CN110880897A - Motor control method and device and driving device - Google Patents
Motor control method and device and driving device Download PDFInfo
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- CN110880897A CN110880897A CN201911284866.9A CN201911284866A CN110880897A CN 110880897 A CN110880897 A CN 110880897A CN 201911284866 A CN201911284866 A CN 201911284866A CN 110880897 A CN110880897 A CN 110880897A
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- magnet synchronous
- synchronous motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/34—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Abstract
The invention provides a control method, a control device and a driving device of a motor, which are suitable for the starting control of a permanent magnet synchronous motor without a position sensor, wherein the method comprises the following steps: detecting the initial position of a rotor of the permanent magnet synchronous motor before starting; when the permanent magnet synchronous motor is started, injecting a high-frequency voltage vector into the permanent magnet synchronous motor; and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor. The initial position of the rotor is determined by a high-frequency voltage injection method at rest and low speed, the position of the rotor is detected by a flux linkage observation method at high speed, and the position of the rotor is calculated by a switching function in the switching process of low speed and high speed. The invention realizes the closed-loop starting of the motor without the position sensor, reduces the impact current during starting, controls the switching process of two control modes through the switching function and reduces the problems of jitter and step loss in the switching process.
Description
Technical Field
The invention relates to the field of motors, in particular to a motor control method, a motor control device and a motor driving device.
Background
In the related art, the permanent magnet synchronous motor has the advantages of high power density, simple structure and good dynamic performance, and is widely applied to the field of household appliances as a driving unit of a compressor.
According to the implementation principle of estimating the rotor position, the method can be divided into the following two types: extracting position information by sampling terminal voltage and phase current by utilizing the electromagnetic relation of the permanent magnet motor; and introducing a high-frequency signal by using the asymmetry of the rotor magnetic circuit to detect the position information. The two methods have respective application ranges and defects, in the related art, no mature method can achieve high estimation accuracy at low speed and high speed, and control strategies can be divided into three categories according to the applicable speed range: the control strategy of the permanent magnet synchronous motor comprises initial position detection, low speed, medium speed and high speed, wherein the complete control strategy of the permanent magnet synchronous motor needs to combine control methods of different rotating speed intervals, and simultaneously considers matching and switching among different control methods, wherein the initial position detection means that the permanent magnet synchronous motor obtains the angle of a rotor relative to a stator winding when the permanent magnet synchronous motor is static; the low speed refers to a low rotating speed in the starting process of the motor, the back electromotive force of the motor is small at the moment, and the accurate rotor position cannot be obtained through parameters such as current and the like through a flux linkage observation method. The traditional control method without the position sensor has the defects that the open-loop starting method is easily influenced by load, accurate motor parameters are needed for VF (voltage Frequency) control, repeated debugging is needed, and the position error of a rotor is too large in the starting process, so that the consequences of noise, vibration, step loss and the like can be brought.
In view of the above problems in the related art, no effective solution has been found at present.
Disclosure of Invention
The embodiment of the invention provides a motor control method, a motor control device and a motor driving device, and aims to solve the technical problem that the position of a rotor of a permanent magnet synchronous motor is inaccurate in related technologies.
According to an embodiment of the present invention, there is provided a control method of a motor including: detecting the initial position of a rotor of the permanent magnet synchronous motor before starting; when the permanent magnet synchronous motor is started, injecting a high-frequency voltage vector into the permanent magnet synchronous motor; and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor.
Optionally, detecting a rotor start position of the permanent magnet synchronous motor before starting includes: when the permanent magnet synchronous motor is static, injecting a voltage vector with a preset phase difference into the permanent magnet synchronous motor; detecting current response values of three-phase currents, and carrying out CLARK conversion on the current response values; and calculating the difference value of the current response values of any two groups of currents, and obtaining the initial position of the rotor according to the difference value.
Optionally, calculating a real-time position of a rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor includes: introducing the current of the high-frequency voltage vector into a band-pass filter to filter a fundamental wave component of low-frequency and low-frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current; detecting the band-pass current through an angle observer to obtain a position observation value; and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
Optionally, after calculating the real-time rotor position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the rotor starting position, the method further includes: detecting a first rotor position of the permanent magnet synchronous motor through a high-frequency voltage vector, and detecting a second rotor position of the permanent magnet synchronous motor through an observer based on a phase-locked loop (PLL); calculating a third rotor position of the permanent magnet synchronous motor from the first rotor position and/or the second rotor position; switching the permanent magnet synchronous machine from a first speed to a second speed in the third rotor position.
