CN113965127B - Sensorless angle compensation method of high-speed permanent magnet synchronous motor - Google Patents
Sensorless angle compensation method of high-speed permanent magnet synchronous motor Download PDFInfo
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- CN113965127B CN113965127B CN202111387126.5A CN202111387126A CN113965127B CN 113965127 B CN113965127 B CN 113965127B CN 202111387126 A CN202111387126 A CN 202111387126A CN 113965127 B CN113965127 B CN 113965127B
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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Abstract
The invention discloses a sensorless angle compensation method of a high-speed permanent magnet synchronous motor, which comprises the following steps: step 1: the method comprises the steps of obtaining FOC operation periods and motor pole pairs, and obtaining FOC operation time consumption in one FOC operation period; step 2: calculating the angular velocity in a plurality of FOC operation periods according to the current motor rotation speed; step 3: acquiring an electrical period of 360 degrees of rotation of the motor according to the angular speed; step 4: according to the electrical period and the FOC operation period, calculating the number of times of FOC control; step 5: when the FOC control times are more than 6 times, executing the step 6; step 6: calculating an angle deviation value, and performing angle compensation when the angle speed deviation value is larger than 1 degree; when the angular velocity deviation value is smaller than 1 deg., no angular compensation is performed. The invention occupies less pins of the controller, can flexibly compensate along with the change of the rotating speed of the motor in the angle compensation process, and improves the accuracy of FOC control.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a sensorless angle compensation method of a high-speed permanent magnet synchronous motor.
Background
The sensorless-based high-speed permanent magnet synchronous motor has the advantages of high reliability and high efficiency, and is widely applied to various fields, such as high-speed compressors, blowers, dust collectors, dental drills and the like.
When the permanent magnet synchronous motor carries out FOC angle estimation in a high-speed state, a certain estimation time exists, the estimation is finished, the angle offset is more serious when the estimation is finished and compared with an actual value, and finally the FOC control is inaccurate and the integral control is influenced. Therefore, the research on angle compensation of the permanent magnet synchronous motor in a high-speed state is very important. The traditional compensation mode adopts angle compensation only when the operation efficiency of the permanent magnet synchronous motor is lower than expected, and the common method adopts sectional fixed angle compensation when the motor enters a specific power section and a specific speed section. However, these conventional methods do not take into account the variability of motor speed, and if the speed drops, resulting in excessive error in the current compensation value, the sensorless operation of the high-speed permanent magnet synchronous motor is further reduced.
The invention provides the method for specifying the sensorless angle compensation through the FOC operation period, the FOC operation time consumption and the motor rotation speed information, and the autonomous angle compensation can be realized under the condition of different speeds.
Disclosure of Invention
The invention provides a sensorless angle compensation method of a high-speed permanent magnet synchronous motor, which aims to solve the problems of inaccurate angle deviation and speed estimation of a traditional high-speed permanent magnet synchronous motor in the prior art.
The invention provides a sensorless angle compensation method of a high-speed permanent magnet synchronous motor, which comprises the following steps:
step 1: the method comprises the steps of obtaining FOC operation periods and motor pole pairs, and obtaining FOC operation time consumption in one FOC operation period;
step 2: calculating the angular velocity in a plurality of FOC operation periods according to the current motor rotation speed;
step 3: acquiring an electrical period of 360 degrees of rotation of the motor according to the angular speed;
step 4: according to the electrical period and the FOC operation period, calculating the number of times of FOC control;
step 5: when the FOC control times are more than 6 times, executing the step 6; ending the current angle compensation process when the FOC control times are not more than 6 times;
step 6: calculating an angle deviation value, and performing angle compensation when the angle speed deviation value is larger than 1 degree; when the angular velocity deviation value is smaller than 1 deg., no angular compensation is performed.
Optionally, the determining manner of the plurality of FOC operation periods in the step 2 specifically includes:
wherein W is the number of FOC operation cycles, n is the current motor rotation speed, and p is the motor pole pair number.
Optionally, the calculation formula of the electrical period T2 in the step 3 is:
where ω is the angular velocity.
Optionally, the formula for calculating the FOC control number K in the step 4 is:
optionally, in the step 5, when the number of times of FOC control is not greater than 6, the current angle compensation process is ended, and the FOC control is switched to the square wave control mode without a sensor.
Optionally, the calculation formula of the angle deviation value H in the step 6 is:
wherein T is cost Time consuming for the FOC operation.
The invention has the beneficial effects that:
1. the invention is based on the angle compensation algorithm, not only does not increase the original hardware circuit, but also does not occupy more pins of the controller, can flexibly compensate along with the change of the rotating speed of the motor in the angle compensation process, and improves the accuracy of FOC control.
2. Compared with the traditional sensorless angle compensation method of the high-speed permanent magnet synchronous motor, the method has the advantages that the defects of inaccurate angular speed updating, fixed angle compensation and the like are overcome, the application range is wide, the motor speed variability is considered and the like.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a flow chart of a method embodying the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the embodiment of the invention, the permanent magnet synchronous motor is 1 pair pole, the rated rotation speed is 160000 rpm, and the carrier frequency is 20KHz.
The embodiment of the invention provides a sensorless angle compensation method of a high-speed permanent magnet synchronous motor, which comprises the following steps:
step S1: the method comprises the steps of obtaining FOC operation periods and motor pole pairs, and obtaining FOC operation time consumption in one FOC operation period;
FOC operation period T1:
the FOC operation time is determined according to the instruction period consumed by the FOC actual algorithm.
