CN109921697A - A kind of electric motor starting method and apparatus - Google Patents
A kind of electric motor starting method and apparatus Download PDFInfo
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- CN109921697A CN109921697A CN201910064745.7A CN201910064745A CN109921697A CN 109921697 A CN109921697 A CN 109921697A CN 201910064745 A CN201910064745 A CN 201910064745A CN 109921697 A CN109921697 A CN 109921697A
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Abstract
The present invention provides a kind of electric motor starting method and apparatus, the electric motor starting method includes: positioning acceleration time section, according to carrying the electric current positioning instruction of location current value and carrying the motor positioning instruction of frequency values, respectively to the q axis of motor and d axis input current；The asynchronous dragging period maintains the input current of q axis and the input current of d axis, according to preset direction of rotation and the cycle command frequency being stepped, asynchronous dragging motor rotation；When the running frequency of motor reaches asynchronous drag target frequency, by position estimation mode, the position estimation angle of motor is calculated；Position estimation angle is judged whether in angle adjustable section, if it is, control motor sequence drags to position-sensor-free speed closed loop transition stage and position-sensor-free closed-loop control stage into asynchronous；Otherwise, continue asynchronous dragging motor rotation.Scheme provided by the invention can be such that motor also can normally starts in high-load situations, this.
Description
Technical field
The present invention relates to motor control technology field, in particular to a kind of electric motor starting method and apparatus.
Background technique
Motor start-up procedure is generally divided into positioning stage, the asynchronous dragging stage, asynchronous drags to position-sensor-free speed
Closed loop transition switch step and position-sensor-free velocity close-loop control state.Wherein, in the prior art, positioning stage and
Asynchronous dragging stage, speed ring are generally opened loop control, i.e., instruct such as motor drag frequency instruction to motor input control, and
Defaulting motor is run according to control instruction.But after asynchronous dragging, motor physical location and actual speed and control
There is a certain error between the theoretical value of instruction, and such as actual speed does not catch up with order revolving speed etc., bigger in motor load
In the case of, this error can be bigger, frequently results in electric motor starting failure.
Summary of the invention
The embodiment of the invention provides a kind of electric motor starting method and apparatus, can make motor in high-load situations, this
Can normally it start, to effectively improve the starting efficiency of motor.
A kind of electric motor starting method, comprising:
Sequence executes following N1 to N4:
N1: fixed according to carrying into preset positioning acceleration time section when receiving the enabled instruction of the motor
The electric current positioning instruction of position current value and the motor positioning instruction for carrying frequency values, respectively to the q axis of the motor and d axis
Input current, and running frequency is inputted to the motor；
N2: after entering the preset asynchronous dragging period, the input of the input current and the d axis of the q axis is maintained
Electric current, according to preset direction of rotation and the cycle command frequency being stepped, the asynchronous dragging motor rotation；
N3: when the running frequency of the motor reaches asynchronous drag target frequency, by position estimation mode, institute is calculated
State the position estimation angle of motor；
N4: the position estimation angle is judged whether in angle adjustable section, if it is, controlling the motor sequence
Position-sensor-free speed closed loop transition stage and position-sensor-free closed-loop control stage are dragged into asynchronous；Otherwise, it ties up
Hold the input current of the q axis and the input current of the d axis, according to the asynchronous drag target frequency, asynchronous dragging institute
Motor rotation is stated, and executes the N3.
Preferably,
The location current value that the electric current positioning instruction carries, comprising: the input current value of the q axis is zero, institute
The input current value for stating d axis is stepped from zero is increased to preset positioning target current；
The frequency values that the motor positioning instruction carries are zero.
Preferably,
Above-mentioned electric motor starting method further comprises: default positioning retention time section；
Described respectively to the q axis of the motor and d axis input current, and to the motor input running frequency after,
Described according to preset direction of rotation and the cycle command frequency being stepped, before the asynchronous dragging motor rotation, into
One step includes: that the control motor enters the preset positioning retention time section, to maintain the input current of the q axis be zero,
The input current of the d axis is the positioning target current and the running frequency is zero.
Preferably,
Described respectively to after the q axis of the motor and d axis input current, further comprise: d axis described in real-time detection
Actual current；
The input current value of the d axis is stepped from zero is increased to positioning target current, and it is public to meet following location currents
Formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for d axis input；Idm-1Characterize the m-1 times electricity for d axis input
Flow corresponding actual current；I* dBCharacterize the positioning target current；T0Characterize the preset positioning acceleration time section, T0Unit
For ms；Id0=0.
