CN111193451A - Method for judging starting time and position of three-phase motor - Google Patents

Method for judging starting time and position of three-phase motor Download PDF

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Publication number
CN111193451A
CN111193451A CN201911129596.4A CN201911129596A CN111193451A CN 111193451 A CN111193451 A CN 111193451A CN 201911129596 A CN201911129596 A CN 201911129596A CN 111193451 A CN111193451 A CN 111193451A
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motor
current
vector
phase
sector
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丛凤龙
蔡朱平
管博
殷浩
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Global Intelligent Power Technology Shanghai Co ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • 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

Abstract

the invention relates to the field of control devices of generators for obtaining required output values, in particular to a method for judging the starting time position of a three-phase motor.

Description

Method for judging starting time and position of three-phase motor
Technical Field
The invention relates to the field of control devices of generators for obtaining required output values, in particular to a method for judging the starting time and position of a three-phase motor.
Background
At present, a high-frequency injection mode is adopted for the space vector control starting of the position-sensorless space vector, and a noise problem exists during high-frequency injection.
Disclosure of Invention
The invention provides a motor control method with accurate judgment and small noise influence in order to overcome the defects of the prior art, and discloses a method for judging the starting time position of a three-phase motor.
The invention achieves the purpose by the following technical scheme:
a method for judging the starting time and position of a three-phase motor is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
firstly, the three-phase current input into the motor is collected, the space pulse width vector modulation is carried out on the collected three-phase current, when the space pulse width vector modulation is carried out, the collected three-phase current is firstly converted into voltage and current under α, beta and dq axial coordinate system through clarke conversion, park conversion, clarke inverse conversion and park inverse conversion, and the judgment U is carried outα、UβThe symbol of,
Figure BDA0002277914570000011
And
Figure BDA0002277914570000016
the sector where the voltage combination vector is located is determined according to the magnitude relationship, which is specifically as follows:
sector where the condition is satisfied
Uα>0，Uβ>0, and
Figure BDA0002277914570000012
Uβ>0, and
Uα<0，Uβ>0, and
Figure BDA0002277914570000014
Uα<0，Uβ<0, and
Figure BDA0002277914570000015
Uβ<0, and
Figure BDA0002277914570000021
Uα>0，Uβ<0, and
Figure BDA0002277914570000022
；
controlling six output states of a three-phase full-bridge pulse width modulation mode according to the position of the sector, outputting force in the opposite direction of the current running sector to the motor, and enabling the direction of the sector where the synthesized voltage vector is located to be opposite to that of the current running sector of the motor so as to enable the motor to run in a speed reduction mode, wherein the relationship between the sector where the current voltage vector is located and the sector where the synthesized voltage vector is located is as follows:
Figure BDA0002277914570000023
estimating, namely estimating the sensorless position based on a sliding mode current observer:
the voltage balance equation of the motor is as follows:
Figure BDA0002277914570000024
solving for i from (a)sObtaining:
Figure BDA0002277914570000025
laplace transform of equation (b) and discretization are performed to obtain:
Figure BDA0002277914570000026
solving from (c):
Figure BDA0002277914570000027
(d) in the formula:
isis a vector of the current of the motor,
vsas a vector of the voltage input to the motor,
eswhich is the back-emf vector of the motor,
r is the resistance of the stator winding of the motor,
l is the inductance of the stator winding of the motor,
Tsis a control period;
setting:
Figure BDA0002277914570000031
Figure BDA0002277914570000032
according to the formulas (e) and (F), F and G can be calculated after the resistance R and the inductance L of the motor are measured, and further the motor current can be calculated;
the algorithm described below is stored in the synovial-type current observer:
Figure BDA0002277914570000033
in order to make the estimated current
Figure BDA0002277914570000034
And the current i collected by the actual hardwaresMatching with each other, correcting in a closed-loop mode, and acquiring actual operation in a hardware acquisition modeCurrent i ofsThe estimated current obtained by equation (g)
Figure BDA0002277914570000035
For the
Figure BDA0002277914570000036
And isTwo current values, input voltage vsThe same, for the convenience of calculation, make reasonable assumption, set the counter electromotive force e in the actual operation of the motorsAnd the estimated back electromotive force
