CN111162717A - Method and device for detecting initial position angle of permanent magnet synchronous motor rotor and storage medium - Google Patents
Method and device for detecting initial position angle of permanent magnet synchronous motor rotor and storage medium Download PDFInfo
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- CN111162717A CN111162717A CN201811326288.6A CN201811326288A CN111162717A CN 111162717 A CN111162717 A CN 111162717A CN 201811326288 A CN201811326288 A CN 201811326288A CN 111162717 A CN111162717 A CN 111162717A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- H02P21/32—Determining the initial rotor position
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Abstract
The invention provides a method and a device for detecting an initial position angle of a permanent magnet synchronous motor rotor and a storage medium, wherein the method comprises the following steps: firstly, injecting a high-frequency voltage signal into a stator winding of a permanent magnet synchronous motor to be detected to obtain three-phase stator winding current, obtaining d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current, and further obtaining an initial position angle of a rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the magnetic pole polarity of the permanent magnet synchronous motor. According to the method, the influence of the magnetic poles of the permanent magnet synchronous motor is considered, the initial position angle of the rotor is compensated according to the polarity of the magnetic poles, the accuracy of the obtained initial position angle of the rotor is higher, and the reliability of initial position angle detection is improved. In addition, the method can obtain a detection result with higher accuracy under the working condition that the rotor is static, and the application range is wider.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method and a device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor and a storage medium.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, energy conservation and the like, and is widely applied to the field of rail transit along with the more mature technologies of permanent magnet synchronous motor control methods, permanent magnet materials and the like. In the vector control of the permanent magnet synchronous motor, whether the initial position angle of the rotor is accurate or not has great influence on the vector control performance. For example, if the initial position angle of the rotor is inaccurate, the permanent magnet synchronous motor cannot be started normally and the load carrying capacity is reduced.
In the prior art, the initial position angle of the rotor is usually detected by a voltage pulse injection method. Specifically, the initial position angle of the rotor is determined by comparing the magnitudes of the response currents of the voltage pulse signals having the same magnitude and different angles.
However, when the initial position angle of the rotor is detected by using the above method, if the amplitude of the selected voltage pulse signal is too large or the duration is too long, overcurrent of the permanent magnet synchronous motor and/or jitter of the permanent magnet synchronous motor can be caused; if the amplitude of the voltage pulse signal is too small or the duration of the voltage pulse signal is too short, the accuracy of the detection result of the initial position angle of the rotor is low, and therefore, the reliability of the method is low.
Disclosure of Invention
The invention provides a method and a device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor and a storage medium, which are used for improving the reliability of the detection of the initial position angle of the rotor of the permanent magnet synchronous motor.
In a first aspect, the present invention provides a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor, including:
injecting a high-frequency voltage signal into a stator winding of the permanent magnet synchronous motor to be detected to obtain three-phase stator winding current;
acquiring d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current;
and acquiring an initial position angle of the rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the polarity of the magnetic pole of the permanent magnet synchronous motor.
Further, the obtaining an initial position angle of the rotor according to the d-axis target current and the q-axis target current includes:
acquiring a first initial position angle of the rotor according to the q-axis target current;
acquiring a magnetic pole compensation angle of the rotor according to the d-axis target current;
and acquiring the initial position angle of the rotor according to the first initial position angle and the magnetic pole compensation angle.
Further, the obtaining a first initial position angle of the rotor according to the q-axis target current includes:
performing low-pass filtering processing on the q-axis target current to obtain an error input signal;
and acquiring the first initial position angle according to the error input signal.
Further, the performing low-pass filtering processing on the q-axis target current to obtain an error input signal includes:
modulating the q-axis target current by adopting a modulation signal to obtain the modulated q-axis target current;
and carrying out low-pass filtering processing on the modulated q-axis target current to obtain the error input signal.
Further, the obtaining the first initial position angle according to the error input signal includes:
acquiring a proportional deviation and an integral deviation of the error input signal according to the input error signal;
and acquiring the first initial position angle according to the linear combination of the proportional deviation and the integral deviation.
Further, the obtaining of the magnetic pole compensation angle of the rotor according to the d-axis target current includes:
injecting a plurality of voltage pulse signals with equal voltage amplitude and different angles into the permanent magnet synchronous motor to obtain the response current of each voltage pulse signal;
and determining a magnetic pole compensation angle of the rotor according to a plurality of response currents.
