CN114744934A - Permanent magnet synchronous motor control system and method adopting sensorless double-ring starting technology - Google Patents

Permanent magnet synchronous motor control system and method adopting sensorless double-ring starting technology Download PDF

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Publication number
CN114744934A
CN114744934A CN202011546092.5A CN202011546092A CN114744934A CN 114744934 A CN114744934 A CN 114744934A CN 202011546092 A CN202011546092 A CN 202011546092A CN 114744934 A CN114744934 A CN 114744934A
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China
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sensorless
circuit
permanent magnet
magnet synchronous
current
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魏振
姚广
赵武玲
任祥正
张楠
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Research Institute of Physical and Chemical Engineering of Nuclear Industry
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Research Institute of Physical and Chemical Engineering of Nuclear Industry
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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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
    • H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
    • H02M7/06—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
    • 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
    • H02P21/34—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P80/00—Climate change mitigation technologies for sector-wide applications
    • Y02P80/10—Efficient use of energy, e.g. using compressed air or pressurized fluid as energy carrier

Abstract

The invention discloses a permanent magnet synchronous motor control system and a control method adopting a sensorless double-ring starting technology, wherein the control system comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply, a diode rectifier bridge, a direct current booster circuit and a three-phase inverter bridge which are sequentially connected, wherein the output end of the three-phase inverter bridge is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board, and a power supply circuit, a communication circuit, a PWM driving circuit and a signal acquisition circuit which are respectively and electrically connected with the DSP control board, wherein the DSP control board of the power supply circuit provides direct current, and the communication circuit realizes communication with an external host. The sensorless double-ring starting technology is simple and effective in algorithm, no hardware circuit is needed to be added, a sensorless single-ring starting mode of the motor can be effectively replaced, the phenomena of impact current, torque imbalance and the like in the starting process are avoided, and the rotating speed current double-ring starting under the sensorless motor is realized.

Description

Permanent magnet synchronous motor control system and control method adopting sensorless double-ring starting technology
Technical Field
The invention belongs to the field of permanent magnet synchronous motor control, and particularly relates to a permanent magnet synchronous motor control system adopting a sensorless double-ring starting technology.
Background
The permanent magnet synchronous motor has the advantages of high power density, excellent torque performance, easiness in maintenance and the like, and is widely applied to the fields of servo systems, industrial control and the like. At present, a plurality of permanent magnet synchronous motors all adopt a control mode without a position sensor, and although the cost and the installation difficulty of the motor are reduced and the reliability of a system is improved, the control mode without the position sensor has certain limitation.
The sensorless control mode usually adopts a detection method of a sliding mode observer, and the sliding mode observer calculates the rotor position angle by detecting the back electromotive force of the motor, so that the sliding mode observer cannot accurately estimate the rotor position in the static state of the motor, and the motor cannot be started automatically. In order to solve the problem, a mode of V/F (output voltage/frequency) or I/F (current/frequency) is generally adopted, the motor is firstly brought to a certain rotating speed, and after the sliding mode observer can accurately estimate the position and the speed of the rotor at the rotating speed, the rotating speed and the current are switched to a control mode of rotating speed and current. However, no matter what kind of mode is adopted for starting, the switching needs to be carried out by a single current ring to a double-ring control mode of rotating speed and current, and because the current of the motor and the position angle of the rotor before and after the switching have great difference, even if a smooth switching mode is adopted, the phenomena of impact current, torque imbalance and the like in the switching process cannot be avoided, and even the switching failure condition exists. In order to avoid the situation, the control mode based on the pulse vibration high-frequency voltage injection method is firstly adopted by some methods to complete the double-loop starting of the motor, and the mode is switched to the mode based on the sliding mode observer after a certain rotating speed is reached.
Disclosure of Invention
The invention is provided for overcoming the defects in the prior art, and aims to provide a permanent magnet synchronous motor control system adopting a sensorless double-ring starting technology.
