CN109687777B - Permanent magnet synchronous motor speed sensorless control method with switching voltage secondary structure - Google Patents
Permanent magnet synchronous motor speed sensorless control method with switching voltage secondary structure Download PDFInfo
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- CN109687777B CN109687777B CN201910008725.8A CN201910008725A CN109687777B CN 109687777 B CN109687777 B CN 109687777B CN 201910008725 A CN201910008725 A CN 201910008725A CN 109687777 B CN109687777 B CN 109687777B
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention discloses a permanent magnet synchronous motor speed sensorless control method with a secondary structure of switching voltage, which comprises the following steps. Step S1: and when the last switching period is finished, calculating the duty ratio of the PWM wave in the next switching period in the main interrupt of the last calculation period of the switching period, and updating the value of the ePWM register. Step S2: and the Timer counts in the next switching period, triggers ePWM underflow interruption according to the duty ratio and sends out an actual PWM wave. The method for controlling the permanent magnet synchronous motor without the speed sensor with the secondary structure of the switching voltage disclosed by the invention can be used for carrying out the speed sensor-free control under the conditions of high power and low switching frequency by carrying out the secondary structure on the switching voltage, and has the characteristics of accurate rotation speed evaluation, easiness in realization, no need of additional resources and the like.
Description
Technical Field
The invention belongs to the technical field of power electronic current transformation, and particularly relates to a permanent magnet synchronous motor speed sensorless control method with a secondary structure of switching voltage.
Background
In a general power electronic control system, because the calculation frequency of system sampling is consistent with the switching frequency, the stator voltage of the speed-sensorless algorithm in each calculation period can be obtained according to the switching state of the three-phase bridge arm of the inverter in software.
However, in high power, low switching frequency applications, the sampling frequency of the system is greater than the carrier frequency, which results in large errors and instability of the algorithm using conventional voltage construction methods.
Specifically, in a high-power control system, the main frequency of a control chip is high, the calculation frequency (namely, the interruption frequency of main interruption) is about 40kHz, and the calculation frequency is far greater than the switching frequency of a motor inverter and is about 2.5 kHz. At this time, if the stator voltage obtained by using the switching state of the three-phase bridge arm is still used as the input of a rotation speed estimator (model reference adaptive, MRAS) of the speed-sensorless algorithm, and a vector control algorithm is used to send PWM waves, 10 to 20 calculation cycles will occur in one switching cycle, the value of a PWM register will change frequently, and the collected stator voltage value may fluctuate greatly, which affects the accuracy and reliability of the algorithm. When the MRAS algorithm is used for observing no speed sensor, most of motor control systems constructed by the literature do not carry out voltage secondary construction, but use the output of a current loop, namely a stator voltage command value, as a stator voltage value to be directly input into the MRAS algorithm. At higher switching frequencies, the MRAS algorithm can also obtain better speed estimation, but at lower switching frequencies, due to increased ripple in the modulation algorithm, the actual stator voltage and command value are not always equal, which may cause the MRAS input signal to be inaccurate, or even cause the speed estimation algorithm to diverge.
Disclosure of Invention
The invention overcomes the defects in the prior art, provides a permanent magnet synchronous motor speed sensorless control method with a switch voltage secondary structure, adopts a switch voltage secondary structure technology, is applied to permanent magnet synchronous motor speed sensorless control, and can greatly improve the stability of an algorithm and the precision of speed estimation.
The invention adopts the following technical scheme that the permanent magnet synchronous motor speed sensorless control method adopting the switching voltage secondary structure comprises the following steps of:
step S1: when the last switching period is finished, calculating the duty ratio of the PWM wave in the next switching period in the main interruption of the last calculation period of the switching period, and updating the value of the ePWM register;
step S2: and the Timer counts in the next switching period, triggers ePWM underflow interruption according to the duty ratio and sends out an actual PWM wave.
According to the technical scheme, a plurality of calculation cycles are preset for each switching cycle.
According to the above technical solution, each switching period has 10 calculation periods.
According to the above technical solution, step S2 of the permanent magnet synchronous motor speed sensorless control method of the switching voltage secondary structure specifically includes the following steps:
step S2.1: at the beginning of each switching cycle, the stator voltage values in the respective calculation cycles in this switching cycle are directly given according to the updated duty cycle values, so that the stator voltage values input to the MRAS algorithm in each calculation cycle are calculated more accurately.
