CN110247591B - Two-step electro-magnetic doubly salient motor rotor initial position estimation method - Google Patents

Two-step electro-magnetic doubly salient motor rotor initial position estimation method Download PDF

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CN110247591B
CN110247591B CN201910530124.3A CN201910530124A CN110247591B CN 110247591 B CN110247591 B CN 110247591B CN 201910530124 A CN201910530124 A CN 201910530124A CN 110247591 B CN110247591 B CN 110247591B
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CN110247591A (en
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周兴伟
张犁
吴峰
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Hohai University HHU
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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
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

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Abstract

The invention discloses a two-step type electro-magnetic doubly salient motor rotor initial position estimation method, which comprises the following steps: s1: injecting detection pulses A + B + C-into three-phase windings of an electro-magnetic doubly salient motor, and sampling A, B two-phase response current i at the end time of the detection pulsesaAnd ibDetermining the response current ia、ibAnd winding self-inductance La、LbThe relationship between; s2: according to response current ia、ibAnd winding self-inductance La、LbThe relation between the two phases is that the detection pulse is injected again, the response current of B, C two phases or C, A two phases is sampled at the end time of the detection pulse, and the minimum phase winding self-inductance is determined; s3: and estimating the initial position of the rotor of the doubly salient electro-magnetic motor through the minimum phase winding self-inductance, and determining the initial electrified phase when the doubly salient electro-magnetic motor position-free sensor can be started at a low speed. The method carries out the initial position estimation of the motor rotor by searching the self-induction minimum phase through two-step injection detection pulse, shortens the estimation time of the rotor position and improves the initial starting performance of the system to a certain extent.

Description

Two-step electro-magnetic doubly salient motor rotor initial position estimation method
Technical Field
The invention relates to the technical field of motor control, in particular to a two-step type electro-magnetic doubly salient motor rotor initial position estimation method.
Background
The electro-magnetic doubly salient motor has the advantages of simple and reliable structure, flexible control, good fault-tolerant performance and the like as a novel special reluctance motor, and is widely concerned in the fields of aviation, wind power generation and the like. The installation of the mechanical position sensor in the traditional electric excitation doubly salient motor system not only increases the volume cost, but also reduces the system reliability, so that the position-sensor-free control strategy has important research value, and the research on the position-sensor-free control strategy of the electric excitation doubly salient motor at home and abroad is still in the starting stage at present. The counter potential is the most mature control method without the position sensor at present, but the counter potential at the low speed stage has low amplitude and is difficult to apply. In fact, low speed sensorless starting is a research difficulty in the field of sensorless control of motors, where rotor initial position estimation is the basis of low speed sensorless starting, and existing research generally implements estimation of low speed rotor position by injecting detection pulses.
Chinese patent publication No.: CN 102291070 a, publication date: 12/21/2011, a method for starting a doubly-salient motor by using a position-sensor-free control is disclosed, and comprises the following steps: applying a pulse voltage with the same time and amplitude to each stator winding combination mode through an inverter respectively, detecting a corresponding current value when each voltage is finished, wherein the correspondingly generated current value is a function of equivalent inductance of each combination mode, a corresponding relation exists between the inductance and the rotor position, and the initial position of the rotor can be obtained by comparing the current values in an indirect way; and switching on a corresponding switch of the inverter according to the steering direction, so that the stator magnetic potential generated by the corresponding stator winding current is advanced by a determined angle range from the initial position, the interaction between the synthetic magnetic potential generated by the stator winding current and the permanent magnetic field is ensured to obtain the maximum average electromagnetic torque, and the motor rotates towards the given steering direction. The method does not need a position sensor or a motor parameter obtained in advance, and the realization of the method is not influenced by the change of the motor parameter. However, the method needs to inject 6 detection pulses, which increases the system starting time, and the injected detection pulses inevitably generate negative electromagnetic torque, thereby reducing the system starting performance.
