CN114567227A - Permanent magnet synchronous motor rotor initial position online identification method - Google Patents

Permanent magnet synchronous motor rotor initial position online identification method Download PDF

Info

Publication number
CN114567227A
CN114567227A CN202210277735.3A CN202210277735A CN114567227A CN 114567227 A CN114567227 A CN 114567227A CN 202210277735 A CN202210277735 A CN 202210277735A CN 114567227 A CN114567227 A CN 114567227A
Authority
CN
China
Prior art keywords
motor
phase
value
current
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210277735.3A
Other languages
Chinese (zh)
Inventor
凌涛
施刚
赵磊
刘康
李仁杰
阮立刚
姜涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Maiji Yiwei Electric Technology Co ltd
Original Assignee
Jiangsu Maiji Yiwei Electric Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Maiji Yiwei Electric Technology Co ltd filed Critical Jiangsu Maiji Yiwei Electric Technology Co ltd
Priority to CN202210277735.3A priority Critical patent/CN114567227A/en
Publication of CN114567227A publication Critical patent/CN114567227A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/28—Stator flux based control
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses an online identification method for an initial position of a permanent magnet synchronous motor rotor, which comprises the following steps: setting the number of pairs of the motor and the rotary variable pole and the initial position to identify an expected current value on line; performing closed-loop adjustment on the A-phase current at the 0 electrical angle position according to the expected current value, recording the rotation position value, and checking the three-phase current value; b phase current closed-loop regulation is carried out at the 2 pi/3 electrical angle position according to the expected current value, the rotary displacement value is recorded, and the three-phase current value and the rotary displacement value are corrected; performing C-phase current closed-loop regulation according to an expected current value at the electric angle position of 4 pi/3, recording a rotary displacement value, and checking a three-phase current value and a rotary displacement value; and resolving the initial position of the rotor. The invention can overcome the defects of slow response, large current error, complicated calculation and the like of voltage open-loop regulation, and is suitable for the full voltage range; the phase sequence of the three-phase line and the phase sequence of the rotary transformation line of the motor can be identified, the state of the power device of the inverter can be detected, and the method can be widely applied to occasions such as calibration of a permanent magnet synchronous motor rack, fault diagnosis and the like.