According to the technical scheme, the method is characterized in that in the step S2.1:
when the PWM waves in the calculation period are all low level, the stator voltage value is 0;
when the PWM waves in the calculation period are all high levels, the stator voltage value is the direct current bus voltage;
when PWM level switching occurs in the calculation period, assume that the calculation period is TsThe high level time in this calculation period is T1Then, the average voltage is calculated according to the action time of the high and low levels as (stator voltage value):
the method for controlling the permanent magnet synchronous motor without the speed sensor with the secondary structure of the switching voltage has the advantages that the speed sensor-free control can be carried out under high-power low switching frequency by carrying out the secondary structure on the switching voltage, and meanwhile, the method has the characteristics of accurate rotation speed evaluation, easiness in realization, no need of extra resources and the like.
Drawings
Fig. 1 is a waveform diagram of a switching voltage quadratic configuration.
Fig. 2 is a schematic diagram of an actual sampling waveform of a stator voltage before a switching voltage quadratic configuration.
Fig. 3 is a schematic diagram of a high power three phase motor controller.
Fig. 4 is a schematic diagram of a permanent magnet synchronous motor sensorless control model.
Detailed Description
The invention discloses a method for controlling a permanent magnet synchronous motor speed sensorless with a secondary structure of switching voltage, and the following describes the specific implementation mode of the invention in combination with the preferred embodiment.
Referring to fig. 1 to 4 of the drawings, preferably, the switching voltage secondary configuration permanent magnet synchronous motor speed sensorless control method includes the steps of:
step S1: when the last switching period is finished, calculating the duty ratio of the PWM wave in the next switching period in the main interruption of the last calculation period of the switching period, and updating the value of the ePWM register;
step S2: and the Timer counts in the next switching period, triggers ePWM underflow interruption according to the duty ratio and sends out an actual PWM wave.
Preferably, each switching cycle is preset with several calculation cycles.
Wherein each switching period preferably has 10 calculation periods. In other words, assuming that the calculation frequency of the DSP is 10 times the switching frequency of the motor inverter, i.e. there are 10 calculation cycles in each switching cycle, the value of the electronic voltage input into the MRAS algorithm in each switching cycle is updated 10 times accordingly.
Further, step S2 of the method for controlling a permanent magnet synchronous motor without a speed sensor with a secondary switching voltage structure specifically includes the following steps:
step S2.1: at the beginning of each switching cycle, the stator voltage values in the respective calculation cycles in this switching cycle are directly given according to the updated duty cycle values, so that the stator voltage values input to the MRAS algorithm in each calculation cycle are calculated more accurately.
Wherein, in step S2.1:
when the PWM waves in the calculation period are all low level, the stator voltage value is 0;
when the PWM waves in the calculation period are all high levels, the stator voltage value is the direct current bus voltage;
when PWM level switching occurs in the calculation period, assume that the calculation period is TsThe high level time in this calculation period is T1Then, the average voltage is calculated according to the action time of the high and low levels as (stator voltage value):
according to the above preferred embodiment, the operation principle of the switching voltage secondary constructed permanent magnet synchronous motor sensorless control method disclosed in the present patent application is explained as follows.