Further, the determining a pole compensation angle of the rotor according to the plurality of response currents comprises:
when the difference between the injected angle of the voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is greater than a first value, determining that the magnetic pole compensation angle of the rotor is 0, wherein the first value is the maximum value of the amplitudes of the plurality of response currents;
when the difference between the injected angle of the voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is smaller than a second value, determining that the magnetic pole compensation angle of the rotor is pi, wherein the second value is the minimum value of the amplitudes of the multiple response currents.
In a second aspect, the present invention provides a device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor, including:
the first acquisition module is used for acquiring three-phase stator winding current after injecting a high-frequency voltage signal into a stator winding of the permanent magnet synchronous motor to be detected;
the conversion module is used for obtaining d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current;
and the second acquisition module is used for acquiring an initial position angle of the rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the magnetic pole polarity of the permanent magnet synchronous motor.
In a third aspect, the present invention further provides a device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor, including: a memory and a processor;
the memory stores program instructions;
the processor executes the program instructions to perform the method of the first aspect.
In a fourth aspect, the present invention also provides a storage medium comprising: carrying out a procedure;
the program is for performing the method of the first aspect when executed by a processor.
The invention provides a method and a device for detecting an initial position angle of a permanent magnet synchronous motor rotor and a storage medium, wherein the method comprises the following steps: firstly, injecting a high-frequency voltage signal into a stator winding of a permanent magnet synchronous motor to be detected to obtain three-phase stator winding current, then obtaining d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current, and further obtaining an initial position angle of a rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the magnetic pole polarity of the permanent magnet synchronous motor. According to the method provided by the invention, the influence of the magnetic poles of the permanent magnet synchronous motor is considered, the initial position angle of the rotor is compensated according to the polarity of the magnetic poles, the accuracy of the obtained initial position angle of the rotor is higher, and the reliability of initial position angle detection is improved. In addition, the method provided by the invention can obtain a detection result with higher accuracy under the working condition that the rotor is static, and the application range is wider. In addition, the method provided by the invention does not need to consider the parameters of the permanent magnet synchronous motor, and is easier to realize.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1A is a schematic flow chart of a first embodiment of a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention;
FIG. 1B is a schematic diagram of the relationship between the two-phase synchronous rotating coordinate system, the two-phase stationary coordinate system and the two-phase synchronous rotating coordinate system according to the present invention;
fig. 2 is a schematic flow chart of a second embodiment of a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention;
fig. 3A is a schematic flowchart of a third embodiment of a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention;
FIG. 3B is a schematic diagram showing signal changes of multiple channels during operation of the PMSM;
FIG. 3C is a schematic diagram showing the response current variation law;
fig. 4 is a schematic structural diagram of a first embodiment of the device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention;
fig. 5 is a schematic structural diagram of a second embodiment of the device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to 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, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to realize vector control of high precision and high dynamic performance of speed and position of a permanent magnet synchronous motor, position information of a rotor with high accuracy is required. The position information of the rotor is usually estimated by using a position sensor direct detection method and a position sensor-free algorithm, but the initial position angle of the rotor needs to be judged in advance by using any algorithm. Therefore, the initial position angle of the rotor greatly affects the vector control performance of the permanent magnet synchronous motor.
At present, there are many methods for detecting the initial position angle of the rotor of the permanent magnet synchronous motor, which generally include the following two methods:
first, a pre-positioning method. The method is used for positioning the rotor to a specified angle by injecting a current vector in a fixed direction into the permanent magnet synchronous motor.
However, this method is obviously not applicable for the working condition that the motor rotor is static, such as a direct-drive locomotive, a motor train unit or a subway train.
And secondly, a voltage pulse injection method. The method determines the rotor angle by comparing the amplitudes of the response currents of voltage pulse signals with the same amplitude and different angles.
However, this method needs to select the proper amplitude and duration of the voltage pulse signal, and an excessive amplitude or a too long time of the voltage pulse signal may cause overcurrent and jitter of the motor, and an insufficient amplitude or a too short time of the voltage pulse signal may reduce the accuracy of the initial position angle. Therefore, the method has low reliability.