The invention is realized by the following technical scheme:
a permanent magnet synchronous motor control system adopting a sensorless double-ring starting technology comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply, a diode rectifier bridge, a direct current booster circuit and a three-phase inverter bridge which are sequentially connected, wherein the output end of the three-phase inverter bridge is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board, and a power supply circuit, a communication circuit, a PWM driving circuit and a signal acquisition circuit which are respectively and electrically connected with the DSP control board, wherein the DSP control board of the power supply circuit provides direct current, and the communication circuit realizes communication with an external host.
In the technical scheme, an alternating current fuse is connected in series between a live wire end of the single alternating current power supply and the diode rectifier bridge, and a smoothing reactor is connected in series between a zero line end of the single alternating current power supply and the diode rectifier bridge.
In the above technical solution, a bus capacitor is connected in series between two output terminals of the dc boost circuit.
In the above technical solution, a dc fuse is connected in series between an output terminal of the dc boost circuit and an input terminal of the three-phase inverter bridge.
In the above technical solution, the PWM driving circuit drives the MOS transistor of the dc boost circuit.
A permanent magnet synchronous motor control method adopting a sensorless double-ring starting technology comprises the following steps:
pre-positioning the rotor, and positioning the rotor at zero degree;
(II) double-ring starting motor adopting rotating speed current
Setting the excitation current value as a fixed value, performing vector operation by adopting a simulation angle, completing the rotating speed and current double-loop starting control of the motor, and accelerating the motor to a set rotating speed;
(III) Angle switching control
After reaching the set rotating speed, gradually reducing the current idThe deviation value delta theta between the real angle and the simulation angle is calculated in real time, and when the delta theta is smaller than the set switching deviation delta thetaerrSwitching is carried out in time, the angle detected by the sliding-mode observer is adopted to replace the simulation angle after switching, and the current i is gradually reduceddUntil zero;
(IV) control operation based on sliding-mode observer method
Sampling motor parameters and transforming coordinates, detecting the rotating speed and the rotor position angle by adopting a sliding-mode observer, completing PI control and regulation of the rotating speed and the current of the motor and a space vector algorithm, calculating a duty ratio and outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
In the above technical solution, the specific method for pre-positioning the rotor includes: firstly, a 90-degree voltage vector is introduced to a q axis of a motor stator, and a rotor is positioned in a 90-degree direction; and then, a zero-degree voltage vector is introduced to a q axis of the motor stator, so that the rotor is positioned to zero degree.
In the technical scheme, the 90-degree voltage vector is 10% -30% of the rated voltage; the zero-degree voltage vector is 10% -30% of the rated voltage.
In the above technical solution, the set rotation speed is 10% of the rated rotation speed.
In the above technical solution, the switching deviation Δ θerrIs 3.6 to 10.8 degrees.
The beneficial effects of the invention are:
the invention provides a permanent magnet synchronous motor control system adopting a sensorless double-ring starting technology, the algorithm of the sensorless double-ring starting technology is simple and effective, any hardware circuit is not required to be added, a sensorless single-ring starting mode of a motor can be effectively replaced, the phenomena of impact current, torque imbalance and the like in the starting process are avoided, and the rotating speed current double-ring starting of the motor under the sensorless condition is realized.
Drawings
FIG. 1 is a schematic structural diagram of a PMSM control system using sensorless dual-ring start technology according to the present invention;
FIG. 2 is a circuit diagram of a diode rectifier bridge in a PMSM control system employing a sensorless dual-loop start technique in accordance with the present invention;
FIG. 3 is a circuit diagram of a DC boost circuit in a PMSM control system employing sensorless dual-loop start-up techniques in accordance with the present invention;
FIG. 4 is an internal circuit diagram of a three-phase inverter bridge in a PMSM control system employing a sensorless dual-loop start technique in accordance with the present invention;
FIG. 5 is a peripheral circuit diagram of a three-phase inverter bridge in a PMSM control system employing a sensorless dual-loop start technique in accordance with the present invention;
FIG. 6 is a circuit diagram of a PWM driving circuit in a PMSM control system using sensorless dual-ring start technology according to the present invention;
FIG. 7 is a circuit diagram of a signal acquisition circuit in a PMSM control system employing sensorless dual ring start technology in accordance with the present invention;
FIG. 8 is a circuit diagram of a communication circuit in a PMSM control system employing sensorless dual ring start technology in accordance with the present invention;
FIG. 9 is a main flow chart of a PMSM control method employing a sensorless dual ring start technique in accordance with the present invention;
fig. 10 is a flowchart of a timer interrupt sub-process in the permanent magnet synchronous motor control method using the sensorless dual-ring start technique according to the present invention.