Chinese patent publication No.: CN 103684137 a, announcement date: in 2016, 08, 17 months and discloses a low-speed operation position-sensorless technology of an electrically-excited doubly-salient motor based on a series inductance slope threshold value, two-phase armature windings of the electrically-excited doubly-salient motor are simultaneously conducted, a switching tube performs high-frequency chopping during low-speed operation, bus current values when the switching tube is conducted and disconnected are respectively detected, bus chopping current slope values when the switching tube is conducted and disconnected are respectively calculated in a digital controller, then a current conducting phase series self-inductance slope value is calculated, and a phase change point is judged by comparing the current conducting phase series self-inductance slope value with a preset motor phase change point series self-inductance slope threshold value. And starting commutation when the series self-inductance slope value is less than or equal to a set threshold value. The method overcomes the defects that the back electromotive force can not be directly detected when the motor runs at low speed, an external circuit is required, the change of the series self-inductance at the position of the commutation point is not easy to detect, and the like, obtains a simple and easy-to-realize position-sensor-free control strategy, and lays a foundation for the low-speed stable running of the electro-magnetic doubly salient motor. However, the method needs to set the phase-change inductance threshold value according to the motor parameters, and has poor portability.
Chinese patent publication No.: CN 103236807 a, publication date: in 2013, 08 and 07 months, a novel rotor initial position detection technology for a three-phase electro-magnetic doubly salient motor during six-state starting is disclosed. Because the position-sensorless technology of the electro-magnetic doubly salient motor is rarely researched at home and abroad, the invention provides a method for estimating the position of a rotor based on two-to-two phase conduction injection low-voltage pulse vector aiming at the characteristic that the unique armature inductance value of the three-phase electro-magnetic doubly salient motor is a rotor position function. According to the method, only the terminal voltage of the non-conducting phase needs to be detected, and the initial position of the rotor can be accurately estimated by comparing the response amplitude values of the terminal voltage of the non-conducting phase in the conducting stage and the follow current stage. The method does not need any additional components, saves an armature current sampling mutual inductor, is economical and practical, has the positioning precision of 600, and ensures that the three-phase electro-magnetic doubly salient motor can be started in six states so as to increase the starting torque. However, this method requires the injection of a plurality of detection pulses, degrades the initial start-up performance of the system, and requires the additional addition of a terminal voltage sensor.
Chinese patent publication No.: CN 104617832 a, publication date: 2015, 05 and 13, discloses a non-reversal starting method for an electrically-excited doubly salient motor, which is characterized in that an excitation winding is electrified when the motor is static, the sector where a rotor is located is judged by comparing the sizes of three-phase induction voltages Ua, Ub and Uc in the rising process of excitation current, the initial position of the rotor is accurately calculated according to the geometric similarity relation in an 'inductance rectangle' of the doubly salient motor, and acceleration pulses are injected from the obtained position of the rotor to ensure that the motor is not reversed to start. Compared with the traditional initial position judging method, the method does not need to inject detection pulses into the armature winding, avoids the shaking and the reversal of the motor in the initial position detecting process, reduces the time required by position judgment, does not need to increase an additional hardware circuit, is not influenced by motor parameters, and is easy to realize. However, the rotor initial position estimation algorithm is relatively complex, and the method is only suitable for the rotor position estimation in the initial static stage.
At present, rotor position estimation of a plurality of electrically excited doubly salient motors at a low speed stage is mostly realized by injecting a plurality of detection voltage pulses, but the injection of the plurality of detection pulses increases system starting time, and a certain negative electromagnetic torque may be generated, so that the initial starting performance of the system is reduced.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a two-step type electric excitation doubly salient motor rotor initial position estimation method, aiming at the problem that the rotor position of the existing electric excitation doubly salient motor at the low-speed stage is difficult to determine.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a two-step electro-magnetic doubly salient motor rotor initial position estimation method specifically comprises the following steps:
s1: injecting detection pulses A + B + C-into three-phase windings of an electro-magnetic doubly salient motor, and sampling A, B two-phase response current i at the end time of the detection pulsesaAnd ibDetermining the response current ia、ibAnd winding self-inductance La、LbThe relationship between;
s2: according to the response current ia、ibAnd winding self-inductance La、LbAccording to the relation between the current and the current, injecting detection pulses on the three-phase winding of the electrically excited doubly salient motor again, and sampling B, C two-phase response current i at the end time of the detection pulsesbAnd icOr C, A two-phase response current icAnd iaDetermining the minimum phase winding self-inductance;
s3: and estimating the initial position of the rotor of the doubly salient electro-magnetic motor through the minimum phase winding self-inductance, and determining the initial electrified phase when the doubly salient electro-magnetic motor position-free sensor can be started at a low speed.
