CN113746405A - Method for judging whether permanent magnet synchronous motor is in starting locked rotor control mode without position sensor - Google Patents
Method for judging whether permanent magnet synchronous motor is in starting locked rotor control mode without position sensor 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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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
- H02P6/20—Arrangements for starting
- H02P6/21—Open loop start
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Abstract
The invention discloses a method for judging whether a permanent magnet synchronous motor is in starting locked rotor control without a position sensor, which comprises the following steps: establishing a voltage equation of the permanent magnet synchronous motor under an actual rotating dq coordinate system; based on a voltage equation, under the condition of preset consistent operating frequency, generating three-phase sine wave currents to form an active rotating magnetic field in two modes of d-axis voltage being 0, q-axis voltage being preset voltage, d-axis voltage being preset voltage and q-axis voltage being 0 respectively, enabling the motor to normally run in an open loop mode under the condition of no rotation blockage, and calculating d-axis current and q-axis current of the motor under the two modes respectively; and judging whether the locked rotor occurs in the starting stage of the motor according to the relation between the dq axis current of the motor and the preset current value in the two modes. According to the invention, whether the motor is in a locked-rotor state at the starting stage is judged by applying two sets of dq shaft voltages and analyzing the magnitude of the obtained current, so that the problems of motor loss of field, power module damage and the like caused by motor locked-rotor and current overshoot can be avoided.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method for judging whether a permanent magnet synchronous motor is in starting locked rotor control without a position sensor.
Background
The permanent magnet synchronous motor has been widely used in the fields of industrial control, household electrical appliances and the like due to simple structure, high power density, high efficiency and wide speed regulation range. The permanent magnet synchronous motor position sensorless control technology can reduce hardware cost and improve system reliability, and has become a very important research direction in the field of motor control in recent years, for example, products such as fan pumps are very suitable for adopting a position sensorless control scheme.
The motor is locked when the rotating speed is zero, namely, the motor still outputs torque, the load of equipment is too large, and the motor is possibly locked due to the contact between a rotor and a stator or the locking of driving equipment. If a locked rotor state occurs in the operation process of the permanent magnet synchronous motor without position sensor control, a microprocessor of the motor immediately blocks an output pulse signal, an IGBT (insulated gate bipolar translator) of the inverter is closed, and the inverter is prevented from being burnt down due to overlarge locked rotor current. The traditional locked rotor state judging method mainly judges two parameters of rotating speed and current, controls the permanent magnet synchronous motor based on a position-sensorless vector, calculates the output voltage of an inverter, detects the phase current of the motor, and estimates the counter electromotive force according to the parameters of the resistance, the inductance and the like of the motor, thereby estimating the position of a motor rotor. The output voltage of the inverter is estimated by the PWM duty ratio of the IGBT power module, but because the factors of turn-on, turn-off delay, dead time and the like of the IGBT power module can cause errors in the estimation of the output voltage, on the other hand, errors also exist in the measured value and the actual value of the inductance parameter of the motor, and when the motor is changed into a locked-rotor state from a running state, errors in several aspects can cause the current value of the motor read back by the controller and the output voltage value of the inverter to enter a stable closed loop state after self-operation. The motor is not actually operated due to the fact that the locked rotor is blocked, the output voltage amplitude of the inverter and the detection value of the motor current are very small, the motor cannot be dragged to operate, the control system can misjudge that the motor is in a normal operation state according to variables such as the output voltage, the motor current and the like, namely when the motor is locked rotor, the motor may not enter a protection state to continue to drive the motor to operate, and therefore the motor is easily damaged.
Chinese patent CN 110518857a discloses a locked-rotor state determination method based on position-sensorless vector control, which determines the locked-rotor state by comparing the input power and the output power, but this method determines the locked-rotor state during the normal operation of the motor, and does not consider the locked-rotor problem of the motor during starting. The method for judging the locked rotor of the permanent magnet synchronous motor disclosed in the chinese patent CN 110875704 a is also performed in the normal operation process of the motor, and the problem of locked rotor starting is not considered. However, when the motor is started, the motor is in a starting failure due to the locked rotor, and a large current impact may be generated, so that the motor is demagnetized and the inverter is damaged, and the locked rotor judgment and protection are very necessary in the starting stage of the motor in actual work.