Wherein:
1 single-phase alternating current power supply 2 diode rectifier bridge
3 DC booster circuit 4 three-phase inverter bridge
5 bus capacitor 6 DSP control panel
7 smoothing reactor 8 AC fuse
9 DC fuse 10 power supply circuit
11 communication circuit 12 PWM drive circuit
13 signal acquisition circuit 14 PWM drive module
15 optical coupler 16 three-phase inverter bridge module
17 output terminal 18 operational amplifier
The isolation chip 19 isolates the chip 20 communication chip.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution of the permanent magnet synchronous motor control system using the sensorless dual-ring start technology according to the present invention is further described below with reference to the drawings of the specification and by means of specific embodiments.
Example 1
As shown in fig. 1, a permanent magnet synchronous motor control system using a sensorless dual-ring start technology includes a main control mechanism and a permanent magnet synchronous motor driver;
the main control mechanism comprises a single-phase alternating current power supply 1, a diode rectifier bridge 2, a direct current booster circuit 3 and a three-phase inverter bridge 4 which are connected in sequence, wherein the output end of the three-phase inverter bridge 4 is connected with the permanent magnet synchronous motor, and an alternating current fuse 8 and a smoothing reactor 9 are arranged between the single-phase alternating current power supply 1 and the diode rectifier bridge 2;
the diode rectifier bridge 2 converts single-phase alternating current of the single-phase alternating current power supply 1 into direct current, the smoothing reactor 7 prevents current overcurrent during capacitor charging, and the direct current voltage is lower by 280V due to single-phase alternating current rectification, so that the direct current voltage is increased to 500V by the direct current booster circuit 3, the bus capacitor 5 is used for stabilizing the direct current voltage, and the three-phase inverter bridge 4 is used for outputting three-phase alternating current voltage.
The specific circuit connection of the main control mechanism is as follows: the L end of a single-phase alternating current power supply 1 is connected with one end of an alternating current fuse 8, the N end is connected with one end of a smoothing reactor 7, one end of the alternating current fuse 8 is connected with the 1 end of a diode rectifier bridge 2, the other end of the smoothing reactor 7 is connected with the 2 end of the diode rectifier bridge 2, the 3 ends and the 4 ends of the diode rectifier bridge 2 are respectively connected with the 1 end and the 2 end of a direct current booster circuit 3, the 3 end of the direct current booster circuit 3 is connected with the positive electrode of a bus capacitor 5 and one end of a direct current fuse 9, the 4 end of the direct current booster circuit 3 is connected with the negative electrode of the bus capacitor 5 and the 2 end of a three-phase inverter bridge 4, and the other end of the direct current fuse 9 is connected with the 1 end of the three-phase inverter bridge 4. The 3, 4 and 5 ends of the three-phase inverter bridge 4 are respectively connected with A, B, C of the permanent magnet synchronous motor.
The permanent magnet synchronous motor driver comprises a DSP control board 6, and a power supply circuit 10, a communication circuit 11, a PWM drive circuit 12 and a signal acquisition circuit 13 which are respectively electrically connected with the DSP control board, wherein the DSP control board 6 of the power supply circuit 10 provides direct current, the PWM drive circuit 12 drives an MOS (metal oxide semiconductor) tube of the direct current booster circuit 3, and the communication circuit 11 realizes communication with an external host.