Based on the defects in the prior art, the invention provides a method for detecting the initial position angle of the rotor of the permanent magnet synchronous motor, so as to improve the reliability of the detection of the initial position angle of the rotor of the permanent magnet synchronous motor and improve the applicability.
Fig. 1A is a schematic flow chart of a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to a first embodiment of the present invention. The execution subject of the method for detecting the initial position angle of the rotor of the permanent magnet synchronous motor provided in the embodiment is the device for detecting the initial position angle of the rotor of the permanent magnet synchronous motor provided by the invention, and the device is a TCU control device, for example. As shown in fig. 1A, the method of the present embodiment includes:
s101, injecting a high-frequency voltage signal into a stator winding of the permanent magnet synchronous motor to be detected, and obtaining three-phase stator winding current.
In order to make the technical solution in this embodiment clearer, first, several coordinate systems related to the present invention will be described.
Specifically, the coordinate system of the present invention includes two-phase synchronous rotating coordinate system, two-phase stationary coordinate system and two-phase expected synchronous coordinate system, wherein fig. 1B is a schematic relationship diagram of the two-phase synchronous rotating coordinate system, the two-phase stationary coordinate system and the two-phase expected synchronous rotating coordinate system provided by the present invention, as shown in fig. 1B, αβ is the two-phase stationary coordinate system, dq coordinate system is the two-phase synchronous rotating coordinate system,
the coordinate system is the expected two-phase synchronous rotation coordinate system.
Since an error may exist between the expected rotor position angle and the actual rotor position angle during the operation of the permanent magnet synchronous motor, the estimation error of the rotor position angle is defined as:
wherein the content of the first and second substances,
to predict the rotor position angle, θ is the actual rotor position angle, and Δ θ is the rotor position angle estimation error.
And injecting a high-frequency voltage signal into the stator winding of the permanent magnet synchronous motor under the expected two-phase synchronous rotating coordinate system.
One possible implementation, injecting a high frequency voltage signal as shown in equation (2) into the expected two-phase synchronous rotating coordinate system:
wherein, UmhIs the amplitude, omega, of the high-frequency voltage signalhT represents the time of injection of the high frequency voltage signal, which is the angular frequency of the high frequency voltage signal.
As can be seen from equation (2), the two components of the high-frequency voltage signal injected into the stator winding of the permanent magnet synchronous motor are linearly independent, and thus the inductance parameter of the permanent magnet synchronous motor can be obtained. Specifically, the inductance parameter of the permanent magnet synchronous motor can be obtained according to a mathematical model of the permanent magnet synchronous motor established in the prior art and a related calculation method.
And after injecting a high-frequency voltage signal, obtaining the response current of the stator winding, wherein the response current is the three-phase stator winding current. In one possible implementation, the three-phase stator winding current may be obtained by a current sensor.
Wherein, the three-phase stator winding current can adopt ia，ibAnd icAnd (4) showing.
S102, obtaining d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current.
It should be noted that the d-axis target current and the q-axis target current are both corresponding current components excited by injected high-frequency voltage signals on the stator winding according to the structure of the permanent magnet synchronous motor and the magnetic saturation characteristics, and both the d-axis target current and the q-axis target current are related to the rotor position angle estimation error.
Therefore, coordinate conversion is performed on the three-phase stator winding current according to the relationship between the expected two-phase synchronous rotating coordinate system and the two-phase stationary coordinate system, so that a d-axis target current and a q-axis target current in the expected two-phase synchronous rotating coordinate system are obtained.
One possible implementation is to first apply a three-phase stator winding current ia，ibAnd icClarke (Clarke) transformation is carried out to obtain α axis current i under a two-phase static coordinate systemαAnd β Axis Current iβThen, the current i is adjusted to α axisαAnd β Axis Current iβPerforming Park transformation to obtain d-axis target current
And q-axis target current
Further, d-axis target current
And q-axis target current
As shown in equation (3):
wherein L is the average inductance L ═ (L)d+Lq) (L2) Δ L represents half-differential inductance Δ L ═ Ld-Lq)/2。
From the formula (3), the d-axis target current
And q-axis target current
Are related to the rotor position angle estimation error delta theta.
And S103, acquiring an initial position angle of the rotor according to the d-axis target current and the q-axis target current.