Preferably,
The cycle command frequency being stepped, meets following cycle command frequency formulas；
Cycle command frequency formula:
Wherein, f* dnCharacterization n-th controls the cycle command frequency of the motor；f* dn-1Characterize electricity described in the (n-1)th secondary control
The cycle command frequency of machine；f* dBCharacterize the asynchronous drag target frequency；T2Characterize the preset asynchronous dragging period, T2
Unit is ms；fd0=0.
Preferably,
It is described to judge the position estimation angle whether in angle adjustable section, comprising:
Judgement | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theoretical position angle；θT' characterization the position
Estimated angle；θthCharacterize preset adjustable angle threshold value.
Preferably,
The control motor drags to position-sensor-free speed closed loop transition stage into asynchronous, comprising:
According to I* d=I* dBCos α is the d axis input current of the motor, wherein I* dCharacterize the input electricity of the d axis
Stream；I* dBPreset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
According to I* q=I* dBSin α is the q axis input current of the motor, wherein I* qCharacterize the input electricity of the q axis
Stream；I* dBPreset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
After the α increases to 90 degree, the motor drags to position-sensor-free speed closed loop transition rank into asynchronous
Section terminates.
Preferably,
The motor is permanent magnet synchronous DC motor.
A kind of motor starting device, comprising: positioning accelerator module, asynchronous tug unit, angle evaluation unit and starting
Prejudge unit, wherein
The positioning accelerator module, for accelerating into preset positioning when receiving the enabled instruction of the motor
Period, according to carrying the electric current positioning instruction of location current value and carrying the motor positioning instruction of frequency values, respectively
Running frequency is inputted to the q axis and d axis input current of the motor, and to the motor；
The asynchronous tug unit maintains the positioning accelerator module after entering the preset asynchronous dragging period
It is the input current of the q axis and d axis input at the end of positioning acceleration, according to preset direction of rotation and is stepped
Cycle command frequency, asynchronous dragging motor rotation, when receiving the triggering of the starting anticipation unit, described in maintenance
It is the input current of the q axis and d axis input at the end of positioning accelerator module positioning acceleration, according to the asynchronous dragging
Target frequency, the asynchronous dragging motor rotation；
The angle evaluation unit, for reaching when the running frequency of the asynchronous asynchronous dragging motor of tug unit
When asynchronous drag target frequency, by position estimation mode, the position estimation angle of the motor is calculated；
The starting prejudges unit, for judge the position estimation angle whether in angle adjustable section, if so,
It then controls motor sequence and drags to position-sensor-free speed closed loop transition stage and position-sensor-free closes into asynchronous
Ring controls the stage；Otherwise, the asynchronous tug unit is triggered.
Preferably,
The location current value that the electric current positioning instruction carries, comprising: the input current value of the q axis is zero, institute
The input current value for stating d axis is stepped from zero is increased to preset positioning target current；
The frequency values that the motor positioning instruction carries are zero.
Preferably,
Above-mentioned motor starting device further comprises: positioning holding unit, wherein
The positioning accelerator module is further used for triggering the positioning at the end of positioning acceleration time section and protecting
Hold unit；
The positioning holding unit, for receive it is described positioning accelerator module triggering when, control the motor into
Enter the preset positioning retention time section, maintaining the input current of the q axis is zero, the input current of the d axis is described
It positions target current and the running frequency is zero.
Preferably,
Above-mentioned motor starting device further comprises: detection unit, wherein
The detection unit, the actual current for d axis described in real-time detection；
The positioning accelerator module is further used for obtaining the actual current for the d axis that the detection unit detects,
Then the input current value of the d axis is stepped from zero is increased to positioning target current, meets following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for d axis input；Idm-1Characterize the m-1 times electricity for d axis input
Flow the actual current that the corresponding detection unit detects；I* dBCharacterize the positioning target current；T0It characterizes preset
The positioning acceleration time section, T0Unit is ms；Id0=0.
Preferably,
The cycle command frequency being stepped, meets following cycle command frequency formulas；
Cycle command frequency formula:
Wherein, f* dnCharacterization n-th controls the cycle command frequency of the motor；f* dn-1Characterize electricity described in the (n-1)th secondary control
The cycle command frequency of machine；f* dBCharacterize the asynchronous drag target frequency；T2Characterize the preset asynchronous dragging period, T2
Unit is ms；fd0=0.