Disclosure of Invention
The invention aims to provide a method for judging the starting locked rotor of a permanent magnet synchronous motor without a position sensor, which is used for solving the problems of motor loss of field, power module damage and the like caused by motor locked rotor and current overshoot in the prior art.
In order to realize the task, the invention adopts the following technical scheme:
a method for judging whether a permanent magnet synchronous motor is in starting locked rotor control without a position sensor comprises the following steps:
establishing a voltage equation of the permanent magnet synchronous motor under an actual rotating dq coordinate system;
based on the voltage equation, under the condition of preset consistent operating frequency, generating three-phase sine wave currents to form an active rotating magnetic field in two modes of d-axis voltage being 0, q-axis voltage being preset voltage, d-axis voltage being preset voltage and q-axis voltage being 0 respectively, enabling the motor to normally run in an open loop mode under the condition of no rotation blockage, and calculating d-axis current and q-axis current of the motor under the two modes respectively;
and judging whether the locked rotor occurs in the starting stage of the motor according to the relation between the d-axis current and the q-axis current of the motor and the preset current value in the two modes.
Further, according to the relationship between the d-axis current and the q-axis current of the motor and the preset current value in the two modes, whether the locked rotor occurs in the starting stage of the motor is judged, and the method comprises the following steps:
in the first mode, the d-axis current and the q-axis current of the motor are respectively recorded as id1、iq1In the second mode, the currents of the d and q axes of the motor are id2、iq2And then:
if id1-iq1I and Id2+iq2All is larger than the current preset value isetJudging that the motor is locked; if id1-iq1I and Id2+iq2All is less than the current preset value isetAnd judging that the motor is not locked.
Further, the preset voltage VsetGreater than the back electromotive force e of the motor, but the amplitudes of the two are close to each other, | Vset-e|＝ζ*VsetWherein the coefficient ζ is 0.1 to 0.2.
Further, the current preset value isetIs calculated by the formula
Wherein the coefficient xi is 0.2-0.4, R represents the motor stator resistance, omega0Indicating the angular velocity, L, of rotation corresponding to a predetermined operating frequencyd、LqRespectively representing d and q-axis inductances, V, of the machinesetIs a preset voltage.
A permanent magnet synchronous motor without a position sensor is characterized in that a controller of the permanent magnet synchronous motor is loaded with a computer program; when the computer program is executed, the steps of the judging method are realized.
A computer-readable storage medium having stored thereon a computer program which, when executed, implements the steps of the method of determining.
Compared with the prior art, the invention has the following technical characteristics:
the invention analyzes the obtained i by applying two sets of dq axis voltages, not by comparing the magnitude of the phase current amplitudesd1、iq1And id2、iq2The two sets of current magnitudes judge whether the motor is in a locked-rotor state or not in the starting stage, and through practical verification, the scheme of the invention can effectively avoid the problems of motor loss of field, power module damage and the like caused by motor locked-rotor and current overshoot.
Drawings
FIG. 1 is a block diagram of a position sensorless vector control system for a permanent magnet synchronous motor;
FIG. 2 is a comparison of current waveforms of a prototype under locked rotor and unlocked rotor conditions;
FIG. 3 shows the sample engine at the time of no locked rotor id1、iq1A current waveform;
FIG. 4 shows the locked rotor of a prototype id1、iq1A current waveform;
FIG. 5 shows the sample engine at the time of no locked rotor id2、iq2A current waveform;
FIG. 6 shows the locked rotor of a prototype id2、iq2A current waveform;
fig. 7 shows the phase current waveforms for 3 failed starts and successful start without stalling of the motor under stall conditions.
