CN113131822B - Open-loop switching closed-loop control method and device for speed of position-sensorless vector control permanent magnet synchronous motor - Google Patents

Open-loop switching closed-loop control method and device for speed of position-sensorless vector control permanent magnet synchronous motor Download PDF

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CN113131822B
CN113131822B CN202110393021.4A CN202110393021A CN113131822B CN 113131822 B CN113131822 B CN 113131822B CN 202110393021 A CN202110393021 A CN 202110393021A CN 113131822 B CN113131822 B CN 113131822B
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speed
loop
stage
closed
output
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CN113131822A (en
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张清林
蔡杰
李鸿怀
袁晓强
韩邵君
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Wuxi Weifu High Technology Group Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control method; the process of the motor from static operation to speed closed loop comprises four stages: the first stage is a rotor position pre-positioning stage, the second stage is a flow frequency ratio starting stage, the third stage is a speed open-loop switching stage to a speed closed-loop stage, and the fourth stage is a speed closed-loop operation stage; the control method comprises the following steps: step S1, starting the estimation of the rotor position of the observer from the completion of the first stage to ensure that the observer rotor position estimation has converged before the third stage; step S2, calculating a rotor position deviation at the time of triggering switching; in step S3, the rotor position deviation is attenuated to 0 or close to 0 which is less than the set threshold value in the set transition time. The invention has simple algorithm, small calculated amount, short switching time and stable motor operation.