Specifically, assuming that the calculation frequency of the DSP is 10 times the switching frequency of the motor inverter, there will be 10 calculation cycles within one switching cycle, and the stator voltage value will be updated 10 times accordingly. When each switching period is finished, the duty ratio of the PWM wave in the next switching period is calculated in the main interruption by the corresponding small calculation period, the value of the ePWM register is updated, then the Timer counts in the next switching period, the ePWM underflow interruption is triggered according to the duty ratio, and the actual PWM wave is sent (as shown by the broken line PWM wave in figure 1). In order to calculate the stator voltage values input to the MRAS algorithm more accurately in each interrupt cycle, the stator voltage values in the 10 calculation cycles in this switching cycle can be given directly at the beginning of each switching cycle from the updated duty cycle value. If the PWM wave is low level in the whole calculation period, the actual stator voltage value is 0, such as the 1 st to 3 rd and 8 th to 10 th periods in the figure 1; if the PWM waves in the whole calculation period are all high levels, the actual stator voltage value is the direct current bus voltage, such as the 5 th and 6 th periods in the figure 1; if the switching of PWM level occurs in the calculation period, assume that the calculation period is TsIf the high level time in this calculation period is, then the average voltage is calculated according to the action time of the high and low levels as follows:
the voltage after secondary construction is used as a stator voltage input value of the MRAS algorithm, so that a more accurate speed estimation result can be obtained, and the accuracy of the algorithm without the speed sensor can be ensured under low switching frequency. The actual stator voltage sampling waveform before voltage quadratic construction is shown in fig. 2. If a voltage secondary structure is not used, the transformer sampling value of each switching period is directly used as a stator voltage value after being subjected to Park conversion, when the PWM level is sampled from a period (a 4 th period in fig. 2) of low to high, the sampling result is low, and the stator voltage is updated to high only when the sampling is carried out in the next period (a 5 th period); when the PWM level is sampled from a period (7 th period) in which the PWM level is changed from high to low, the sampling result is still high, and the sampling value in the next period (8 th period) is changed to low as shown in fig. 2. Such sampling and level conversion have delay, and the high level duration is not equal to the high level duration of the actual PWM wave, which brings about a large error. It can be found that after voltage secondary construction, the stator voltage sampling value meets the area equivalence principle in each small sampling period, so that the system works stably.
According to the above preferred embodiment, the technical points of the permanent magnet synchronous motor speed sensorless control method of the switching voltage secondary structure disclosed by the patent application of the invention are explained as follows.
1) The speed sensorless control can be carried out under the conditions of high power and low switching frequency;
2) the rotating speed is evaluated accurately;
3) the algorithm is easy to implement, and no additional resource is needed.
It will be apparent to those skilled in the art that modifications and equivalents may be made in the embodiments and/or portions thereof without departing from the spirit and scope of the present invention.
Claims (3)
1. A permanent magnet synchronous motor speed sensorless control method with a switching voltage secondary structure is characterized by comprising the following steps:
step S1: when the last switching period is finished, calculating the duty ratio of the PWM wave in the next switching period in the main interruption of the last calculation period of the switching period, and updating the value of the ePWM register;
step S2: the Timer counts in the next switching period, and triggers ePWM underflow interruption according to the duty ratio to send out an actual PWM wave;
step S2.1: directly giving the stator voltage values in each calculation period in the switching period according to the updated duty ratio value at the beginning of each switching period so as to more accurately calculate the stator voltage value input into the MRAS algorithm in each calculation period;
in step S2.1:
when the PWM waves in the calculation period are all low level, the stator voltage value is 0;
when the PWM waves in the calculation period are all high levels, the stator voltage value is the direct current bus voltage;
when PWM level switching occurs in the calculation period, assume that the calculation period is TsThe high level time in this calculation period is T1Then, the average voltage is calculated according to the action time of the high and low levels as follows:
2. the method as claimed in claim 1, wherein the switching period is preset to have a plurality of calculation periods.
3. The method of claim 2, wherein there are 10 calculation cycles per switching cycle.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105703682A (en) * | 2015-12-18 | 2016-06-22 | 华南理工大学 | Position sensor-free permanent magnet synchronous motor starting method |
| CN107086834A (en) * | 2017-05-02 | 2017-08-22 | 西北工业大学 | The permanent-magnet synchronous motor rotor position delay compensation method evaluation method of Square wave injection |
| CN108054962A (en) * | 2017-12-21 | 2018-05-18 | 天津大学 | A kind of brushless direct current motor sensorless control method |
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| US7944160B2 (en) * | 2008-03-12 | 2011-05-17 | GM Global Technology Operations LLC | Redundant DC bus discharge for an electric motor system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703682A (en) * | 2015-12-18 | 2016-06-22 | 华南理工大学 | Position sensor-free permanent magnet synchronous motor starting method |
| CN107086834A (en) * | 2017-05-02 | 2017-08-22 | 西北工业大学 | The permanent-magnet synchronous motor rotor position delay compensation method evaluation method of Square wave injection |
| CN108054962A (en) * | 2017-12-21 | 2018-05-18 | 天津大学 | A kind of brushless direct current motor sensorless control method |
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