CN113098339A - Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment - Google Patents
Belt speed starting method of non-coding permanent magnet synchronous motor, storage medium and electronic equipment Download PDFInfo
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- CN113098339A CN113098339A CN202110554043.4A CN202110554043A CN113098339A CN 113098339 A CN113098339 A CN 113098339A CN 202110554043 A CN202110554043 A CN 202110554043A CN 113098339 A CN113098339 A CN 113098339A
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Abstract
The application discloses a belt speed starting method, a storage medium and electronic equipment of a non-coding permanent magnet synchronous motor, wherein a zero voltage vector is input into a three-phase inverter bridge, and the three-phase inverter bridge is controlled to be in a zero voltage state; acquiring three-phase current signals, and judging the current state of the motor according to the three-phase current signals; if the current state of the motor is a belt speed state, determining the rotating speed of the motor and the magnetic pole position of the rotor according to the three-phase current signals, and controlling the motor to start according to the rotating speed of the motor and the magnetic pole position of the rotor; if the current state of the motor is an extremely low speed state, any phase of direct current voltage is input to the three-phase inverter bridge, the rotating speed of the motor is controlled to be zero, and the motor is controlled to start after the magnetic pole position of the rotor is pulled to a zero position. This application has distinguished two kinds of starting condition of motor, takes the fast state to confirm motor speed and magnetic field position back control motor start, and the extremely low speed state then controls motor speed for zero and draws the magnetic field position to the zero position and controls the motor start again, has guaranteed motor homoenergetic smooth start under the different rotational speeds.
Description
Technical Field
The present application relates to the field of motor technologies, and in particular, to a belt speed starting method for a non-coding permanent magnet synchronous motor, a storage medium, and an electronic device.
Background
Permanent magnet synchronous motors are becoming more and more widely used due to their advantages of small size, high efficiency, high power density, low noise, fast dynamic response, etc. The permanent magnet synchronous motor comprises a tape encoder and a non-encoder, and compared with the permanent magnet synchronous motor with the tape encoder, the non-encoder permanent magnet synchronous motor has the advantages of low cost, simple structure, safety, reliability and the like, and is applied to various fields and occasions.
However, the encoder-less control of the permanent magnet synchronous motor is mainly based on vector control, and the problem that the motor is started in a non-static state (belt speed state) can occur under many working conditions, such as quick restart due to fault, quick restart due to shutdown, restart after being dragged, and the like. Because the motor is not provided with an encoder, the rotating speed of the motor and the magnetic pole position of the rotor cannot be known, and how to ensure the restarting smoothness becomes a hotspot of research.
Disclosure of Invention
The application aims to overcome the defects that a coder-free permanent magnet synchronous motor in the prior art cannot acquire the motor speed and the rotor magnetic pole position and cannot guarantee the restarting smoothness of the belt speed, and provides a belt speed starting method, a storage medium and electronic equipment of the coder-free permanent magnet synchronous motor, which can determine the motor speed and the rotor magnetic pole position and guarantee the restarting smoothness.
The technical scheme of the application provides a belt speed starting method of a coder-free permanent magnet synchronous motor, which comprises the following steps:
inputting a zero voltage vector to a three-phase inverter bridge, and controlling the three-phase inverter bridge to be in a zero voltage state;
acquiring three-phase current signals, and judging the current state of the motor according to the three-phase current signals;
if the current state of the motor is a belt speed state, determining the rotating speed of the motor and the magnetic pole position of the rotor according to the three-phase current signals, and controlling the motor to start according to the rotating speed of the motor and the magnetic pole position of the rotor;
if the current state of the motor is an extremely low speed state, any phase of direct current voltage is input to the three-phase inverter bridge, the rotating speed of the motor is controlled to be zero, and the motor is controlled to start after the magnetic pole position of the rotor is pulled to a zero position.
Further, the judging the current state of the motor according to the three-phase current signal specifically includes:
converting the three-phase current signal into a two-phase current signal to obtain a current amplitude of the two-phase current signal;
and if the current amplitude values are all smaller than a first preset current threshold value in the injection time period, the current state of the motor is considered to be an extremely low speed state, and otherwise, the current state of the motor is considered to be a belt speed state.