Preferably,
The starting prejudges unit, for judging | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theoretical position
Angle setting degree；θT' characterization position estimation the angle；θthCharacterize preset adjustable angle threshold value.
The embodiment of the invention provides a kind of electric motor starting method and apparatus, which includes: that sequence executes
N1 to N4:N1: electric according to positioning is carried into preset positioning acceleration time section in the enabled instruction for receiving motor
The electric current positioning instruction of flow valuve and the motor positioning instruction for carrying frequency values, respectively to the q axis of motor and d axis input electricity
Stream, and running frequency is inputted to motor；N2: after entering the preset asynchronous dragging period, the input current and d of q axis are maintained
The input current of axis, according to preset direction of rotation and the cycle command frequency being stepped, asynchronous dragging motor rotation；N3:
When the running frequency of motor reaches asynchronous drag target frequency, by position estimation mode, the position estimation angle of motor is calculated
Degree；N4: position estimation angle is judged whether in angle adjustable section, if it is, control motor sequence enters asynchronous dragging
To position-sensor-free speed closed loop transition stage and position-sensor-free closed-loop control stage；Otherwise, the input electricity of q axis is maintained
The input current of stream and d axis, according to asynchronous drag target frequency, asynchronous dragging motor rotation, and execute N3.Motor is negative in height
In the case of load, judge position estimation angle whether in angle adjustable section, and estimated angle angle adjustable section can guarantee
Electric motor starting success, if do not continue if adjust estimated angle until estimated angle in angle adjustable section, electricity can be made
Machine also can normally start in high-load situations, this, to effectively improve the starting efficiency of motor.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of flow chart of electric motor starting method provided by one embodiment of the present invention；
Fig. 2 is a kind of flow chart for electric motor starting method that another embodiment of the present invention provides；
Fig. 3 is a kind of curve graph of motor start-up procedure frequency raising speed provided by one embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of motor starting device provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of motor starting device provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of motor starting device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, this method may comprise steps of the embodiment of the invention provides a kind of electric motor starting method:
Step 101: in the enabled instruction for receiving motor, into preset positioning acceleration time section, according to carrying
The electric current positioning instruction of location current value and the motor positioning instruction for carrying frequency values, it is defeated to the q axis of motor and d axis respectively
Enter electric current, and inputs running frequency to motor；
Step 102: after entering the preset asynchronous dragging period, maintaining the input current of q axis and the input electricity of d axis
Stream, according to preset direction of rotation and the cycle command frequency being stepped, asynchronous dragging motor rotation；
Step 103: when the running frequency of motor reaches asynchronous drag target frequency, by position estimation mode, calculating
The position estimation angle of motor；
Step 104: position estimation angle is judged whether in angle adjustable section, if so, thening follow the steps 105；It is no
Then, step 106 is executed；
Step 105: control motor sequence drags to position-sensor-free speed closed loop transition stage and without position into asynchronous
Set the sensor closed-loop control stage；
Step 106: the input current of q axis and the input current of d axis are maintained, it is asynchronous according to asynchronous drag target frequency
The motor rotation is dragged, and executes step 103.
Upper motor can be the motor of refrigerator inner compressor, or the motor in washing machine.
It is also counterclockwise, to be preset according to different motor demands that preset direction of rotation, which can be clockwise,.
Wherein, position estimation mode can be used existing position estimation and obtain, and details are not described herein.
In the embodiment shown in fig. 1, in the enabled instruction for receiving motor, into the preset positioning acceleration time
Section, according to carrying the electric current positioning instruction of location current value and carrying the motor positioning instruction of frequency values, respectively to electricity
The q axis and d axis input current of machine, and running frequency is inputted to motor；Into after the preset asynchronous dragging period, q axis is maintained
Input current and d axis input current, it is asynchronous to drag according to preset direction of rotation and the cycle command frequency that is stepped
Dynamic motor rotation；When the running frequency of motor reaches asynchronous drag target frequency, by position estimation mode, motor is calculated
Position estimation angle；Position estimation angle is judged whether in angle adjustable section, if it is, control motor is sequentially into different
Step drags to position-sensor-free speed closed loop transition stage and position-sensor-free closed-loop control stage；Otherwise, q axis is maintained
The input current of input current and d axis, according to asynchronous drag target frequency, asynchronous dragging motor rotation, and estimated by position
Calculation mode calculates the position estimation angle of motor.Whether motor in high load situations, judges position estimation angle in adjustable angle
It spends in section, and estimated angle can guarantee electric motor starting success in angle adjustable section, estimate angle if not continuing adjustment if
Degree until estimated angle in angle adjustable section, motor can be made also can normally to start in high-load situations, this, thus
Effectively improve the starting efficiency of motor.
