CN116208054B - Method for detecting initial position of rotor of sinusoidal electro-magnetic doubly salient motor - Google Patents
Method for detecting initial position of rotor of sinusoidal electro-magnetic doubly salient motor Download PDFInfo
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- CN116208054B CN116208054B CN202310193700.6A CN202310193700A CN116208054B CN 116208054 B CN116208054 B CN 116208054B CN 202310193700 A CN202310193700 A CN 202310193700A CN 116208054 B CN116208054 B CN 116208054B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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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- 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
Abstract
The application discloses a method for detecting the initial position of a rotor of a sinusoidal electro-magnetic doubly salient motor, which relates to the field of sinusoidal electro-magnetic doubly salient motors. Compared with the method of phase current change caused by injection signals, the method has the advantages that the value of the phase current containing rotor position information is larger, the signal-to-noise ratio of detection signals is increased, and the accuracy of position estimation is improved.
Description
Technical Field
The application relates to the field of sine-type electro-magnetic doubly salient motors, in particular to a method for detecting the initial position of a rotor of a sine-type electro-magnetic doubly salient motor.
Background
The sine-type electric excitation doubly salient motor is a novel special motor, has the advantages of simple and reliable structure, suitability for running in high-temperature and high-speed occasions and the like, and has wide application prospects in the fields of aerospace, wind power generation, electric automobiles and the like. Because the no-load counter potential of the sine-type electro-magnetic double-salient-pole motor presents better sine, the vector control can lead the sine-type electro-magnetic double-salient-pole motor to realize good running performance.
Vector control requires real-time acquisition of rotor position information, conventionally accomplished through the use of mechanical position sensors. However, the mechanical position sensor has problems of large volume and weight, high cost, inconvenient installation and incapability of being used in special occasions, so that the position sensor-free control technology is widely paid attention as an effective solution. The control technology of the position-free sensor mainly comprises a high-frequency signal injection method and a motor fundamental wave model method, wherein the high-frequency signal injection method is suitable for the control technology of the position-free sensor running at zero speed and low speed, and the motor fundamental wave model method is suitable for the control technology of the position-free sensor running at medium and high speed. At present, the zero-speed and low-speed sensorless control technology is a great difficulty in motor sensorless operation.
The initial position estimation of the rotor is the basis for realizing the operation of the motor without a position sensor, and is the key for realizing the quick start without reverse rotation of the motor. The current sine wave motor rotor initial position detection method is mainly a high-frequency signal injection method. Liu Ying (journal of Chinese motor engineering, 2011, 25 th month, 31 st, 18 th, 48-54 pages) discloses a method for detecting the initial position of a rotor of a permanent magnet synchronous motor. The method divides the estimation process into two stages of primary position estimation and d-axis positive direction judgment, and needs to inject signals step by step twice, which takes a long time. The research of a mixed excitation motor low-speed area sensorless control system (university of Hebei's industrial university's paper, 2020, 4 months) discloses an initial position detection method based on numerical analysis, which is to inject pulse signals into an excitation winding and directly calculate rotor position information by detecting armature current.
The existing initial position detection method generally needs to additionally inject pulse signals, the amplitude of the injected signals is not too large, otherwise, motor jitter is easy to cause, the signal to noise ratio of position estimation signals is reduced due to the fact that the amplitude of the injected signals is too small, and the position detection accuracy is reduced, so that the problems of complex operation, long detection time and easy motor jitter are often caused.