Further, the step S1 determines the response current ia、ibAnd winding self-inductance La、LbThe relationship between the two is as follows:
s1.1: in an electro-magnetic doubly salient motor driving system, injecting detection pulses A + B + C-into a three-phase winding of the electro-magnetic doubly salient motor;
s1.2: after the detection pulse A + B + C-is injected, the response current i of the A, B two phases is obtained by sampling at the end time of the detection pulseaAnd ibEnsure thatA, B two-phase winding self-inductance LaAnd LbThe following two relationships between the two are specifically:
Figure BDA0002099482910000031
wherein: i.e. iaIs the response current of phase A, ibIs the response current of the B phase, LaSelf-inductance of the winding of phase A, LbThe winding self-inductance of the B phase.
Further, the step S2 determines the minimum self-inductance of the phase winding, which is as follows:
s2.1: when the response current ia、ibAnd winding self-inductance La、LbThe relationship between is La＜Lb,ia＞ibThen, injecting detection pulses C + A + B-again into the three-phase winding of the electro-magnetic doubly salient motor;
when the response current ia、ibAnd winding self-inductance La、LbThe relationship between is La＞Lb,ia＜ibThen, injecting detection pulses B + C + A-again into the three-phase winding of the electro-magnetic doubly salient motor;
s2.2: when the re-injected detection pulse is C + A + B-, the two-phase response current i is sampled C, A at the end of the detection pulsecAnd ia；
When the re-injected detection pulse is B + C + A-, the two-phase response current i is sampled B, C at the end of the detection pulsebAnd ic；
S2.3: when the response current obtained by sampling is icAnd iaWhen i isc＜iaThe minimum phase winding self-inductance is the winding self-inductance L of the A phaseaWhen i isc＞iaThe minimum phase winding self-inductance is the winding self-inductance L of the C phasec；
When the response current obtained by sampling is ibAnd icWhen i isb＜icThe minimum phase winding self-inductance is the winding self-inductance L of the C phasecWhen i isb＞icThe minimum phase winding self-inductance is the winding self-inductance L of the B phaseb。
Further, the detection pulse a + B + C-indicates A, B two-phase upper tube conduction and C-phase lower tube conduction;
the detection pulse C + A + B-represents C, A two-phase upper tube conduction and B-phase lower tube conduction;
the detection pulse B + C + A-indicates that B, C two phases of tubes are conducted, and A phases of tubes are conducted.
Further, the step S3 determines an initial energization phase when the doubly salient electro-magnetic motor position sensorless can be started at a low speed, specifically as follows:
s3.1: estimating the initial position of the rotor of the doubly salient electro-magnetic motor according to the minimum phase winding self-inductance;
s3.2: when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 1, a first power tube Q of the three-phase full-bridge power converter1And a second power tube Q2Conducting, wherein the A-phase winding is electrified positively, and the C-phase winding is electrified negatively;
when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 2, a third power tube Q of the three-phase full-bridge power converter3And a fourth power tube Q4Conducting, wherein the phase B winding is electrified positively, and the phase A winding is electrified negatively;
when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 3, a fifth power tube Q of the three-phase full-bridge power converter5And a sixth power transistor Q6And conducting, and conducting positive electricity to the C-phase winding and negative electricity to the B-phase winding.
Further, the step S3.1 estimates an initial position of the rotor of the doubly salient electro-magnetic motor, specifically:
when the minimum phase winding self-inductance is A phase winding self-inductance LaWhen the rotor of the electro-magnetic doubly salient motor is in the sector 3, namely the rotor is positioned in an interval of 240-360 degrees;
when the minimum phase winding self-inductance is B phase winding self-inductance LbThen, the initial position of the rotor of the electro-magnetic doubly salient motor is a sector1, namely the rotor is positioned in the interval of 0-120 degrees;
when the minimum phase winding self-inductance is C-phase winding self-inductance LcIn the process, the initial position of the rotor of the electro-magnetic doubly salient motor is a sector 2, namely the rotor is positioned in an interval of 120-240 degrees.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
(1) according to the rotor initial position estimation method, the self-inductance minimum phase is searched by two-step injection detection pulses to estimate the initial position of the motor rotor according to the one-to-one correspondence characteristic of the electro-magnetic doubly salient motor inductance minimum phase and the sector where the rotor is located, so that the rotor position estimation time is shortened, and the initial starting performance of a system is improved to a certain extent;
(2) the rotor initial position estimation method can realize the estimation of the rotor initial sector of the electro-magnetic doubly salient motor without adding an additional hardware circuit;
(3) the rotor initial position estimation method provided by the invention has the advantages that the amplitude of the detected impulse response current is small, and the estimation of the initial position of the motor rotor is not influenced by magnetic circuit saturation.
