CN113839596A - Method for detecting position and speed of initial rotor of permanent magnet motor - Google Patents

Method for detecting position and speed of initial rotor of permanent magnet motor Download PDF

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Publication number
CN113839596A
CN113839596A CN202110929658.0A CN202110929658A CN113839596A CN 113839596 A CN113839596 A CN 113839596A CN 202110929658 A CN202110929658 A CN 202110929658A CN 113839596 A CN113839596 A CN 113839596A
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motor
line voltage
speed
permanent magnet
high level
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王琛琛
周明磊
刘佳斌
王剑
郭希铮
游小杰
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Beijing Jiaotong University
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Beijing Jiaotong University
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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
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention relates to a method for detecting the position and the speed of an initial rotor of a permanent magnet motor, which specifically comprises the following steps: step 1: designing a sampling circuit, sampling the counter electromotive force sine line voltage of the permanent magnet synchronous motor in a power-off state by using the sampling circuit, and outputting a pulse signal; step 2: inputting a pulse signal output by the sampling circuit into a controller, and estimating the position of a motor rotor and the rotating speed of the motor by using the controller to obtain an estimated value; and step 3: and carrying out tape speed re-throwing control operation by using the estimated values of the position of the motor rotor and the electronic rotating speed. The invention provides a simple and low-cost voltage detection method, a sampling circuit is designed, the position and rotating speed information of a motor rotor can be simply estimated by outputting pulse information, a more accurate initial angle and initial rotating speed of the motor rotor position are provided for the motor speed-on-load control under the condition of no position sensor, and better performance of speed-on-load control is realized.

Description

Method for detecting position and speed of initial rotor of permanent magnet motor
Technical Field
The invention relates to the field of rail transit traction transmission systems, and realizes detection of the initial rotor position and the rotating speed of a permanent magnet synchronous motor when the permanent magnet synchronous motor is subjected to tape speed re-throwing under the condition without a position sensor. In particular to a method for detecting the position and the speed of an initial rotor of a permanent magnet motor.
Background
Different from an asynchronous motor, the permanent magnet synchronous motor adopts permanent magnet excitation without providing exciting current, so that the permanent magnet synchronous motor has the advantages of simple structure, high power density and the like, and is widely applied to the fields of rail transit traction transmission systems and the like.
In order to overcome the defects of increased system cost, reduced space, reduced reliability and the like caused by applying the position sensor to a traction transmission system, the control technology without the position sensor is gradually developed into the current research hotspot. In a traction drive system, the belt speed re-throw control is a function that the electric locomotive must have. However, without the position sensor, the system cannot detect the position and the rotation speed of the motor rotor, and if there is a large error in the initial rotor position and speed, the re-throwing process may cause a large current impact and even damage the system components.
In the prior art, the short-circuit current method and the back electromotive force observation method based on a voltage sensor are generally adopted to estimate the position and the rotating speed of the motor rotor. The patent with application number CN201310512095.0 utilizes a short-circuit current method, in which a control system injects a zero-voltage vector into a motor, detects a short-circuit current of a motor winding, and estimates the position and the rotation speed of a rotor by the injected voltage and the short-circuit current. The method is not complicated, but has higher requirement on short-circuit time, if the short-circuit time is shorter, the short-circuit current is smaller, and the measurement error of the current sensor during sampling the short-circuit current is larger; if the short circuit time is longer, larger current impact can be caused, and the normal operation of system equipment is influenced in the past. In a counter electromotive force observation method, a voltage sensor is required to detect the voltage of a motor terminal, the position and the rotating speed of a motor rotor are estimated by detecting the amplitude of the voltage, 3 voltage sensors are arranged in a patent with the application number of CN201811188488.X and used for collecting the three-phase voltage of the motor, 1 voltage sensor is arranged in a patent with the application number of CN201910398876.9 and used for collecting induced electromotive force signals on a stator wire, and the cost and the space cost of a system are increased by utilizing the voltage sensors.