Description

Permanent magnet synchronous motor rotor initial position online identification method
Technical Field
The invention relates to an online identification method for an initial position of a rotor, in particular to an online identification method for an initial position of a permanent magnet synchronous motor rotor.
Background
The permanent magnet synchronous motor has the advantages of simple structure, reliable operation, high power density and the like, and is widely applied to industries such as industrial control, new energy automobiles and the like. The control of the permanent magnet synchronous motor mostly adopts a vector control strategy, and the key of the vector control is to sample the three-phase current of the motor and the position of a motor rotor in real time so as to carry out motor decoupling calculation. The existing motor rotor position sensor mostly uses sensor devices such as a photoelectric encoder, a rotary transformer (abbreviated as 'rotary transformer'), a magnetic encoder and the like, the rotary transformer can accurately detect the absolute initial position of a magnetic field of a motor rotor in real time, and the initial position of the rotary transformer of the motor needs to be detected and identified in order to obtain better control performance.
The detection of the initial position of the rotor of the existing permanent magnet synchronous motor mostly comprises the steps of carrying out direct current positioning by voltage open loop and then adjusting the position of a rotary transformer, on one hand, manual intervention is needed, and the position of the rotary transformer is manually adjusted, so that the problems of large manual operation error, long time consumption and the like exist in the process; on the other hand, the voltage open-loop method has disadvantages under different voltage levels, such as long detection time, inaccurate positioning current, complicated calculation, low efficiency, etc. under the condition of low voltage if the high voltage level is satisfied.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of the prior art and provides an online identification method for the initial position of a permanent magnet synchronous motor rotor.
In order to solve the technical problem, the invention discloses an online identification method for the initial position of a permanent magnet synchronous motor rotor, which comprises the following steps:
step 1, setting the number of rotary pole-changing pairs P of the permanent magnet synchronous motorMAnd PRSetting a closed loop current value Iref；
Step 2, according to a d-axis voltage equation, a q-axis voltage equation and a three-phase current equation of the permanent magnet synchronous motor, carrying out current closed-loop PI (proportional integral) adjustment on the phase A current in the three-phase current of the motor at an electric angle of 0, inputting a PI adjustment output value u (x) as d-axis voltage, and recording the rotation change value at the moment as AngA;
and 3, performing current closed-loop PI (proportional integral) regulation on the phase B current in the three-phase current of the motor at an electric angle of 2 PI/3, taking the PI regulation output value u (x) as d-axis voltage input, recording the rotation change value at the moment as AngB, and taking the three-phase current feedback value as Ia、IbAnd Ic；
Step 4, checking whether the three-phase current relationship of the motor and the rotary variable value meet the limiting conditions, and if so, executing step 6; if not, executing step 5;
step 5, rechecking and confirming the phase sequence of the three-phase line and the rotary transformation line of the motor, and executing the step 2;
step 6, carrying out current PI closed loop on the C phase current in the three-phase current of the motor at an electric angle of 4 PI/3, taking a PI regulation output value u (x) as d-axis voltage input, recording the rotary transformation value at the moment as AngC, and updating a three-phase current feedback value Ia、IbAnd Ic；
Step 7, checking whether the three-phase current relationship of the motor and the rotary variable value meet the limiting conditions; if yes, executing the step 8, and if not, executing the step 2;
and 8, resolving the initial position of the rotor to finish the online identification of the initial position of the permanent magnet synchronous motor rotor.
The method for calculating the PI regulation output value u (x) in the step 2 comprises the following steps:
Figure BDA0003549108240000021
wherein, KpIs a proportionality coefficient, KiIs an integral coefficient, e (k) is the difference between the current feedback value and the current set value, CiIs a constant value, TsampleFor the sampling period, e (I) is the static error, IaIs a feedback value of A phase current, IrefIs the desired current value.
The d-axis and q-axis voltage equations of the motor in the step 2 comprise:
Figure BDA0003549108240000022
wherein u isdAnd uqVoltages, R, of d-and q-axes of the motor, respectivelysIs the motor stator resistance, idAnd iqD-axis and q-axis currents, omega, of the motor, respectivelyeIs the angular velocity, L, of the motorqAnd LdD-and q-axis inductances, psi, of the machine, respectivelyfIs a rotor flux linkage; the d-axis and q-axis voltages are affected by the electronic stator resistance and current, and when the stator winding voltage, i.e. the external voltage, changes, the d-axis and q-axis voltages change simultaneously.
The three-phase current equation in the step 2 is as follows:
Figure BDA0003549108240000031
wherein the content of the first and second substances,
Figure BDA0003549108240000032
for three-phase currents of the motor, thetarAs the position of the rotor,
Figure BDA0003549108240000033
the motor dq axis current vector in rotor coordinates.
The method for inputting the PI regulation output value u (x) as the d-axis voltage in the step 2 comprises the following steps:
substituting the PI regulation output value u (x) into a d-axis voltage equation and a q-axis voltage equation of the motor, and setting the q-axis voltage to be 0 to obtain:
Figure BDA0003549108240000034
parameters such as current influenced by external voltage are replaced by adjusting output values through a PI closed loop, and d-axis voltage and q-axis voltage are indirectly coupled with the external voltage for decoupling.
In the step 4, the limiting conditions of the three-phase current relation of the motor are as follows:
Ib＝|Ia|+|Ic|
wherein, IaIs a feedback value of A phase current, IbIs a B-phase current feedback value, IcAnd the feedback value of the C-phase current is obtained.
In the step 4, the rotation value limiting conditions are as follows:
AngB＝AngA+(PR*4095)/(3*PM)
