the observation to horizontal axis voltage is based on pseudo-coordinates.So for the convenience of description, drawing here
Enter pseudo- voltage coordinate system du'-qu', the angle of deviation between the coordinate system and pseudo-coordinates d'-q' is
By UdIt decomposes, is projected on two axis of pseudo- voltage coordinate system, U is labeled as in Fig. 2d1And Uq1；Equally, UqIt is decomposed
It is projected in pseudo- voltage coordinate and fastens and be noted as Ud2And Uq2.It can be seen that applying electric current i on pseudo-coordinatesd', finally have
Additional voltage is added on horizontal axis d', value Ud1-Ud2.It should be noted that this voltage value additionally generated is very small,
In order to accurate detection to this voltage, according to voltage equation, need to amplify this voltage value, institute using a high revolving speed
Before the voltage for changing horizontal axis to need that the rotational speed omega of motor is increased to and is maintained at a higher value.
In conclusion the horizontal axis voltage measured is not only by armature winding when there are position deviation angle
The R that voltage generatessid'.Also influenced by quadrature axis current, quadrature axis magnetic linkage on pseudo-coordinates.
As shown in figure 3, because not being related to electric current, what is used is true, pseudo- coordinate if analyzed from the angle of voltage
System is voltage coordinate system, is indicated in Fig. 3 with du-qu and du'-qu', and there are angle of deviation θ between them, when to rotor initial bit
Voltage U when the positioning set generates error, on the quadrature axis q' of pseudo-coordinatesq'It can be thrown on two axis of true coordinates system
Shadow generates voltage UdAnd Uq.And the two voltages can also carry out second decomposition and projection on pseudo-coordinates.UdIn pseudo-coordinates
Two axis on projection generate voltage Ud1And Uq1, UqProjection generates voltage U on pseudo-coordinatesd2And Uq2, it is possible to obtain knot
By: Uq'The voltage being finally added on pseudo-coordinates horizontal axis d' is Ud1-Ud2.In addition the voltage that armature winding resistance generates, final horizontal
Shaft voltage are as follows:
Ud'=Ud1-Ud2+Rsid'
According to above formula it is found that additionally the voltage that is added on du' axis is to making Ud'Not equal to Rsid'。
Again because of the voltage equation according to motor quadrature axis, work as iq'When=0:
Uq'=ω (Ldid'+ψf)
In the formula, because revolving speed is improved before changing d shaft current and is maintained at a higher value, ω value
It is constant, Uq'The variation of value is mainly derived from id'Variation.And U is above illustratedq'To Ud'Influence.So can lead to
Cross UqVariation, will cause UdOccur corresponding variation, proves that q axis is not aligned with rotor-position with this, rotor initial bit
There are errors for the detection set.
In addition to what is be outlined above, by iq=0, it keeps ω larger and constant, changes idMethod outside.It can also be by idIt protects
The value held in a non-zero is constant, judge whether horizontal axis voltage changes by changing rotational speed omega, judges that rotor is initial with this
Whether position is to just.Its principle and this method are essentially identical, are judged according to the voltage steady-state equation of motor.
From the angle analysis of electric current, because of the presence of the angle of deviation, the definite value electric current i of inputd'Eventually added on d' axis
Additional voltage.This voltage some from Ud, another part is from Uq.The two values are not right in rotor-position
It is all influenced, can be changed with the change of revolving speed by revolving speed in the case where neat.This has also eventually led to Ud'Value with turn
Speed changes and corresponding variation occurs.
From the angle analysis of voltage, U as seen from the aboved'Change be because of Uq', according to the U having been givenq'Equation,
Guaranteeing id'In the case where being a nonzero value, changing rotational speed omega will affect Uq'Value, to change Ud'Value.It is demonstrate,proved with this
Bright q axis is not aligned with rotor-position, and there are errors for the detection of initial position of rotor.
The present invention can be used for verifying the accuracy of initial position of rotor detection and school in the case where being not necessarily to extras
Error just that may be present reaches maximization motor output torque to improve the precision detected to rotor-position, improves motor fortune
Capable stability.Furthermore it is ensured that the alignment of rotor-position can export attainable nominal torque in design to the greatest extent,
It can guarantee the stability that motor is run under different operating conditions, be correspondingly improved security performance.