Further, the first preset current threshold is 1/2 of the rated current of the motor, and the determining the current state of the motor according to the three-phase current signal further includes:
if the current amplitude is greater than or equal to the rated current of the motor in the injection time period, or
The injection time of the zero voltage vector is greater than or equal to the injection time period
And controlling the zero voltage vector to stop injection.
Further, the determining the motor speed and the rotor magnetic pole position according to the three-phase current signal specifically includes:
and calculating the rotating speed of the motor and the magnetic pole position of the rotor according to a mathematical model of the motor in a two-phase static coordinate system and the two-phase current signals.
Further, the calculating the motor speed and the rotor magnetic pole position according to the mathematical model of the motor in the two-phase stationary coordinate system and the two-phase current specifically includes:
discretizing a mathematical model of the motor under a two-phase static coordinate system to obtain a discrete mathematical model of the motor:
wherein C, D is coefficient, #fIs the permanent magnet flux linkage, w (k) is the angular frequency at the current sampling instant, θr(k) For the rotor pole position at the current sampling moment, iα(k)、iβ(k) For the two-phase current at the present sampling instant iα(k-1)、iβ(k-1) two-phase current at the previous sampling moment;
obtaining an angular frequency expression at the current sampling moment according to the motor discrete mathematical model:
calculating the current rotating speed of the motor according to the angular frequency at the current sampling moment:
wherein p isnThe number of pole pairs of the motor is shown.
Further, the calculating the motor speed and the rotor magnetic pole position according to the mathematical model of the motor in the two-phase stationary coordinate system and the two-phase current further comprises:
based on the discrete mathematical model of the motor,
if Ciα(k)+Diα(k-1) ═ 0 or Ciβ(k)+DiβIf (k-1) is 0, determining the rotor magnetic pole position theta at the current sampling moment according to the trigonometric functionr(k)；
If Ciα(k)+Diα(k-1) ≠ 0 and Ciβ(k)+Diβ(k-1) ≠ 0, then the rotor magnetic pole position theta at the current sampling moment is determined according to the initial value of the rotor magnetic field positionr(k)。
Further, the inputting any phase of direct current voltage to the three-phase inverter bridge, controlling the rotation speed of the motor to be zero, and pulling the magnetic pole position of the rotor to be zero specifically includes:
inputting any phase of direct-current voltage to a three-phase inverter bridge;
and obtaining phase current corresponding to any phase of direct current voltage, and controlling any phase of direct current voltage to stop injecting if the phase current is greater than or equal to a second preset current threshold, wherein the rotating speed of the motor is zero and the position of a magnetic pole of the rotor is zero.
Further, the second preset current threshold is 1/2 of the rated current of the motor.
The technical scheme of the present application further provides a storage medium, where the storage medium stores computer instructions, and when a computer executes the computer instructions, the storage medium is used to execute the belt speed starting method of the non-coding permanent magnet synchronous motor as described above.
The technical scheme of the application also provides electronic equipment which comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method for starting a belt speed of an uncoded permanent magnet synchronous motor as described above.
After adopting above-mentioned technical scheme, have following beneficial effect:
this application has distinguished the motor and has started two kinds of states under fast and the utmost point is low, and fast state of taking controls the motor start after confirming motor speed and magnetic field position according to three phase current signal, and the extremely low speed state then controls the motor speed and be zero and pull the magnetic field position to the zero position and control the motor start again, has guaranteed motor homoenergetic smooth start under the different rotational speeds.
Drawings
The disclosure of the present application will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present application. In the figure:
FIG. 1 is a flow chart of a method for belt speed starting of a permanent magnet synchronous machine without an encoder according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a motor starting circuit when injecting a zero voltage vector;
FIG. 3 is a schematic view of rotor poles in different coordinate systems;
FIG. 4 is a schematic diagram of a motor starting circuit when injecting an A-phase DC voltage;
FIG. 5 is a flow chart of a method for starting a permanent magnet synchronous motor without an encoder according to a preferred embodiment of the present application;
fig. 6 is a schematic diagram of a hardware structure of an electronic device in an embodiment of the present application.
Detailed Description
Embodiments of the present application are further described below with reference to the accompanying drawings.