wherein AngA is a rotary variable feedback value at 0 electrical angle, AngB is a rotary variable feedback value at 2 π/3 electrical angle, PRFor number of cycloidal pole pairs, PMIs the number of pole pairs of the motor.
In the step 7, the limiting conditions of the three-phase current relation of the motor are as follows:
Ic＝|Ia|+|Ib|。
in the step 7, the rotation value limiting conditions are as follows:
AngC＝AngA+(2*PR*4095)/(3*PM)。
in step 4, the rotation value does not satisfy the limiting condition, that is, the difference Δ Ang between the rotation feedback values of adjacent interval angles does not satisfy Δ Ang ═ PR*4095)/(3*PM) If the phase sequence of the rotary transformation line is incorrect, reading errors are judged, or the phase sequence of the three-phase line of the motor is incorrect, so that the direction of the rotation angle of the motor is wrong; checking the phase sequence of the three-phase line of the rotary transformation line and the motor according to the phase sequence;
if the three-phase wiring harness and the rotary transformer wiring sequence of the motor are normal, the power device of the three-phase full-bridge inverter is judged to be in an abnormal fault state.
Has the advantages that:
the position of the motor rotor is identified through a current closed loop, so that the current is accurately controlled, manual intervention is avoided, and all identification operation steps are automatically executed according to a state sequence; and the influence of the voltage on the positioning current is decoupled, so that the closed-loop regulation output of the three-phase current is realized as the only input parameter of the d-axis voltage and the q-axis voltage.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic diagram of the principle of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 shows a flow chart of a preferred embodiment of the method for online identifying the initial position of the rotor of the permanent magnet synchronous motor, as shown in the figure, the method comprises the following steps:
setting permanent magnet synchronous motor and rotating pole pair number PMAnd PRSetting the expected motor positioning closed loop current value, issuing parameter identification and startingInstructions;
according to a dq axis voltage equation and a three-phase current equation of the permanent magnet synchronous motor, carrying out current closed-loop regulation on the phase A current of the motor at an electric angle of 0, and recording the rotation change value at the moment as AngA;
carrying out current closed-loop regulation on the phase B current of the motor at an electric angle of 2 pi/3, recording that the rotary transformation value at the moment is AngB, and the feedback value of the three-phase current is Ia、Ib、Ic；
Checking whether the three-phase current relation of the motor meets Ib＝|Ia|+|IcIf the motor rotor position is changed according to the set angle, the motor rotor position is moved according to the set angle in turn, so that the rotary position reading book is correspondingly changed along with the change, and whether the rotary value meets the following requirements is judged: AngB ═ AngA + (P)R*4095)/(3*PM). If the current and the rotary variable numerical value meet the relationship, the motor is further subjected to closed-loop processing at an electric angle of 4 pi/3; if the current or the rotary transformer numerical relation does not satisfy the equation, whether the three phases of the motor and the rotary transformer wiring sequence have problems needs to be checked;
according to the established flow, the C phase current of the motor is subjected to closed-loop regulation at an electric angle of 4 pi/3, the rotational transformation value at the moment is recorded as AngC, and the three-phase current feedback value I is updateda、Ib、Ic；
Verifying whether the three-phase current relation of the motor meets I or not againc＝|Ia|+|Ib| and whether the value of the spin variable satisfies AngC ═ AngA + (2 × P)R*4095)/(3*PM) (ii) a If the relation is met, further analyzing the initial position of the rotor, and if the relation is not met, checking whether the three phases of the motor and the wiring sequence of the rotary transformer have problems or not;
and resolving the initial position of the rotor, and finishing the online identification of the initial position of the motor rotor.
As shown in FIG. 2, which is a schematic diagram of an online identification method for the initial position of a rotor of a permanent magnet synchronous motor, collected three-phase currents I of the motora、Ib、IcRespectively closed-loop with desired current set valuesAnd (3) operation, wherein the regulated output result u (x) is used as the input of d-axis voltage, and the q-axis voltage input is set to be zero. The electrical angle theta of the motor to be setrAnd dq axis voltage Vd、VqParticipate in inverse Park transformation calculation together to obtain voltage V under a static coordinate systemα、VβThen 6 paths of PWM wave signals are output to a three-phase full-bridge inverter through space voltage vector pulse width modulation (SVPWM), and the bus voltage U is obtaineddcAnd chopping output is carried out, and the synthesis of the motor stator magnetomotive force vector is realized. The interaction of the motor stator magnetic field and the permanent magnetic field on the rotor drives the rotor to rotate, so that the motor rotates to a set angle position, and the online identification of the initial position of the motor rotor is realized. Due to the q-axis voltage VqThe input is zero, and the d-axis voltage input quantity is a phase current closed-loop output value U (x), so that the direct current bus voltage U is avoideddcInfluence on the dq-axis voltage. On the other hand, a closed-loop current instruction value can be set according to the load of the motor, the rotor position identification error caused by load factors can be better overcome, and the accurate identification of the initial position of the motor rotor is realized.
The use of the terms "vertical," "horizontal," "left," "right," and the like in the description of the embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting, as when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention provides a method and a concept for online identification of an initial position of a rotor of a permanent magnet synchronous motor, and a method and a way for implementing the technical scheme are numerous, the above description is only a preferred embodiment of the invention, and it should be noted that, for a person skilled in the art, a plurality of improvements and embellishments can be made without departing from the principle of the invention, and the improvements and embellishments should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.