The initial position angle is compensated according to the polarity of the magnetic pole of the permanent magnet synchronous motor.
Specifically, as can be seen from the above equation (3), the q-axis target current
The method includes rotor initial position information, so that the q-axis target current can be subjected to signal processing to extract an initial position angle of the rotor.
The polarity information of the magnetic pole of the permanent magnet synchronous motor is related to the d-axis inductance, so that the polarity information of the magnetic pole can be acquired according to the nonlinear magnetization characteristic of the d-axis inductance of the permanent magnet synchronous motor
Further, the initial position angle of the rotor is compensated according to the polarity of the magnetic poles, so that a compensated initial position angle is obtained, and the compensated initial position angle is determined as the initial position angle of the rotor.
In this embodiment, a high-frequency voltage signal is injected into a stator winding of a permanent magnet synchronous motor to be detected to obtain a three-phase stator winding current, then a d-axis target current and a q-axis target current in an expected two-phase synchronous rotating coordinate system are obtained according to the three-phase stator winding current, and further, an initial position angle of a rotor is obtained according to the d-axis target current and the q-axis target current, where the initial position angle is an initial position angle compensated according to a magnetic pole polarity of the permanent magnet synchronous motor. According to the method provided by the invention, the influence of the magnetic poles of the permanent magnet synchronous motor is considered, the initial position angle of the rotor is compensated according to the polarity of the magnetic poles, the accuracy of the obtained initial position angle of the rotor is higher, and the reliability of initial position angle detection is improved. In addition, the method provided by the invention can obtain a detection result with higher accuracy under the working condition that the rotor is static, and the application range is wider. In addition, the method provided by the invention does not need to consider the parameters of the permanent magnet synchronous motor, and is easier to realize.
Based on the embodiment shown in fig. 1A, in some embodiments, the step S103 of obtaining the initial position angle of the rotor according to the d-axis target current and the q-axis target current may be implemented by:
first, a first initial position angle of the rotor is obtained from the q-axis target current.
A possible implementation whenWhen the rotor position angle estimation error delta theta is zero, the q-axis target current
Is zero for q-axis target current
And performing signal processing to obtain an error input signal of the position angle of the rotor, and obtaining an initial position angle of the rotor according to the error input signal.
Further, a magnetic pole compensation angle of the rotor is obtained according to the d-axis target current.
The polarity information of the magnetic pole of the permanent magnet synchronous motor is related to the d-axis inductance, so that the polarity information of the magnetic pole can be obtained according to the nonlinear magnetization characteristic of the d-axis inductance of the permanent magnet synchronous motor.
Further, the initial position angle of the rotor is obtained according to the first initial position angle and the magnetic pole compensation angle.
In the embodiment, the magnetic pole compensation angle is adopted to compensate the first initial position angle, and the compensated first initial position angle is determined as the initial position angle of the rotor.
Next, a specific implementation of obtaining the first initial position angle of the rotor from the q-axis target current will be described.
Fig. 2 is a schematic flow chart of a second method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to an embodiment of the present invention. As shown in fig. 2, obtaining a first initial position angle of the rotor according to the q-axis target current may include:
s201, low-pass filtering is conducted on the q-axis target current, and an error input signal is obtained.
Wherein the error input signal is an error signal related to an initial position angle of the rotor.
One possible implementation manner is to modulate the q-axis target current with a modulation signal to obtain a modulated q-axis target current, and further perform low-pass filtering on the modulated q-axis target current to obtain an error input signal.
Specifically, for q-axis target current
And modulated signal 2sin (ω)ht) to obtain the modulated q-axis target current.
Wherein the modulated q-axis target current is represented as
Further, filtering the modulated q-axis target current through a low-pass filter, and filtering out a 2-frequency multiplied signal component to obtain an error input signal f (delta theta), wherein,
where LPF denotes low pass filtering.
As can be seen from equation (4), the error input signal includes the rotor position estimation error Δ θ. In the low-pass filtering process, the influence of the phase delay of the filter on the extracted signal is considered, and the delay compensation is considered to be added during implementation, so that the injection phase of the high-frequency voltage is consistent with the phase of the estimated angle.