In an alternative embodiment of the invention, in above-mentioned steps 101, the location current value that electric current positioning instruction carries,
The input current value for including: q axis is that the input current value of zero, d axis is stepped from zero and is increased to preset positioning target current；
The frequency values that motor positioning instruction carries are zero.The input current value of the d axis is stepped from zero is increased to preset positioning mesh
Electric current is marked, the electric current of d axis is slowly increased, and can guarantee that the electric current of d axis also can be as far as possible even if under high load as far as possible
Reach positioning target current, to guarantee that subsequent starting is normal.
In an alternative embodiment of the invention, above-mentioned electric motor starting method further comprises: default positioning retention time section；?
Respectively to the q axis of motor and d axis input current, and after inputting running frequency to motor, according to preset direction of rotation and
The cycle command frequency being stepped, before the asynchronous dragging motor rotation, further comprise: control motor enters preset
Retention time section is positioned, maintaining the input current of q axis is zero, the input current of d axis is positioning target current and running frequency
It is zero.Through the process before entering the asynchronous dragging period, it can be shaken, that is, guaranteed due to caused by inertia to avoid motor
Before entering the asynchronous dragging period, motor is completely in stationary state, to be further ensured that the standard of subsequent estimated angle
True property.
In an alternative embodiment of the invention, to after the q axis of motor and d axis input current, further comprising respectively: real
When detect d axis actual current；
The input current value of d axis is stepped from zero is increased to positioning target current, meets following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for the input of d axis；Idm-1It is corresponding to characterize the m-1 times electric current for the input of d axis
Actual current；I* dBCharacterization positioning target current；T0Characterize preset positioning acceleration time section, T0Unit is ms；Id0=0.Pass through
The above process makes the actual current of d axis reach theoretical value as far as possible, to guarantee subsequent normal starting as far as possible.
In another embodiment, it is public to meet following cycle command frequencies for the cycle command frequency being stepped
Formula；
Cycle command frequency formula:
Wherein, f* dnCharacterize the cycle command frequency of n-th control motor；f* dn-1Characterize the period of the (n-1)th secondary control motor
Order frequency；f* dBCharacterize asynchronous drag target frequency；T2Characterize preset asynchronous dragging period, T2Unit is ms；fd0=0.
In an alternative embodiment of the invention, judge position estimation angle whether a kind of specific reality in angle adjustable section
The mode of applying can are as follows: judgement | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theoretical position angle；θTDescribed in ' characterization
Position estimation angle；θthCharacterize preset adjustable angle threshold value.
In an alternative embodiment of the invention, the control motor enters the asynchronous position-sensor-free speed that drags to and closes
A kind of specific embodiment of ring transition stage can are as follows: according to I* d=I* dBCos α is the d axis input current of motor, wherein I* d
Characterize the input current of d axis；I* dBPreset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；According to
I* q=I* dBSin α is the q axis input current of motor, wherein I* qCharacterize the input current of q axis；I* dBCharacterize preset positioning mesh
Electric current is marked, α characterizes set angle, and α increases to 90 degree from 0；After α increases to 90 degree, motor drags to no position into asynchronous
Sensor speed closed loop transition stage terminates.
In an alternative embodiment of the invention, above-mentioned motor is permanent magnet synchronous DC motor.
As shown in Fig. 2, this method may comprise steps of the embodiment of the invention provides a kind of electric motor starting method:
Step 200: default positioning acceleration time section, positioning retention time section and asynchronous dragging period；
The case where each period can be according to motor, when factory, are set.
Step 201: in the enabled instruction for receiving motor, into preset positioning acceleration time section, according to carrying
The electric current positioning instruction of location current value and the motor positioning instruction for carrying frequency values, it is defeated to the q axis of motor and d axis respectively
Enter electric current, and inputs running frequency to motor；
Step 202: the actual current of real-time detection d axis；
In step 201, the location current value that electric current positioning instruction carries is that the input current value of q axis is the defeated of zero, d axis
Enter current value and be stepped from zero to be increased to preset positioning target current, the frequency values that motor positioning instruction carries are zero；Its
In, the input current value of d axis is stepped from zero is increased to preset positioning target current, meets following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for the input of d axis；Idm-1Characterizing the m-1 times that step 202 detects is d axis
The corresponding actual current of the electric current of input；I* dBCharacterization positioning target current；T0Characterize preset positioning acceleration time section, T0Unit
For ms；Id0=0.Under high load due to motor, d shaft current actual value and the theoretical value of input can have a certain difference, and lead to
This kind of d shaft current input mode is crossed, so that d shaft current is to the greatest extent close to theoretical current value.