It is easily understood that according to the technical solutions of the present application, those skilled in the art can substitute various structures and implementations without changing the spirit of the present application. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present application, and should not be construed as limiting or restricting the technical solutions of the present application in their entirety.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Throughout the description of the present application, it is to be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other. The foregoing is to be understood as belonging to the specific meanings in the present application as appropriate to the person of ordinary skill in the art.
The belt speed starting method of the encoder-free permanent magnet synchronous motor in the embodiment of the application, as shown in fig. 1, includes the following steps:
step S101: inputting a zero voltage vector to a three-phase inverter bridge, and controlling the three-phase inverter bridge to be in a zero voltage state;
step S102: acquiring three-phase current signals, and judging the current state of the motor according to the three-phase current signals;
step S103: if the current state of the motor is a belt speed state, determining the rotating speed of the motor and the magnetic pole position of the rotor according to the three-phase current signals, and controlling the motor to start according to the rotating speed of the motor and the magnetic pole position of the rotor;
step S104: if the current state of the motor is an extremely low speed state, any phase of direct current voltage is input to the three-phase inverter bridge, the rotating speed of the motor is controlled to be zero, and the motor is controlled to start after the magnetic pole position of the rotor is pulled to a zero position.
Specifically, a zero voltage vector is input into a three-phase inverter bridge IGBT (insulated gate bipolar transistor) of the permanent magnet synchronous motor, the three-phase inverter bridge IGBT is changed from a full-off state to a zero voltage state, a three-phase upper tube is completely switched on, a three-phase lower tube is completely switched off, and the zero voltage vector injected at the moment is SABCWhen the three-phase upper tube is completely closed and the three-phase lower tube is completely opened, the injected zero-voltage vector is SABC000. FIG. 2 shows the injected zero voltage vector as SABCSchematic diagram of motor start circuit at 000.
In the rotating process of the permanent magnet synchronous motor, counter electromotive force can be generated due to the existence of the permanent magnet, and when zero voltage vectors are input to the three-phase inverter bridge, three-phase current signals can be generated. Through the analysis of three-phase current signals, firstly, the current state of the motor is judged:
if the three-phase current is large, the current state of the motor is considered to be a belt speed state with a large rotating speed, and after the rotating speed of the motor and the position of the magnetic pole of the rotor are determined according to the three-phase current signal, the motor is controlled to be started according to the rotating speed of the motor and the position of the magnetic pole of the rotor, so that the motor can be started smoothly.
If the three-phase current is small, the current state of the motor is considered to be an extremely low speed state with the rotating speed close to zero, the rotating speed of the motor and the magnetic pole position of the rotor cannot be accurately determined according to the three-phase current signals, the rotating speed of the motor is controlled to be zero, the magnetic pole position of the rotor is adjusted to be zero, and then the motor is controlled to be started smoothly.
According to the method and the device, the three-phase inverter bridge is controlled to be in the zero-voltage state by inputting the zero-voltage vector to the three-phase inverter bridge, the current state of the motor can be determined by analyzing the three-phase current signals of the motor in the zero-voltage state, the motor can be started in different modes according to the current state of the motor, and the motor can be started smoothly under any condition.
In one embodiment, the determining the current state of the motor according to the three-phase current signal specifically includes:
converting the three-phase current signal into a two-phase current signal to obtain a current amplitude of the two-phase current signal;
and if the current amplitude values are all smaller than a first preset current threshold value in the injection time period, the current state of the motor is considered to be an extremely low speed state, and otherwise, the current state of the motor is considered to be a belt speed state.
Specifically, the current signals obtained from the motor are three-phase current signals, and the three-phase current signals are converted into two-phase current signals by Clark, that is, the current signals in the three-phase stationary coordinate system ABC are converted into current signals in the two-phase stationary coordinate system α β, as shown in fig. 3, and the Clark conversion formula is as follows:
wherein ia、ib、icRespectively response current signals i of A phase, B phase and C phase under zero voltage vector injectionα、iβThe current signals of the alpha phase and the beta phase are obtained after the three-phase current is subjected to Clark conversion.