Detailed Description
Referring to the attached drawings, the invention discloses a method for judging whether a permanent magnet synchronous motor is started and locked in a rotating mode without a position sensor, which comprises the following steps:
Wherein R is the stator resistance; l isd、LqRespectively representing d-axis inductance and q-axis inductance; u. ofd、uqRespectively representing d-axis and q-axis voltages of the motor; i.e. id、iqRespectively represent d-axis current and q-axis current; e is the back electromotive force of the motor; omega is the rotation angular velocity of the motor; p is a differential operator, and p is d/dt.
Step 2, setting the d-axis voltage of the motor to be ud10, q-axis voltage uq1＝VsetAnd a predetermined operating frequency f0Generating three-phase sine wave current to form an active rotating magnetic field, enabling the motor to normally run in an open loop mode under the condition of no rotation blockage, measuring the three-phase current of the motor at the moment and calculating the d-axis current i and the q-axis current i of the motor at the momentd1、iq1Angular velocity of rotation omega0＝2πf0Then, at this time, the steady-state equation of the d-axis voltage and the q-axis voltage is:
wherein, VsetIs a preset voltage.
in step 2 and step 3, the set operating frequency ω0Smaller to satisfy the requirement that the stator resistance R is far larger than the d and q axes inductive reactance omega0Ld、ω0LqThe conditions of (a); and a predetermined voltage VsetGreater than the back-emf e, but close in magnitude, | Vset-e|＝ζ*VsetWherein the coefficient ζ is 0.1 to 0.2.
Step 4, if | id1-iq1I and Id2+iq2All is larger than the current preset value isetJudging that the motor is locked; if id1-iq1I and Id2+iq2All is less than the current preset value isetAnd judging that the motor is not locked.
Wherein the current is preset value isetThe calculation formula of (a) is derived as follows:
from equation (2) one can deduce:
from equation (3) one can deduce:
due to the set operating frequency omega0Small, the stator resistance R is far larger than the d and q axis inductive reactance XLd、XLqEquations (5) and (7) can be simplified:
three-phase sine wave current is generated in a motor winding to form an active rotating magnetic field, and when the motor can normally run in an open loop mode under the condition of no rotation blockage, a given voltage V is appliedsetIf the amplitude of the counter potential e is larger than the amplitude of the counter potential e and the amplitudes of the counter potential e are close to each other, otherwise, a large three-phase current is generated, and the invention sets the absolute value of Vset-e|＝ζ*Vset,ζ＝(0.1～0.2)，|id1-iq1I and Id2+iq2The value of | is:
wherein the coefficient ζ is 0.1 to 0.2.
When the motor is locked, the counter potential e is zero, | id1-iq1I and Id2+iq2The value of | is:
judging whether the motor is locked or not is just judging | id1-iq1I and Id2+iq2If the value of | is in accordance with the formula (9) or the formula (10), comparing the formula (9) and the formula (10) shows | i in the case of locked rotord1-iq1I and Id2+iq2The value of | is much larger than that of the non-locked rotor, so that i can be analyzedd1、iq1And id2、iq2And judging whether the motor is in a locked-rotor state in the starting stage or not by the two sets of current quantities.
Invention current preset value isetThe selection of the operation formula (9) is twice larger than the calculation value of the non-locked-rotor operation formula (9), but is much smaller than the calculation value of the locked-rotor operation formula (10):
wherein the coefficient xi 2 zeta 0.2 ~ 0.4.
Example (b):
the principle experiment verifies that the adopted permanent magnet synchronous motor is an outer rotor fan motor applied to an automobile air conditioner, wherein the parameters of the permanent magnet synchronous motor are as follows: rated power 300W, rated voltage DC 24V and minimum operation speed nset_min500 rpm, maximum operating speed nset_max4200 revolutions per minute, pole pair number pn4, the stator resistance R is 0.39 Ω, and the stator direct-axis inductance LdQuadrature axis inductance L of 0.09mHq0.11mH, coefficient of back emf Ke2.45V/krpm, the vector control PWM frequency is 16 KHz.