Further, when the rotor position estimation error is small enough, the error is input into the signal after the limit equivalent linearization, namely:
s202, acquiring a first initial position angle according to the error input signal.
In the step, an error input signal is used as an input of a PI regulator of the phase-locked loop, the PI regulator obtains a proportional deviation and an integral deviation of the error input signal according to the input error signal, and further obtains a first initial position angle according to a linear combination of the proportional deviation and the integral deviation.
Specifically, the first initial position angle may be obtained by equation (6):
wherein s represents the Laplace operator, kpIs the coefficient of the proportional term, kiIs an integral term coefficient;
adjusting a proportional term coefficient and an integral term coefficient of a PI regulator to make f (delta theta) converge, wherein an output term of the PI regulator is a first initial position angle theta of the rotorfirst。
In this embodiment, the q-axis target current is modulated and low-pass filtered to obtain an error input signal, and further, the PI regulator is used to perform phase-locked output on the error input signal, so as to obtain a first initial position angle.
Next, a specific implementation of obtaining the pole compensation angle of the rotor from the d-axis target current will be described.
Fig. 3A is a schematic flow chart of a third embodiment of a method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention. As shown in fig. 3A, obtaining the pole compensation angle of the rotor according to the d-axis target current may include:
s301, injecting a plurality of voltage pulse signals with equal voltage amplitude and different angles into the permanent magnet synchronous motor, and obtaining the response current of each voltage pulse signal.
The magnetic poles of the permanent magnet synchronous motor have nonlinear saturation characteristics. Specifically, a voltage pulse signal is injected into a d-axis of the permanent magnet synchronous motor, and when the angle of the voltage pulse signal is closer to the N pole of the permanent magnet synchronous motor, the amplitude of the response current is larger; when the angle of the voltage pulse signal is farther away from the N pole of the permanent magnet synchronous motor, the amplitude of the response current is smaller. It should be noted that the d-axis is a direct axis of the permanent magnet synchronous motor, and the q-axis is a quadrature axis of the permanent magnet synchronous motor.
Therefore, a plurality of voltage pulse signals with equal voltage amplitude and different angles are injected into the permanent magnet synchronous motor, and the response current of each voltage pulse signal is obtained, so that the change rule of the amplitude of the response current is obtained.
A possible implementation mode is that a plurality of voltage pulse signals with preset angles at intervals and equal amplitudes are injected into a permanent magnet synchronous motor, sampling is carried out through a current sensor, response currents of the voltage pulses are obtained, and the change rule of the amplitudes of the response currents is further obtained. For example, a voltage pulse signal of equal amplitude every 5 ° is injected into the permanent magnet synchronous motor. It is understood that the preset angle may be smaller or larger, and the present invention is not limited thereto. It should be noted that the smaller the preset angle is, the more the data of the obtained response current is, the higher the accuracy of the obtained change rule of the amplitude of the response current is, and the larger the preset angle is, the less the data of the obtained response current is, the lower the accuracy of the obtained change rule of the amplitude of the response current is, so that in the actual application process, an appropriate preset angle can be selected according to the actual situation.
In another possible implementation manner, a plurality of voltage pulse signals with a plurality of special angles and equal amplitudes are injected into the permanent magnet synchronous motor, sampling is performed through the current sensor, response currents of the voltage pulses are obtained, and the change rule of the amplitudes of the response currents is further obtained.
And S302, determining a magnetic pole compensation angle of the rotor according to the plurality of response currents.
Specifically, a pole compensation angle of the rotor is determined based on the magnitudes of the plurality of response currents.
And when the difference between the angle of the injected voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is greater than a first value, determining that the magnetic pole compensation angle of the rotor is 0, wherein the first value is the maximum value of the amplitudes of the multiple response currents. That is, the d-axis direction is determined to be the magnetic pole N-pole direction.
And when the difference between the angle of the injected voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is smaller than a second value, determining that the magnetic pole compensation angle of the rotor is pi, wherein the second value is the minimum value of the amplitudes of the multiple response currents. That is, the d-axis direction is determined to be the S-pole direction.
Accordingly, the initial position angle of the rotor is the sum of the first initial position angle and the magnetic pole compensation angle. Specifically, when the d-axis direction is determined to be the N-pole direction, the initial position angle of the rotor is equal to the first initial position angle, and when the d-axis direction is determined to be the S-pole direction, the initial position angle of the rotor is equal to the sum of the first initial position angle and the magnetic pole compensation angle pi.