The permanent magnet synchronous motor driver is composed of a DSP control panel 6, a power supply circuit 10, a communication circuit 11, a PWM drive circuit 12 and a signal acquisition circuit 13, wherein the DSP control panel 6 is a control core of the system and is used for acquiring voltage and current signals, PWM signal output pulse width modulation, motor control algorithm, protection function, communication and other functions, the communication circuit 11 is mainly used for communication with an external host, and the PWM drive circuit 12 is used for driving an MOS (metal oxide semiconductor) tube of the DC booster circuit 3. The power supply circuit 10 provides direct current for the DSP control board 6, the power supply adopts a multi-output power supply of Mean Well, the model is QP-200F, and the power supply can simultaneously output power supplies of +24V, +/-15V, +5V and the like without designing power supply conversion, so that the complexity of the circuit is greatly saved.
As shown in fig. 2, the diode rectifier bridge 2 is composed of four diodes D1-D4, the diodes of the upper arm are D1 and D3, the diodes of the lower arm are D2 and D4, wherein the anode of the diode D1 is connected with the cathode of the diode D2 to form one arm, and the anode of the diode D3 is connected with the cathode of the diode D4 to form one arm.
As shown in fig. 3, the specific circuit connections of the dc boost circuit 3 are: the Invdc signal is connected with one end of an inductor BTL, the other end of the inductor BTL is connected with the drain electrode of a MOS tube T1 and the anode of a diode BTD, the source electrode of a MOS tube T1 is connected with GND, the grid driving signal of a MOS tube T1 is generated by a PWM driving circuit 13, and the cathode of the diode BTD is connected with an output Outvdc signal.
As shown in fig. 4, the three-phase inverter bridge 4 includes six IGBTs (Q1 to Q6), an upper arm includes Q1, Q3, and Q5, and a lower arm includes Q2, Q4, and Q6, wherein an emitter of Q1 is connected to a collector of Q2 to form one arm, an emitter of Q3 is connected to a collector of Q4 to form one arm, and an emitter of Q5 is connected to a collector of Q6 to form one arm.
The three-phase inverter bridge 3 adopts a Mitsubishi 4 th generation Intelligent Power Module (IPM) PS21964, integrates a power chip, a driving circuit and a protection circuit into the same module, has small module volume and large rated capacity, is easy to be applied to the frequency conversion control of a low-power motor, has simple peripheral circuits, does not need optical couplers or transformer isolation, can directly connect the PWM signal of a DSP to the power module, is convenient to apply, and has the peripheral circuits shown in figure 5, and the specific connection relationship is as follows:
+15V is connected to the resistor U7R1, the capacitor U7C9, and the pin 8 of the three-phase inverter bridge IPM module 16, the other end of the resistor U7R1 is connected to the anode of the diode U7D1, the cathode of the diode U7D1, the cathode of the diode U7Z1, the anode of the capacitor U7C1, and the capacitor U7C4 are connected to the pin 2 of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z1, the cathode of the capacitor U7C1, and the other end of the capacitor U7C4 are connected to the pin 23 of the three-phase inverter bridge IPM module 16 and the pin 1 of the output voltage terminal 17. +15V is connected to the resistor U7R2, the other end of the resistor U7R2 is connected to the anode of the diode U7D2, the cathode of the diode U7D2, the cathode of the diode U7Z2, the anode of the capacitor U7C2, and the capacitor U7C5 are connected to pin 3 of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z2, the cathode of the capacitor U7C2, and the other end of the capacitor U7C5 are connected to pin 22 of the three-phase inverter bridge IPM module 16 and pin 2 of the output voltage terminal 17. +15V is connected to the resistor U7R3, the other end of the resistor U7R3 is connected to the anode of the diode U7D3, the cathode of the diode U7D3, the cathode of the diode U7Z3, the anode of the capacitor U7C3, and the capacitor U7C6 are connected to the 4-pin of the three-phase inverter bridge IPM module 16, and the anode of the diode U7Z3, the cathode of the capacitor U7C3, and the other end of the capacitor U7C6 are connected to the 21-pin of the three-phase inverter bridge IPM module 16 and the 3-pin of the output voltage terminal 17. +15V is connected to the positive electrode of the capacitor U7C8, the cathode of the capacitor U7C7, the cathode of the diode U7Z4, and the 13 pin of the three-phase inverter bridge IPM module 16, the negative electrode of the capacitor U7C8, the anode of the diode U7Z4, the other end of the capacitor U7C7, and the 16 pin and the 17 pin of the three-phase inverter bridge IPM module 16 are connected to GND, VCC is connected to the resistor U7R4, the other end of the resistor U7R4 is connected to the PRO port and the 14 pin of the three-phase inverter bridge IPM module 16, the positive electrode of the capacitor U7C11 is connected to the 24 pin and the VDC + port of the three-phase inverter bridge IPM module 16, and the negative electrode of the capacitor U7C11 is connected to the 20 pin and the IPM port of the three-phase inverter bridge IPM module 16.
