CN112271965A - Phase sequence control method and device based on initial phase identification, and electronic equipment - Google Patents
Phase sequence control method and device based on initial phase identification, and electronic equipment Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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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
- H02P21/24—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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention provides a phase sequence control method, a phase sequence control device and electronic equipment based on initial phase identification, which repeatedly execute the following steps: controlling the permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation and the encoder numerical value after each return to the electric zero position, calculating the encoder accumulated value according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the accumulated value of the encoder; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence counting; if the phase sequence is a negative phase sequence, exchanging the sampling current values and PWM output signals of the two permanent magnet synchronous motors; the initial phase identification precision can be improved, the phase sequence identification can be carried out at the same time, and the self-adaptive adjustment can be carried out based on the phase sequence identification result.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a phase sequence control method and device based on initial phase identification and electronic equipment.
Background
In a servo control system, high-performance control of a permanent magnet synchronous motor depends on an accurate rotor position, and obtaining the initial position of the rotor is a premise that the motor is started smoothly. In addition, if the phase sequence of the motor is incorrect, reverse rotation or overcurrent can be caused, so that the phase sequence needs to be searched before the motor is operated.
The initial position is identified by a positioning method, which is simple and effective, but the initial position is identified by the current positioning method, which easily causes fixed position deviation and causes inaccuracy of the initial position.
Disclosure of Invention
In view of the foregoing disadvantages of the prior art, an object of the embodiments of the present application is to provide a phase sequence control method, a phase sequence control apparatus, and an electronic device based on initial phase identification, which can perform phase sequence identification while improving the accuracy of initial phase identification, and perform adaptive adjustment based on a phase sequence identification result.
In a first aspect, an embodiment of the present application provides a phase sequence control method based on initial phase identification, which is applied to a permanent magnet synchronous motor control system, where the permanent magnet synchronous motor control system includes an encoder disposed on a permanent magnet synchronous motor, and includes the steps of:
A1. controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite in direction;
A2. calculating an encoder accumulated value according to the encoder value;
A3. calculating a phase sequence count from the encoder value increment;
A4. repeating the steps A1-A3 according to preset times;
A5. calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value;
A6. judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count;
A7. and if the phase sequence is a negative phase sequence, exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors.
In the phase sequence control method based on initial phase identification, step a1 includes:
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud by step with a step length of the preset size by a first preset angle;
after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud step by step with a step length of the preset size by a second preset angle;
and after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
In the phase sequence control method based on initial phase identification, the first preset angle and the second preset angle are 90-150 degrees.
In the phase sequence control method based on initial phase identification, in step a2, an encoder accumulated value is calculated by using the following formula:
wherein,
for the encoder accumulated value after the ith execution of step a1,
for the encoder accumulated values after the i-1 th execution of step a1,
for the encoder value after returning to the null position from the first predetermined angle in the ith step a1,
the encoder value after returning to the null position from the second preset angle in the ith step a1.
In the phase sequence control method based on initial phase identification, step a3 includes:
judging whether the number increment of the encoder after each step of rotation is the same as the corresponding step length of the rotation angle;
if the number is the same, the phase sequence count is increased by 1, and if the number is different, the phase sequence count is increased or decreased by 1.
In the phase sequence control method based on initial phase identification, in step a5, an encoder value corresponding to an initial angle is calculated by using the following formula:
wherein,
n is the total number of times steps a1-A3 are repeated for the encoder value corresponding to the initial angle,
the encoder accumulated values after the Nth execution of steps A1-A3.
Further, step a6 includes:
if the phase sequence count is greater than zero, determining that the phase sequence is a positive phase sequence;
and if the phase sequence count is less than zero, judging that the phase sequence is a negative phase sequence.
In a second aspect, an embodiment of the present application provides a phase sequence control device based on initial phase identification, which is applied to a permanent magnet synchronous motor control system, where the permanent magnet synchronous motor control system includes an encoder disposed on a permanent magnet synchronous motor, and includes:
the first execution module is used for repeatedly executing the following steps according to preset times:
controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite in direction;
calculating an encoder accumulated value according to the encoder value;
calculating a phase sequence count from the encoder value increment;
the calculation module is used for calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value;
the judging module is used for judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence counting;
and the adjusting module is used for exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors when the phase sequence is a negative phase sequence.
