CN110212820A - The electric excitation biconvex electrode electric machine loaded starting method of six state advanced angle controls - Google Patents
The electric excitation biconvex electrode electric machine loaded starting method of six state advanced angle controls Download PDFInfo
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- CN110212820A CN110212820A CN201910484174.2A CN201910484174A CN110212820A CN 110212820 A CN110212820 A CN 110212820A CN 201910484174 A CN201910484174 A CN 201910484174A CN 110212820 A CN110212820 A CN 110212820A
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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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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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
-
- 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
- H02P6/186—Circuit arrangements for detecting position without separate position detecting elements using difference of inductance or reluctance between the phases
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of electric excitation biconvex electrode electric machine loaded starting methods of six state advanced angle controls, the size of current of this method real-time detection conducting phase, the series connection incremental inductance of corresponding conducting two-phase is calculated using the difference of the electric current rate of rise and descending slope during current chopping, according to during conducting connect incremental inductance monotonic decreasing the characteristics of, setting shifts to an earlier date the corresponding threshold value inductance in commutation position with three, commutation position in advance whether is reached by comparing series connection incremental inductance estimated value and threshold decision rotor, motor speed is estimated according to motor operating time between two neighboring commutation position in advance, revolving speed integrate and combines known commutation position in advance that can estimate the other three standard commutation position, to realize the position-sensor-free loaded starting to electric excitation biconvex electrode electric machine.Compared to based on three condition standard angle control, without position starting method, the present invention is remarkably improved motor load capacity and effectively inhibits motor torque ripple.
Description
Technical field
The present invention relates to Motor Control Field more particularly to electric excitation biconvex electrode electric machine low speed position Sensorless Control skills
Art, specifically a kind of electric excitation biconvex electrode electric machine loaded starting method of six state advanced angle controls.
Background technique
Electric excitation biconvex electrode electric machine is simple by its structure, high reliablity, and controls flexible and convenient feature, rises in aviation
Dynamic/power field has broad application prospects.The motor is used to that rotor-position need to be detected when drive system and is accurately changed with realizing
Phase, tradition machinery formula position sensor reduce system reliability, increase cost, limit the application range of motor, therefore
Research electric excitation biconvex electrode electric machine position-sensor-free running technology is of great significance.
The low speed position Sensorless Control that electric excitation biconvex electrode electric machine band carries is always position-sensor-free technical field
Difficult point.Detection pulse replaces the main side that injection method is the position detection for motor low speed operation at present with acceleration pulse
Method.This method itself is contributed the technological deficiency that low, torque pulsation is big, commutation error is big there are motor.This method can only answer simultaneously
For under traditional three condition standard angle control.Six state advanced angle control strategies are gone back while improving motor output torque
Motor torque ripple can effectively be inhibited, thus have higher application value.However it is had no at present in six state degree of advance controls
The lower pertinent literature report for realizing electric excitation biconvex electrode electric machine position-sensor-free loaded starting of system.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of six states for defect involved in background technique
The electric excitation biconvex electrode electric machine loaded starting method of advanced angle control realizes that electric excitation biconvex electrode electric machine position-sensor-free is low
Speed belt carries reliable and stable operation.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The electric excitation biconvex electrode electric machine loaded starting method of six state advanced angle controls comprising the steps of:
Step 1) controls the electricity of conducting two-phase using Current cut control method when electric excitation biconvex electrode electric machine low speed is run
Stream；
Step 2), according to current location judge next commutation position in advance commutation position or standard commutation position, if
It is that in advance 3) commutation position thens follow the steps, if standard commutation position executes step 4)；
Step 3) utilizes the difference meter of the electric current rate of rise and descending slope for copped wave each time during current chopping
The series connection incremental inductance for calculating corresponding conducting two-phase, will be connected the series connection incremental inductance of two-phase compared with preset inductance threshold value
Compared with carrying out commutation if series connection incremental inductance is less than or equal to preset inductance threshold value, update rotor-position, and according to adjacent two
Motor operating time calculates average motor revolving speed between a commutation position in advance, then jumps and executes step 1)；
Step 4) integrate to mean speed and the commutation position in advance updated is combined to calculate rotor real time position, when
Rotor real time position carries out commutation when reaching standard commutation position, and average motor revolving speed is constant at this time, then jumps execution step
1。
Electric excitation biconvex electrode electric machine loaded starting method as six state advanced angle controls of the invention is further excellent
Change scheme calculates the series connection incremental inductance of conducting two-phase (x, y) in step 3) according to the following formula:
Wherein, lx(θ,ix) be forward conduction phase incremental inductance, Lx(θ,ix) be forward conduction phase apparent inductance, ly
(θ,iy) be reverse-conducting phase incremental inductance, Ly(θ,iy) be reverse-conducting phase incremental inductance, Lxf(θ,ix) it is forward conduction
View between phase winding and excitation winding is in mutual inductance, Lyf(θ,iy) view between reverse-conducting phase winding and excitation winding in mutual inductance,The rate of rise and descending slope of two-phase transient current i is respectively connected, θ is motor rotor position, ixFor forward direction
Phase current, i is connectedyFor reverse-conducting phase current, VD、VTThe respectively equivalent pressure drop of power diode and switching tube.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the present invention is directed to the application of electric excitation biconvex electrode electric machine loaded starting.