The current state of the motor is determined by judging the current amplitude of the converted two-phase current signal: and if the current amplitude values are smaller than a first preset current threshold value in the injection time period, the current state of the motor is considered to be an extremely low speed state, and if not, the current state of the motor is considered to be a belt speed state. As an example, the injection period is set to 8-12ms, preferably 10ms, and the first preset current threshold is set to 1/2 times the rated current of the motor. That is, the current amplitude is always smaller than 1/2 of the rated current of the motor within 10ms, the motor speed at this time can be considered to be extremely low, that is, the current state of the motor is an extremely low speed state.
Preferably, in order to ensure the accuracy of the current amplitude judgment, for the judgment of the current amplitude of the two-phase current signal, not only the two-phase current at the current sampling time is judged, but also the two-phase current at the previous sampling time is judged, and only when the two-phase current at the current sampling time and the two-phase current at the previous sampling time are both smaller than a first preset current threshold, the current state of the motor is considered to be an extremely low speed state, which is expressed by a formula:
the embodiment of the application equivalently converts the three-phase current signal into the two-phase current signal, judges the current state of the motor according to the amplitude of the two-phase current signal, and is convenient to judge and accurate in judgment result.
In one embodiment, the first preset current threshold is 1/2 of the rated current of the motor, and the determining the current state of the motor according to the three-phase current signals further includes:
if the current amplitude is greater than or equal to the rated current of the motor in the injection time period, or
The injection time of the zero voltage vector is greater than or equal to the injection time period
And controlling the zero voltage vector to stop injection.
In the embodiment of the present application, the longest injection time of the zero voltage vector is a preset injection time period (preferably 10ms), and in the injection time period, if the amplitude of the two-phase current signal after the equivalent transformation of the three-phase current signal reaches the rated current of the motor, the zero voltage vector is controlled in advance to stop injecting.
In one embodiment, when the motor is in a belt speed state, determining the motor speed and the rotor magnetic pole position according to the three-phase current signal specifically includes:
and calculating the rotating speed of the motor and the magnetic pole position of the rotor according to a mathematical model of the motor in a two-phase static coordinate system and the two-phase current signals.
The calculation of the motor rotation speed specifically includes:
firstly, discretizing a mathematical model of the motor under a two-phase static coordinate system to obtain a discrete mathematical model of the motor:
wherein, C, D is the coefficient, according to motor performance setting:
Rsis the motor resistance, LsIs an inductance of the motor, TcIs the motor electromagnetic torque;
ψfis a permanent magnet flux linkage; w (k) is the angular frequency at the current sampling instant, θr(k) The position of the magnetic pole of the rotor at the current sampling moment; i.e. iα(k)、iβ(k) Two-phase current at the current sampling moment; i.e. iα(k-1)、iβ(k-1) two-phase current at the previous sampling moment;
and then, obtaining an angular frequency expression at the current sampling moment according to the deformation of the motor discrete mathematical model:
calculating the current rotating speed of the motor according to the angular frequency at the current sampling moment:
wherein p isnThe number of pole pairs of the motor is shown.
According to the steps, the motor rotating speed at each sampling moment can be calculated.