In the phase sequence control device based on initial phase identification, the first execution module controls the permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then returns to the electric zero position step by step, controls the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then returns to the electric zero position step by step, obtains the encoder value increment after each step of rotation, and obtains the encoder value after each return to the electric zero position,
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud by step with a step length of the preset size by a first preset angle;
after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud step by step with a step length of the preset size by a second preset angle;
and after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the steps of the phase sequence control method based on initial phase identification by calling the computer program stored in the memory.
Has the advantages that:
the phase sequence control method, the phase sequence control device and the electronic equipment based on initial phase identification provided by the embodiment of the application repeatedly execute the following steps according to preset times: controlling a permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to an electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation, acquiring the encoder numerical value after each return to the electric zero position, calculating the accumulated value of the encoder according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count; if the phase sequence is a negative phase sequence, exchanging the sampling current values and PWM output signals of the two permanent magnet synchronous motors; therefore, the initial phase identification precision can be improved, the phase sequence identification can be carried out, and the self-adaptive adjustment can be carried out based on the phase sequence identification result.
Drawings
Fig. 1 is a flowchart of a phase sequence control method based on initial phase identification according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a phase sequence control apparatus based on initial phase identification according to an embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a control block diagram of a permanent magnet synchronous motor control system.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the present application provides a phase sequence control method based on initial phase identification, which is applied to a permanent magnet synchronous motor control system, where the permanent magnet synchronous motor control system includes an encoder (generally, a rotary encoder) disposed on a permanent magnet synchronous motor, and includes the steps of:
A1. controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite to the first preset angle in direction;
A2. calculating an encoder accumulated value according to the encoder value;
A3. calculating a phase sequence count according to the encoder value increment;
A4. repeating the steps A1-A3 according to preset times;
A5. calculating an encoder value corresponding to the initial electrical angle according to the accumulated value of the encoder;
A6. judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence counting;
A7. and if the phase sequence is a negative phase sequence, exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors.
Fig. 4 is a control block diagram of a permanent magnet synchronous motor control system, which mainly includes the following parts: the device comprises a speed loop and current loop regulator module, a coordinate transformation module, a space vector pulse width modulation module (SVPWM), an inverter module, a coder (rotary coder) and a Permanent Magnet Synchronous Motor (PMSM); the Space Vector Pulse Width Modulation (SVPWM) module outputs a PWM signal to control the inverter module to convert the input voltage Ud into a three-phase ac voltage and output the three-phase ac voltage to the stator of the permanent magnet synchronous motor, so as to form a rotating voltage vector, thereby driving the rotor to rotate.
Generally, when the voltage vector inputted to the permanent magnet synchronous motor rotates by an angle, the rotor of the permanent magnet synchronous motor will rotate following the rotation of the voltage vector until the d-axis of the rotor coincides with the direction of the voltage vector, so that step a1 includes:
A101. inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and after rotating the electrical angle of the voltage Ud by a step length (+ [ Delta ] theta) with the preset size by a first preset angle (+ [ theta ]), reversely rotating the voltage Ud by steps with the step length (-Delta ] theta) and the step number with the same size;
A102. after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
A103. inputting a voltage Ud with a preset size to the permanent magnet synchronous motor, and after rotating the electrical angle of the voltage Ud step by a second preset angle (-theta) with a step size (-delta theta) with the preset size, reversely rotating step by step with the step size (+ deltatheta) and the step number with the same size;
A104. after the voltage Ud rotates once by the step length with the preset size, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
The voltage of the input voltage Ud needs to meet the requirement that the generated driving torque is enough to drive the rotor to rotate, for example, if the permanent magnet synchronous motor is unloaded, the driving torque generated by the input voltage Ud is larger than the friction torque; if the permanent magnet synchronous motor is loaded, the voltage level of the voltage Ud is set according to the load level. Actually, the standard voltage values corresponding to different load ranges may be set in advance and form a look-up table, before step a1, actual load data (which may be manually input or obtained through real-time measurement) is obtained, then the corresponding standard voltage value is obtained by looking up in the look-up table according to the actual load data, and the input voltage is adjusted by using the standard voltage value obtained by looking up as the preset value of the voltage Ud.