Drawings
FIG. 1 is a block diagram of the drive system of an electro-magnetic doubly salient motor of the present invention;
FIG. 2 is a cross-sectional view of an 12/8 pole excited doubly salient electric machine of the present invention;
FIG. 3 is a three-phase self-inductance curve and a power-on rule diagram of the doubly salient electro-magnetic motor of the present invention;
FIG. 4 is a flow chart of an implementation of the method of the present invention;
FIG. 5 is an equivalent circuit diagram of the injection detection pulse A + B + C-of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. The described embodiments are a subset of the embodiments of the invention and are not all embodiments of the invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
Example 1
Referring to fig. 1, fig. 2 and fig. 4, the present embodiment provides a two-step doubly salient electro-magnetic motor rotor initial position estimation method, which specifically includes the following steps:
step S1: referring to fig. 5, detection pulses a + B + C are injected on three-phase windings of an electro-excited doubly salient motor through a three-phase full-bridge power converter in an electro-excited doubly salient motor driving system, and a response current i of a phase is sampled at the end time of the detection pulsesaAnd response current i of phase BbDetermining the response current i of phase AaAnd response current i of phase BbSelf-inductance L of A phase windingaAnd winding self-inductance L of phase BbThe relationship between them. The method comprises the following specific steps:
step S1.1: in an electro-magnetic doubly salient motor driving system, detection pulses A + B + C-are injected into a three-phase winding of an electro-magnetic doubly salient motor, wherein the detection pulses A + B + C-represent that an A-phase upper tube is conducted, a B-phase upper tube is conducted and a C-phase lower tube is conducted, namely a first power tube Q of a three-phase full-bridge power converter1A second power tube Q2And a third power tube Q3Is turned on.
Step S1.2: after injecting the detection pulse A + B + C-, the response current i of the A phase is sampled at the end of the detection pulseaAnd response current i of phase Bb。
Based on the principle that the larger the self-inductance of the phase winding, the slower the current rise and the smaller the response current at the pulse end time, the response current i passing through the A phaseaAnd response current i of phase BbThe size relationship between the two phases determines A, B the self-inductance L of the two-phase windingaAnd LbThe following two relationships between the two are specifically:
Figure BDA0002099482910000051
wherein: i.e. iaIs the response current of phase A, ibIs the response current of the B-phase,Laself-inductance of the winding of phase A, LbThe winding self-inductance of the B phase.
Step S2: self-inductance L of winding according to phase A in step S1.2aAnd winding self-inductance L of phase BbThe magnitude relation between the two phases is that the detection pulse C + A + B-or B + C + A-is injected on the three-phase winding of the electro-magnetic doubly salient motor again, and the response current i of the B phase is sampled at the end time of the detection pulsebAnd response current i of phase CcOr response current i of phase CcAnd response current i of A phaseaThe minimum phase winding self-inductance is determined. The method comprises the following specific steps:
step S2.1: self-inductance L of winding according to phase A in step S1.2aAnd winding self-inductance L of phase BbThe magnitude relation between the two pulses is that the detection pulse C + A + B-or B + C + A-is injected into the three-phase winding of the electro-magnetic doubly salient motor again, and the detection pulse C + A + B-or B + C + A-is specifically as follows:
when the winding of the A phase is self-induced by LaAnd winding self-inductance L of phase BbHas a size relationship of La＜Lb,ia＞ibIn the process, detection pulses are injected again into a three-phase winding of the electrically excited doubly salient motor, and the detection pulses at the moment are C + A + B-. The detection pulse C + A + B-represents that a C-phase upper tube is conducted, an A-phase upper tube is conducted and a B-phase lower tube is conducted, namely a first power tube Q of the three-phase full-bridge power converter1The fifth power tube Q5And a sixth power transistor Q6Is turned on.
When the winding of the A phase is self-induced by LaAnd winding self-inductance L of phase BbHas a size relationship of La＞Lb,ia＜ibIn the process, detection pulses are injected again into a three-phase winding of the electrically excited doubly salient motor, and the detection pulses at the moment are B + C + A-. Wherein, the detection pulse B + C + A-represents the conduction of the B-phase upper tube, the conduction of the C-phase upper tube and the conduction of the A-phase lower tube, namely the third power tube Q of the three-phase full-bridge power converter3And a fourth power tube Q4And a fifth power tube Q5Is turned on.