Optionally, calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and/or the second rotor position includes: calculating the first speed of the permanent magnet synchronous motor; when the first speed is smaller than a threshold value, calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and the second rotor position in a weighted mode; determining the second rotor position as the third rotor position when the first speed is greater than or equal to the threshold value.
According to another embodiment of the present invention, there is provided a control apparatus of a motor including: the first detection module is used for detecting the initial position of a rotor of the permanent magnet synchronous motor before starting; the injection module is used for injecting a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started; and the first calculation module is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor.
Optionally, the first detecting module includes: the injection unit is used for injecting a voltage vector with a preset phase difference into the permanent magnet synchronous motor when the permanent magnet synchronous motor is static; the processing unit is used for detecting the current response value of the three-phase current and carrying out CLARK conversion on the current response value; and the calculating unit is used for calculating the difference value of the current response values of any two groups of currents and obtaining the initial position of the rotor according to the difference value.
Optionally, the apparatus further comprises: the second detection module is used for detecting the first rotor position of the permanent magnet synchronous motor through the high-frequency voltage vector and detecting the second rotor position of the permanent magnet synchronous motor through an observer based on a phase-locked loop after the first calculation module calculates the real-time rotor position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial rotor position; the second calculation module is used for calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and/or the second rotor position; and the switching module is used for switching the permanent magnet synchronous motor from the first speed to the second speed at the third rotor position.
Optionally, the second computing module includes: a calculation unit for calculating the first speed of the permanent magnet synchronous motor; the processing unit is used for calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and the second rotor position in a weighted mode when the first speed is smaller than a threshold value; determining the second rotor position as the third rotor position when the first speed is greater than or equal to the threshold value.
Optionally, the calculation module includes: the filtering unit is used for introducing the current of the high-frequency voltage vector into a band-pass filter so as to filter out a fundamental wave component of low frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current; the detection unit is used for detecting the band-pass current through an angle observer to obtain a position observation value; and the calculating unit is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
According to still another embodiment of the present invention, there is provided a driving apparatus including a driving unit and a permanent magnet synchronous motor, wherein the driving unit includes: the detection module is used for detecting the current response of the permanent magnet synchronous motor; the injection module is used for injecting a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started; the inverter module is used for driving the permanent magnet synchronous motor when the permanent magnet synchronous motor is started; and the calculation module is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response.
According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, the position of the rotor is calculated through a switching function in different control processes of starting of the permanent magnet synchronous motor, when the permanent magnet synchronous motor is started, a high-frequency voltage vector is injected into the motor at a static state and a low speed, and the real-time position of the rotor is calculated according to current response; calculating the real-time position of the rotor at high speed according to a flux linkage observation method based on a phase-locked loop; when the two control modes are switched, the rotor position is calculated through a switching function, and smooth switching of the control process is achieved. In the starting process of the motor, closed-loop control over the position of the rotor is achieved, the position of the rotor can be accurately estimated, the technical problem that the position of the rotor of the permanent magnet synchronous motor is inaccurate in the related technology is solved, and the problems of step loss, torque pulsation, high noise and the like of the motor at low speed are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of a control circuit according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling a motor according to an embodiment of the present invention;
FIG. 3 is a control circuit diagram of a motor of an embodiment of the present invention;
FIG. 4 is a flow chart of a permanent magnet synchronous motor sensorless start-up of an embodiment of the present invention;
fig. 5 is a block diagram of a control device of a motor according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method provided by the first embodiment of the present application may be executed in a motor, a driver, or a similar computing device. Taking the operation on a compressor as an example, the compressor is equivalent to a permanent magnet synchronous motor plus a device for compressing gas, the control method is similar, and fig. 1 is a structure diagram of a control circuit of the embodiment of the invention. As shown in fig. 1, the system may include an MCU (processor), a rectifier circuit, an inverter, a PMSM (permanent magnet synchronous motor), an EEPROM (Electrically Erasable Programmable read only memory), a control panel (key, display, communication, etc.), and the like, wherein the MCU includes an ADC (Analog-to-Digital Converter), a PWM (Pulse Width Modulation), an IO (Input/Output) SPI (Serial Peripheral Interface), an SCI (Serial communication Interface), and the like.