In the step A101, the step size + [ delta ] theta in the process that the voltage vector rotates to the first preset angle + theta is the same as and opposite to the step size- [ delta ] theta in the process that the voltage vector reversely rotates back to the electric zero position; the size delta theta of the step length is related to the step number k of the steps, and the following relation exists between the angle size theta of the first preset angle + theta and the step size delta theta: θ = k Δ θ, so that each rotation k steps back and forth (total 2 k steps) in step a101. In the step A103, the step size-delta theta in the process of rotating the voltage vector to the second preset angle-theta is the same as the step size + delta theta in the process of reversely rotating to the electric zero position, and the directions are opposite; the size delta theta of the step length is related to the step number k of the steps, and the following relation exists between the angle size theta and the step size delta theta of a second preset angle-theta: θ = k Δ θ, so that each rotation k steps back and forth (total 2 k steps) in step a103. Since the first preset angle + θ and the second preset angle- θ have the same size (both θ) and the step size (both Δ θ) is the same, the total number of steps of step a101 is the same as the total number of steps of step a103.
In practical applications, before step a1, a target angle size θ and a step number k (generally manually input or by directly reading pre-recorded data from a memory) may be obtained, and then a step size Δ θ may be calculated according to the target angle size θ and the step number k.
The angle size theta of the first preset angle + theta and the second preset angle-theta is 90-150 degrees, on one hand, the recognition accuracy cannot be influenced due to the fact that the angle is too small, and on the other hand, the efficiency cannot be influenced due to the fact that the required time is too long due to the fact that the angle is too large.
It should be noted that, in steps a102 and a104, since the rotation of the motor rotor has hysteresis, each rotation takes a certain time to rotate to the position, the encoder value of the encoder changes in the process, and when the encoder value of the encoder is stable, it indicates that the rotor has rotated to the position, and the read encoder value is the accurate data; in this process, the electrical angle of the voltage Ud remains unchanged until the reading of the encoder value is completed, and the next rotation is not performed.
The encoder accumulated value is a sum of encoder values obtained after the encoder accumulated value returns to the null position each time, and therefore, in step a2, the encoder accumulated value is calculated by using the following formula:
wherein,
for the encoder accumulated value after the i-th execution of step a1 (i =1, 2 … … N if steps a1-A3 are repeatedly executed N times),
the encoder accumulated value after the step a1 is executed for the i-1 th time (i-1 =0 when i =1, and this time
Is 0) in the first step,
for the encoder value after returning to the null position from the first predetermined angle in the ith step a1,
the encoder value after returning to the null position from the second preset angle in the ith step a1.
Specifically, step a3 includes:
A301. judging whether the number increment of the encoder after each step of rotation is the same as the corresponding step length of the rotation angle;
A302. if the number is the same, the phase sequence count is increased by 1, and if the number is different, the phase sequence count is increased or decreased by 1.
Wherein, the encoder numerical value increment and the corresponding rotation angle step length have the same sign, that is, the encoder numerical value increment and the corresponding rotation angle step length are both positive or both negative; for example, if the step size Δ θ is 10 °, the step + Δ θ is +10 °, and the step- Δ θ is-10 °, when the voltage Ud rotates step by step with the step of +10 °, if the encoder increment after each rotation of the motor is greater than zero, it indicates that the encoder increment is the same as the corresponding rotation angle step, and if the encoder increment after each rotation is less than zero, it indicates that the encoder increment is different from the corresponding rotation angle step; when the voltage Ud rotates step by step in a step of-10 degrees, if the numerical increment of the encoder after each rotation of the motor is less than zero, the numerical increment of the encoder is indicated to be the same as the step of the corresponding rotation angle, and if the numerical increment of the encoder after each rotation is greater than zero, the numerical increment of the encoder is indicated to be different from the step of the corresponding rotation angle.
The encoder value increment being equal in sign to the corresponding rotational angle step indicates that the direction of rotation of the rotor is the same as the desired direction of rotation, i.e. that the direction of rotation of the voltage vector is the same as the desired direction of rotation, and therefore the phase sequence count is increased by 1, otherwise, the direction of rotation of the voltage vector is opposite to the desired direction of rotation, and therefore the phase sequence count is decreased by 1. Wherein the initial value of the phase sequence count is 0 (i.e., when step a3 is executed for the first time, the phase sequence count after the first rotation is equal to 0+1 or 0-1).
In step a4, the preset number of times of repeating steps a1-A3, for example, 3-6 times, may be set according to actual needs.
In this embodiment, in step a5, the encoder value corresponding to the initial angle is calculated by using the following formula:
wherein,
n is the total number of times steps a1-A3 are repeated for the encoder value corresponding to the initial angle,
the encoder accumulated values after the Nth execution of steps A1-A3.