As shown in fig. 6, the PWM driving circuit 12 includes a PWM driving module 14 with a model number KP101, the PWM driving module 14 converts a PWM signal of the DSP control board into positive and negative driving signals to drive the MOS transistor in the dc boost circuit 3, and the specific connection manner is as follows:
the BTPWM signal port is connected with a resistor U4R1 and a capacitor U4C1, the other ends of the resistor U4R1 and the capacitor U4C1 are connected with a pin 2 of the PWM driving module 14, GND is connected with a pin 3 of the PWM driving module 14, +15V is connected with a pin 4 of the PWM driving module 14 and the positive end of the capacitor U4C3, GND is connected with a pin 5 of the PWM driving module 14, the negative end of the capacitor U4C3 is connected, the 12 pin of the PWM driving module 14 is connected with the cathode of the zener diode U4Z1, the anode of the zener diode U4Z1 is connected with the anode of the diode U4D1, the cathode of the diode U4D1 is connected with the anode of the diode U4D2, the cathode of the diode U4D2 is connected with the InVdc power port, the resistor U4R5 is connected with the 15 pin of the PWM driving module 14, the other end of the resistor U4R5 is connected with the resistor U4R6, the resistor U4R7 and the GTPWM port, the other end of the resistor U4R6 is connected with the 16 pin of the PWM driving module 14, one end of the resistor U4R7 is connected with the resistors U4R5, U4R5 and the GTPWM port, and the other end of the resistor U4R7 is connected with the 17 pin of the PWM driving module 14 and the ETPWM port. The resistor U4R3 is connected with 18 pins of the PWM signal driving module 14, the other end of the resistor U4R3 is connected with the resistor U4R4 and 1 pin of the optical coupler 15, and the resistor U4R4 is connected with 13 pins of the PWM signal driving module 14 and 2 pins of the optical coupler 15. The resistor U4R2 is connected with the pin 3 of the optical coupler 15 and the port PRO1, the other end of the resistor U4R2 is connected with +5V, and the pin 4 of the optical coupler 15 is connected with GND.
As shown in fig. 7, the signal acquisition circuit is mainly used for detecting signals such as motor temperature, bus dc voltage, etc., and since these signals have been converted into analog quantities of 0 to 5V by external sensors, the signals of 0 to 5V only need to be converted into 0 to 3V, and the specific connection relationship is as follows:
the signal Input output by the signal conditioning circuit is connected to the resistors R1 and R2, the other end of the resistor R2 is connected to GND, and the other end of the resistor R1 is connected to the resistor R3, the capacitor C1, and the positive terminal of the operational amplifier 18. The other ends of the resistor R3 and the capacitor C1 are connected to GND. The negative terminal of the operational amplifier 18 is connected to its own output terminal, the output terminal of the operational amplifier 18 is connected to the resistor R4, and the other terminal of the resistor R4 is connected to the capacitor C2, the negative electrode of the diode D4, and the positive electrode of the diode D5. The other end of the capacitor C2 and the anode of the diode D4 are connected to GND, and the cathode of the diode D5 is connected to + 3.3V.