Step S2.2: after the detection pulse is injected again, the response current i of the B phase is sampled at the end time of the detection pulsebAnd response current i of phase CcOr phase CIn response to current icAnd response current i of A phaseaThe method specifically comprises the following steps:
when the detection pulse injected again is C + A + B-, C-phase response current i is sampled at the end time of the detection pulsecAnd phase A response current ia。
When the detection pulse injected again is B + C + A-, the response current i of the B phase is sampled at the end time of the detection pulsebAnd C phase response current ic。
Step S2.3: c-phase response current i obtained by samplingcPhase A response current iaOr response current i of phase BbC phase response current icAnd determining the minimum phase winding self-inductance specifically as follows:
when the sampled response current is C-phase response current icAnd phase A response current iaComparing the C phase response current icAnd phase A response current iaThe size of (c) between.
When i isc＜iaThe minimum phase winding self-inductance is the winding self-inductance L of the A phaseaWhen i isc＞iaThe minimum phase winding self-inductance is the winding self-inductance L of the C phasec。
When the sampled response current is the response current i of the B phasebAnd C phase response current icWhile comparing the response current i of the B phasebAnd C phase response current icThe size of (c) between.
When i isb＜icThe minimum phase winding self-inductance is the winding self-inductance L of the C phasecWhen i isb＞icThe minimum phase winding self-inductance is the winding self-inductance L of the B phaseb。
Step S3: referring to fig. 3, the initial position of the doubly salient electro-magnetic motor rotor is estimated from the minimum phase winding self-inductance determined in step S2.3 and the initial energized phase at which the doubly salient electro-magnetic motor no-position sensor can start at low speed is determined. The method comprises the following specific steps:
step S3.1: through the minimum phase winding self-inductance determined in the step S2.3, the initial position of the rotor of the doubly salient electro-magnetic motor is estimated in the three-phase self-inductance curve and the energization rule diagram of the doubly salient electro-magnetic motor, which specifically includes:
when the minimum phase winding self-inductance is A phase winding self-inductance LaIn the process, the initial position of the rotor of the electro-magnetic doubly salient motor is a sector 3, namely the rotor is positioned in an interval of 240-360 degrees.
When the minimum phase winding self-inductance is B phase winding self-inductance LbWhen in use, the initial position of the rotor of the electro-magnetic doubly salient motor is sector 1, namely the rotor is positioned in the interval of 0-120 degrees.
When the minimum phase winding self-inductance is C-phase winding self-inductance LcWhen in use, the initial position of the rotor of the electro-magnetic doubly salient motor is sector 2, namely the rotor is positioned in the interval of 120-240 degrees.
Step S3.2: when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 1, a first power tube Q of the three-phase full-bridge power converter is conducted1And a second power tube Q2The phase A winding is electrified positively, and the phase C winding is electrified negatively.
When the initial position of the rotor of the electro-magnetic doubly salient motor is sector 2, a third power tube Q of the three-phase full-bridge power converter is conducted3And a fourth power tube Q4The winding of the phase B is electrified positively, and the winding of the phase A is electrified negatively.
When the initial position of the rotor of the electro-magnetic doubly salient motor is sector 3, a fifth power tube Q of the three-phase full-bridge power converter is conducted5And a sixth power transistor Q6The phase C winding is electrified positively, and the phase B winding is electrified negatively.
The initial position estimation of the rotor of the electrically excited doubly salient motor can be realized through the steps S1-S3, the initial starting performance of the system can be effectively improved only by injecting 2 detection pulses, and the method can be suitable for the estimation of the position of the rotor in the low-speed starting stage.
The present invention and its embodiments have been described in an illustrative manner, and are not to be considered limiting, as illustrated in the accompanying drawings, which are merely exemplary embodiments of the invention and not limiting of the actual constructions and methods. Therefore, if the person skilled in the art receives the teaching, the structural modes and embodiments similar to the technical solutions are not creatively designed without departing from the spirit of the invention, and all of them belong to the protection scope of the invention.