In fact, in the course of repeatedly executing step a1, the rotor moves back and forth between the initial position, the first preset angle + θ position and the second preset angle- θ position a plurality of times, and the "electric zero position" returned each time is actually in error with the initial position at the beginning, which is caused by the measurement error of the encoder, and because the measurement value of the encoder is in error, if the error between the encoder value at the beginning of the encoder and the actual initial position of the motor rotor is large; in the present application, the encoder value corresponding to the initial angle calculated by the above formula after the step a1 is repeatedly executed
The error can be effectively reduced, and the initial phase identification precision is improved. After the subsequent formal start of the motor, the encoder value measured in real time and the encoder value corresponding to the initial angle can be used
And (5) performing difference operation to obtain a real-time electrical angle.
In the process of repeatedly executing steps a1-A3, the target angle size θ and/or the step size Δ θ in each step a1 may be the same or different. If the target angle size θ and/or the step size Δ θ in each step a1 are different, the repetition degree between steps a1 in each step a can be reduced, and the randomness can be increased, so that the error can be reduced better, and the initial phase identification accuracy can be further improved.
In some preferred embodiments, before each step a1, a target angle size θ may be randomly generated within a preset angle range, and then a step size Δ θ may be calculated according to the target angle size θ and a preset number of step steps k; step number k can also be randomly generated within a preset step number range, and then step size delta theta is calculated according to the step number k and a preset target angle size theta; and randomly generating a target angle theta within a preset angle range, randomly generating a step number k within a preset step number range, and calculating a step size delta theta according to the target angle theta and the step number k. Thereby further reducing the repetition degree between the steps a1 and further improving the initial phase recognition accuracy.
Specifically, step a6 includes:
if the phase sequence count is greater than zero, determining that the phase sequence is a positive phase sequence;
and if the phase sequence count is less than zero, judging that the phase sequence is a negative phase sequence.
In fact, when the phase sequence is a positive phase sequence, the rotation direction of the voltage vector is the same as the expected rotation direction in step a1, so that every time one step is rotated, the phase sequence count is increased by 1, and the final phase sequence count should be greater than zero; when the phase sequence is negative, the rotation direction of the voltage vector is opposite to the desired rotation direction in step a1, so that every time one step is rotated, the phase sequence count is decremented by 1, and the final phase sequence count should be less than zero. Therefore, the positive and negative of the phase sequence are judged according to the positive and negative of the final phase sequence count, and the judgment result is accurate.
In step a7, if the phase sequence is a negative phase sequence, in order to ensure that the motor can be correctly controlled subsequently, two input currents of the permanent magnet synchronous motor need to be exchanged, so that two PWM output signals of the space vector pulse width modulation module (SVPWM) need to be exchanged, and meanwhile, as shown in fig. 4, in the actual working process, the current loop of the permanent magnet synchronous motor control system collects two input currents of the motor (see fig. 4)
And
) The control is performed as feedback, and two corresponding sampling current values should be exchanged while exchanging two PWM output signals.
Preferably, when step a1 is executed, the rotation of the permanent magnet synchronous motor is controlled in an open-loop control manner (the current loop and the speed loop in fig. 4 are disconnected at this time), and compared with a closed-loop control manner, the method has the advantages that the PI parameters do not need to be adjusted, the method can be directly operated, and is simple and fast compared with the closed loop; in fact, the closed loop needs to adjust PI parameters to obtain a stable operation condition, and the open loop can identify the initial phase of the motor under the condition that the parameters (resistance, inductance and the like) of the motor are unknown.
As can be seen from the above, the phase sequence control method based on initial phase identification repeatedly performs the following steps by a preset number of times: controlling a permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to an electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation, acquiring the encoder numerical value after each return to the electric zero position, calculating the accumulated value of the encoder according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count; if the phase sequence is a negative phase sequence, exchanging the sampling current values and PWM output signals of the two permanent magnet synchronous motors; therefore, the initial phase identification precision can be improved, the phase sequence identification can be carried out, and the self-adaptive adjustment can be carried out based on the phase sequence identification result.