Fig. 1 shows a system control block diagram of a position sensorless vector control of a permanent magnet synchronous motor system according to an embodiment of the present invention, which includes units such as a double-resistance sampling circuit, Clarke and PARK transformation, maximum torque to current ratio control (MTPA), a speed loop, a dq-axis current loop, PARK inverse transformation, rotor position estimation, SVPWM calculation, and a three-phase PWM inverter.
FIG. 2 shows a comparison of the phase current real-time photographed waveforms under the conditions of locked rotor and non-locked rotor of a prototype according to an embodiment of the present invention, wherein 0-3 seconds are the phase current waveforms under the condition of artificial locked rotor of the prototype, the phase current amplitude of the locked rotor is about 3A, 3-4.5 seconds are the transition process of locked rotor cancellation, 5-10 seconds are the phase current waveforms under the condition of normal open-loop operation without locked rotor of the prototype, and the phase current amplitude is about 2.5Ad1、iq1And id2、iq2It is necessary to judge whether the motor is locked up by the two sets of current quantities.
The unit of the applied voltage in the implementation process of the invention is not a volt (V) but an FOC system voltage variable unit, and 1V is 95.3 system voltage variable units; the unit of the measured current is not ampere (A) but FOC system current variable unit, and 1A is 327.7 system current variable unit.
Operating frequency f in the experiment0＝3.5Hz，Vset1000 system voltage variable units, based on the previously measured motor parameter Ld＝0.09mH，LqWhen the calculated d-q axis inductance is X, 0.11mHLd＝2πf0Ld＝1.98mΩ，XLq＝2πf0Lq2.42m Ω and the stator resistance R0.39 Ω, it can be seen that R is much greater than the dq axis inductive reactance XLd、XLqThe conditions simplified from equations (5) and (7) to equation (8) hold.
Calculating i according to formula (11) based on resistance inductance parameter of motorset：
In the above formula, the coefficient ξ is 0.25.
According to f0＝3.5Hz，VsetThe d-axis voltage of the motor can be set to u as 1000 system voltage variable unitsd10, q-axis voltage uq1Generating three-phase sine wave current to form active rotating magnetic field as 1000 system voltage variable units, and as shown in fig. 3, i of prototype when the rotor is not lockedd1、iq1The current waveform, fig. 4 is i of a prototype at the time of locked rotord1、iq1The current waveform shows that the obtained dq axis current has small current ripple, and the i for carrying out locked rotor judgment can be obtained only by carrying out low-pass filtering on the dq axis currentd1、iq1The current is applied. In FIG. 3, the prototype is in the non-locked state id1＝330、iq1＝750，|id1-iq1420 (unit of system current variable), iid1-iq1|＜iset(ii) a In FIG. 4, the prototype is lockedd1＝40、iq1＝990，|id1-iq1I 950 (unit of system current variable), iid1-iq1|＞iset；
Resetting motor ud21000 units of voltage variation of system, uq20 and operating frequency f0Generating three-phase sine wave current to form active rotating magnetic field at 3.45Hz, and as shown in figure 5, i of a prototype when the rotor is not lockedd2、iq2The current waveform, fig. 6 is i of a prototype at locked rotord2、iq2The current waveform. In FIG. 5, the prototype is in the non-locked state id2＝760、iq2＝-330，|id2+iq2430 (system current variable unit), iid2+iq2|＜iset(ii) a In FIG. 6, the prototype is lockedd2＝979、iq2＝-50，|id2+iq2929 (system current variable unit), id2+iq2|＞iset。
| i corresponding to fig. 3 and 5, respectivelyd1-iq1I and Id2+iq2All are less than a preset value isetJudging that the motor is not locked, i corresponding to fig. 4 and 6d1-iq1I and Id2+iq2All are larger than a preset value isetAnd the motor stalling is judged, so the criterion of the invention on the motor starting stalling is correct.