Claims (4)

1. A two-step electro-magnetic doubly salient motor rotor initial position estimation method is characterized by comprising the following steps:
s1: injecting detection pulses A + B + C-into three-phase windings of an electro-magnetic doubly salient motor, and sampling A, B two-phase response current i at the end time of the detection pulsesaAnd ibDetermining the response current ia、ibAnd winding self-inductance La、LbThe relationship between them is as follows:
Figure FDA0002654990850000011
wherein: i.e. iaIs the response current of phase A, ibIs the response current of the B phase, LaSelf-inductance of the winding of phase A, LbThe winding self-inductance of the B phase is obtained;
s2: according to the response current ia、ibAnd winding self-inductance La、LbAccording to the relation between the current and the current, injecting detection pulses on the three-phase winding of the electrically excited doubly salient motor again, and sampling B, C two-phase response current i at the end time of the detection pulsesbAnd icOr C, A two-phase response current icAnd iaAnd determining the minimum phase winding self-inductance, which is as follows:
s2.1: when the response current ia、ibAnd winding self-inductance La、LbThe relationship between is La<Lb,ia>ibThen, injecting detection pulses C + A + B-again into the three-phase winding of the electro-magnetic doubly salient motor;
when the response current ia、ibAnd winding self-inductance La、LbThe relationship between is La>Lb,ia<ibThen, injecting detection pulses B + C + A-again into the three-phase winding of the electro-magnetic doubly salient motor;
s2.2: when the re-injected detection pulse is C + A + B-, the two-phase response current i is sampled C, A at the end of the detection pulsecAnd ia；
When the re-injected detection pulse is B + C + A-, the two-phase response current i is sampled B, C at the end of the detection pulsebAnd ic；
S2.3: when the response current obtained by sampling is icAnd iaWhen i isc<iaThe minimum phase winding self-inductance is the winding self-inductance L of the A phaseaWhen i isc>iaThe minimum phase winding self-inductance is the winding self-inductance L of the C phasec；
When the response current obtained by sampling is ibAnd icWhen i isb<icThe minimum phase winding self-inductance is the winding self-inductance L of the C phasecWhen i isb>icThe minimum phase winding self-inductance is the winding self-inductance L of the B phaseb；
S3: and estimating the initial position of the rotor of the doubly salient electro-magnetic motor through the minimum phase winding self-inductance, and determining the initial electrified phase when the doubly salient electro-magnetic motor position-free sensor can be started at a low speed.
2. The two-step doubly salient electro-magnetic motor rotor initial position estimation method according to claim 1, wherein the detection pulses a + B + C-represent A, B two-phase tube-on and C-phase tube-on;
the detection pulse C + A + B-represents C, A two-phase upper tube conduction and B-phase lower tube conduction;
the detection pulse B + C + A-indicates that B, C two phases of tubes are conducted, and A phases of tubes are conducted.
3. The two-step doubly-salient electro-magnetic motor rotor initial position estimation method according to claim 1 or 2, wherein the step S3 is used for determining an initial energization phase when the doubly-salient electro-magnetic motor no-position sensor can start at a low speed, and specifically comprises the following steps:
s3.1: estimating the initial position of the rotor of the doubly salient electro-magnetic motor according to the minimum phase winding self-inductance;
s3.2: when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 1, a first power tube Q of the three-phase full-bridge power converter1And a second power tube Q2Conducting, wherein the A-phase winding is electrified positively, and the C-phase winding is electrified negatively;
when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 2, a third power tube Q of the three-phase full-bridge power converter3And a fourth power tube Q4Conducting, wherein the phase B winding is electrified positively, and the phase A winding is electrified negatively;
when the initial position of the rotor of the electro-magnetic doubly salient motor is sector 3, a fifth power tube Q of the three-phase full-bridge power converter5And a sixth power transistor Q6And conducting, and conducting positive electricity to the C-phase winding and negative electricity to the B-phase winding.
4. The two-step method for estimating the initial position of the doubly salient electro-magnetic motor rotor according to claim 3, wherein the step S3.1 estimates the initial position of the doubly salient electro-magnetic motor rotor, specifically:
when the minimum phase winding self-inductance is A phase winding self-inductance LaWhen the rotor of the electro-magnetic doubly salient motor is in the sector 3, namely the rotor is positioned in an interval of 240-360 degrees;
when the minimum phase winding self-inductance is B phase winding self-inductance LbWhen the rotor of the electro-magnetic doubly salient motor is in the initial position of sector 1, namely the rotor is positioned in an interval of 0-120 degrees;
when the minimum phase winding self-inductance is C-phase winding self-inductance LcIn the process, the initial position of the rotor of the electro-magnetic doubly salient motor is a sector 2, namely the rotor is positioned in an interval of 120-240 degrees.
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