Referring to fig. 2, an embodiment of the present application further provides a phase sequence control device based on initial phase identification, which is applied to a permanent magnet synchronous motor control system, where the permanent magnet synchronous motor control system includes an encoder disposed on a permanent magnet synchronous motor, and includes a first execution module 1, a calculation module 2, a determination module 3, and an adjustment module 4;
the first execution module 1 is configured to repeatedly execute, according to preset times:
controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite to the first preset angle in direction;
calculating an encoder accumulated value according to the encoder value;
calculating a phase sequence count according to the encoder value increment;
the calculation module 2 is used for calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value;
the judging module 3 is used for judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence counting;
and the adjusting module 4 is used for exchanging the sampling current value and the PWM output signal of the two permanent magnet synchronous motors when the phase sequence is a negative phase sequence.
Specifically, when the first execution module 1 controls the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, and controls the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, the encoder value increment after each step of rotation is obtained, and the encoder value after each return to the electric zero position is obtained,
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and after rotating the electrical angle of the voltage Ud by a step length (+ [ Delta ] theta) with the preset size by a first preset angle (+ [ theta ]), reversely rotating the voltage Ud by steps with the step length (-Delta ] theta) and the step number with the same size;
after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
inputting a voltage Ud with a preset size to the permanent magnet synchronous motor, and after rotating the electrical angle of the voltage Ud step by a second preset angle (-theta) with a step size (-delta theta) with the preset size, reversely rotating step by step with the step size (+ deltatheta) and the step number with the same size;
after the voltage Ud rotates once by the step length with the preset size, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
The voltage of the input voltage Ud needs to meet the requirement that the generated driving torque is enough to drive the rotor to rotate, for example, if the permanent magnet synchronous motor is unloaded, the driving torque generated by the input voltage Ud is larger than the friction torque; if the permanent magnet synchronous motor is loaded, the voltage level of the voltage Ud is set according to the load level. Actually, the phase sequence control device based on initial phase identification may further include:
and the voltage regulating module is used for acquiring actual load data (which can be manually input or obtained through real-time measurement), inquiring in a lookup table according to the actual load data to obtain a corresponding standard voltage value, and using the standard voltage value obtained through inquiry as a preset value of the voltage Ud to regulate the input voltage.
In some embodiments, the phase sequence control device based on initial phase identification further includes:
the first acquisition module is used for acquiring a target angle size theta and a step number k (generally manually input or directly reading pre-recorded data from a memory) and then calculating a step size delta theta according to the target angle size theta and the step number k.
The angle size theta of the first preset angle + theta and the second preset angle-theta is 90-150 degrees, on one hand, the recognition accuracy cannot be influenced due to the fact that the angle is too small, and on the other hand, the efficiency cannot be influenced due to the fact that the required time is too long due to the fact that the angle is too large.
The encoder accumulated value refers to the sum of encoder values obtained after the encoder accumulated value returns to the null position every time, and therefore, the calculation module 2 can calculate the encoder accumulated value by using the following formula:
wherein,
for the encoder accumulated value after the i-th execution of step a1 (i =1, 2 … … N if steps a1-A3 are repeatedly executed N times),
the encoder accumulated value after the step a1 is executed for the i-1 th time (i-1 =0 when i =1, and this time
Is 0) in the first step,
for the encoder value after returning to the null position from the first predetermined angle in the ith step a1,
the encoder value after returning to the null position from the second preset angle in the ith step a1.
Specifically, when the first execution module 1 incrementally calculates the phase sequence count based on the encoder value,
judging whether the number increment of the encoder after each step of rotation is the same as the corresponding step length of the rotation angle;
if the number is the same, the phase sequence count is increased by 1, and if the number is different, the phase sequence count is increased or decreased by 1.
The encoder value increment and the corresponding rotation angle step length are marked in the same way, namely that the encoder value increment and the corresponding rotation angle step length are both positive or both negative.
The encoder value increment being equal in sign to the corresponding rotational angle step indicates that the direction of rotation of the rotor is the same as the desired direction of rotation, i.e. that the direction of rotation of the voltage vector is the same as the desired direction of rotation, and therefore the phase sequence count is increased by 1, otherwise, the direction of rotation of the voltage vector is opposite to the desired direction of rotation, and therefore the phase sequence count is decreased by 1. Wherein the initial value of the phase sequence count is 0 (i.e., when step a3 is executed for the first time, the phase sequence count after the first rotation is equal to 0+1 or 0-1).
The first execution module 1 may set a preset number of times, for example, 3 to 6 times, for repeatedly executing the corresponding steps according to actual needs.