Step 203: control motor enters preset positioning retention time section, and the input current of maintenance q axis is zero, d axis
Input current is positioning target current and running frequency is zero；
To guarantee that motor can complete precise positioning, motor caused by avoiding due to inertia is shaken.
Step 204: after entering the preset asynchronous dragging period, maintaining the input current of q axis and the input electricity of d axis
Stream, according to preset direction of rotation and the cycle command frequency being stepped, asynchronous dragging motor rotation；
In the step, the cycle command frequency being stepped meets following cycle command frequency formulas；
Cycle command frequency formula:
Wherein, f* dnCharacterize the cycle command frequency of n-th control motor；f* dn-1Characterize the period of the (n-1)th secondary control motor
Order frequency；f* dBCharacterize asynchronous drag target frequency；T2Characterize preset asynchronous dragging period, T2Unit is ms；fd0=0.
The electric machine frequency increases the theoretical value that mode can make the actual value of frequency be close to frequency as far as possible, meanwhile, avoid motor
Motor caused by raising speed is too fast shakes.
Step 205: when the running frequency of motor reaches asynchronous drag target frequency, by position estimation mode, calculating
The position estimation angle of motor；
Step 206: position estimation angle is judged whether in angle adjustable section, if so, thening follow the steps 207；It is no
Then, step 208 is executed；
The specific implementation of the step are as follows: judgement | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theory
Position angle；θT' characterization position estimation the angle；θthCharacterize preset adjustable angle threshold value.
Step 207: control motor sequence drags to position-sensor-free speed closed loop transition stage and without position into asynchronous
Set the sensor closed-loop control stage；
The specific implementation of the step are as follows: according to I* d=I* dBCos α is the d axis input current of motor, wherein I* dTable
Levy the input current of d axis；I* dBPreset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
According to I* q=I* dBSin α is the q axis input current of motor, wherein I* qCharacterize the input current of the q axis；I* dB
Preset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
After α increases to 90 degree, motor, which enters the asynchronous position-sensor-free speed closed loop transition stage that drags to, to be terminated.
Step 208: the input current of q axis and the input current of d axis are maintained, it is asynchronous according to asynchronous drag target frequency
The motor rotation is dragged, and executes step 205.
By above-mentioned positioning acceleration time section, positioning retention time section, the asynchronous dragging period, asynchronous drag to no position
Sensor speed closed loop transition stage and position-sensor-free closed-loop control stage, electric machine frequency situation of change is as shown in figure 3, figure
In 3, T0For positioning acceleration time section, T1Position retention time section, T2For asynchronous dragging period, T3No position is dragged to be asynchronous
Set sensor speed closed loop transition stage, T4For the position-sensor-free closed-loop control stage, electric machine frequency is in the positioning acceleration time
Section and positioning retention time section are zero, start to increase into the asynchronous dragging period, asynchronous to drag to position-sensor-free speed
Closed loop transition stage and position-sensor-free closed-loop control stage, electric machine frequency enters freely to be risen according to default closed loop control process
The fast stage；fhnaxTo complete the maximum frequency that the position-sensor-free closed-loop control stage reaches.
As shown in figure 4, the embodiment of the present invention provides a kind of motor starting device, comprising: positioning accelerator module 401, asynchronous
Tug unit 402, angle evaluation unit 403 and starting anticipation unit 404, wherein
Accelerator module 401 is positioned, in the enabled instruction for receiving motor, into the preset positioning acceleration time
Section, according to carrying the electric current positioning instruction of location current value and carrying the motor positioning instruction of frequency values, respectively to electricity
The q axis and d axis input current of machine, and running frequency is inputted to motor；
Asynchronous tug unit 402 maintains positioning accelerator module 401 fixed after entering the preset asynchronous dragging period
The input current that position inputs at the end of accelerating for q axis and d axis, according to preset direction of rotation and the cycle command being stepped
Frequency, asynchronous dragging motor rotation maintain positioning accelerator module 401 to position when receiving the triggering of starting anticipation unit 404
The input current inputted at the end of acceleration for q axis and d axis, according to asynchronous drag target frequency, asynchronous dragging motor rotation；
Angle evaluation unit 403 reaches asynchronous for the running frequency when the asynchronous dragging motor of asynchronous tug unit 402 and drags
When moving-target frequency, by position estimation mode, the position estimation angle of motor is calculated；
Starting anticipation unit 404, for judging the calculated position estimation angle of angle evaluation unit 403 whether adjustable
In angular interval, if it is, control motor sequence into it is asynchronous drag to position-sensor-free speed closed loop transition stage and
The position-sensor-free closed-loop control stage；Otherwise, asynchronous tug unit 402 is triggered.