In the embodiment, the accuracy of magnetic pole polarity identification obtained according to the nonlinear saturation characteristic of the direct-axis inductance of the permanent magnet synchronous motor is high, the influence of motor parameters of the permanent magnet synchronous motor does not need to be considered in the implementation process, the reliability is high, and the implementation is easier.
Next, the method of the present invention is described by taking a 1200kW permanent magnet synchronous motor as an example, and setting some specific parameters during the implementation process:
the switching frequency of the inverter is 500Hz, the rated power of the motor is 1200kW, the rated torque of the motor is 32606N.m, the rated voltage is 2150V, the rated current 375A, the rated rotating speed is 350r/min, the number of pole pairs of the motor is 7, the inductance Ld of the d shaft of the motor is 0.008771H, and the inductance Lq of the q shaft of the motor is 0.012732H.
The amplitude of a high-frequency voltage signal injected into the permanent magnet synchronous motor is 180V, the angular frequency of the high-frequency voltage signal is 200Hz, and the switching frequency of the inverter is 500 Hz.
In the operation process of the permanent magnet synchronous motor, signal changes of a plurality of channels are collected, wherein fig. 3B is a schematic diagram of signal changes of a plurality of channels in the operation process of the permanent magnet synchronous motor. As shown in fig. 3B, the channels from top to bottom are: the system comprises a permanent magnet synchronous motor UV phase line voltage signal, a permanent magnet synchronous motor U phase upper tube pulse signal, a bus voltage signal, a permanent magnet synchronous motor U phase current signal and a permanent magnet synchronous motor V phase current signal.
Further, by adopting the method provided by the embodiment of the invention, voltage pulse signals with equal voltage amplitude and different angles are injected into the permanent magnet synchronous motor, and the response current corresponding to the voltage pulse signals is obtained. Fig. 3C is a schematic diagram of a variation law of the response current, and as shown in fig. 3C, when the angle of the injected voltage pulse signal is closer to the N pole of the permanent magnet synchronous motor, the amplitude of the response current is larger; when the angle of the injected voltage pulse signal is farther away from the N pole of the permanent magnet synchronous motor, the response current amplitude is smaller.
Further, the actual position angle of the rotor obtained by detecting the rotary transformer is compared with the expected position angle of the rotor obtained by calculation according to a control algorithm, and the calculation error is known to be about +/-1.2 degrees and smaller through comparison of multiple groups of data.
TABLE 1
| Actual position angle of rotor | Desired rotor position angle | Calculation error (radian) | Calculating error (degree) |
| 1.7257 | 1.7145 | 0.0112 | 0.64171273 |
| 4.7737 | 4.7694 | 0.0043 | 0.24637185 |
| 0.8268 | 0.82 | 0.0068 | 0.3896113 |
| 3.9178 | 3.9026 | 0.0152 | 0.87089585 |
| 6.2264 | 6.2187 | 0.0077 | 0.4411775 |
| 2.6691 | 2.6465 | 0.0226 | 1.29488462 |
| 6.1329 | 6.1215 | 0.0114 | 0.65317189 |
| 2.9652 | 2.9489 | 0.0163 | 0.93392121 |
| 4.8428 | 4.841 | 0.0018 | 0.1031324 |
| 0.0859 | 0.0817 | 0.0042 | 0.24064227 |
| 0.8928 | 0.8753 | 0.0175 | 1.00267614 |
Fig. 4 is a schematic structural diagram of a first embodiment of the device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention. As shown in fig. 4, the apparatus 40 of the present embodiment includes: a first obtaining module 41, a converting module 42 and a second obtaining module 43.
The first obtaining module 41 is configured to obtain a three-phase stator winding current after injecting a high-frequency voltage signal into a stator winding of the to-be-detected permanent magnet synchronous motor.
And the conversion module 42 is used for acquiring a d-axis target current and a q-axis target current under a two-phase synchronous rotating coordinate system according to the three-phase stator winding current.
And a second obtaining module 43, configured to obtain an initial position angle of the rotor according to the d-axis target current and the q-axis target current, where the initial position angle is an initial position angle compensated according to a magnetic pole polarity of the permanent magnet synchronous motor.