2, the invention avoids traditional detection pulses, and to replace injection method bring phase current with acceleration pulse discontinuous
Problem improves motor power output, motor torque ripple is effectively reduced.
3, the present invention can realize that electric excitation biconvex electrode electric machine position-sensor-free starts fortune under the control of six state advance angles
Row further improves motor power output and inhibits motor torque ripple compared to three condition standard angle control.
Detailed description of the invention
Fig. 1 is the three-phase electric excitation biconvex electrode electric machine two-dimensional structure figure of 12/8 pole structure of the embodiment of the present invention.
Fig. 2 is the hardware block diagram of electric machine control system of the embodiment of the present invention.
Fig. 3 is the schematic diagram of six state advanced angle controls.
Fig. 4 is phase winding apparent inductance figure of the electric excitation biconvex electrode electric machine of the present invention when exciting current is 20A and is unloaded.
Fig. 5 is phase winding incremental inductance figure of the electric excitation biconvex electrode electric machine of the present invention when exciting current is 20A and is unloaded.
Fig. 6 is that electric excitation biconvex electrode electric machine of the present invention is connected two when exciting current is 20A, runs under different armature supplys
The series connection incremental inductance curve graph of phase.
Fig. 7 is the control flow chart of electric excitation biconvex electrode electric machine low speed position-sensor-free technology of the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary,
It is thorough and complete to these embodiments are provided so that the disclosure, and model of the invention will be given full expression to those skilled in the art
It encloses.In the accompanying drawings, for the sake of clarity it is exaggerated component.
The invention discloses a kind of electric excitation biconvex electrode electric machine loaded starting methods of six state advanced angle controls, include
Following steps:
Step 1) controls the electricity of conducting two-phase using Current cut control method when electric excitation biconvex electrode electric machine low speed is run
Stream；
Step 2), according to current location judge next commutation position in advance commutation position or standard commutation position, if
It is that in advance 3) commutation position thens follow the steps, if standard commutation position executes step 4)；
Step 3) utilizes the difference meter of the electric current rate of rise and descending slope for copped wave each time during current chopping
The series connection incremental inductance for calculating corresponding conducting two-phase, will be connected the series connection incremental inductance of two-phase compared with preset inductance threshold value
Compared with carrying out commutation if series connection incremental inductance is less than or equal to preset inductance threshold value, update rotor-position, and according to adjacent two
Motor operating time calculates average motor revolving speed between a commutation position in advance, then jumps and executes step 1)；
Step 4) integrate to mean speed and the commutation position in advance updated is combined to calculate rotor real time position, when
Rotor real time position carries out commutation when reaching standard commutation position, and average motor revolving speed is constant at this time, then jumps execution step
1。
The series connection incremental inductance of conducting two-phase (x, y) is calculated in step 3) according to the following formula:
Wherein, lx(θ,ix) be forward conduction phase incremental inductance, Lx(θ,ix) be forward conduction phase apparent inductance, ly
(θ,iy) be reverse-conducting phase incremental inductance, Ly(θ,iy) be reverse-conducting phase incremental inductance, Lxf(θ,ix) it is forward conduction
View between phase winding and excitation winding is in mutual inductance, Lyf(θ,iy) view between reverse-conducting phase winding and excitation winding in mutual inductance,The rate of rise and descending slope of two-phase transient current i is respectively connected, θ is motor rotor position, ixFor forward direction
Phase current, i is connectedyFor reverse-conducting phase current, VD、VTThe respectively equivalent pressure drop of power diode and switching tube.
