CN113965126B - Rotor initial position detection method based on current differentiation method - Google Patents
Rotor initial position detection method based on current differentiation method Download PDFInfo
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- CN113965126B CN113965126B CN202111241632.3A CN202111241632A CN113965126B CN 113965126 B CN113965126 B CN 113965126B CN 202111241632 A CN202111241632 A CN 202111241632A CN 113965126 B CN113965126 B CN 113965126B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 title claims abstract description 17
- 230000004069 differentiation Effects 0.000 title claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims abstract description 20
- 238000005070 sampling Methods 0.000 claims abstract description 11
- 230000001131 transforming effect Effects 0.000 claims 1
- 238000001914 filtration Methods 0.000 abstract description 4
- 238000002347 injection Methods 0.000 abstract description 4
- 239000007924 injection Substances 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention is applicable to the field of rotor initial position detection, and provides a rotor initial position detection method based on a current differentiation method, which comprises the following steps: step S1: applying input voltage according to a motor end, determining two sampling time points to sample the current of the three phases of the motor twice when the input voltage is in a zero vector interval, converting the three phases of the sampled current into two phases, and calculating a phase current average value and a current differential value; the method aims to solve the technical problems that in the prior art, a rotor initial position estimation method is divided into a salient pole inductance calculation method and a negative sequence current method based on high-frequency injection, however, the methods depend on motor input voltage in practical application, are easy to misjudge in north and south poles, generate noise, require a large amount of triangular operation and filtering treatment, and the like.
Description
Technical Field
The invention belongs to the field of rotor initial position detection, and particularly relates to a rotor initial position detection method based on a current differentiation method.
Background
When the permanent magnet motor is started, the initial position of the rotor needs to be accurately obtained, so that the reverse rotation and the starting moment can be avoided, the starting impact and the like are reduced, the frequency converter adds a space voltage vector with variable amplitude, frequency and phase to the motor end through the three-phase inverter bridge to realize the starting and running of the motor, the three-phase inverter bridge is a nonlinear power electronic device, the problems of dead zone, pipe voltage drop, on-off delay and the like exist, the distortion of the input voltage of the motor can be caused, the serious distortion of the input voltage can cause the difficulty in calculating the initial position of the rotor by using a motor model during the starting of the motor, and the accuracy is very low.
The existing rotor initial position estimation method is divided into the following two types: a saliency calculation inductance method or a negative sequence current method based on high-frequency injection and the like are utilized; however, the methods have the problems of dependence on motor input voltage, easiness in misjudgment in north and south, noise generation, large amount of triangular operation and filtering treatment and the like in practical application, and the method is complex in calculation by utilizing a salient pole calculation inductance method or a negative sequence current method based on high-frequency injection, and a large amount of sine and cosine operation and digital filtering are required for extracting negative sequence current, so that delay of signal phase is brought, and position estimation accuracy is influenced; the magnitude of the negative sequence current is relatively small, and the accuracy of the arctangent algorithm is not very high, which affects the position estimation accuracy.
Disclosure of Invention
The invention aims to provide a rotor initial position detection method based on a current differentiation method, and aims to solve the technical problems that in the prior art, a rotor initial position estimation method is divided into a salient pole calculation inductance method and a negative sequence current method based on high-frequency injection, however, the methods depend on motor input voltage in actual application, are easy to misjudge in north and south, generate noise, require a large amount of triangular operation and filtering treatment, and the like.
The invention is realized in such a way that a rotor initial position detection method based on a current differentiation method comprises the following steps:
step S1: applying input voltage according to a motor end, determining two sampling time points to sample the current of the three phases of the motor twice when the input voltage is in a zero vector interval, converting the three phases of the sampled current into two phases, and calculating a phase current average value and a current differential value;
step S2: calculating back electromotive force according to the motor model, and calculating an initial angle of the rotor through arc tangent operation;
step S3: by applying the input voltages at 0 degree, 120 degrees and 240 degrees respectively, the average value of the two times with the closest result is taken as the final detection result through three times of operation.