As shown in fig. 3, as the motor rotates, the rotor magnetic pole coordinate system dq rotates relative to the two-phase stationary coordinate system α β, and the rotor magnetic pole position θr(k) Which refers to the rotation angle of the rotor magnetic polar coordinate system dq relative to the two-phase stationary coordinate system alpha beta. The calculation of the rotor magnetic pole position is specifically as follows:
based on the motor discrete mathematical model:
if Ciα(k)+Diα(k-1) ═ 0 or Ciβ(k)+DiβIf (k-1) is 0, determining the rotor magnetic pole position theta at the current sampling moment according to the trigonometric functionr(k) The method specifically comprises the following steps:
if Ciα(k)+Diα(k-1) ═ 0 and Ciβ(k)+DiβWhen (k-1) < 0, then
θr(k)＝0；
If Ciα(k)+Diα(k-1) ═ 0 and Ciβ(k)+DiβWhen (k-1) > 0, then
θr(k)＝π；
If Ciα(k)+Diα(k-1) > 0 and Ciβ(k)+DiβWhen (k-1) is 0, then
If Ciα(k)+Diα(k-1) < 0 and Ciβ(k)+DiβWhen (k-1) is 0, then
If Ciα(k)+Diα(k-1) ≠ 0 and Ciβ(k)+Diβ(k-1) ≠ 0, then the rotor magnetic pole position theta at the current sampling moment is determined according to the initial value of the rotor magnetic field positionr(k) The method specifically comprises the following steps:
initial value of rotor magnetic field position
When Ci isα(k)+Diα(k-1) > 0 and Ciβ(k)+DiβWhen (k-1) < 0, then
θr(k)＝θr1(k)；
When Ci isα(k)+Diα(k-1) > 0 and Ciβ(k)+DiβWhen (k-1) > 0, then
θr(k)＝π-θr1(k)；
When Ci isα(k)+Diα(k-1) < 0 and Ciβ(k)+DiβWhen (k-1) > 0, then
θr(k)＝π+θr1(k)；
When Ci isα(k)+Diα(k-1) < 0 and Ciβ(k)+DiβWhen (k-1) < 0, then
θr(k)＝2π+θr1(k)。
The motor speed can be calculated by combining two-phase current signals based on a motor discrete mathematical model, the rotor magnetic field position can be calculated by combining a trigonometric function and a rotor magnetic field position initial value, the algorithm is simple, and the motor can be controlled to be restarted smoothly through the calculated motor speed and the calculated rotor magnetic field position.
In one embodiment, when the motor is in an extremely low speed state, the inputting of any phase of dc voltage to the three-phase inverter bridge, controlling the rotation speed of the motor to be zero, and pulling the magnetic pole position of the rotor to a zero position specifically includes:
inputting any phase of direct-current voltage to a three-phase inverter bridge;
and obtaining phase current corresponding to any phase of direct current voltage, and controlling any phase of direct current voltage to stop injecting if the phase current is greater than or equal to a second preset current threshold, wherein the rotating speed of the motor is zero and the position of a magnetic pole of the rotor is zero.
In the embodiment of the application, when the motor is in an extremely low speed state close to zero, the motor speed and the rotor magnetic pole position cannot be accurately obtained, at the moment, any phase of direct-current voltage is input to the three-phase inverter bridge IGBT, the motor speed is adjusted to zero, the rotor magnetic pole position is adjusted to a zero position (corresponding to a two-phase static coordinate system alpha beta, namely a d axis and a q axis in fig. 3 correspond to an alpha axis and a beta axis respectively), and then the motor is controlled to start under the condition of the zero speed and the zero rotor magnetic pole position, so that the motor can be ensured to be started smoothly, and because the original rotating speed of the motor is extremely low, the rotating speed is pulled to zero and cannot be easily perceived by a user, and the smoothness of.
Specifically, A, B, C any phase dc voltage can be injected into the three-phase inverter bridge IGBT, and when the a phase dc voltage S is injectedABCWhen the current of the phase a is greater than or equal to the second preset current threshold, determining whether the motor speed is zero and the rotor magnetic pole is zero; similarly, when injecting the B-phase DC voltage SABCWhen the current is 010, the B-phase current is monitored; when injecting C-phase DC voltage SABCThe C-phase current is monitored as 001.
Preferably, the second preset current threshold is 1/2 of the rated current of the motor, when the phase current corresponding to the motor reaches 1/2 of the rated current of the motor, all IGBTs in the three-phase inverter bridge may be turned off, the voltage injection is stopped, the rotation speed of the motor is zero, and the magnetic pole position of the rotor is zero.