Claims (1)
1. a kind of method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result, it is characterised in that this method includes as follows
Step:
Step 1: after being detected using high frequency electrocardiography or direct current lock shaft method to original position of electric motor's rotator, starting electricity
Machine is simultaneously run to stable state；
Step 2: keeping the electric current i of input q axisq=0, so that the magnetic linkage of q axis is zero, to remove q axis magnetic linkage to d shaft voltage Ud's
It influences；
Step 3: increasing motor speed ω, d shaft current i is inputtedd, and in the minimum weak magnetoelectricity stream of motor to motor acceptable
Change i within the scope of maximum allowed currentdThe size of value, while measuring the voltage U of d axisd；
Step 4: if with idThe variation of value, UdValue only level off to zero in the range of change, show UdValue only receives
The influence of armature winding resistance, and q axis is aligned with the magnetic field of rotor at this time, the magnetic field orthotropic of d axis and rotor, it was demonstrated that and motor turns
Sub- initial position detection result is accurate；, whereas if UdValue constantly increases or reduces, and illustrates that original position of electric motor's rotator detects
As a result there is deviation, need to shut down and be detected again with correction error.
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| CN201710791700.0A CN109428530A (en) | 2017-09-05 | 2017-09-05 | The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result |
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| CN201710791700.0A CN109428530A (en) | 2017-09-05 | 2017-09-05 | The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415379A (en) * | 2019-08-20 | 2021-02-26 | 联合汽车电子有限公司 | Method for diagnosing motor fault |
| CN112636663A (en) * | 2020-11-02 | 2021-04-09 | 上海有个机器人有限公司 | Shaft locking method for servo motor |
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| CN1832328A (en) * | 2005-03-09 | 2006-09-13 | 上海三菱电梯有限公司 | Deducing method for initial magnetic position of permanent synchro motor |
| CN101594114A (en) * | 2009-07-02 | 2009-12-02 | 哈尔滨工业大学 | Method for determining initial position angle of rotor of permanent magnet synchronous motor |
| CN104022710A (en) * | 2014-05-28 | 2014-09-03 | 南京航空航天大学 | Method of detecting initial position of surface-mounted permanent magnet synchronous motor rotor |
| CN104660140A (en) * | 2015-01-16 | 2015-05-27 | 南京航空航天大学 | Permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection |
| US20160202296A1 (en) * | 2014-11-05 | 2016-07-14 | Stmicroelectronics S.R.L. | Sensorless rotor angle detection circuit and method for a permanent magnet synchronous machine |
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- 2017-09-05 CN CN201710791700.0A patent/CN109428530A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1832328A (en) * | 2005-03-09 | 2006-09-13 | 上海三菱电梯有限公司 | Deducing method for initial magnetic position of permanent synchro motor |
| CN101594114A (en) * | 2009-07-02 | 2009-12-02 | 哈尔滨工业大学 | Method for determining initial position angle of rotor of permanent magnet synchronous motor |
| CN104022710A (en) * | 2014-05-28 | 2014-09-03 | 南京航空航天大学 | Method of detecting initial position of surface-mounted permanent magnet synchronous motor rotor |
| US20160202296A1 (en) * | 2014-11-05 | 2016-07-14 | Stmicroelectronics S.R.L. | Sensorless rotor angle detection circuit and method for a permanent magnet synchronous machine |
| CN104660140A (en) * | 2015-01-16 | 2015-05-27 | 南京航空航天大学 | Permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415379A (en) * | 2019-08-20 | 2021-02-26 | 联合汽车电子有限公司 | Method for diagnosing motor fault |
| CN112636663A (en) * | 2020-11-02 | 2021-04-09 | 上海有个机器人有限公司 | Shaft locking method for servo motor |
| CN112636663B (en) * | 2020-11-02 | 2023-09-08 | 上海有个机器人有限公司 | Servo motor shaft locking method |
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Application publication date: 20190305 |