As shown in fig. 8, the specific connection relationship of the communication circuit is as follows:
GPIO14 and GPIO13 of the DSP control board 6 are respectively connected with INA and OUTA of the isolation chip 19, VCCA and GNDA of the isolation chip 19 are respectively connected with +3.3V and GND, and OUTB and INB of the isolation chip 19 are respectively connected with SCITX and SCIRX ends of the communication chip 20. VCCA and GNDA of the isolation chip 19 are connected to +3.3V and GND, respectively, and VCCB and GNDB of the isolation chip 19 are connected to +3.3V and DGND, respectively. The Tx +, Tx-, Rx +, Rx-ends of the communication chip 20 are respectively connected with the communication interface.
Example 2
Under the vector control mode of the permanent magnet synchronous motor, the stator current is decomposed into the exciting current i for generating a magnetic fielddAnd a torque current i for generating torqueqBecause the surface-mounted permanent magnet synchronous motor is selected, the torque of the motor is only equal to the current iqIn connection with this, surface-mount motors therefore generally employ idVector control of 0The preparation method.
A permanent magnet synchronous motor control method adopting a sensorless double-ring starting technology comprises the following steps:
pre-positioning the rotor, and positioning the rotor at zero degrees;
the rotor is first oriented 90 degrees to the q-axis of the motor stator by applying a sufficiently large 90 degree voltage vector (typically 10% -30% of the nominal voltage). The motor stator q-axis is then energized with a sufficiently large zero-degree voltage vector (typically 10% -30% of nominal voltage) to position the rotor at zero degrees. Therefore, the rotor can be positioned at zero degree through two positioning operations no matter whether the initial position of the rotor of the motor is at a special position of 90 degrees or 180 degrees or not.
(II) double-ring starting motor adopting rotating speed current
The stage is different from the traditional sensorless control method, the traditional method adopts a single current loop I-F (current-frequency) mode to start, only the current loop works in the starting stage, the speed loop does not work, and the exciting current I in the starting processdSet to 0, torque current iqAnd setting the angle as a fixed value I, and generating a simulation angle theta' by using software to replace the real rotor angle theta to perform vector control operation.
The invention adopts rotating speed current double-loop starting at the starting stage, and exciting current i is adopted in the starting processdSet to constant value I, torque current IqThe speed regulator determines that the real rotor angle theta is replaced by the simulation angle theta' to perform vector control operation, and the excitation current i is different from the real rotor angle due to the deviation of the simulation angle and the real rotor angledCan generate electromagnetic torque to drive motor, exciting current idThe set value I of (a) is large, and sufficient electromagnetic torque can be generated in the process of reaching the set rotating speed (usually 10 percent of the rated rotating speed) of the motor, the rotating speed of the motor can be completely followed, and therefore the torque current I output by the speed regulator is largeqVery small and negligible.
(III) Angle switching control
After reaching the set rotating speed, gradually reducing the current idAt the rotational speed PI, is adjustedUnder the control of a node, current iqThe value will gradually increase, maintaining the motor rotation speed unchanged. In this process, the deviation Δ θ between the real angle and the simulated angle is calculated, due to the current idThe deviation value delta theta is reduced continuously, and the deviation value delta theta is adjusted to the set switching deviation delta thetaerr(3.6-10.8) when Delta theta is less than Delta thetaerrSwitching is carried out in time, the angle detected by the sliding-mode observer is adopted to replace the simulation angle after switching, and the current i is gradually reduceddUntil zero. The current i before and after switching only needs to switch the rotor position angle without switching a loopqThe difference of the values is small under the control of the rotating speed ring, so that the torque of the motor can keep balance in the switching process and the phenomenon of no current impact exists.