Fig. 5 shows a flow chart of a belt speed starting method of a permanent magnet synchronous motor without an encoder in a preferred embodiment of the present application, comprising the following steps:
step S501: inputting a zero voltage vector to a three-phase inverter bridge, and controlling the three-phase inverter bridge to be in a zero voltage state;
step S502: acquiring a three-phase current signal, and converting the three-phase current signal into a two-phase current signal;
step S503: acquiring the current amplitude of the two-phase current signal, and then executing step S504 and step S513 simultaneously;
step S504: if the current amplitudes are all smaller than 1/2 of the rated current of the motor in the injection time period, the current state of the motor is considered to be an extremely low speed state, and the steps S505 to S508 are executed, otherwise, the current state of the motor is considered to be a belt speed state, and the steps S509 to S512 are executed;
step S505: inputting any phase of direct-current voltage to a three-phase inverter bridge;
step S506: obtaining phase current corresponding to any phase of direct current voltage;
step S507: if the phase current is greater than or equal to 1/2 of the rated current of the motor, executing step S508, otherwise, continuously monitoring the phase current;
step S508: controlling any phase of direct current voltage to stop injecting, wherein the rotating speed of the motor is zero and the position of a rotor magnetic pole is zero, and then controlling the motor to start at zero speed;
step S509: discretizing a mathematical model of the motor under a two-phase static coordinate system to obtain a discrete mathematical model of the motor;
step S510: obtaining angular frequency according to the motor discrete mathematical model, and calculating the motor rotating speed according to the angular frequency;
step S511: determining the position of a rotor magnetic pole according to the motor discrete mathematical model, the trigonometric function and the initial value of the position of the rotor magnetic field;
step S512: controlling the motor to start according to the motor speed and the rotor magnetic pole position;
step S513: if the current amplitude is greater than or equal to the rated current of the motor in the injection time period, or the injection time of the zero voltage vector is greater than or equal to the injection time period, executing the step S514, otherwise, continuously injecting the zero voltage vector;
step S514: and controlling the zero voltage vector to stop injection.
The technical scheme of the present application further provides a storage medium, where the storage medium stores computer instructions, and when a computer executes the computer instructions, the storage medium is configured to execute the belt speed starting method of the encoder-less permanent magnet synchronous motor in any of the foregoing embodiments.
Fig. 6 shows an electronic device of the present application, comprising:
at least one processor 601; and the number of the first and second groups,
a memory 602 communicatively coupled to the at least one processor 601; wherein the content of the first and second substances,
the memory 602 stores instructions executable by the at least one processor 601 to enable the at least one processor 601 to perform all the steps of the method for belt speed start of an encoderless permanent magnet synchronous motor in any of the method embodiments described above.
In fig. 6, a processor 602 is taken as an example:
the in-vehicle electronic apparatus may further include: an input device 603 and an output device 604.
The processor 601, the memory 602, the input device 603, and the display device 604 may be connected by a bus or other means, and are illustrated as being connected by a bus.
The memory 602, serving as a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the belt speed starting method of the encoder-less permanent magnet synchronous motor in the embodiment of the present application, for example, the method flow shown in fig. 1 or 5. The processor 601 executes various functional applications and data processing by running nonvolatile software programs, instructions and modules stored in the memory 602, that is, implementing the belt speed starting method of the encoder-less permanent magnet synchronous motor in the above embodiments.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to use of a belt speed starting method of the encoder-less permanent magnet synchronous motor, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 602 optionally includes memory remotely located from the processor 601, and these remote memories may be connected over a network to a device that performs the method of belt speed start of an encoderless permanent magnet synchronous motor. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 603 may receive input of user clicks and generate signal inputs related to user settings and function control of the belt speed start method of the encoderless permanent magnet synchronous motor. The display device 604 may include a display screen or the like.
The method for starting a belt speed of an encoderless permanent magnet synchronous motor in any of the above method embodiments is performed when the one or more modules are stored in the memory 602 and executed by the one or more processors 601.
What has been described above is merely the principles and preferred embodiments of the present application. It should be noted that, for those skilled in the art, the embodiments obtained by appropriately combining the technical solutions respectively disclosed in the different embodiments are also included in the technical scope of the present invention, and several other modifications may be made on the basis of the principle of the present application and should be regarded as the protective scope of the present application.
Claims (10)
1. A belt speed starting method of a coder-free permanent magnet synchronous motor is characterized by comprising the following steps:
inputting a zero voltage vector to a three-phase inverter bridge, and controlling the three-phase inverter bridge to be in a zero voltage state;
acquiring three-phase current signals, and judging the current state of the motor according to the three-phase current signals;
if the current state of the motor is a belt speed state, determining the rotating speed of the motor and the magnetic pole position of the rotor according to the three-phase current signals, and controlling the motor to start according to the rotating speed of the motor and the magnetic pole position of the rotor;
if the current state of the motor is an extremely low speed state, any phase of direct current voltage is input to the three-phase inverter bridge, the rotating speed of the motor is controlled to be zero, and the motor is controlled to start after the magnetic pole position of the rotor is pulled to a zero position.