The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
Specifically, in the embodiment shown in fig. 4, the second obtaining module 43 is specifically configured to obtain a first initial position angle of the rotor according to the q-axis target current, obtain a magnetic pole compensation angle of the rotor according to the d-axis target current, and obtain an initial position angle of the rotor according to the first initial position angle and the magnetic pole compensation angle.
Optionally, the second obtaining module 43, configured to obtain the first initial position angle of the rotor according to the q-axis target current, includes: and performing low-pass filtering processing on the q-axis target current to obtain an error input signal, and then obtaining a first initial position angle according to the error input signal.
The second obtaining module 43 is configured to perform low-pass filtering on the q-axis target current to obtain an error input signal, and includes: and modulating the q-axis target current by adopting a modulation signal to obtain the modulated q-axis target current, and performing low-pass filtering processing on the modulated q-axis target current to obtain an error input signal.
Further, the second obtaining module 43 is configured to obtain the first initial position angle according to the error input signal, and includes: a proportional deviation and an integral deviation of the error input signal are obtained from the input error signal, and a first initial position angle is obtained from a linear combination of the proportional deviation and the integral deviation.
Further, the second obtaining module 43 is configured to obtain a magnetic pole compensation angle of the rotor according to the d-axis target current, and includes: injecting a plurality of voltage pulse signals with equal voltage amplitude and different angles into the motor, acquiring the response current of each voltage pulse signal, and then determining the magnetic pole compensation angle of the rotor according to the plurality of response currents.
In a possible implementation manner, the second obtaining module 43 is specifically configured to determine that the magnetic pole compensation angle of the rotor is 0 when the difference between the angle of the injected voltage pulse signal and the first initial position angle satisfies the preset error range and the amplitude of the response current of the voltage pulse signal is greater than a first value, where the first value is a maximum value of the amplitudes of the multiple response currents.
The second obtaining module 43 is specifically configured to determine that the magnetic pole compensation angle of the rotor is pi when the difference between the angle of the injected voltage pulse signal and the first initial position angle satisfies the preset error range and the amplitude of the response current of the voltage pulse signal is smaller than a second value, where the second value is a minimum value of the amplitudes of the multiple response currents.
Fig. 5 is a schematic structural diagram of a second embodiment of the device for detecting an initial position angle of a rotor of a permanent magnet synchronous motor according to the present invention. As shown in fig. 5, the apparatus 50 of the present embodiment includes: a memory and a processor.
The memory 51 may be a separate physical unit, and may be connected to the processor 52 via a bus 53. The memory 51 and the processor 52 may also be integrated, implemented by hardware, etc.
The memory 51 is used for storing a program implementing the above method embodiment, which is called by the processor 52 to perform the operations of the above method embodiment.
Alternatively, when part or all of the method of the above embodiment is implemented by software, the above permanent magnet synchronous motor rotor initial position angle detection device 50 may also include only a processor. The memory for storing the program is located outside the permanent magnet synchronous motor rotor initial position angle detection device 50, and the processor is connected with the memory through a circuit/wire and used for reading and executing the program stored in the memory.
The processor 52 may further include a hardware chip. The hardware chip may be an Application-Specific Integrated Circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a Field-Programmable gate Array (FPGA), General Array Logic (GAL), or any combination thereof.
The Memory 51 may include a Volatile Memory (Volatile Memory), such as a Random-Access Memory (RAM); the Memory may also include a Non-volatile Memory (Non-volatile Memory), such as a Flash Memory (Flash Memory), a Hard Disk Drive (HDD) or a Solid-state Drive (SSD); the memory may also comprise a combination of memories of the kind described above.
The apparatus of this embodiment may be used to implement the technical solutions of the method embodiments shown in fig. 1, fig. 2, and fig. 3, and the implementation principles and technical effects thereof are similar and will not be described herein again.
The present invention also provides a program product, e.g., a computer storage medium, comprising: program for performing the above method when executed by a processor.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for detecting an initial position angle of a rotor of a permanent magnet synchronous motor is characterized by comprising the following steps:
injecting a high-frequency voltage signal into a stator winding of the permanent magnet synchronous motor to be detected to obtain three-phase stator winding current;
acquiring d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current;
and acquiring an initial position angle of the rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the polarity of the magnetic pole of the permanent magnet synchronous motor.