In an alternative embodiment of the invention, the location current value that above-mentioned electric current positioning instruction carries, comprising: q axis
Input current value is that the input current value of zero, d axis is stepped from zero and is increased to preset positioning target current；Motor positioning refers to
Enabling the frequency values carried is zero.
In an alternative embodiment of the invention, as shown in figure 5, above-mentioned motor starting device, further comprises: positioning keeps single
Member 501, wherein
Accelerator module 401 is positioned, is further used at the end of positioning acceleration time section, triggering positioning holding unit 501；
Holding unit 501 is positioned, for when receiving the triggering of positioning accelerator module 401, control motor to enter default
The positioning retention time section, maintain q axis input current be zero, the input current of d axis be positioning target current and operation frequency
Rate is zero.
In an alternative embodiment of the invention, as shown in fig. 6, above-mentioned motor starting device, further comprises: detection unit
601, wherein
Detection unit 601, the actual current for real-time detection d axis；
Accelerator module 401 is positioned, is further used for obtaining the actual current for the d axis that detection unit 601 detects, then d axis
Input current value be stepped from zero be increased to positioning target current, meet following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for d axis input；Idm-1Characterize the m-1 times electricity for d axis input
Flow the actual current that the corresponding detection unit detects；I* dBCharacterize the positioning target current；T0It characterizes preset
The positioning acceleration time section, T0Unit is ms；Id0=0.
In an alternative embodiment of the invention, the above-mentioned cycle command frequency being stepped, meets following cycle command frequencies
Formula；
Cycle command frequency formula:
Wherein, f* dnCharacterize the cycle command frequency of n-th control motor；f* dn-1Characterize the period of the (n-1)th secondary control motor
Order frequency；f* dBCharacterize asynchronous drag target frequency；T2Characterize preset asynchronous dragging period, T2Unit is ms；fd0=0.
In an alternative embodiment of the invention, starting anticipation unit 404, for judging |T-θT' | whether it is not more than θth,
In, θTCharacterize preset theoretical position angle；θT' characterization position estimation the angle；θthCharacterize preset adjustable angle threshold value.
The contents such as the information exchange between each unit, implementation procedure in above-mentioned apparatus, due to implementing with the method for the present invention
Example is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
The embodiment of the invention provides a kind of readable mediums, including execute instruction, when the processor of storage control executes
Described when executing instruction, the storage control executes the method that any of the above-described embodiment of the present invention provides.
The embodiment of the invention provides a kind of storage controls, comprising: processor, memory and bus；The memory
It is executed instruction for storing, the processor is connect with the memory by the bus, when the storage control is run
When, the processor executes the described of memory storage and executes instruction, so that the storage control executes in the present invention
The method that any embodiment offer is provided.
In conclusion more than the present invention each embodiment at least has the following beneficial effects:
1, in embodiments of the present invention, sequence executes N1 to N4:N1: in the enabled instruction for receiving motor, into pre-
If positioning acceleration time section, it is fixed according to the electric current positioning instruction for carrying location current value and the motor for carrying frequency values
Bit instruction respectively to the q axis of motor and d axis input current, and inputs running frequency to motor；N2: enter preset asynchronous drag
After the dynamic period, the input current of q axis and the input current of d axis are maintained, according to preset direction of rotation and is stepped
Cycle command frequency, asynchronous dragging motor rotation；N3: when the running frequency of motor reaches asynchronous drag target frequency, pass through
Position estimation mode calculates the position estimation angle of motor；N4: judge position estimation angle whether in angle adjustable section,
If it is, control motor sequence drags to position-sensor-free speed closed loop transition stage and position-sensor-free into asynchronous
The closed-loop control stage；Otherwise, the input current of q axis and the input current of d axis are maintained, it is different according to asynchronous drag target frequency
Dragging motor rotation is walked, and executes N3.Whether motor in high load situations, judges position estimation angle in angle adjustable section
It is interior, and estimated angle angle adjustable section can guarantee electric motor starting success, if do not continue if adjust estimated angle until
Estimated angle can be such that motor also can normally starts in high-load situations, this, thus effectively in angle adjustable section
Improve the starting efficiency of motor.