In this embodiment, the calculating module 2 calculates the encoder value corresponding to the initial angle by using the following formula:
wherein,
n is the total number of times of repeating the corresponding steps by the first execution module 1,
the accumulated value of the encoder after the corresponding step is executed for the nth time by the first execution module 1.
In the process that the first execution module 1 repeatedly executes the corresponding steps, the target angle size θ and/or the step size Δ θ in each step may be the same or different. If the target angle size θ and/or the step size Δ θ in each step are different, the repetition degree between the steps a1 in each step can be reduced, and the randomness is increased, so that the error can be reduced better, and the initial phase identification precision is further improved.
In some preferred embodiments, before the step of controlling the permanent magnet synchronous motor to rotate step by a first preset angle with a preset step size and then return to the electric zero position step by step, and controlling the permanent magnet synchronous motor to rotate step by a second preset angle with a preset step size and then return to the electric zero position step by step, obtaining the encoder value increment after each step of rotation, and obtaining the encoder value after each step of return to the electric zero position, the first execution module 1 can randomly generate a target angle size theta within a preset angle range, and then calculate the step size delta theta according to the target angle size theta and a preset step number k; step number k can also be randomly generated within a preset step number range, and then step size delta theta is calculated according to the step number k and a preset target angle size theta; and randomly generating a target angle theta within a preset angle range, randomly generating a step number k within a preset step number range, and calculating a step size delta theta according to the target angle theta and the step number k. Therefore, the repetition degree among the steps is further reduced, and the initial phase identification precision is further improved.
Specifically, when the judging module 3 judges whether the phase sequence is the positive phase sequence or the negative phase sequence according to the phase sequence count,
if the phase sequence count is greater than zero, determining that the phase sequence is a positive phase sequence;
and if the phase sequence count is less than zero, judging that the phase sequence is a negative phase sequence.
Preferably, the first executing module 1, after executing the step of controlling the permanent magnet synchronous motor to rotate step by a first preset angle in a preset size, returns to the electrical zero position step by step, and controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to a preset step length and then return to an electric zero position step by step to obtain the numerical increment of the encoder after each step of rotation, and when the encoder value after returning to the null position every time is obtained, the permanent magnet synchronous motor is controlled to rotate by adopting an open-loop control mode (the current loop and the speed loop in figure 4 are disconnected at the moment), compared with the mode of using closed-loop control, the method has the advantages that the PI parameter does not need to be adjusted, can be directly operated, is simple and quick compared with a closed loop, and actually, the closed loop can obtain the condition of stable operation only by adjusting PI parameters, and the open loop can identify the initial phase of the motor under the condition that the motor parameters (resistance inductance and the like) are unknown.
As can be seen from the above, the phase sequence control apparatus based on initial phase identification repeatedly performs the following steps by a preset number of times: controlling a permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to an electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation, acquiring the encoder numerical value after each return to the electric zero position, calculating the accumulated value of the encoder according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count; if the phase sequence is a negative phase sequence, exchanging the sampling current values and PWM output signals of the two permanent magnet synchronous motors; therefore, the initial phase identification precision can be improved, the phase sequence identification can be carried out, and the self-adaptive adjustment can be carried out based on the phase sequence identification result.
Referring to fig. 3, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the steps of the phase sequence control method based on initial phase identification by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: repeatedly executing the steps according to preset times: controlling a permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to an electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation, acquiring the encoder numerical value after each return to the electric zero position, calculating the accumulated value of the encoder according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count; and if the phase sequence is a negative phase sequence, exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors.
As can be seen from the above, the electronic device repeatedly executes the steps by the preset number of times: controlling a permanent magnet synchronous motor to rotate by a first preset angle step by step in a preset step size and then return to an electric zero position step by step, controlling the permanent magnet synchronous motor to rotate by a second preset angle step by step in a preset step size and then return to the electric zero position step by step, acquiring the encoder numerical value increment after each step of rotation, acquiring the encoder numerical value after each return to the electric zero position, calculating the accumulated value of the encoder according to the encoder numerical value, and calculating the phase sequence count according to the encoder numerical value increment; calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value; judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count; if the phase sequence is a negative phase sequence, exchanging the sampling current values and PWM output signals of the two permanent magnet synchronous motors; therefore, the initial phase identification precision can be improved, the phase sequence identification can be carried out, and the self-adaptive adjustment can be carried out based on the phase sequence identification result.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.