In the present embodiment, a control method of a motor is provided, and fig. 2 is a flowchart of a control method of a motor according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, detecting the initial position of a rotor of the permanent magnet synchronous motor before starting;
the permanent magnet synchronous motor of the present embodiment is a synchronous motor that generates a synchronous rotating magnetic field by permanent magnet excitation, and the present embodiment can be applied to other types of motors without contradiction. The rotor home position is the rest position of the rotor before starting. The position to the rotor when at rest is by means of injecting high frequency voltage vectors into the machine;
step S204, injecting a high-frequency voltage vector into the permanent magnet synchronous motor at a low-speed stage;
the high frequency voltage vector of this embodiment is a phase voltage, and the motor generates a current response in response to the high frequency voltage vector.
In step S206, the switching process calculates the rotor position according to the selection function.
In the switching process of the embodiment, when the rotating speed reaches the switching rotating speed, the rotor position is estimated by a flux linkage observation method based on a phase-locked loop, and the two control modes calculate the rotor position through a switching function, so that smooth switching of the two control modes is realized.
Injecting high-frequency voltage vector into the permanent magnet synchronous motor at low speed, calculating the position of the rotor at high speed according to the selection function in the switching process,
through the steps, the position of the rotor is calculated through a switching function in different control processes of starting of the permanent magnet synchronous motor, when the permanent magnet synchronous motor is started, a high-frequency voltage vector is injected into the motor at a static state and a low speed, and the real-time position of the rotor is calculated according to current response; calculating the real-time position of the rotor at high speed according to a flux linkage observation method based on a phase-locked loop; when the two control modes are switched, the rotor position is calculated through a switching function, and smooth switching of the control process is achieved. In the starting process of the motor, closed-loop control over the position of the rotor is achieved, the position of the rotor can be accurately estimated, the technical problem that the position of the rotor of the permanent magnet synchronous motor is inaccurate in the related technology is solved, and the problems of step loss, torque pulsation, high noise and the like of the motor at low speed are solved.
In one embodiment of this embodiment, detecting a rotor start position of the permanent magnet synchronous motor before starting includes:
s11, when the permanent magnet synchronous motor is static, injecting a voltage vector with a preset phase difference into the permanent magnet synchronous motor;
in one example, the predetermined phase difference is a 180 ° difference.
S12, detecting current response values of the three-phase current, and carrying out CLARK conversion on the current response values;
and S13, calculating the difference of the current response values of any two groups of currents, and obtaining the initial position of the rotor according to the difference.
In one embodiment, calculating the rotor real-time position of the permanent magnet synchronous motor from the current response of the high frequency voltage vector and the rotor starting position comprises: introducing the current of the high-frequency voltage vector into a band-pass filter to filter a fundamental wave component of low and medium frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current; detecting the electrified current through an angle observer to obtain a position observed value; and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
After the motor runs for a period of time, the motor is switched from static to low speed, medium and low speed and then to high speed, and when the rotating speed of the rotor reaches a certain range, the rotating speed can be switched. After the rotor real-time position of the permanent magnet synchronous motor is calculated according to the current response of the high-frequency voltage vector and the rotor starting position, the method further comprises the following steps:
s21, detecting a first rotor position of the permanent magnet synchronous motor through a high-frequency voltage vector, and detecting a second rotor position of the permanent magnet synchronous motor through an observer based on a phase-locked loop (PLL);
s22, calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and/or the second rotor position;
s23, the permanent magnet synchronous motor is switched from the first speed to the second speed at the third rotor position. The speed of the motor in this embodiment may be a rotational speed or an angular speed.
In one embodiment of the present embodiment, calculating the third rotor position of the permanent magnet synchronous motor from the first rotor position and/or the second rotor position comprises: calculating a first speed of the permanent magnet synchronous motor; when the first speed is smaller than a threshold value, calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and the second rotor position in a weighted mode; the second rotor position is determined as a third rotor position when the first speed is greater than or equal to a threshold value.
In the embodiment, when the rotating speed is switched by two control modes, the selection function is adopted, the errors of the two position detection methods are integrated, and the robustness of the control system during switching is improved.