2, in embodiments of the present invention, the location current value that electric current positioning instruction carries, comprising: the input current value of q axis
It is that the input current value of zero, d axis is stepped from zero and is increased to preset positioning target current；The input current value of the d axis from
Zero, which is stepped, is increased to preset positioning target current, and the electric current of d axis is slowly increased, and can guarantee as far as possible even if in height
Under load, the electric current of d axis can also reach positioning target current as far as possible, to guarantee that subsequent starting is normal.
3, positioning retention time section in embodiments of the present invention, is preset；Respectively to the q axis of motor and d axis input current,
It is asynchronous to drag according to preset direction of rotation and the cycle command frequency that is stepped and after to motor inputting running frequency
Before moving the motor rotation, further comprise: control motor enters preset positioning retention time section, maintains the input of q axis
Electric current is zero, the input current of d axis is positioning target current and running frequency is zero.Entering asynchronous dragging by the process
It before period, can be shaken, that is, guaranteed before entering the asynchronous dragging period, motor due to caused by inertia to avoid motor
It is completely in stationary state, so that it is further ensured that the accuracy of subsequent estimated angle, thus be further ensured that under high load,
Motor normally starts.
It should be noted that, in this document, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment for including a series of elements not only includes those elements,
It but also including other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can store in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
In the various media that can store program code such as disk.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of electric motor starting method characterized by comprising
Sequence executes following N1 to N4:
N1: electric according to positioning is carried into preset positioning acceleration time section when receiving the enabled instruction of the motor
The electric current positioning instruction of flow valuve and the motor positioning instruction for carrying frequency values are inputted to the q axis of the motor and d axis respectively
Electric current, and running frequency is inputted to the motor；
N2: after entering the preset asynchronous dragging period, maintaining the input current of the q axis and the input current of the d axis,
According to preset direction of rotation and the cycle command frequency being stepped, the asynchronous dragging motor rotation；
N3: when the running frequency of the motor reaches asynchronous drag target frequency, by position estimation mode, the electricity is calculated
The position estimation angle of machine；
N4: judge that the position estimation angle whether in angle adjustable section, enters if it is, controlling the motor sequence
It is asynchronous to drag to position-sensor-free speed closed loop transition stage and position-sensor-free closed-loop control stage；Otherwise, institute is maintained
The input current of q axis and the input current of the d axis are stated, according to the asynchronous drag target frequency, the asynchronous dragging electricity
Machine rotation, and execute the N3.
2. electric motor starting method according to claim 1, which is characterized in that
The location current value that the electric current positioning instruction carries, comprising: the input current value of the q axis is zero, the d axis
Input current value be stepped from zero and be increased to preset positioning target current；
The frequency values that the motor positioning instruction carries are zero.
3. electric motor starting method according to claim 2, which is characterized in that
Further comprise: default positioning retention time section；
Described respectively to the q axis of the motor and d axis input current, and to the motor input running frequency after, in institute
It states according to preset direction of rotation and the cycle command frequency being stepped, before the asynchronous dragging motor rotation, further
It include: that the control motor enters the preset positioning retention time section, to maintain the input current of the q axis be zero, the d
The input current of axis is the positioning target current and the running frequency is zero.
4. electric motor starting method according to claim 2, which is characterized in that
Described respectively to after the q axis of the motor and d axis input current, further comprise: the reality of d axis described in real-time detection
Border electric current；
The input current value of the d axis is stepped from zero is increased to positioning target current, meets following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for d axis input；Idm-1Characterize the m-1 times electric current pair for d axis input
The actual current answered；I* dBCharacterize the positioning target current；T0Characterize the preset positioning acceleration time section, T0Unit is
ms；Id0=0.
5. electric motor starting method according to claim 1, which is characterized in that the cycle command frequency being stepped,
Meet following cycle command frequency formulas；
Cycle command frequency formula:
Wherein, f* dnCharacterization n-th controls the cycle command frequency of the motor；f* dn-1Characterize motor described in the (n-1)th secondary control
Cycle command frequency；f* dBCharacterize the asynchronous drag target frequency；T2Characterize the preset asynchronous dragging period, T2Unit
For ms；fd0=0.