Therefore, the method for estimating the position and the rotating speed of the motor rotor is simple and low in cost, and has important significance.
Disclosure of Invention
The invention provides a simple and low-cost voltage detection method, a sampling circuit is designed, the position and rotating speed information of a motor rotor can be simply estimated by outputting pulse information, a more accurate initial angle of the position of the motor rotor and an initial rotating speed are provided for the speed-on-load control of a motor under the condition of no position sensor, and the better performance of the speed-on-load control is realized. Different from the traditional method, the method does not use a voltage sensor, does not need to accurately detect the counter electromotive force amplitude information of the motor, and can estimate the position and the rotating speed information of the motor rotor only by detecting the pulse signal output by the sampling circuit.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a method for detecting the position and the speed of an initial rotor of a permanent magnet motor specifically comprises the following steps:
step 1: designing a sampling circuit, sampling the counter electromotive force sine line voltage of the permanent magnet synchronous motor in a power-off state by using the sampling circuit, and outputting a pulse signal;
step 2: inputting a pulse signal output by the sampling circuit into a controller, and estimating the position of a motor rotor and the rotating speed of the motor by using the controller to obtain an estimated value;
and step 3: and carrying out tape speed re-throwing control operation by using the estimated values of the position of the motor rotor and the motor rotating speed.
On the basis of the scheme, in step 1, the back electromotive force sine line voltage of the permanent magnet synchronous motor comprises: sine line voltage uabSine line voltage ubcAnd sine line voltage uca。
On the basis of the scheme, the sine line voltage uabThe sampling circuit of (1) comprises: current limiting resistor R1Current limiting resistor R2The optical coupler chip, the phase inverter and the buffer are arranged;
motor A phase terminal and current limiting resistor R1Is connected to the current limiting resistor R1The other end of the optical coupler chip is connected with one end of the non-isolated side of the optical coupler chip, and a motor B-phase wiring end is connected with a current-limiting resistor R2Is connected to the current limiting resistor R2The other end of the optical coupling chip is connected with one end of the non-isolated side of the optical coupling chip, and the optical coupling chip is used for connecting the sine line voltage u with the sine line voltageabThe pulse is converted into a pulse form and output at a non-isolated side, and two output ends of the non-isolated side of the optical coupling chip are respectively connected with two input ends of the phase inverter; two output ends of the phase inverter are respectively connected with two input ends of the buffer, and two output ends of the buffer are respectively connected with two input ends of the controller and used for inputting two paths of pulse signals.
On the basis of the scheme, the type of the optical coupler chip is as follows: HCPL-0630-500E.
On the basis of the scheme, in the step 1, the sine line voltage uabSine line voltage ubcAnd sine line voltage ucaThe sampling circuits are the same;
when is the sine line voltage ubcWhen the circuit is sampled, the terminal of the B phase of the motor and the current-limiting resistor R1Is connected with the C-phase wiring terminal of the motor and the current-limiting resistor R2Is connected with one end of the connecting rod;
when is the sine line voltage ucaWhen the circuit is sampled, the C-phase terminal of the motor and the current-limiting resistor R1Is connected with the motor A phase wiring terminal and the current limiting resistor R2Is connected with one end of the connecting rod;
the 3 sampling circuits output 6 paths of pulse signals in total and input the pulse signals to the controller.
On the basis of the scheme, the pulse signal comprises: low level signal and high level signal, when the amplitude of sinusoidal line voltage is greater than threshold voltage | + -UthdWhen the voltage is lower than the reference voltage, the sampling circuit outputs a high-level signal, and otherwise outputs low powerA flat signal;
on the basis of the scheme, the threshold voltage is | + -UthdI is: the optical coupler chip can work normally at the minimum input voltage.