Fig. 3 is a control circuit diagram of a motor according to an embodiment of the present invention, which illustrates a position sensorless control structure of a permanent magnet synchronous motor, including: a PID (proportional-integral-derivative) closed-Loop control module, a CLARK inverse transformation module, an svpwm (space Vector Pulse Width modulation) generation module, a three-Phase inverter and permanent magnet synchronous motor module, a high-frequency voltage Vector generation module, a three-Phase current detection module, a CLARK transformation module, a PARK transformation module, a BPF (Band-pass Filter) module, a position observer module, a flux linkage observer module, a position calculation module based on PLL (Phase Locked Loop), and a selection function module, which are connected as shown in fig. 3.
Fig. 4 is a start-up flowchart of a permanent magnet synchronous motor sensorless according to an embodiment of the present invention, including: injecting a high-frequency voltage vector, and judging the position of the rotor when the rotor is static according to current response; injecting a high-frequency voltage vector at low speed, introducing current into a band-pass filter, filtering out fundamental wave components with lower frequency and harmonic wave components caused by PWM, and obtaining the position of a rotor through an angle observer; and in the switching process, the position of the rotor is judged by high-frequency voltage vector detection and a PLL-based observer, and the rotor angle in the switching process is adjusted by a switching function, so that smooth switching is realized. As described in detail below with reference to the circuit diagram of fig. 3, the process includes the following steps:
step 1, judging the position of a rotor of the permanent magnet synchronous motor in a static state by adopting a high-frequency voltage vector injection method at a low-speed part and detecting current response.
Step 1 of this embodiment is a pre-positioning process before the motor is started, and may further include:
1.1, based on the nonlinear saturation principle of a stator core, adopting positive and negative pulse voltage signal injection to judge the magnetic pole direction of a rotor, and injecting voltage vectors with the same phase difference of 180 into a permanent magnet synchronous motor;
1.2, detecting the response value of the three-phase current, and carrying out CLARK conversion;
1.3, calculating the difference value of the two groups of current responses to obtain the initial position of the rotor
And 2, injecting a high-frequency voltage vector at low speed, introducing the current into a band-pass filter, filtering out fundamental wave components with lower frequency and harmonic components caused by PWM, and obtaining the position of the rotor through an angle observer.
Step 2 of this embodiment is a low-speed positioning process of the motor, and may further include:
2.1, when the permanent magnet synchronous motor runs at a low speed, the back electromotive force is small, the position information of the rotor can be obtained through the salient pole characteristic of the motor, and the method of injecting a high-frequency excitation signal is adopted to be used for the embedded permanent magnet synchronous motor. The high-frequency signal can be processed into two parts, the rotor position error signal is intercepted through a band-pass filter, and the observer obtains a position observed value according to the rotor position error signal.
2.2 according to a given initial speed
Calculating an output voltage vector by a PID control module
According to the initial position of the rotor
Performing inverse PARK transform to calculate rotation voltage vector
2.3 high-frequency signal injection module outputs high-frequency signal
With rotating voltage vector
The synthesized input is input into an SVPWM generating module which generates an SVPWM according to the initial position of the rotor
Determining the phase of the generated voltage vector in dependence on the input
Calculating the direct-current terminal voltage of the inverter to obtain a vector value of a synthesized voltage vector, comparing the vector value with a carrier, outputting a six-phase pulse signal, and driving the inverter to control the permanent magnet synchronous motor;
2.4, a current detection module for detecting three-phase current of the permanent magnet synchronous motor and obtaining a current value i under a static coordinate system through CLARK transformationα、iβ；
2.5 input Current i by band-pass Filter Moduleα、iβFiltering to remove fundamental wave component with low frequency and harmonic component caused by PWM to obtain current iαf、iβfObtaining the estimated angle by means of a position observer module
And estimating the rotational speed
Feeding back to a PID control link;
2.6 input Current i by PARK Moduleα、iβAccording to rotor angle
Calculating to obtain the current i under a rotating coordinate systemd、iqAnd feeding back to a PID control link.
And 3, in the switching process, judging the position of the rotor through high-frequency voltage vector detection and a PLL-based observer, and adjusting the rotor angle in the switching process through a switching function to realize smooth switching.