Description

Open-loop switching closed-loop control method and device for speed of permanent magnet synchronous motor without position sensor vector control
Technical Field
The invention relates to a method for starting a permanent magnet synchronous motor without a position sensor, in particular to a method for controlling the permanent magnet synchronous motor to transit from speed open loop starting to speed closed loop operation.
Background
In recent years, a speed regulating system of a permanent magnet synchronous motor has become a research hotspot in the field of alternating current speed regulating transmission. The vector control system of the permanent magnet synchronous motor can realize high-precision, high-dynamic performance and large-range speed and position control. With the development and maturity of the vector control technology, more and more devices adopt permanent magnet synchronous motors equipped with the vector control technology, such as air conditioners, compressors, water pumps and the like. In practical applications, with the increasing requirements of motor precision, cost and reliability, the position sensorless vector control scheme is a hot spot and trend of recent research. However, when the controller performs vector control using a position-less sensor, the motor start-up technique becomes a key loop because the back-emf-based position-less observer cannot accurately predict the rotor position at rest and at ultra-low speeds.
The starting mode of the position-sensorless mainly comprises the following steps: a predetermined bit-to-frequency ratio (I/F) open loop start method, a high frequency injection method, etc. Regardless of the starting algorithm, after the start is completed, the motor needs to be smoothly transitioned to the speed closed-loop operation without the position sensor. If the switching method is not suitable, the closed loop control is unstable and even out of control.
For the open-loop starting method of the preset bit stream frequency ratio (I/F), the switching algorithm mainly adopts a direct transition method, a torque and power angle self-balancing method, a weighted average value and the like, and the methods have the defects of unstable switching, long transition time and the like.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control method, and provides a control method for switching speed open-loop starting from a current-frequency ratio starting stage to speed closed-loop operation when a motor adopts a preset bit-frequency ratio (I/F) open-loop starting method, so that the motor is ensured to be stably, safely and reliably transited to the speed closed-loop operation.
In order to realize the technical purpose, the invention adopts the technical scheme that:
in a first aspect, the embodiment of the invention provides a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control method;
the process of the motor from static operation to speed closed loop comprises four stages: the first stage is a rotor position pre-positioning stage, the second stage is a flow frequency ratio starting stage, the third stage is a speed open-loop switching stage to a speed closed-loop stage, and the fourth stage is a speed closed-loop operation stage;
the control method comprises the following steps:
step S1, starting the estimation of the rotor position of the observer from the completion of the first stage to ensure that the observer rotor position estimation has converged before the third stage;
step S2, calculating rotor position deviation theta of trigger switching timeL；
θL＝θset-θobs (1)
θsetGiven an angle, θ, for open loop of speedobsEstimating an angle for the converged observer;
step S3, the rotor position deviation theta is calculatedLDecays to 0 or close to 0 below a set threshold for a set transition time; the calculation process is as follows:
initialization: thetaoutput(0)＝θL，θinput＝ε(0≤ε≤0.01) (2a)
Then, calculating:
Figure BDA0003017502800000021
wherein theta isinputFor the input angle in the calculation, θoutput(k) For the calculated output angle, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)>θthdWhen k is equal to 1, the formula (3a) is returned and the calculation is continued until thetaoutput(k)≤θthdWhen the speed is higher than the set speed, the speed is switched to enter a fourth phase, namely a speed closed-loop operation phase; at this time, let θL＝θoutput(k)；
Alternatively, the first and second electrodes may be,
initialization:
Figure BDA0003017502800000022
then, calculating:
Figure BDA0003017502800000023
θoutput(k) for the calculated output angle, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)>θthdWhen k is equal to 1, the formula (3b) is returned and the calculation is continued until thetaoutput(k)≤θthdThen the switch enters the fourth stageA speed closed loop operation stage; at this time, let θL＝θoutput(k)。
Further, tcIs 0.05s to 0.2s, and typically, it is preferably 0.1 s.
Further, TsIs 20. mu.s to 200. mu.s, and typically, 100. mu.s is preferable.
The embodiment of the invention also provides a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control device, which comprises:
a memory storing a computer program;
a processor for executing the computer program, the computer program when executed performing the steps of the method as described above.
The invention has the advantages that:
1) the algorithm is simple and the calculated amount is small.
2) The time required to switch from speed open loop to speed closed loop is short.
3) The switching process is smooth in current, namely the motor speed and torque jitter are smaller.
Drawings
Fig. 1 is a schematic diagram of a position sensorless vector control start-up process in an embodiment of the present invention.
Fig. 2 is a flowchart of an example 1 of a handover control method according to an embodiment of the present invention.
Fig. 3 is a flowchart of an example 2 of a handover control method according to an embodiment of the present invention.
FIG. 4 shows a rotor position deviation θ in the embodiment of the present inventionLTransition example vs. graph.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the process of the motor from stationary operation to speed closed loop mainly goes through four stages: as shown in stages (i) - (iv) of fig. 1, respectively;
the first stage is a rotor position pre-positioning stage: determining the initial position of the rotor to ensure successful positioning under the condition of heavy load;
the second stage is a flow frequency ratio starting stage: the speed open loop and current closed loop start ensures the low-speed normal start and has certain loading capacity; the meaning of the speed open loop is that the feedback control of the rotating speed of the motor is not carried out, and the meaning of the current closed loop is that the feedback control of the current of the motor is carried out;
the third stage is a speed open loop switching stage to a speed closed loop stage: a transition algorithm is adopted to ensure that the motor is stably switched into an observer to estimate the angle from a given angle;
the fourth stage is a speed closed-loop operation stage, and a counter-electromotive force-based non-inductive algorithm is adopted;
the embodiment of the invention mainly explains the control method of the third stage; a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control method comprises the following steps:
step S1, starting the estimation of the rotor position of the observer from the completion of the first stage to ensure that the observer rotor position estimation has converged before the third stage; it should be noted that the present application focuses not on the process of observer rotor position estimation, but on the process of switching the speed open loop of the motor to the speed closed loop, so that the observer rotor position estimation is not analyzed in detail;
when the rotating speed of the motor under the control of the speed open loop reaches the critical speed, triggering and switching to enter a third stage;
step S2, calculating rotor position deviation theta of trigger switching timeL；
θL＝θset-θobs (1)
θsetThe angle, theta, is given for the open loop of speed, i.e. the angle of application of the rotor at the moment of triggering the switchingobsEstimating an angle for the converged observer;
step S3, the rotor position deviation theta is calculatedLDecaying to 0 or below a set threshold for a set transition timeIs close to 0; the calculation process is as follows:
example 1, initialization: thetaoutput(0)＝θL，θinput＝ε(0≤ε≤0.01) (2a)
Then, calculating:
Figure BDA0003017502800000031
wherein theta isinputFor the input angle in the calculation, θoutput(k) For the calculated output angle, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)>θthdWhen k is equal to 1, the formula (3a) is returned and the calculation is continued until thetaoutput(k)≤θthdWhen the speed is higher than the set speed, the speed is switched to enter a fourth phase, namely a speed closed-loop operation phase; at this time, let θL＝θoutput(k)；
Alternatively, the first and second electrodes may be,
example 2, initialization:
Figure BDA0003017502800000032
then, calculating:
Figure BDA0003017502800000041
θoutput(k) for the output angle in the calculation, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)>θthdWhen k is equal to 1, the formula (3b) is returned and the calculation is continued until thetaoutput(k)≤θthdWhen the speed is higher than the set speed, the speed is switched to enter a fourth phase, namely a speed closed-loop operation phase; at this time, let θL＝θoutput(k)；
Wherein, tc0.05s to 0.2s, typically, 0.1s may be taken; t issFrom 20 mus to 200 mus, typically,100 μ s may be taken.
The embodiment of the invention also provides a position sensor-free vector control permanent magnet synchronous motor speed open-loop switching closed-loop control device, which comprises: a memory and a processor; the processor and the memory communicate with each other, for example, by being connected to and communicating with each other via a communication bus; the memory has stored therein a computer program; the processor is configured to run the computer program, which when run performs the steps of the method as described above; the Processor may be a CPU, or other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like, or a combination of the foregoing chips or circuits; the memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid state disk; the memory may also comprise a combination of memories of the kind described above.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims (6)