On the basis of the scheme, 1 clock I is set in the controller in the step 2 and used for recording the time when the 6 paths of pulse signals of the sampling circuit are changed from high level to low level, when any path of pulse signal is changed from high level to low level, the time is recorded as zero time, and the time interval T between two adjacent pulse signals which are changed from high level to low level is recorded until the next time when any path of pulse signal is changed from high level to low levelθThe controller is also provided with 6 clocks II, each clock II corresponds to one path of pulse signal, when the path of pulse signal jumps from low level to high level, the corresponding clock II starts to time from zero, when the path of pulse signal jumps from high level to low level, the corresponding clock II stops timing and records time TxWherein, TxThe high level of each pulse signal is maintained for a long time.
On the basis of the scheme, the step 2 specifically comprises the following steps:
the angle difference corresponding to the jump of the adjacent two pulse signals from high level to low level is pi/3, and the time interval is TθTherefore, the motor rotation speed estimated value ω is obtained from the equation (1)est：
Figure BDA0003210867690000041
The rotor position corresponding to the moment when the output signal jumps from high level to low level is thetaxI.e. the motor rotor position estimate, thetaxAs shown in equation (2):
Figure BDA0003210867690000051
wherein, TxFor a high level holding period, theta, of each pulse signalmxIs TxThe rotor position angle corresponding to the/2 moment, namely the rotor position angle corresponding to the peak value of the input sine line voltage, is integral multiple of pi/3, omegaestThe estimated value of the motor rotating speed is obtained;
0-T except the time of jumping from high level to low levelθAngle theta therebetweenestEstimated from equation (3):
θest＝θx+ωesttθ (3)
wherein, tθIs the instantaneous value of clock one.
The sampling circuit specifically works as follows:
the schematic diagram of the designed sampling circuit is shown in figure 1, and the input signal of the sampling circuit is the sine line voltage u of the permanent magnet motorabSine line voltage ubcAnd sine line voltage ucaFIG. 1 shows only the input as a sinusoidal line voltage uabSchematic of the circuit of (1), sine line voltage ubcSine line voltage ucaAnd sine line voltage uabThe sampling circuits have the same structure;
the input is a 3-way sine line voltage signal uab、ubc、uca3 lines of sine line voltage signal uab、ubc、ucaRespectively passing through current limiting resistor R in sampling circuit1And R2After the optical coupling chip, the phase inverter and the buffer, 3 sampling circuits output 6 paths of pulse signals.
When the voltage amplitude of the sinusoidal line is larger than the threshold voltage | + -UthdWhen the voltage is lower than the preset voltage, the sampling circuit outputs a high-level signal, and otherwise, outputs a low-level signal; 6 paths of pulse signals output by the sampling circuit are sent to a controller;
the input and output signals of the sampling circuit are shown in fig. 2, and the specific working principle of estimating the position and the rotating speed of the motor rotor according to the pulse signal output by the sampling circuit in the step 2 is as follows:
the sampling circuit is used for sampling the counter potential sine line voltage of the motor, a clock I is arranged in the controller, and the time when the high level of the 6 paths of output signals of the sampling circuit jumps to the low level is obtained. When a certain path of output signalWhen the high level is changed into the low level, the clock I starts to time from zero until the next output signal level state realizes the jump from the high level to the low level, and the time interval T of the jump from the high level to the low level of the adjacent two pulse signals is recordedθResetting the clock again and again;
the difference of high and low level jump positions of two adjacent paths of signals is pi/3, and pi/3 is divided by the calculated time interval TθI.e. the estimated value omega of the motor speedest；
Figure BDA0003210867690000061
The 6-path signal in one fundamental wave period has jump from high level to low level, so that the level state jumps from high level to low level 6 times in one fundamental wave period, and 6 times of updating of the rotating speed can be realized at the jump of the level state.