Figure BDA0002277914570000037
Equal, for estimated current
Figure BDA0002277914570000038
And the actually collected current isWithin a predetermined threshold range, the output Z of the synovial observer varies linearly when the difference is within the predetermined threshold range
Figure BDA0002277914570000039
And isWhen the difference exceeds a preset threshold value, the synovial membrane observer outputs a fixed Z, the sign of the Z is determined by
Figure BDA00022779145700000310
And isThe sign of the difference value of (2) is compensated once in each foc' control period, and after the compensation,
Figure BDA00022779145700000311
and isAlready the same, the next step requires an estimate of the synovial gain Z filter to find the back-emf esseparately developing the α axis and the beta axis to obtain the counter-electromotive force e of the α axis and the beta axisαAnd eβBy eαAnd eβThe rotor angle theta can be estimated according to the arctangent value;
the operation of current compensation is performed as shown in the flow chart of figure 3,
in the flow chart of figure 3, the flow chart,
Figure RE-GDA00024493258800000312
as shown in formula (i):
Figure BDA0002277914570000043
(i) in the formula:
enfor the next estimation of the counter-potential,
en-1for the last time the counter-potential was estimated,
fPWMin order to calculate the frequency of the filter,
fcis the cut-off frequency of the filter,
Znthe back electromotive force is non-filterable and is output by a synovial membrane controller;
the equation (h) includes two digital filters, wherein the first filter module is used to calculate the next estimated current
Figure BDA0002277914570000044
The second filter is used for calculating a smooth signal of the motor model, and the required rotor angle theta can be calculated and obtained through the second filtering of the counter electromotive force, and the theta is obtained according to the formula (j):
Figure BDA0002277914570000045
after obtaining theta, according to
Figure BDA0002277914570000046
The current electrical rotating speed value can be obtained;
fourthly, stopping at a fixed position:
when the rotating speed of the motor is lower than a preset threshold value of a program, the PWM output state can be controlled, the phase A upper bridge is opened, the phase B and the phase C lower bridge are opened at the moment, the rotor is fixed at the phase A current vector position and stops, the VCU outputs a digital signal stop control instruction to the motor, and when the motor detects that the stop control instruction is in an effective state, the motor enters the stop state.
The invention is used for judging the motor position at the motor starting time under the application occasions that the position sensor fails or does not have the position sensor. By adopting the invention, the motor can start to operate from the 0-degree angle of fixed program operation when being electrified every time, and the optimal torque control is ensured at the starting time of the motor.
By adopting the invention, the motor can be idled once when the motor and the controller leave a factory, and the position of the rotor of the motor is not required to be positioned and estimated by adopting a high-frequency injection mode in the process of using the motor every time, so that the estimation of the position is more accurate than that of the high-frequency injection mode, the noise influence is reduced, and the electromagnetic torque direction at the starting moment is more definite.
Drawings
FIG. 1 is a schematic diagram of a sector in which a current voltage vector and a resultant voltage vector each reside;
FIG. 2 is a schematic flow diagram of a current observer;
fig. 3 is a back emf model and angle estimation flow diagram.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
A method for judging the starting time and position of a three-phase motor is implemented in sequence according to the following steps:
firstly, the three-phase current input into the motor is collected, the space pulse width vector modulation is carried out on the collected three-phase current, when the space pulse width vector modulation is carried out, the collected three-phase current is firstly converted into voltage and current under α, beta and dq axial coordinate system through clarke conversion, park conversion, clarke inverse conversion and park inverse conversion, and the judgment U is carried outα、UβThe symbol of,
Figure BDA0002277914570000051
And
Figure BDA0002277914570000057
the size relationship of (2) determines the sector where the voltage synthesis vector is locatedThe body is as follows:
sector where the condition is satisfied
Uα>0，Uβ>0, and
Figure BDA0002277914570000052
Uβ>0, and
Figure BDA0002277914570000053
Uα<0，Uβ>0, and
Figure BDA0002277914570000054
Uα<0，Uβ<0, and
Figure BDA0002277914570000055
Uβ<0, and
Figure BDA0002277914570000056
Uα>0，Uβ<0, and
Figure BDA0002277914570000061
；