2. The belt speed starting method of the non-coding permanent magnet synchronous motor according to claim 1, wherein the judging of the current state of the motor according to the three-phase current signal specifically comprises:
converting the three-phase current signal into a two-phase current signal to obtain a current amplitude of the two-phase current signal;
and if the current amplitude values are all smaller than a first preset current threshold value in the injection time period, the current state of the motor is considered to be an extremely low speed state, and otherwise, the current state of the motor is considered to be a belt speed state.
3. The belt speed starting method of the non-coding permanent magnet synchronous motor according to claim 2, wherein the first preset current threshold is 1/2 of the rated current of the motor, and the determining the current state of the motor according to the three-phase current signals further comprises:
if the current amplitude is greater than or equal to the rated current of the motor in the injection time period, or
The injection time of the zero voltage vector is greater than or equal to the injection time period
And controlling the zero voltage vector to stop injection.
4. The belt speed starting method of the non-coding permanent magnet synchronous motor according to claim 2, wherein the determining of the motor speed and the rotor magnetic pole position according to the three-phase current signals specifically comprises:
and calculating the rotating speed of the motor and the magnetic pole position of the rotor according to a mathematical model of the motor in a two-phase static coordinate system and the two-phase current signals.
5. The belt speed starting method of the non-coding permanent magnet synchronous motor according to claim 4, wherein the calculating of the motor speed and the rotor magnetic pole position according to the mathematical model of the motor in the two-phase static coordinate system and the two-phase current specifically comprises:
discretizing a mathematical model of the motor under a two-phase static coordinate system to obtain a discrete mathematical model of the motor:
wherein C, D is coefficient, #fIs the permanent magnet flux linkage, w (k) is the angular frequency at the current sampling instant, θr(k) For the rotor pole position at the current sampling moment, iα(k)、iβ(k) For the two-phase current at the present sampling instant iα(k-1)、iβ(k-1) two-phase current at the previous sampling moment;
obtaining an angular frequency expression at the current sampling moment according to the motor discrete mathematical model:
calculating the current rotating speed of the motor according to the angular frequency at the current sampling moment:
wherein p isnThe number of pole pairs of the motor is shown.
6. The belt speed starting method of the non-coding permanent magnet synchronous motor according to claim 5, wherein the calculating of the motor speed and the rotor magnetic pole position according to the mathematical model of the motor in the two-phase static coordinate system and the two-phase current further comprises:
based on the discrete mathematical model of the motor,
if Ciα(k)+Diα(k-1) ═ 0 or Ciβ(k)+DiβIf (k-1) is 0, determining the rotor magnetic pole position theta at the current sampling moment according to the trigonometric functionr(k)；
If Ciα(k)+Diα(k-1) ≠ 0 and Ciβ(k)+Diβ(k-1) ≠ 0, then the rotor magnetic pole position theta at the current sampling moment is determined according to the initial value of the rotor magnetic field positionr(k)。
7. The method for starting a non-coding permanent magnet synchronous motor with a speed according to any one of claims 2 to 6, wherein the step of inputting a direct current voltage of any phase to a three-phase inverter bridge, controlling the rotation speed of the motor to be zero, and pulling the position of a magnetic pole of a rotor to be zero specifically comprises the following steps:
inputting any phase of direct-current voltage to a three-phase inverter bridge;
and obtaining phase current corresponding to any phase of direct current voltage, and controlling any phase of direct current voltage to stop injecting if the phase current is greater than or equal to a second preset current threshold, wherein the rotating speed of the motor is zero and the position of a magnetic pole of the rotor is zero.
8. The belt speed starting method of the non-coded permanent magnet synchronous motor according to claim 7, wherein the second preset current threshold is 1/2 of the rated current of the motor.
9. A storage medium storing computer instructions for performing the method of starting a belt speed of an uncoded permanent magnet synchronous machine according to any one of claims 1-8 when the computer instructions are executed by a computer.
10. An electronic device comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of belt speed start of an uncoded permanent magnet synchronous machine according to any of claims 1-8.
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