(IV) control operation based on sliding-mode observer method
Sampling motor parameters and transforming coordinates, detecting the rotating speed and the rotor position angle by adopting a sliding-mode observer, completing PI control and regulation of the rotating speed and the current of the motor and a space vector algorithm, calculating a duty ratio and outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
Fig. 9 and 10 are flowcharts of a control method for sensorless rotation speed and current dual-loop start according to the present invention, the control method is written in a C language and runs in the DSP control board 6, fig. 9 is a flowchart of a main program, fig. 10 is a flowchart of a timer interrupt subroutine, the timer interrupt subroutine is executed in the main program to mainly complete a sensorless dual-loop start algorithm and a vector control algorithm, and the specific implementation manner is as follows:
the specific implementation manner of the main program is as follows:
(I) start up
Program start, from the main program entry, S1;
(II) initialization
Initializing the DSP, and finishing the initialization work of a DSP peripheral clock, a watchdog, an IO port (input and output) and an interrupt vector table (S2);
(III) configuration register
Configuring a timer, a PWM register, an SCI register, and an interrupt register, and enabling a related interrupt function, S3;
(IV) initializing software parameters
Initializing relevant parameters such as a timer, a PWM duty ratio, delay time, RS232 communication software and the like, and S4;
(V) Loop waiting
Entering a main loop, and waiting for the occurrence of timer interruption, S5;
(VI) executing the interrupt program and returning
And executing the timer interrupt subprogram, returning to the main program after the timer interrupt subprogram is completed, and circularly waiting S6.
The timer interrupt subroutine is implemented as follows:
(I) interrupt Start
A timer interrupt occurs, and a timer interrupt program is entered, S7;
(II) whether it has been started
Judging whether the motor is started, if not, executing a rotating speed and current double-loop starting control algorithm, otherwise, executing a control algorithm based on a sliding mode observer, and S8;
(III) Dual Ring Start of rotational speed Current
Pre-positioning the rotor, positioning the rotor at zero degree, setting an excitation current value, performing vector operation by adopting a simulation angle, completing the rotating speed and current double-loop starting control of the motor, and accelerating the motor to 10% of rated rotating speed, S9;
(IV) Angle switching control
After reaching the set rotating speed, gradually reducing the current idThe deviation value delta theta between the real angle and the simulation angle is calculated in real time, and when the delta theta is smaller than the set switching deviation delta thetaerrSwitching is carried out when the current is 3.6-10.8 degrees, the angle detected by a sliding-mode observer is adopted to replace the simulation angle after switching, and the current i is gradually reduceddUntil zero, S10;
(V) control operation based on sliding-mode observer method
Sampling motor parameters and transforming coordinates, detecting the rotating speed and the rotor position angle by adopting a sliding-mode observer, completing PI control regulation and space vector algorithm of the rotating speed and current of the motor, calculating a duty ratio and outputting a PWM signal, and controlling the three-phase inverter bridge to drive the motor to operate S11;
(VI) interrupt completion return to main program
And (5) completing the rotation speed and current double-loop starting, angle switching and operation control of the motor, interrupting and returning to the main program, and S12.
The starting mode of the control method adopting the sensorless double-ring starting technology is compared with the original starting mode, and the ratio is shown in table 1:
TABLE 1 comparison of the novel starting mode with the original starting mode
Handover comparison Rotor pre-positioning Difference in current Angular difference Loop switching
Double ring starting mode Is that Small Small Without handover
Original starting mode Is that Big (a) Big (a) Monocyclic to bicyclic ring
According to the sensorless double-ring starting technology, the DSP28335 control board is utilized to carry out software programming, the control algorithm is realized, and relevant tests are carried out.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The applicant declares that the above description is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and it should be understood by those skilled in the art that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are within the scope and disclosure of the present invention.