1. An open-loop switching closed-loop control method for the speed of a position-sensor-free vector control permanent magnet synchronous motor,
the process of the motor from static operation to speed closed loop comprises four stages: the first stage is a rotor position pre-positioning stage, the second stage is a flow frequency ratio starting stage, the third stage is a speed open-loop switching stage to a speed closed-loop stage, and the fourth stage is a speed closed-loop operation stage;
the control method is characterized by comprising the following steps:
step S1, starting the estimation of the rotor position of the observer from the completion of the first stage to ensure that the observer rotor position estimation has converged before the third stage;
step S2, calculating rotor position deviation theta of trigger switching timeL；
θL＝θset-θobs (1)
θsetGiven an angle, θ, for open loop of speedobsEstimating an angle for the converged observer;
step S3, the rotor position deviation theta is calculatedLDecaying to 0 or less than a set threshold value within a set transition time; the calculation process is as follows:
initialization: thetaoutput(0)＝θL，θinput＝ε(0≤ε≤0.01) (2a)
Then, calculating:
Figure FDA0003528619910000011
wherein theta isinputFor the input angle in the calculation, θoutput(k) For the calculated output angle, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)＞θthdWhen k is equal to 1, the formula (3a) is returned and the calculation is continued until thetaoutput(k)≤θthdWhen the speed is higher than the set speed, the speed is switched to enter a fourth phase, namely a speed closed-loop operation phase; at this time, let θL＝θoutput(k)；
Alternatively, the first and second electrodes may be,
initialization:
Figure FDA0003528619910000012
then, calculating:
Figure FDA0003528619910000013
θoutput(k) for the calculated output angle, tcFor transition time, TsDiscrete time, namely the interval time between two adjacent times of calculation;
when theta isoutput(k)＞θthdWhen k is equal to 1, the formula (3b) is returned and the calculation is continued until thetaoutput(k)≤θthdWhen the speed is higher than the set speed, the speed is switched to enter a fourth phase, namely a speed closed-loop operation phase; at this time, let θL＝θoutput(k)。
2. The open-loop switching closed-loop control method for the speed of the sensorless vector control permanent magnet synchronous motor of claim 1,
tcis 0.05s to 0.2 s.
3. The position sensorless vector control permanent magnet synchronous motor speed open loop switching closed loop control method of claim 2,
tctake 0.1 s.
4. The open-loop switching closed-loop control method for the speed of the sensorless vector control permanent magnet synchronous motor of claim 1,
Tsthe temperature is 20-200 mus.
5. The position sensorless vector control permanent magnet synchronous motor speed open loop switching closed loop control method of claim 4,
Tstake 100. mu.s.
6. The utility model provides a no position sensor vector control PMSM speed open loop switches closed loop control device which characterized in that includes:
a memory storing a computer program;
a processor for running the computer program, the computer program when running performing the steps of the method of any one of claims 1 to 5.
CN202110393021.4A 2021-04-13 2021-04-13 Open-loop switching closed-loop control method and device for speed of position-sensorless vector control permanent magnet synchronous motor Active CN113131822B (en)

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CN107425776A (en) * 2017-07-31 2017-12-01 广东威灵电机制造有限公司 Startup control method, device and the driving control system for electric machine of motor
CN109428524A (en) * 2018-09-28 2019-03-05 佛山市顺德区和而泰电子科技有限公司 Permanent magnet synchronous motor closed loop switching method
CN111564995A (en) * 2020-05-25 2020-08-21 华中科技大学 Linear oscillation motor control method based on self-adaptive full-order displacement observer

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CN109995298B (en) * 2019-05-10 2020-11-10 中山大洋电机股份有限公司 Position-sensor-free vector control permanent magnet synchronous motor smooth start control method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107425776A (en) * 2017-07-31 2017-12-01 广东威灵电机制造有限公司 Startup control method, device and the driving control system for electric machine of motor
CN109428524A (en) * 2018-09-28 2019-03-05 佛山市顺德区和而泰电子科技有限公司 Permanent magnet synchronous motor closed loop switching method
CN111564995A (en) * 2020-05-25 2020-08-21 华中科技大学 Linear oscillation motor control method based on self-adaptive full-order displacement observer

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