2. The method of claim 1, wherein said obtaining an initial position angle of a rotor from said d-axis target current and said q-axis target current comprises:
acquiring a first initial position angle of the rotor according to the q-axis target current;
acquiring a magnetic pole compensation angle of the rotor according to the d-axis target current;
and acquiring the initial position angle of the rotor according to the first initial position angle and the magnetic pole compensation angle.
3. The method of claim 2, wherein said obtaining a first initial position angle of the rotor from the q-axis target current comprises:
performing low-pass filtering processing on the q-axis target current to obtain an error input signal;
and acquiring the first initial position angle according to the error input signal.
4. The method of claim 3, wherein said low-pass filtering said q-axis target current to obtain an error input signal comprises:
modulating the q-axis target current by adopting a modulation signal to obtain the modulated q-axis target current;
and carrying out low-pass filtering processing on the modulated q-axis target current to obtain the error input signal.
5. The method of claim 4, wherein said obtaining the first initial position angle from the error input signal comprises:
acquiring a proportional deviation and an integral deviation of the error input signal according to the input error signal;
and acquiring the first initial position angle according to the linear combination of the proportional deviation and the integral deviation.
6. The method of claim 2, wherein the obtaining a pole compensation angle of the rotor from the d-axis target current comprises:
injecting a plurality of voltage pulse signals with equal voltage amplitude and different angles into the permanent magnet synchronous motor to obtain the response current of each voltage pulse signal;
and determining a magnetic pole compensation angle of the rotor according to a plurality of response currents.
7. The method of claim 6, wherein determining a pole compensation angle of the rotor based on the plurality of response currents comprises:
when the difference between the injected angle of the voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is greater than a first value, determining that the magnetic pole compensation angle of the rotor is 0, wherein the first value is the maximum value of the amplitudes of the plurality of response currents;
when the difference between the injected angle of the voltage pulse signal and the first initial position angle meets a preset error range and the amplitude of the response current of the voltage pulse signal is smaller than a second value, determining that the magnetic pole compensation angle of the rotor is pi, wherein the second value is the minimum value of the amplitudes of the multiple response currents.
8. The utility model provides a PMSM rotor initial position angle detection device which characterized in that includes:
the first acquisition module is used for acquiring three-phase stator winding current after injecting a high-frequency voltage signal into a stator winding of the permanent magnet synchronous motor to be detected;
the conversion module is used for obtaining d-axis target current and q-axis target current under an expected two-phase synchronous rotating coordinate system according to the three-phase stator winding current;
and the second acquisition module is used for acquiring an initial position angle of the rotor according to the d-axis target current and the q-axis target current, wherein the initial position angle is an initial position angle compensated according to the magnetic pole polarity of the permanent magnet synchronous motor.
9. The utility model provides a PMSM rotor initial position angle detection device which characterized in that includes: a memory and a processor;
the memory stores program instructions;
the processor executes the program instructions to perform the method of any one of claims 1 to 7.
10. A storage medium, comprising: carrying out a procedure;
the program is for performing the method of any one of claims 1 to 7 when executed by a processor.
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| CN114421843A (en) * | 2022-01-06 | 2022-04-29 | 奇瑞新能源汽车股份有限公司 | Method, device, equipment and medium for calibrating initial position of permanent magnet synchronous motor |
| CN116885981A (en) * | 2023-08-11 | 2023-10-13 | 通用技术集团机床工程研究院有限公司上海分公司 | Synchronous motor electrical angle identification method, system, medium and electronic equipment |
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| CN108258968A (en) * | 2018-01-16 | 2018-07-06 | 苏州汇川技术有限公司 | Electric mover magnetic pole initial position debates knowledge system and method |
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| CN116885981A (en) * | 2023-08-11 | 2023-10-13 | 通用技术集团机床工程研究院有限公司上海分公司 | Synchronous motor electrical angle identification method, system, medium and electronic equipment |
| CN116885981B (en) * | 2023-08-11 | 2024-03-29 | 通用技术集团机床工程研究院有限公司上海分公司 | Synchronous motor electrical angle identification method, system, medium and electronic equipment |
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