The 3 sampling circuits comprise 6 paths of output signals in total, and 6 clocks II are arranged in the controller and used for respectively timing each path of signals. When the output signal jumps from low level to high level, the second clock starts to time from zero time; when the output signal changes from high level to low level, the second clock stops timing and records the time Tx。
The rotor position corresponding to the moment when the output signal jumps from high level to low level is thetaxTheta ofxAs shown in equation (2):
Figure BDA0003210867690000071
wherein, TxFor a high level holding period, theta, of each pulse signalmxIs TxRotor position angle corresponding to the/2 moment, i.e. rotor position angle, ω, corresponding to the peak of the input line voltageestThe estimated value of the motor rotating speed is obtained;
0-T except the time of jumping from high level to low levelθAngle theta therebetweenestEstimated from equation (3):
θest＝θx+ωesttθ (3)
wherein, tθIs the instantaneous value of clock one.
The invention has the beneficial effects that:
the invention provides a simple and low-cost voltage detection method, a sampling circuit is designed, the position and rotating speed information of a motor rotor can be simply estimated by outputting pulse information, a more accurate initial angle of the position of the motor rotor and an initial rotating speed are provided for the speed-on-load control of a motor under the condition of no position sensor, and the better performance of the speed-on-load control is realized.
Drawings
The invention has the following drawings:
fig. 1 is a schematic diagram of a sampling circuit.
Fig. 2 is a schematic diagram of input and output signals of the sampling circuit.
Fig. 3 is a schematic diagram of a physical model of a three-phase two-pole alternating current permanent magnet synchronous motor.
FIG. 4 is a diagram illustrating the peak line voltage and rotor position.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings 1 to 4.
This application explains with three-phase two poles of the earth permanent magnet synchronous machine as an example, according to the three-phase two poles of the earth permanent magnet synchronous machine physics model of fig. 3 can know, and the rotor magnetic pole centers on three-phase stator winding anticlockwise rotation, and it is theta to establish the contained angle between rotor d axle direction and the A phase winding, then the stator winding looks voltage is:
Figure BDA0003210867690000081
wherein u isan、ubn、ucnRespectively motor phase voltage ud、udRespectively, the quadrature axis voltage and the direct axis voltage.
According to the d-q axis voltage equation of the motor model, the d-q axis voltage equation in the power-off state meets the following conditions:
Figure BDA0003210867690000082
wherein, ω issFor electrical angular frequency, psi, of the motorfIs a permanent magnet flux linkage.
Substituting formula (4) for formula (5) to obtain the back electromotive voltage of the stator winding, as shown in formula (6):
Figure BDA0003210867690000083
sine line voltage uab、ubc、ucaThe expression of (a) is:
Figure BDA0003210867690000084
thus, the sinusoidal line voltage uab、ubc、ucaThere is a correspondence relationship with the rotor position angle θ as shown in formula (7);
the corresponding relationship is shown in the figure, as shown in fig. 4:
sine line voltage ubcThe wave crest corresponds to an angle 0, and the wave trough corresponds to an angle pi; sine line voltage ucaThe wave crest corresponds to an angle of 2 pi/3, and the wave trough corresponds to an angle of 5 pi/3; sine line voltage uabThe wave crest corresponds to an angle of 4 pi/3 and the wave trough corresponds to an angle of pi/3.
The input voltage of the sampling circuit is a motor counter potential sine line voltage signal, and the sine line voltage u is used as the motor counter potential sine line voltage signalabFor example, the minimum operating current of the anti-parallel light emitting diode is IthdTwo current limiting resistors are R respectively1、R2If so, the minimum input voltage of the optical coupling chip in normal operation is the threshold voltage, and the threshold voltage is
Uthd＝(R1+R2)Ithd (8)
When the counter potential of the motor exceeds the threshold voltage UthdWhen the LED is turned on, the LED is turned on; otherwise, the LED is turned off。
Thus, there is a relationship between the input and output of the sampling circuit, where uiIs an input voltage uoIs the output voltage;
Figure BDA0003210867690000091
the sine line voltage ubcSine line voltage ucaSampling circuit principle and sinusoidal line voltage uabThe sampling circuits are identical.
When the amplitude of the input signal of the sampling circuit is greater than the threshold voltage, a high level is output, the high level is 3.3V, and when the amplitude of the input signal of the sampling circuit is less than the threshold voltage, a low level is output, and the low level is 0V.