Claims (10)

1. The utility model provides an adopt permanent magnet synchronous machine control system of sensorless dicyclo starting technique which characterized in that: the system comprises a main control mechanism and a permanent magnet synchronous motor driver; the main control mechanism comprises a single alternating current power supply (1), a diode rectifier bridge (2), a direct current booster circuit (3) and a three-phase inverter bridge (4) which are sequentially connected, and the output end of the three-phase inverter bridge (4) is connected with the permanent magnet synchronous motor; the permanent magnet synchronous motor driver comprises a DSP control board (6), and a power supply circuit (10), a communication circuit (11), a PWM (pulse-width modulation) driving circuit (12) and a signal acquisition circuit (13) which are respectively electrically connected with the DSP control board, wherein the power supply circuit (10) and the DSP control board (6) provide direct current, and the communication circuit (11) realizes communication with an external host.
2. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: an alternating current fuse (8) is connected in series between the live wire end of the single alternating current power supply (1) and the diode rectifier bridge (2), and a smoothing reactor (7) is connected in series between the zero wire end of the single alternating current power supply and the diode rectifier bridge (2).
3. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: and a bus capacitor (5) is connected between the two output ends of the direct current booster circuit (3) in series.
4. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: and a direct current fuse (9) is connected in series between one output end of the direct current booster circuit (3) and one input end of the three-phase inverter bridge (4).
5. The PMSM control system adopting the sensorless dual-ring start-up technology according to claim 1, wherein: the PWM driving circuit (12) drives an MOS tube of the direct current booster circuit (3).
6. The control method applied to the permanent magnet synchronous motor control system adopting the sensorless double-ring starting technology in any one of claims 1 to 5 is characterized in that: the method comprises the following steps:
pre-positioning the rotor, and positioning the rotor at zero degree;
(II) double-ring starting motor adopting rotating speed current
Setting the excitation current value as a fixed value, performing vector operation by adopting a simulation angle, completing the rotating speed and current double-loop starting control of the motor, and accelerating the motor to a set rotating speed;
(III) Angle switching control
After reaching the set rotating speed, gradually reducing the current idThe deviation value delta theta between the real angle and the simulation angle is calculated in real time, and when the deviation value delta theta is smaller than the set switching deviation delta thetaerrSwitching is carried out in time, the angle detected by the sliding-mode observer is adopted to replace the simulation angle after switching, and the current i is gradually reduceddUntil zero;
(IV) control operation based on sliding-mode observer method
Sampling motor parameters and transforming coordinates, detecting the rotating speed and the rotor position angle by adopting a sliding-mode observer, completing PI control and regulation of the rotating speed and the current of the motor and a space vector algorithm, calculating a duty ratio and outputting a PWM signal, and controlling the three-phase inverter bridge driving motor to operate.
7. The PMSM control method adopting the sensorless dual-ring start-up technology according to claim 6, characterized in that: the specific method for pre-positioning the rotor comprises the following steps: firstly, a 90-degree voltage vector is introduced to a q axis of a motor stator, and a rotor is positioned in a 90-degree direction; and then, a zero-degree voltage vector is introduced to a q axis of the motor stator, so that the rotor is positioned to zero degree.
8. The permanent magnet synchronous motor control method adopting the sensorless dual-ring start technology according to claim 7, characterized in that: the 90-degree voltage vector is 10% -30% of the rated voltage; the zero-degree voltage vector is 10% -30% of the rated voltage.
9. The PMSM control method adopting the sensorless dual-ring start-up technology according to claim 6, characterized in that: the set rotating speed is 10% of the rated rotating speed.
10. The PMSM control method adopting the sensorless dual-ring start-up technology according to claim 6, characterized in that: the switching deviation Delta thetaerrIs 3.6 to 10.8 degrees.
CN202011546092.5A 2020-12-23 2020-12-23 Permanent magnet synchronous motor control system and method adopting sensorless double-ring starting technology Pending CN114744934A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116232161A (en) * 2023-04-03 2023-06-06 西安航天民芯科技有限公司 Non-inductive FOC high-speed motor control device and method based on MT32F006

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116232161A (en) * 2023-04-03 2023-06-06 西安航天民芯科技有限公司 Non-inductive FOC high-speed motor control device and method based on MT32F006

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