Claims (10)

1. An online identification method for the initial position of a permanent magnet synchronous motor rotor is characterized by comprising the following steps:
step 1, setting the number of rotary pole-changing pairs P of the permanent magnet synchronous motorMAnd PRSetting a closed loop current value Iref；
Step 2, according to a d-axis and q-axis voltage equation and a three-phase current equation of the permanent magnet synchronous motor, carrying out current closed-loop PI regulation on the phase A current in the three-phase current of the motor at an electric angle of 0, wherein a PI regulation output value u (x) is used as d-axis voltage input, and recording the rotation variable value at the moment as AngA;
and 3, performing current closed-loop PI (proportional integral) regulation on the phase B current in the three-phase current of the motor at an electric angle of 2 PI/3, taking the PI regulation output value u (x) as d-axis voltage input, recording the rotation change value at the moment as AngB, and taking the three-phase current feedback value as Ia、IbAnd Ic；
Step 4, checking whether the three-phase current relationship of the motor and the rotary variable value meet the limiting conditions, and if so, executing step 6; if not, executing step 5;
step 5, rechecking and confirming the phase sequence of the three-phase line and the rotary transformation line of the motor, and executing the step 2;
step 6, carrying out current PI closed loop on the C phase current in the three-phase current of the motor at an electric angle of 4 PI/3, taking a PI regulation output value u (x) as d-axis voltage input, recording the rotary transformation value at the moment as AngC, and updating a three-phase current feedback value Ia、IbAnd Ic；
Step 7, checking whether the three-phase current relationship of the motor and the rotary variable value meet the limiting conditions; if yes, executing step 8, if not, executing step 2;
and 8, resolving the initial position of the rotor to finish the online identification of the initial position of the permanent magnet synchronous motor rotor.
2. The method as claimed in claim 1, wherein the calculating method of the PI adjustment output value u (x) in the step 2 comprises:
Figure FDA0003549108230000011
wherein, KpIs a proportionality coefficient, KiIs an integral coefficient, e (k) is the difference between the current feedback value and the current set value, CiIs a constant value, TsampleFor the sampling period, e (I) is the static error, IaIs a feedback value of A phase current, IrefIs the desired current value.
3. The method for on-line identification of the initial position of the rotor of the permanent magnet synchronous motor according to claim 2, wherein the d-axis and q-axis voltage equations of the motor in the step 2 comprise:
Figure FDA0003549108230000021
wherein u isdAnd uqVoltages, R, of d-and q-axes of the motor, respectivelysIs the motor stator resistance, idAnd iqD-axis and q-axis currents, omega, of the motor, respectivelyeAs angular velocity of the motor, LqAnd LdD-and q-axis inductances, psi, of the machine, respectivelyfIs a rotor flux linkage; the d-axis and q-axis voltages are affected by the electronic stator resistance and current, and when the stator winding voltage, i.e. the external voltage, changes, the d-axis and q-axis voltages change simultaneously.
4. The method for identifying the initial position of the rotor of the permanent magnet synchronous motor on line as claimed in claim 3, wherein the three-phase current equation in the step 2 is as follows:
Figure FDA0003549108230000022
wherein the content of the first and second substances,
Figure FDA0003549108230000023
for three-phase currents of the motor, thetarAs the position of the rotor,
Figure FDA0003549108230000024
is the motor dq-axis current vector in rotor coordinates.
5. The method for on-line identification of the initial position of the rotor of the permanent magnet synchronous motor according to claim 4, wherein the step 2 of inputting the PI regulation output value u (x) as the d-axis voltage comprises the following steps:
substituting the PI regulation output value u (x) into a d-axis voltage equation and a q-axis voltage equation of the motor, and setting the q-axis voltage to be 0 to obtain:
Figure FDA0003549108230000025
parameters such as current influenced by external voltage are replaced by adjusting output values through a PI closed loop, and d-axis voltage and q-axis voltage are indirectly coupled with the external voltage for decoupling.
6. The method for identifying the initial position of the rotor of the permanent magnet synchronous motor on line as claimed in claim 5, wherein the limiting condition of the relationship of the three-phase current of the motor in the step 4 is as follows:
Ib＝|Ia|+|Ic|
wherein, IaIs a feedback value of A phase current, IbAs feedback value of phase B current, IcAnd the feedback value of the C-phase current is obtained.
7. The method for on-line identification of the initial position of the rotor of the permanent magnet synchronous motor according to claim 6, wherein the condition for limiting the rotational variation value in the step 4 is as follows:
AngB＝AngA+(PR*4095)/(3*PM)
wherein AngA is a rotary variable feedback value at 0 electrical angle, AngB is a rotary variable feedback value at 2 π/3 electrical angle, PRFor number of cycloidal pole pairs, PMThe number of pole pairs of the motor is shown.
8. The method for identifying the initial position of the rotor of the permanent magnet synchronous motor on line as claimed in claim 7, wherein the limiting condition of the relationship of the three-phase current of the motor in the step 7 is as follows:
Ic＝|Ia|+|Ib|。
9. the method according to claim 8, wherein the condition for limiting the rotational variation value in step 7 is:
AngC＝AngA+(2*PR*4095)/(3*PM)。
10. the method as claimed in claim 9, wherein the rotation value in step 4 does not satisfy a limit condition, that is, the difference Δ Ang between the rotation feedback values of adjacent spaced angles does not satisfy Δ Ang ═ P (P)R*4095)/(3*PM) If the phase sequence of the rotary transformation line is incorrect, reading errors are caused, or the phase sequence of the three-phase line of the motor is incorrect, so that the direction of the rotation angle of the motor is wrong; checking the phase sequence of the three-phase line of the rotary transformation line and the motor according to the phase sequence;
if the three-phase wiring harness and the rotary transformer wiring sequence of the motor are normal, the power device of the three-phase full-bridge inverter is judged to be in an abnormal fault state.
CN202210277735.3A 2022-03-16 2022-03-16 Permanent magnet synchronous motor rotor initial position online identification method Pending CN114567227A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210277735.3A CN114567227A (en) 2022-03-16 2022-03-16 Permanent magnet synchronous motor rotor initial position online identification method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210277735.3A CN114567227A (en) 2022-03-16 2022-03-16 Permanent magnet synchronous motor rotor initial position online identification method