A correspondence between the sampling circuit input voltage and the output level state can thus be established, as shown in fig. 2.
As can be seen from FIG. 2, the angles 0, pi/3, 2 pi/3, pi, 4 pi/3, and 5 pi/3 correspond to the middle positions of the sampling circuit 6 output high level signals, respectively.
Let 6 signals O1、O2、O3、O4、O5、O6The positions at which the level state changes from high level to low level are respectively theta1、θ2、θ3、θ4、θ5、θ6And the motor rotating speed is generally considered to be unchanged, the 6 position points are spaced by pi/3. Setting a clock I in the motor control interruption, when the level state of any one of the 6 paths of signals is changed from high level to low level, the clock I starts to time from zero until the next level state is changed from high level to low level, and recording the value T of the clock IθAnd resetting the clock once the clock is cleared.
The motor speed can be estimated by the formula (1)
Figure BDA0003210867690000101
To detect 6 waysSignal O1、O2、O3、O4、O5、O6Respectively setting 6 clocks two in the interruption of motor control. With O1Taking a signal as an example, the second clock starts to count from zero when the level state changes from low level to high level, and records the time T when the level state changes from high level to low level1. Due to O1The middle position of high-level pulse in the signal corresponds to angle 0, i.e. T1The time point/2 corresponds to the angle 0, then T1The time corresponds to the angle theta1Expressed as:
Figure BDA0003210867690000102
θ1～θ2angle theta therebetweenestCan be estimated from equation (11):
θest＝θ1+ωesttθ (11)
by analogy, the initial values of the velocity and angle estimation can be updated 6 times in one fundamental wave period, and the angle in one fundamental wave period can be estimated by the formula (12):
Figure BDA0003210867690000111
wherein, the subscript x is 1, 2, …, 6, theta1Corresponds to theta m10 and T1；θ2Corresponds to thetam2Pi/3 and T2；θ3Corresponds to thetam32 pi/3 and T3；θ4Corresponds to thetam4Pi and T4；θ5Corresponds to thetam54 pi/3 and T5；θ6Corresponds to thetam65 pi/3 and T6；
Those not described in detail in this specification are within the skill of the art.

Claims (9)

1. A method for detecting the position and the speed of an initial rotor of a permanent magnet motor is characterized by comprising the following steps:
step 1: designing a sampling circuit, sampling the counter electromotive force sine line voltage of the permanent magnet synchronous motor in a power-off state by using the sampling circuit, and outputting a pulse signal;
step 2: inputting a pulse signal output by the sampling circuit into a controller, and estimating the position of a motor rotor and the rotating speed of the motor by using the controller to obtain an estimated value;
and step 3: and carrying out tape speed re-throwing control operation by using the estimated values of the position of the motor rotor and the motor rotating speed.
2. The method for detecting the initial rotor position and speed of the permanent magnet motor according to claim 1, wherein in the step 1, the back electromotive force sine line voltage of the permanent magnet synchronous motor comprises the following steps: sine line voltage uabSine line voltage ubcAnd sine line voltage uca。
3. The method of claim 2 wherein said sinusoidal line voltage u is measured by a sine-wave motorabThe sampling circuit of (1) comprises: current limiting resistor R1Current limiting resistor R2The optical coupler chip, the phase inverter and the buffer are arranged;
motor A phase terminal and current limiting resistor R1Is connected to the current limiting resistor R1The other end of the optical coupler chip is connected with one end of the non-isolated side of the optical coupler chip, and a motor B-phase wiring end is connected with a current-limiting resistor R2Is connected to the current limiting resistor R2The other end of the optical coupling chip is connected with one end of the non-isolated side of the optical coupling chip, and the optical coupling chip is used for connecting the sine line voltage u with the sine line voltageabThe pulse is converted into a pulse form and output at a non-isolated side, and two output ends of the non-isolated side of the optical coupling chip are respectively connected with two input ends of the phase inverter; two output ends of the phase inverter are respectively connected with two input ends of the buffer, and two output ends of the buffer are respectively connected with two input ends of the controller and used for inputting two paths of pulse signals.