controlling six output states of a three-phase full-bridge pulse width modulation mode according to the position of the sector, outputting force in the opposite direction of the current running sector to the motor, and enabling the direction of the sector where the synthesized voltage vector is located to be opposite to that of the current running sector of the motor so as to enable the motor to run in a speed reduction mode, wherein the relationship between the sector where the current voltage vector is located and the sector where the synthesized voltage vector is located is as follows:
Figure BDA0002277914570000062
if the current voltage vector is in the I sector shown in the middle, changing the output composite voltage vector by changing the PWM output state of the three-phase full bridge to make the composite voltage vector fall in the IV sector, and enabling the motor to run in a deceleration way;
estimating, namely estimating the sensorless position based on a sliding mode current observer:
the voltage balance equation of the motor is as follows:
Figure BDA0002277914570000063
solving for i from (a)sObtaining:
Figure BDA0002277914570000064
laplace transform of equation (b) and discretization are performed to obtain:
Figure BDA0002277914570000065
solving from (c):
Figure BDA0002277914570000066
(d) in the formula:
isis a vector of the current of the motor,
vsas a vector of the voltage input to the motor,
eswhich is the back-emf vector of the motor,
r is the resistance of the stator winding of the motor,
l is the inductance of the stator winding of the motor,
Tsis a control period;
setting:
Figure BDA0002277914570000071
Figure BDA0002277914570000072
according to the formulas (e) and (F), F and G can be calculated after the resistance R and the inductance L of the motor are measured, and further the motor current can be calculated;
the algorithm described below is stored in the synovial-type current observer:
Figure BDA0002277914570000073
a flow diagram of the current observer is shown in figure 2,
in order to make the estimated current
Figure BDA0002277914570000074
And the current i collected by the actual hardwaresMatching with each other, and correcting in a closed loop manner, as shown in FIG. 2, wherein the current i in actual operation is obtained by the shaded part in the graph in a manner of hardware acquisitionsShaded below, according to a formula (g) representing the estimated current
Figure BDA0002277914570000075
For the
Figure BDA0002277914570000076
And isTwo current values, input voltage vsThe same, for the convenience of calculation, make reasonable assumption, set the counter electromotive force e in the actual operation of the motorsAnd the estimated back electromotive force
Figure BDA0002277914570000077
Equality, as can be seen from fig. 2, for the estimated current
Figure BDA0002277914570000078
And the actually collected current isWithin a predetermined threshold range, the output Z of the synovial observer varies linearly when
Figure BDA0002277914570000079
And isIs more thanWhen the preset threshold value is reached, the synovial membrane observer outputs fixed Z, and the sign of Z depends on
Figure BDA00022779145700000710
And isThe sign of the difference value of (2) is performed once every foc' control period, after the current compensation of (2) is performed,
Figure BDA00022779145700000711
and isOnce the same is true, the next step requires estimation of the synovial gain Z filtering to obtain the back-emf esseparately developing the α axis and the beta axis to obtain the counter-electromotive force e of the α axis and the beta axisαAnd eβBy eαAnd eβThe rotor angle theta can be estimated according to the arctangent value;
the operation of current compensation is performed as the flow shown in fig. 3:
in the flow chart of figure 3, the flow chart,
Figure RE-GDA00024493258800000710
as shown in formula (i):
Figure BDA0002277914570000083
(i) in the formula:
enfor the next estimation of the counter-potential,
en-1for the last time the counter-potential was estimated,
fPWMin order to calculate the frequency of the filter,
fcis the cut-off frequency of the filter,
Znthe back electromotive force is non-filterable and is output by a synovial membrane controller;
the equation (h) includes two digital filters, wherein the first filter module is used to calculate the next estimated current
Figure BDA0002277914570000084
The second filterThe wave filter is used for calculating a smooth signal of the motor model, and the required rotor angle theta can be calculated and obtained through second filtering of counter electromotive force, and the theta is obtained according to the formula (j):
Figure BDA0002277914570000085
after obtaining theta, according to
Figure BDA0002277914570000086
The current electrical rotating speed value can be obtained;
fourthly, stopping at a fixed position:
when the rotating speed of the motor is lower than a preset threshold value of a program, the PWM output state can be controlled, the phase A upper bridge is opened, the phase B and the phase C lower bridge are opened at the moment, the rotor is fixed at the phase A current vector position and stops, the VCU outputs a digital signal stop control instruction to the motor, and when the motor detects that the stop control instruction is in an effective state, the motor enters the stop state.