Preset inductance threshold value is related with commutation position and phase current in advance, when degree of advance is fixed, preset electricity
It is only related with phase current to feel threshold value, the dimensional table of the inductance threshold value and phase current can be established offline, when motor operation according to phase
The amplitude of electric current is tabled look-up with the real-time update inductance threshold value.
It is illustrated by taking the three-phase electric excitation biconvex electrode electric machine of 12/8 pole shown in FIG. 1 structure as an example below, control system
The hardware block diagram of system is as shown in Fig. 2, specifically include that three-phase full-bridge inverter, controller and three-phase electric excitation biconvex electrode electric machine,
Wherein UdcFor DC bus-bar voltage, S1~S6For power MOSFET, D1~D6For anti-paralleled diode, Ra、Rb、RcRespectively motor
Three-phase windings resistance, La、Lb、LcRespectively motor A, B, C three-phase windings view is in self-induction, ia、ib、icRespectively motor three-phase is mutually electric
Stream.
As shown in figure 3, " six state advanced angle control " of the electric excitation biconvex electrode electric machine using degree of advance by optimization,
Wherein β is to shift to an earlier date angle of overlap.Commutation six times in motor each period, corresponding six commutation positions are divided into two groups, and one group is ordered
Entitled commutation position in advance, respectively 80 °, 200 ° and 320 °；Another group by naming standard commutation position, respectively 120 °,
240 ° and 360 °.Two-phase simultaneously turns under each on state, and six on states are respectively " A+C- ", " B+C- ", " B+
A- ", " C+A- ", " C+B- " and " A+B- ", "+" indicate forward conduction, and "-" indicates reverse-conducting.Stagnant ring is used when electric motor starting
Chop control is carried out to armature supply.
According to the definition of incremental inductance, the incremental inductance of the every phase winding of electric excitation biconvex electrode electric machine be may be expressed as:
Equally, the series connection incremental inductance of two conducting phases under each on state may be expressed as:
As it can be seen that the incremental inductance of every phase winding is not only related with the phase current, it is also current related with excitation winding, and electricity is encouraged
Magnetic double salient-pole electric machine needs biggish exciting current that could export larger torque, and when usual electric motor starting passes to constant excitation electricity
Stream, motor saturation of magnetic path is high at this time, and increment self-induction differs larger with apparent inductance, as shown in Figure 4.
Using phase winding voltage equation, can be counted within a current chopping period according to the electric current rate of rise and descending slope
The series connection incremental inductance for calculating two conducting phases, may be expressed as:
After electric motor starting, a phase winding leads to positive current in each on state, and another phase winding leads to negative current.Positive electricity
Miscarriage is raw to increase magnetic armature reaction, and negative current generates degaussing armature-reaction.Degaussing armature-reaction becomes to series connection incremental inductance variation
Gesture is affected.In these three the conducting sections " A+C- ", " B+A- " and " C+B- ", the series connection incremental inductance of two-phase is connected with turning
It is in monotonous decreasing trend that sub- position, which increases, as shown in Figure 5.When exciting current is constant, connect incremental inductance descending slope and armature
Size of current is related, and armature supply is bigger, and descending slope is bigger.
As shown in fig. 6, being position-sensor-free starting method flow chart of the invention.Phase is connected according to two in the present invention
The characteristic of series connection incremental inductance monotonic decreasing proposes a kind of commutation method for detecting position.At each commutation position in advance
Set an inductance threshold value L related with phase currentth(i), respectively Lth_ 80 ° (i), Lth_ 200 ° (i), Lth_320°(i).It is logical
The method for crossing off-line test establishes the dimensional table of threshold value inductance value and phase current, when motor operation according to the amplitude of phase current into
Row is tabled look-up with real-time update threshold value inductance value.