Step 3 of this embodiment is a rotor switching process, which may further include:
3.1 when the rotating speed of the motor is detected
After reaching a certain range, the position of the rotor is calculated by adopting a high-frequency voltage vector injection method and a back electromotive force model observation method, and the estimated angle and the estimated rotating speed obtained by the two control modes are adjusted by a switching function, so that the rotor can be permanently rotatedThe magnetic synchronous motor is smoothly switched in the switching process of the two control modes;
3.2, during the operation of the motor, when the rotating speed of the motor
When the switching speed is higher than the set switching speed, calculating the position of the rotor by a back electromotive force model observation method;
3.3, the flux linkage observer module is used for observing the current i according to the input currentα、iβVoltage output by PID control module
And calculating to obtain the back electromotive force voltage error e according to the parameters of the inductance, the resistance, the switching frequency and the like of the motorα、eβ；
3.4 Angle observation module based on phase-locked loop according to input back electromotive force voltage error eα、eβObtaining an estimated rotor angle and rotation speed;
3.5, the switching function adopts a weighted average method based on a speed interval, and the estimated angles and the rotating speeds of the two observation modes are synthesized according to the rotating speed in the switching process, so that the rotating speed falling in the switching process is avoided, and the control performance is prevented from being influenced;
3.6 when the rotating speed of the motor is detected
And after a certain range is reached, the switching function only adopts the rotor angle and the rotating speed output by the angle observation module based on the phase-locked loop, and stops the input of the high-frequency voltage vector, the band-pass filter module and the position observer module.
By the aid of the starting scheme of the position-sensorless permanent magnet synchronous motor, accurate rotor position can be obtained by injecting high-frequency voltage vectors and detecting current response at low speed; when the switching rotating speed is reached, the rotor position is estimated through a flux linkage observation method based on a phase-locked loop, and the two control modes calculate the rotor position through a switching function, so that smooth switching of the two control modes is realized. In the starting process of the permanent magnet synchronous motor, a method for injecting a rotating high-frequency voltage vector and a position detection method based on PLL are adopted at the same time, so that closed-loop control on the position of a rotor in the starting process is realized. When the two control modes are switched, a selection function is adopted, errors of the two position detection methods are integrated, and the robustness of a control system during switching is improved.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Example 2
In this embodiment, a control device of a motor is further provided, which is used to implement the above embodiments and preferred embodiments, and the description of the control device is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
An embodiment provides a control device of a motor, and fig. 5 is a block diagram of a structure of the control device of the motor according to the embodiment of the present invention, and the control device includes: a first detection module 50, an injection module 52, a first calculation module 54, wherein,
the first detection module 50 is used for detecting the initial position of the rotor of the permanent magnet synchronous motor before starting;
the injection module 52 is configured to inject a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started;
and the first calculation module 54 is used for calculating the rotor real-time position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the rotor starting position.
Optionally, the first detecting module includes: the injection unit is used for injecting a voltage vector with a preset phase difference into the permanent magnet synchronous motor when the permanent magnet synchronous motor is static; the processing unit is used for detecting the current response value of the three-phase current and carrying out CLARK conversion on the current response value; and the calculating unit is used for calculating the difference value of the current response values of any two groups of currents and obtaining the initial position of the rotor according to the difference value.
Optionally, the apparatus further comprises: the second detection module is used for detecting the first rotor position of the permanent magnet synchronous motor through the high-frequency voltage vector and detecting the second rotor position of the permanent magnet synchronous motor through an observer based on a phase-locked loop after the first calculation module calculates the real-time rotor position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial rotor position; the second calculation module is used for calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and/or the second rotor position; and the switching module is used for switching the permanent magnet synchronous motor from the first speed to the second speed at the third rotor position.
Optionally, the second computing module includes: a calculation unit for calculating the first speed of the permanent magnet synchronous motor; the processing unit is used for calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and the second rotor position in a weighted mode when the first speed is smaller than a threshold value; determining the second rotor position as the third rotor position when the first speed is greater than or equal to the threshold value.