Claims (1)

1. A method for judging the starting time and position of a three-phase motor is characterized by comprising the following steps: the method is implemented in sequence according to the following steps:
firstly, the three-phase current input into the motor is collected, the space pulse width vector modulation is carried out on the collected three-phase current, when the space pulse width vector modulation is carried out, the collected three-phase current is firstly converted into voltage and current under α, beta and dq axial coordinate system through clarke conversion, park conversion, clarke inverse conversion and park inverse conversion, and the judgment U is carried outα、UβThe symbol of,
Figure RE-FDA0002449325870000011
And
Figure RE-FDA0002449325870000012
the sector where the voltage combination vector is located is determined according to the magnitude relationship of (a) to (b), which is specifically as follows:
Figure RE-FDA0002449325870000013
controlling six paths of output states of a pulse width modulation mode of a three-phase full bridge according to the position of the sector, outputting force in the opposite direction of the current running sector to the motor, and enabling the direction of the sector where the synthetic voltage vector is located to be opposite to that of the current running sector of the motor so as to enable the motor to run in a speed reduction mode, wherein the relationship between the sector where the current voltage vector is located and the sector where the synthetic voltage vector is located is as follows:
Figure RE-FDA0002449325870000014
Figure RE-FDA0002449325870000021
estimating, namely estimating the sensorless position based on a sliding mode current observer:
the voltage balance equation of the motor is as follows:
Figure RE-FDA0002449325870000022
solving for i from (a)sObtaining:
Figure RE-FDA0002449325870000023
laplace transform of equation (b) and discretization are performed to obtain:
Figure RE-FDA0002449325870000024
solving from (c):
Figure RE-FDA0002449325870000025
(d) in the formula:
isis a vector of the current of the motor,
vsas a vector of the voltage input to the motor,
eswhich is the back-emf vector of the motor,
r is the resistance of the stator winding of the motor,
l is the inductance of the stator winding of the motor,
Tsis a control period;
setting:
Figure RE-FDA0002449325870000026
Figure RE-FDA0002449325870000027
according to the formulas (e) and (F), F and G can be calculated after the resistance R and the inductance L of the motor are measured, and further the motor current can be calculated;
the algorithm described below is stored in the synovial-type current observer:
Figure RE-FDA0002449325870000031
in order to make the estimated current
Figure RE-FDA0002449325870000032
And the current i collected by the actual hardwaresMatching with each other, correcting in a closed loop mode, and acquiring the current i in actual operation in a hardware acquisition modesThe estimated current obtained by equation (g)
Figure RE-FDA0002449325870000033
For the
Figure RE-FDA0002449325870000034
And isTwo current values, input voltage vsIs the same, let us say the back-emf e in the actual operation of the motorsAnd the estimated back electromotive force
Figure RE-FDA0002449325870000035
Equal, for estimated current
Figure RE-FDA0002449325870000036
And the actually collected current isWithin a predetermined threshold range, the output Z of the synovial observer varies linearly when
Figure RE-FDA0002449325870000037
And isWhen the difference exceeds a preset threshold value, the synovial membrane observer outputs a fixed Z, the sign of the Z is determined by
Figure RE-FDA0002449325870000038
And isThe sign of the difference value of (2) is compensated once in each foc' control period, and after the compensation,
Figure RE-FDA0002449325870000039
and isOnce the same is true, the next step requires estimation of the synovial gain Z filter to obtain the back emf esseparately developing the α axis and the beta axis to obtain the counter-electromotive force e of the α axis and the beta axisαAnd eβBy eαAnd eβThe rotor angle theta can be estimated according to the arc tangent value;
the operation of current compensation is performed as shown in the flow chart of figure 3,
in the flow chart of figure 3, the flow chart,
Figure RE-FDA00024493258700000310
as shown in formula (i):
Figure RE-FDA00024493258700000311
(i) in the formula:
enfor the next estimation of the counter-potential,
en-1for the last time the counter-potential was estimated,
fPWMin order to calculate the frequency of the filter,
fcis the cut-off frequency of the filter,
Znthe back electromotive force is non-filterable and is output by a synovial membrane controller;
the equation (h) includes two digital filters, wherein the first filter module is used to calculate the next estimated current
Figure RE-FDA00024493258700000312
The second filter is used for calculating a smooth signal of the motor model, and the required rotor angle theta can be calculated and obtained through second filtering of counter electromotive force, wherein the theta is obtained according to the formula (j):
Figure RE-FDA00024493258700000313
after obtaining theta, according to
Figure RE-FDA00024493258700000314
The current electrical rotating speed value can be obtained;
fourthly, stopping at a fixed position:
when the rotating speed of the motor is lower than a preset threshold value of a program, the PWM output state is controlled, the phase A upper bridge is opened, the phase B and the phase C lower bridge are opened at the moment, the rotor is fixed at the phase A current vector position and stops, the VCU outputs a digital signal stop control instruction to the motor, and when the motor detects that the stop control instruction is in an effective state, the motor enters the stop state.
CN201911129596.4A 2019-09-09 2019-11-18 Method for judging starting time and position of three-phase motor Pending CN111193451A (en)

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CN112994579A (en) * 2021-03-10 2021-06-18 苏州汇川联合动力系统有限公司 Inverter driving signal modulation method, apparatus and computer readable storage medium
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Application publication date: 20200522