The invention further adopts the technical scheme that: the current in the step S1 is sampled twice respectively as triggering and collecting three-phase current value I u1 、I v1 And I w1 Time delay T s Then collecting three-phase current value I u2 、I v2 And I w2 。
The invention further adopts the technical scheme that: the specific step of converting the three phases of the sampling current into two phases in the step S1 is as follows: converting three phases of the sampling current into two phases to obtain I α1 、I β1 And I α2 、I β2 Meter (D)The calculation formula is
The invention further adopts the technical scheme that: the specific steps of calculating the phase current average value and the current differential value in the step S1 are as follows: calculating phase current average valueDifferential value of current->The calculation formula is that
The invention further adopts the technical scheme that: the specific step of calculating the back electromotive force according to the motor model in the step S2 is as follows: calculating back electromotive force e according to motor model α And e β The specific calculation formula is
The invention further adopts the technical scheme that: the specific step of calculating the initial angle of the rotor through arctangent operation in the step S2 is as follows: the initial angle theta of the rotor is calculated by arctangent operation, and a specific calculation formula is that
The invention further adopts the technical scheme that: the specific step of the step S3 is to assume that the initial angles of the rotor calculated by applying the input voltages at 0 degree, 120 degrees and 240 degrees are respectively theta 0 、θ 120 And theta 240 I is theta e [0],θ e [1],θ e [2]Index of median min term, specific calculation formula is
The final calculated rotor position is
The beneficial effects of the invention are as follows: according to the method for detecting the initial position of the rotor, input voltage is relatively low when the motor is started, zero vector time is long, input voltage is zero in a zero vector interval, interference of input voltage distortion can be avoided by calculating the initial position of the rotor through a motor model in the interval, acquisition of phase current twice in the zero vector interval is carried out, a phase current average value and a current differential value are obtained, back electromotive force is calculated according to the motor model, an initial angle of the rotor is calculated through arctangent operation, and in order to improve reliability and detection accuracy, input voltage is respectively applied at 0 degree, 120 degrees and 240 degrees, and the average value of the two times with the closest result is taken as a final detection result through three operations.
Drawings
Fig. 1 is a flow chart of a method for detecting an initial position of a rotor based on a current differentiation method according to an embodiment of the present invention.
Detailed Description
Fig. 1 shows a rotor initial position detection method based on a current differentiation method, which comprises the following steps:
step S1: and applying input voltage according to the motor end, determining two sampling time points to sample the current of the three phases of the motor twice when the input voltage is in a zero vector interval, converting the three phases of the sampled current into two phases, and calculating a phase current average value and a current differential value.
The current is sampled twice to trigger the acquisition of three-phase current value I u1 、I v1 And I w1 Time delay T s Then collecting three-phase current value I u2 、I v2 And I w2 。
The method comprises the following specific steps of converting three phases of sampling current into two phases: converting three phases of the sampling current into two phases to obtain I α1 、I β1 And I α2 、I β2 The calculation formula is
The specific steps of calculating the phase current average value and the current differential value are as follows: calculating phase current average valueDifferential value of current->The calculation formula is that
Step S2: the back electromotive force is calculated from the motor model, and the initial angle of the rotor is calculated by an arctangent operation.
The specific steps of calculating the back electromotive force according to the motor model are as follows: calculating back electromotive force e according to motor model α And e β The specific calculation formula is
The specific steps of calculating the initial angle of the rotor through the arctangent operation are as follows: the initial angle theta of the rotor is calculated by arctangent operation, and a specific calculation formula is that
Step S3: by applying the input voltages at 0 degree, 120 degrees and 240 degrees respectively, the average value of the two times with the closest result is taken as the final detection result through three times of operation.