Then following steps are used:
Step 1, the electric current of conducting two-phase is controlled when electric excitation biconvex electrode electric machine starts using Current cut control method；
Step 2, according to current location judge next commutation position in advance commutation position or standard commutation position, if
Commutation position then enters step 3 in advance, if standard commutation position then skips to step 4；
Step 3, corresponding conducting two-phase is calculated using the electric current rate of rise and the difference of descending slope during current chopping
Series connection incremental inductance, the primary then primary series connection incremental inductance of estimation of every copped wave；By the series connection increment electricity of the conducting two-phase of estimation
Sense carries out commutation when incremental inductance estimated value of connecting is less than inductance threshold value, updates and turn compared with preset threshold value inductance
Sub- position is θt, motor speed ω is estimated according to the motor operating time Δ t between two neighboring commutation position in advancet, revolving speed expression
Are as follows:
Then return step 1；
Step 4, to rotational speed omegatIntegrate and combines the commutation position θ in advance updatedtIt can estimate rotor real time position θe,
It may be expressed as:
Commutation is carried out when rotor reaches standard commutation position, then return step 1.
Electric excitation biconvex electrode electric machine is set to realize position-sensor-free under six state advanced angle controls according to above step
Loaded starting.Position-sensor-free location-estimation algorithm of the invention all uses software realization, does not occupy additional hardware
Resource.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (2)
1. the electric excitation biconvex electrode electric machine loaded starting method of six state advanced angle controls, which is characterized in that include following step
It is rapid:
Step 1) controls the electric current of conducting two-phase using Current cut control method when electric excitation biconvex electrode electric machine low speed is run；
Step 2) judges next commutation position for commutation position or standard commutation position in advance, if mentioning according to current location
3) preceding commutation position thens follow the steps, if standard commutation position executes step 4)；
Step 3) utilizes the electric current rate of rise and the calculating pair of the difference of descending slope for copped wave each time during current chopping
The series connection incremental inductance for the conducting two-phase answered compares the series connection incremental inductance that two-phase is connected with preset inductance threshold value, such as
Fruit series connection incremental inductance is less than or equal to preset inductance threshold value and then carries out commutation, updates rotor-position, and is mentioned according to two neighboring
Motor operating time calculates average motor revolving speed between preceding commutation position, then jumps and executes step 1)；
Step 4) integrate to mean speed and the commutation position in advance updated is combined to calculate rotor real time position, works as rotor
Real time position carries out commutation when reaching standard commutation position, and average motor revolving speed is constant at this time, then jumps and executes step 1.
2. the electric excitation biconvex electrode electric machine loaded starting method of six states advanced angle control according to claim 1,
It is characterized in that, calculates the series connection incremental inductance of conducting two-phase (x, y) in step 3) according to the following formula:
Wherein, lx(θ,ix) be forward conduction phase incremental inductance, Lx(θ,ix) be forward conduction phase apparent inductance, ly(θ,iy)
For the incremental inductance of reverse-conducting phase, Ly(θ,iy) be reverse-conducting phase incremental inductance, Lxf(θ,ix) it is forward conduction phase winding
View between excitation winding is in mutual inductance, Lyf(θ,iy) view between reverse-conducting phase winding and excitation winding in mutual inductance,The rate of rise and descending slope of two-phase transient current i is respectively connected, θ is motor rotor position, ixFor forward direction
Phase current, i is connectedyFor reverse-conducting phase current, VD、VTThe respectively equivalent pressure drop of power diode and switching tube.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114244241A (en) * | 2021-12-22 | 2022-03-25 | 河海大学 | Online selection method for optimal advanced commutation angle of doubly salient electro-magnetic motor |
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| US5998946A (en) * | 1997-10-08 | 1999-12-07 | Daewoo Electronics Co., Ltd. | Method and apparatus for controlling a rotation of a sensorless and brushless DC motor |
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