Claims (10)
1. A phase sequence control method based on initial phase identification is applied to a permanent magnet synchronous motor control system, the permanent magnet synchronous motor control system comprises an encoder arranged on a permanent magnet synchronous motor, and the phase sequence control method is characterized by comprising the following steps:
A1. controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite in direction;
A2. calculating an encoder accumulated value according to the encoder value;
A3. calculating a phase sequence count from the encoder value increment;
A4. repeating the steps A1-A3 according to preset times;
A5. calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value;
A6. judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence count;
A7. and if the phase sequence is a negative phase sequence, exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors.
2. The phase sequence control method based on initial phase identification as claimed in claim 1, wherein step a1 comprises:
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud by step with a step length of the preset size by a first preset angle;
after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud step by step with a step length of the preset size by a second preset angle;
and after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
3. The phase sequence control method based on initial phase identification as claimed in claim 2, wherein the first and second preset angles are 90 ° -150 °.
4. The phase sequence control method based on initial phase identification as claimed in claim 1, wherein in step a2, the encoder accumulated value is calculated by using the following formula:
wherein,
for the encoder accumulated value after the ith execution of step a1,
for the encoder accumulated values after the i-1 th execution of step a1,
for the encoder value after returning to the null position from the first predetermined angle in the ith step a1,
the encoder value after returning to the null position from the second preset angle in the ith step a1.
5. The phase sequence control method based on initial phase identification as claimed in claim 1, wherein step a3 comprises:
judging whether the number increment of the encoder after each step of rotation is the same as the corresponding step length of the rotation angle;
if the number is the same, the phase sequence count is increased by 1, and if the number is different, the phase sequence count is increased or decreased by 1.
6. The phase sequence control method based on initial phase identification as claimed in claim 1, wherein in step a5, the encoder value corresponding to the initial angle is calculated by using the following formula:
wherein,
n is the total number of times steps a1-A3 are repeated for the encoder value corresponding to the initial angle,
the encoder accumulated values after the Nth execution of steps A1-A3.
7. The phase sequence control method based on initial phase identification as claimed in claim 5, wherein the step A6 comprises:
if the phase sequence count is greater than zero, determining that the phase sequence is a positive phase sequence;
and if the phase sequence count is less than zero, judging that the phase sequence is a negative phase sequence.
8. The utility model provides a phase sequence controlling means based on initial phase place is discerned, is applied to PMSM control system, PMSM control system is including setting up the encoder on PMSM, its characterized in that includes:
the first execution module is used for repeatedly executing the following steps according to preset times:
controlling the permanent magnet synchronous motor to rotate step by a first preset angle according to a preset step size and then return to the electric zero position step by step, controlling the permanent magnet synchronous motor to rotate step by a second preset angle according to the preset step size and then return to the electric zero position step by step, acquiring the increment of the encoder value after each step of rotation, and acquiring the encoder value after each return to the electric zero position; the second preset angle is equal to the first preset angle in size and opposite in direction;
calculating an encoder accumulated value according to the encoder value;
calculating a phase sequence count from the encoder value increment;
the calculation module is used for calculating an encoder value corresponding to the initial electrical angle according to the encoder accumulated value;
the judging module is used for judging whether the phase sequence is a positive phase sequence or a negative phase sequence according to the phase sequence counting;
and the adjusting module is used for exchanging the sampling current values and the PWM output signals of the two permanent magnet synchronous motors when the phase sequence is a negative phase sequence.
9. The phase sequence control device based on initial phase identification as claimed in claim 8, wherein the first execution module controls the PMSM to rotate step by a first preset angle in a preset step size and then return to the electrical zero position step by step, controls the PMSM to rotate step by a second preset angle in a preset step size and then return to the electrical zero position step by step, obtains the encoder value increment after each step of rotation, and obtains the encoder value after each return to the electrical zero position,
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud by step with a step length of the preset size by a first preset angle;
after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment;
inputting a voltage Ud with a preset size to a permanent magnet synchronous motor, and reversely rotating step by step with the step length and the step number of the same size after rotating the electrical angle of the voltage Ud step by step with a step length of the preset size by a second preset angle;
and after the voltage Ud rotates once by a preset step length, reading the encoder value after the encoder value of the encoder is stable, and calculating the difference between the current encoder value and the last read encoder value to obtain the encoder value increment.
10. An electronic device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is used for executing the steps of the phase sequence control method based on initial phase identification according to any one of claims 1 to 7 by calling the computer program stored in the memory.
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