The method comprises assuming that initial angles of rotor calculated by applying input voltages at 0 degree, 120 degrees and 240 degrees are respectively theta 0 、θ 120 And theta 240 I is theta e [0],θ e [1],θ e [2]Index of median min term, specific calculation formula is
The final calculated rotor position is
According to the method for detecting the initial position of the rotor, input voltage is relatively low when the motor is started, zero vector time is long, input voltage is zero in a zero vector interval, interference of input voltage distortion can be avoided by calculating the initial position of the rotor through a motor model in the interval, acquisition of phase current twice in the zero vector interval is carried out, a phase current average value and a current differential value are obtained, back electromotive force is calculated according to the motor model, an initial angle of the rotor is calculated through arctangent operation, and in order to improve reliability and detection accuracy, input voltage is respectively applied at 0 degree, 120 degrees and 240 degrees, and the average value of the two times with the closest result is taken as a final detection result through three operations.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The rotor initial position detection method based on the current differentiation method is characterized by comprising the following steps of:
step S1: according to the input voltage applied by the motor end and in the zero vector interval of the input voltage, determining two sampling time points to sample the current of the motor three phases twice, wherein the current is sampled twice respectively as the trigger acquisition three-phase current value I u1 、I v1 And I w1 Time delay T s Then collecting three-phase current value I u2 、I v2 And I w2 Transforming the three phases of the sampling current into two phases, and calculating a phase current average value and a current differential value;
step S2: calculating back electromotive force according to the motor model, and calculating an initial angle of the rotor through arc tangent operation;
step S3: respectively applying input voltages at 0 degree, 120 degrees and 240 degrees, and taking the average value of the two times with the closest result as a final detection result through three times of operation; the method comprises assuming that initial angles of rotor calculated by applying input voltages at 0 degree, 120 degrees and 240 degrees are respectively theta 0 、θ 120 And theta 240 I is theta e [0],θ e [1],θ e [2]Index of median min term, specific calculation formula is
The final calculated rotor position is
2. The method for detecting the initial position of the rotor according to claim 1, wherein the specific step of converting the three phases of the sampling current into two phases in the step S1 is: converting three phases of the sampling current into two phases to obtain I α1 、I β1 And I α2 、I β2 The calculation formula is
3. The method according to claim 2, wherein the specific steps of calculating the phase current average value and the current differential value in the step S1 are: calculating phase current average valueDifferential value of currentThe calculation formula is that
4. A method for detecting an initial position of a rotor according to claim 3, wherein the specific step of calculating the back electromotive force according to the motor model in the step S2 is as follows: calculating back electromotive force e according to motor model α And e β The specific calculation formula is
5. The method for detecting the initial position of the rotor according to claim 4, wherein the step S2 of calculating the initial angle of the rotor by arctangent operation comprises the following specific steps: the initial angle theta of the rotor is calculated by arctangent operation, and a specific calculation formula is that
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102291079A (en) * | 2011-07-05 | 2011-12-21 | 东南大学 | Speed sensor-free control algorithm for direct-drive permanent magnet synchronous wind power generation system |
| CN104158456A (en) * | 2014-05-28 | 2014-11-19 | 东南大学 | Non-position sensing control method for electric vehicle drive motor |
| CN109067285A (en) * | 2018-08-16 | 2018-12-21 | 哈尔滨工业大学 | The control method of permanent magnet synchronous motor position-sensor-free based on zero vector current differential |
| CN110855192A (en) * | 2019-11-15 | 2020-02-28 | 青岛斑科变频技术有限公司 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor and frequency converter |
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2021
- 2021-10-25 CN CN202111241632.3A patent/CN113965126B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102291079A (en) * | 2011-07-05 | 2011-12-21 | 东南大学 | Speed sensor-free control algorithm for direct-drive permanent magnet synchronous wind power generation system |
| CN104158456A (en) * | 2014-05-28 | 2014-11-19 | 东南大学 | Non-position sensing control method for electric vehicle drive motor |
| CN109067285A (en) * | 2018-08-16 | 2018-12-21 | 哈尔滨工业大学 | The control method of permanent magnet synchronous motor position-sensor-free based on zero vector current differential |
| CN110855192A (en) * | 2019-11-15 | 2020-02-28 | 青岛斑科变频技术有限公司 | Method and device for detecting initial position of rotor of permanent magnet synchronous motor and frequency converter |
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