Step S2: calculating the angular velocity in a plurality of FOC operation periods according to the current motor rotation speed;
if the current motor rotation speed n is 120000 rpm, determining a plurality of (W) FOC operation periods by the following steps:
the method adopted by the formula is that the angle is changed by 180 degrees in an accumulated way, and the number of FOC operation cycles which are needed to be experienced is used as an operation cycle standard for calculating the angular velocity. "[ ]" means a rounding function.
The angular velocity is calculated for the accuracy of the angular velocity calculation under different rotational speed conditions in several FOC calculation cycles.
Step S3: acquiring an electrical period of 360 degrees of rotation of the motor according to the angular speed;
the electrical period T2 is calculated as:
step S4: according to the electrical period and the FOC operation period, the number K of FOC control is calculated:
step S5: when the FOC control times is more than 6 times, executing the step S6; ending the current angle compensation process when the FOC control times are not more than 6 times;
FOC control times greater than 6 indicate that FOC control is effective. When the number of times of the FOC control is not more than 6, the FOC control is invalid or the control is already equal to the square wave control, so the FOC control is switched to the square wave control mode without the sensor.
Step S6: calculating an angle deviation value, and performing angle compensation when the angle speed deviation value is larger than 1 degree; when the angular velocity deviation value is smaller than 1 deg., no angular compensation is performed.
FOC operation takes 25 mu s, and the angle compensation calculation method comprises the following steps:
compensation is required since 18 ° is greater than 1 °.
The principle of the invention is that: when the angle is estimated by using the FOC including the angle observer with the current information, the angle of the motor is changed again due to the time consumption of the FOC operation when the angle estimation is completed, so that the angle just estimated is not matched with the real angle. The effect on high speed motors is particularly pronounced if the compensation is not made, which results in a decrease in motor efficiency. Therefore, accurate compensation of angles is realized according to FOC operation period, FOC operation time consumption and motor rotation speed information.
The traditional method is to measure the effectiveness of angle compensation according to whether the motor efficiency meets the standard or not, and not to measure the motor efficiency optimally. The method can realize accurate compensation of the angle, thereby realizing optimal motor efficiency.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (6)
1. The sensorless angle compensation method of the high-speed permanent magnet synchronous motor is characterized by comprising the following steps of:
step 1: the method comprises the steps of obtaining FOC operation periods and motor pole pairs, and obtaining FOC operation time consumption in one FOC operation period;
step 2: calculating the angular velocity in a plurality of FOC operation periods according to the current motor rotation speed;
step 3: acquiring an electrical period of 360 degrees of rotation of the motor according to the angular speed;
step 4: according to the electrical period and the FOC operation period, calculating the number of times of FOC control;
step 5: when the FOC control times are more than 6 times, executing the step 6; ending the current angle compensation process when the FOC control times are not more than 6 times;
step 6: calculating an angle deviation value, and performing angle compensation when the angle speed deviation value is larger than 1 degree; when the angular velocity deviation value is smaller than 1 deg., no angular compensation is performed.
2. The sensorless angle compensation method of the high-speed permanent magnet synchronous motor according to claim 1, wherein the determining manner of the plurality of FOC operation cycles in the step 2 is specifically as follows:
wherein W is the number of FOC operation cycles, n is the current motor rotation speed, p is the motor pole pair number, and T1 is the FOC operation cycle.
3. The sensorless angle compensation method of high-speed permanent magnet synchronous motor according to claim 2, wherein the calculation formula of the electrical period T2 in step 3 is:
where ω is the angular velocity.
4. The sensorless angle compensation method of high-speed permanent magnet synchronous motor of claim 3 wherein the formula for calculating the FOC control number K in step 4 is:
5. the sensorless angle compensation method of high-speed permanent magnet synchronous motor of claim 1 wherein in step 5, when the number of times of FOC control is not greater than 6, the current angle compensation process is ended and the FOC control is switched to the sensorless square wave control mode.
6. The sensorless angle compensation method of high-speed permanent magnet synchronous motor of claim 4, wherein the calculation formula of the angle deviation H in step 6 is:
wherein T is cost Time consuming for the FOC operation.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682810A (en) * | 2013-11-29 | 2015-06-03 | 长沙市比亚迪汽车有限公司 | Method for compensating current waveform of permanent magnet synchronous motor |
| CN110380653A (en) * | 2019-06-17 | 2019-10-25 | 江苏大学 | Vector controlled location estimation compensation method based on hall position sensor |
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| JP2000224883A (en) * | 1999-01-28 | 2000-08-11 | Fuji Electric Co Ltd | Control device for permanent-magnet synchronous motor |
| JP5543388B2 (en) * | 2011-01-31 | 2014-07-09 | 東芝シュネデール・インバータ株式会社 | Control device for permanent magnet synchronous motor |
| TWI418135B (en) * | 2011-02-09 | 2013-12-01 | Delta Electronics Inc | Motor control method and system and digital signal processor thereof |
| CN107101607B (en) * | 2017-06-15 | 2019-04-09 | 新疆金风科技股份有限公司 | Motor rotation angle measurement device and method |
| CN112803866B (en) * | 2021-02-26 | 2023-02-28 | 依必安派特风机(上海)有限公司 | Motor sine wave drive control method and system and motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104682810A (en) * | 2013-11-29 | 2015-06-03 | 长沙市比亚迪汽车有限公司 | Method for compensating current waveform of permanent magnet synchronous motor |
| CN110380653A (en) * | 2019-06-17 | 2019-10-25 | 江苏大学 | Vector controlled location estimation compensation method based on hall position sensor |
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