As shown in fig. 7, artificial stalling is performed in the first 3 times of starting process of 10 seconds, starting stalling is detected according to the idea of the invention, the subsequent closed-loop operation is stopped, and 3 times of starting failure is determined and corresponding protection is performed; it can be seen from fig. 5 that although the starting is resumed after 3 times of starting failures, the phase current peak value is maintained at about 6A during the starting process, no current impact is generated, and the problems of motor loss of field, inverter damage and the like possibly caused by the starting failures are avoided; in fig. 5, the 4 th start cancels the locked rotor, the system judges as a normal start, and after about 1.6 seconds of open loop operation, the system switches into the position estimation closed loop mode, and the later current waveform is the phase current waveform of speed regulation operation in the position closed loop mode.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (6)
1. A method for judging whether a permanent magnet synchronous motor is in locked rotor control starting without a position sensor is characterized by comprising the following steps:
establishing a voltage equation of the permanent magnet synchronous motor under an actual rotating dq coordinate system;
based on the voltage equation, under the condition of preset consistent operating frequency, generating three-phase sine wave currents to form an active rotating magnetic field in two modes of d-axis voltage being 0, q-axis voltage being preset voltage, d-axis voltage being preset voltage and q-axis voltage being 0 respectively, enabling the motor to normally run in an open loop mode under the condition of no rotation blockage, and calculating d-axis current and q-axis current of the motor under the two modes respectively;
and judging whether the locked rotor occurs in the starting stage of the motor according to the relation between the d-axis current and the q-axis current of the motor and the preset current value in the two modes.
2. The method for judging whether the motor is locked in the starting stage of the permanent magnet synchronous motor without the position sensor according to claim 1, wherein the judgment of whether the motor is locked in the starting stage or not according to the relation between the d-axis current and the q-axis current of the motor and the preset current value under the two modes comprises the following steps:
in the first mode, the d-axis current and the q-axis current of the motor are respectively recorded as id1、iq1In the second mode, the currents of the d and q axes of the motor are id2、iq2And then:
if id1-iq1I and Id2+iq2All is larger than the current preset value isetJudging that the motor is locked; if id1-iq1I and Id2+iq2All is less than the current preset value isetAnd judging that the motor is not locked.
3. The method for determining the sensorless start-up stalling of a PMSM according to claim 1, wherein the preset voltage VsetGreater than the back electromotive force e of the motor, but the amplitudes of the two are close to each other, | Vset-e|＝ζ*VsetWherein the coefficient ζ is 0.1 to 0.2.
4. The method for judging the sensorless control starting stalling of the PMSM according to claim 1, wherein the preset current value i issetIs calculated by the formula
Wherein the coefficient xi is 0.2-0.4, R represents the motor stator resistance, omega0Indicating the angular velocity, L, of rotation corresponding to a predetermined operating frequencyd、LqRespectively representing d and q-axis inductances, V, of the machinesetIs a preset voltage.
5. A position sensorless permanent magnet synchronous motor is characterized in that a controller of the permanent magnet synchronous motor is loaded with a computer program; computer program when executed, implementing the steps of the determination method according to any one of claims 1 to 4.
6. A computer-readable storage medium, in which a computer program is stored, characterized in that the computer program, when executed, carries out the steps of the determination method according to any one of claims 1 to 4.
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| CN115425909A (en) * | 2022-09-14 | 2022-12-02 | 江苏新安电器股份有限公司 | Software algorithm for improving locked-rotor protection effect of motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115425909A (en) * | 2022-09-14 | 2022-12-02 | 江苏新安电器股份有限公司 | Software algorithm for improving locked-rotor protection effect of motor |
| CN115425909B (en) * | 2022-09-14 | 2023-12-01 | 江苏新安电器股份有限公司 | Software algorithm for improving motor locked rotor protection effect |
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