Publications (1)

Publication Number Publication Date
CN114567227A true CN114567227A (en) 2022-05-31

Family

ID=81719602

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210277735.3A Pending CN114567227A (en) 2022-03-16 2022-03-16 Permanent magnet synchronous motor rotor initial position online identification method

Country Status (1)

Country Link
CN (1) CN114567227A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116846284A (en) * 2023-09-01 2023-10-03 天津德星智能科技有限公司 EPS system motor rotor angle centering data identification processing method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116846284A (en) * 2023-09-01 2023-10-03 天津德星智能科技有限公司 EPS system motor rotor angle centering data identification processing method
CN116846284B (en) * 2023-09-01 2023-11-17 天津德星智能科技有限公司 EPS system motor rotor angle centering data identification processing method

Similar Documents

Publication Publication Date Title
CN110441643B (en) Inverter power tube open circuit fault diagnosis method in permanent magnet synchronous motor control system
CN108258967B (en) Permanent magnet motor position-free direct torque control method based on novel flux linkage observer
CN108900129B (en) Position-sensor-free permanent magnet synchronous motor control method, device and system
CN104901600B (en) The method for controlling position-less sensor of wide speed range interior permanent-magnet synchronous motor
CN108282127B (en) Fault-tolerant control method and device for multiphase motor
CN106533303A (en) Permanent magnet brushless DC motor driver control method
CN107883990B (en) Zero calibration method and system for permanent magnet synchronous motor rotary transformer for electric automobile
CN108134550A (en) For the fault-tolerant current phasor measurement of electric machine control system
CN110798116B (en) Motor vector composite controller based on armature model independent feedforward compensation
CN110729940A (en) Method for detecting initial phase of permanent magnet synchronous motor
WO2020186656A1 (en) Method for estimating position of linear time-variant rotor of low-speed permanent magnet synchronous motor
CN105790666A (en) Brushless direct current motor direct torque control system and method based on Hall signals
CN111769779A (en) PMSM direct torque control method based on improved Luenberger observer
CN113381657A (en) Position-sensor-free six-phase permanent magnet synchronous motor fault-tolerant control method
CN112865636A (en) Maximum torque current ratio control method and device
CN110601633A (en) Permanent magnet synchronous motor initial phase detection system
US11705840B2 (en) Commutation error compensation method and apparatus for electric motor, and storage medium
CN114567227A (en) Permanent magnet synchronous motor rotor initial position online identification method
CN111628695A (en) Motor speed control method, device and system and robot
CN114744925A (en) Permanent magnet synchronous motor full-speed domain rotor position measuring method without position sensor
Horch et al. Nonlinear integral backstepping control for induction motor drive with adaptive speed observer using super twisting strategy
CN110620534A (en) Method for controlling rotating speed stability of permanent magnet synchronous motor by nonlinear flexible and variable structure sliding mode
CN112468045B (en) Permanent magnet synchronous motor single current sensor control method based on current phase shift
CN113644852A (en) Robust three-vector model prediction flux linkage control method for permanent magnet synchronous motor
CN106130417A (en) Low-speed position evaluation method in a kind of permagnetic synchronous motor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Ling Tao

Inventor after: Shi Gang

Inventor after: Zhao Lei

Inventor after: Jiang Tao

Inventor before: Ling Tao

Inventor before: Shi Gang

Inventor before: Zhao Lei

Inventor before: Liu Kang

Inventor before: Li Renjie

Inventor before: Ruan Ligang

Inventor before: Jiang Tao