Optionally, the calculation module includes: the filtering unit is used for introducing the current of the high-frequency voltage vector into a band-pass filter so as to filter out a fundamental wave component of low frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current; the detection unit is used for detecting the band-pass current through an angle observer to obtain a position observation value; and the calculating unit is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
The present embodiment also provides a driving apparatus, including a driving unit and a permanent magnet synchronous motor, wherein the driving unit includes: the detection module is used for detecting the current response of the permanent magnet synchronous motor; the injection module is used for injecting a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started; the inverter module is used for driving the permanent magnet synchronous motor when the permanent magnet synchronous motor is started; and the calculation module is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in an aspect of the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, detecting the initial position of the rotor of the permanent magnet synchronous motor before starting;
s2, when the permanent magnet synchronous motor is started, injecting a high-frequency voltage vector into the permanent magnet synchronous motor;
and S3, calculating the rotor real-time position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the rotor starting position.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in an aspect of this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, detecting the initial position of the rotor of the permanent magnet synchronous motor before starting;
s2, when the permanent magnet synchronous motor is started, injecting a high-frequency voltage vector into the permanent magnet synchronous motor;
and S3, calculating the rotor real-time position of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the rotor starting position.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of controlling a motor, comprising:
detecting the initial position of a rotor of the permanent magnet synchronous motor before starting;
when the permanent magnet synchronous motor is started, injecting a high-frequency voltage vector into the permanent magnet synchronous motor;
and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor.
2. The method of claim 1, wherein detecting a rotor start position of the permanent magnet synchronous machine prior to starting comprises:
when the permanent magnet synchronous motor is static, injecting a voltage vector with a preset phase difference into the permanent magnet synchronous motor;
detecting current response values of three-phase currents, and carrying out CLARK conversion on the current response values;
and calculating the difference value of the current response values of any two groups of currents, and obtaining the initial position of the rotor according to the difference value.
3. The method of claim 1, wherein calculating the real-time rotor position of the permanent magnet synchronous machine from the current response of the high frequency voltage vector and the rotor starting position comprises:
introducing the current of the high-frequency voltage vector into a band-pass filter to filter a fundamental wave component of low-frequency and low-frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current;
detecting the band-pass current through an angle observer to obtain a position observation value;
and calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
4. The method of claim 1, wherein after calculating the rotor real-time position of the permanent magnet synchronous machine from the current response of the high frequency voltage vector and the rotor starting position, the method further comprises:
detecting a first rotor position of the permanent magnet synchronous motor through a high-frequency voltage vector, and detecting a second rotor position of the permanent magnet synchronous motor through an observer based on a phase-locked loop (PLL);
calculating a third rotor position of the permanent magnet synchronous motor from the first rotor position and/or the second rotor position;
switching the permanent magnet synchronous machine from a first speed to a second speed in the third rotor position.
5. The method of claim 4, wherein calculating a third rotor position of the permanent magnet synchronous machine from the first rotor position and/or the second rotor position comprises:
calculating the first speed of the permanent magnet synchronous motor;
when the first speed is smaller than a threshold value, calculating a third rotor position of the permanent magnet synchronous motor according to the first rotor position and the second rotor position in a weighted mode; determining the second rotor position as the third rotor position when the first speed is greater than or equal to the threshold value.
6. A control device of a motor, characterized by comprising:
the first detection module is used for detecting the initial position of a rotor of the permanent magnet synchronous motor before starting;
the injection module is used for injecting a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started;
and the first calculation module is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response of the high-frequency voltage vector and the initial position of the rotor.
7. The apparatus of claim 6, wherein the first computing module comprises:
the filtering unit is used for introducing the current of the high-frequency voltage vector into a band-pass filter so as to filter out a fundamental wave component of low frequency in the current and a harmonic component caused by Pulse Width Modulation (PWM) to obtain a band-pass current;
the detection unit is used for detecting the band-pass current through an angle observer to obtain a position observation value;
and the calculating unit is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the position observation value and the initial position of the rotor.
8. A drive device, comprising a drive unit and a permanent magnet synchronous motor, wherein the drive unit comprises:
the detection module is used for detecting the current response of the permanent magnet synchronous motor;
the injection module is used for injecting a high-frequency voltage vector into the permanent magnet synchronous motor when the permanent magnet synchronous motor is started;
the inverter module is used for driving the permanent magnet synchronous motor when the permanent magnet synchronous motor is started;
and the calculation module is used for calculating the real-time position of the rotor of the permanent magnet synchronous motor according to the current response.
9. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 5 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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| CN112947614A (en) * | 2021-01-28 | 2021-06-11 | 哈尔滨工业大学 | Active vibration control method of variable speed tilting momentum wheel |
| CN113972868A (en) * | 2021-10-28 | 2022-01-25 | 珠海格力电器股份有限公司 | Permanent magnet synchronous motor starting control method and device and permanent magnet synchronous motor |
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