4. The method for detecting the position and the speed of the initial rotor of the permanent magnet motor according to claim 3, wherein the type of the optical coupling chip is as follows: HCPL-0630-500E.
5. The method of claim 3 wherein in step 1, the sine-line voltage u is measured as the initial rotor position and speed of the permanent magnet machineabSine line voltage ubcAnd sine line voltage ucaThe sampling circuits are the same;
when is the sine line voltage ubcWhen the circuit is sampled, the terminal of the B phase of the motor and the current-limiting resistor R1Is connected with the C-phase wiring terminal of the motor and the current-limiting resistor R2Is connected with one end of the connecting rod;
when is the sine line voltage ucaWhen the circuit is sampled, the C-phase terminal of the motor and the current-limiting resistor R1Is connected with the motor A phase wiring terminal and the current limiting resistor R2Is connected with one end of the connecting rod;
the 3 sampling circuits output 6 paths of pulse signals in total and input the pulse signals to the controller.
6. The method of claim 5, wherein said pulse signal comprises: low level signal and high level signal, when the amplitude of sinusoidal line voltage is greater than threshold voltage | + -UthdAnd when the voltage is lower than the preset voltage, the sampling circuit outputs a high-level signal, and otherwise, outputs a low-level signal.
7. The method of claim 6, wherein the threshold voltage | ± UthdI is: the optical coupler chip can work normally at the minimum input voltage.
8. The method for detecting the initial rotor position and speed of a permanent magnet motor according to claim 7, wherein 1 clock I is set in the controller in step 2 for recording the time after the pulse signal of the sampling circuit 6 jumps from high level to low level, when any pulse signal jumps from high level to low level,recording the zero moment, and recording the time interval T between two adjacent pulse signals jumping from high level to low level until any pulse signal jumps from high level to low level next timeθThe controller is also provided with 6 clocks II, each clock II corresponds to one path of pulse signal, when the path of pulse signal jumps from low level to high level, the corresponding clock II starts to time from zero, when the path of pulse signal jumps from high level to low level, the corresponding clock II stops timing and records time TxWherein Tx is the high-level maintaining time of each pulse signal.
9. The method for detecting the initial rotor position and speed of the permanent magnet motor according to claim 8, wherein the step 2 specifically comprises:
the angle difference corresponding to the jump of the adjacent two pulse signals from high level to low level is pi/3, and the time interval is TθTherefore, the motor rotation speed estimated value ω is obtained from the equation (1)est：
Figure FDA0003210867680000031
The rotor position corresponding to the moment when the output signal is changed from high level to low level is the estimated value theta of the motor rotor positionxSaid motor rotor position estimate θxAs shown in equation (2):
Figure FDA0003210867680000032
wherein Tx is the high level maintaining time of each pulse signal, thetamxIs TxThe rotor position angle corresponding to the/2 moment is integral multiple of pi/3 and omegaestThe estimated value of the motor rotating speed is obtained;
0-T except the time of jumping from high level to low levelθAngle theta therebetweenestEstimated from equation (3):
θest＝θx+ωesttθ (3)
wherein, tθIs the instantaneous value of clock one.
CN202110929658.0A 2021-08-13 2021-08-13 Method for detecting position and speed of initial rotor of permanent magnet motor Pending CN113839596A (en)

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CN108111065A (en) * 2018-01-22 2018-06-01 哈尔滨理工大学 A kind of six phase permanent-magnet synchronous motor sensorless control system and method based on pulsating high frequency signal injection
CN109039176A (en) * 2018-08-31 2018-12-18 浙江台运汽车科技有限公司 A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle

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Publication number Priority date Publication date Assignee Title
JP2000055522A (en) * 1998-07-30 2000-02-25 Samsung Electronics Co Ltd Controller and control method for compressor in refrigerator
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