6. electric motor starting method according to claim 1, which is characterized in that described whether to judge the position estimation angle
In angle adjustable section, comprising:
Judgement | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theoretical position angle；θT' characterization the position estimation
Angle；θthCharacterize preset adjustable angle threshold value.
7. electric motor starting method according to any one of claims 1 to 6, which is characterized in that the control motor enters
It is asynchronous to drag to position-sensor-free speed closed loop transition stage, comprising:
According to I* d=I* dBCos α is the d axis input current of the motor, wherein I* dCharacterize the input current of the d axis；I* dB
Preset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
According to I* q=I* dBSin α is the q axis input current of the motor, wherein I* qCharacterize the input current of the q axis；I* dB
Preset positioning target current is characterized, α characterizes set angle, and α increases to 90 degree from 0；
After the α increases to 90 degree, the motor drags to position-sensor-free speed closed loop transition stage knot into asynchronous
Beam；
And/or
The motor is permanent magnet synchronous DC motor.
8. a kind of motor starting device characterized by comprising positioning accelerator module, asynchronous tug unit, angle evaluation unit
And starting anticipation unit, wherein
The positioning accelerator module, for when receiving the enabled instruction of the motor, into the preset positioning acceleration time
Section, according to carrying the electric current positioning instruction of location current value and carrying the motor positioning instruction of frequency values, respectively to institute
The q axis and d axis input current of motor are stated, and inputs running frequency to the motor；
The asynchronous tug unit maintains the positioning accelerator module positioning after entering the preset asynchronous dragging period
It is the input current of the q axis and d axis input at the end of acceleration, according to preset direction of rotation and the week being stepped
Phase order frequency, the asynchronous dragging motor rotation maintain the positioning when receiving the triggering of the starting anticipation unit
It is the input current of the q axis and d axis input at the end of accelerator module positioning acceleration, according to the asynchronous drag target
Frequency, the asynchronous dragging motor rotation；
The angle evaluation unit, for reaching asynchronous when the running frequency of the asynchronous asynchronous dragging motor of tug unit
When drag target frequency, by position estimation mode, the position estimation angle of the motor is calculated；
The starting prejudges unit, for judging the position estimation angle whether in angle adjustable section, if it is, control
It makes the motor sequence and drags to position-sensor-free speed closed loop transition stage and position-sensor-free closed loop control into asynchronous
Stage processed；Otherwise, the asynchronous tug unit is triggered.
9. device according to claim 8, which is characterized in that
The location current value that the electric current positioning instruction carries, comprising: the input current value of the q axis is zero, the d axis
Input current value be stepped from zero and be increased to preset positioning target current；
The frequency values that the motor positioning instruction carries are zero.
10. device according to claim 9, which is characterized in that
Further comprise: positioning holding unit, wherein
The positioning accelerator module is further used at the end of the positioning acceleration time section, triggers the positioning and keeps single
Member；
The positioning holding unit, for controlling the motor and entering in advance when receiving the triggering of the positioning accelerator module
If positioning retention time section, maintain that the input current of the q axis is zero, the input current of the d axis is the positioning
Target current and the running frequency are zero；
And/or
Further comprise: detection unit, wherein
The detection unit, the actual current for d axis described in real-time detection；
The positioning accelerator module is further used for obtaining the actual current for the d axis that the detection unit detects, then institute
The input current value for stating d axis is stepped from zero is increased to positioning target current, meets following location current formula；
Location current formula:
Wherein, I* dmCharacterize the m times electric current for d axis input；Idm-1Characterize the m-1 times electric current pair for d axis input
The actual current that the detection unit answered detects；I* dBCharacterize the positioning target current；T0It characterizes preset described
Position acceleration time section, T0Unit is ms；Id0=0；
And/or
The cycle command frequency being stepped, meets following cycle command frequency formulas；
Cycle command frequency formula:
Wherein, f* dnCharacterization n-th controls the cycle command frequency of the motor；f* dn-1Characterize motor described in the (n-1)th secondary control
Cycle command frequency；f* dBCharacterize the asynchronous drag target frequency；T2Characterize the preset asynchronous dragging period, T2Unit
For ms；fd0=0；
And/or
The starting prejudges unit, for judging | θT-θT' | whether it is not more than θth, wherein θTCharacterize preset theoretical position angle
Degree；θT' characterization position estimation the angle；θthCharacterize preset adjustable angle threshold value.
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| CN113162507A (en) * | 2021-05-08 | 2021-07-23 | 佛山市威灵洗涤电机制造有限公司 | Fan control method, fan, household appliance and readable storage medium |
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