Disclosure of Invention
The inventor provides a method for detecting the initial position of a rotor of a sinusoidal electro-magnetic doubly salient motor aiming at the problems and the technical requirements, and the technical scheme of the application is as follows:
a method for detecting the initial position of a rotor of a sinusoidal electro-magnetic doubly salient motor comprises the following steps:
energizing an exciting winding of the sinusoidal electric excitation doubly salient motor in the stationary process of the sinusoidal electric excitation doubly salient motor;
determining response currents of two-phase reference windings of the sine-type electric excitation doubly-salient motor in the process of increasing exciting currents of the exciting windings as reference response currents i respectively 1 And a reference response current i 2 The two-phase reference winding is one of two-phase armature windings of a sinusoidal electro-magnetic doubly salient motor;
reference response current i according to two-phase reference winding 1 And a reference response current i 2 Calculating to obtain an estimated value of the initial position of the rotor of the sinusoidal electrically excited doubly salient motor
The further technical scheme is that the initial position estimation value of the rotor of the sine-type electric excitation doubly salient motor is calculatedThe method of (1) comprises:
calculating to obtain an estimated value of the initial position of the rotorIs +.>Second estimate +.>
According to the calculation resultAnd->Calculating to obtain an estimated value of the initial position of the rotor>
According to the further technical proposal, according to the calculationAnd->Calculating to obtain an estimated value of the initial position of the rotor>The method of (1) comprises:
when calculatedAnd->When one value of the rotor is positive and one value of the rotor is negative, determining an estimated value of the initial position of the rotor
When calculatedAnd->When the values of the rotor are positive or negative, determining the estimated value of the initial position of the rotor
The method further comprises the following steps:
determining the current amplitude i under a rotating coordinate system by combining the characteristic that the sum of response currents of three-phase armature windings is 0 s Reference response current i with respect to two-phase reference windings in natural coordinate system 1 And a reference response current i 2 Is an expression of (2);
taking q-axis current i under rotation coordinate system q =0, d-axis current i d ＝i s And combining the coordinate transformation relation between the rotating coordinate system and the natural coordinate system to obtain the initial position estimated value of the rotor of the sinusoidal electrically excited doubly salient motorWith respect to reference response current i 1 And a reference response current i 2 Is an expression of (2).
The further technical proposal is that the current amplitude i under the rotation coordinate system is determined s With respect to reference response current i 1 And a reference response current i 2 The method of the expression of (2) comprises:
determining the coordinate transformation relation between the rotation coordinate system and the natural coordinate system asWherein i is q Is the q-axis current in the rotating coordinate system, i d Is the d-axis current in the rotating coordinate system, i a 、i b 、i c Response currents of the three-phase armature windings in the natural coordinate system, respectively, θ being the rotor position;
binding i a +i b +i c Characteristic of =0, according toObtaining the current amplitude i under the rotation coordinate system s With respect to reference response current i 1 And a reference response current i 2 The expression of (2) is +.>i 1 And i 2 Is i a 、i b 、i c Two of which respond to current.
The further technical proposal is that an estimated value of the initial position of the rotor is obtainedWith respect to reference response current i 1 And a reference response current i 2 The method of the expression of (2) comprises:
taking i q ＝0、And combining the coordinate transformation relation between the rotary coordinate system and the natural coordinate system to obtain the following transformation:
binding i a +i b +i c Feature conversion of =0 to obtain rotor initial position estimation valueWith respect to reference response current i 1 And a reference response current i 2 Is an expression of (2).
The further technical scheme is that the three-phase armature winding of the sinusoidal electro-magnetic doubly salient motor is connected in a Y-type manner and respectively connected with the middle points of the three bridge arms of the three-phase full-bridge inverter, and the control method for the sinusoidal electro-magnetic doubly salient motor further comprises the following steps:
in the stationary process of the sinusoidal electric excitation doubly salient motor, the upper bridge arm switching tubes of the three bridge arms of the three-phase full-bridge inverter are controlled to be turned off, the lower bridge arm switching tubes of the three bridge arms are controlled to be turned on, so that three-phase armature windings of the sinusoidal electric excitation doubly salient motor are in a short-circuit state, d-axis voltage and q-axis voltage in a rotating coordinate system are constant equal to 0, and excitation windings of the sinusoidal electric excitation doubly salient motor are electrified and a rotor initial position estimated value is obtainedIn the detection process of the (2), the electromagnetic torque of the sinusoidal electro-magnetic doubly salient motor is 0, and the rotor does not rotate.
The further technical scheme is that the method for electrifying the exciting winding of the sinusoidal electro-magnetic doubly-salient motor comprises the following steps:
collecting the actual value i of exciting current flowing through exciting winding f ；
Set the exciting current to a given valueAnd the actual value i of exciting current f The difference value of the first control signal is used as the input of a PI controller, and a first control signal is generated on the output of the PI controller through a PWM control algorithm;
controlling an asymmetric half bridge connected with an exciting winding of the sine-type electric excitation doubly-salient motor according to a first control signal to enable an exciting current actual value i of the exciting winding to be f Rise and follow the excitation current set point
The beneficial technical effects of the application are as follows:
the application discloses a method for detecting the initial position of a rotor of a sinusoidal electro-magnetic doubly salient motor, which is used for directly detecting the initial position in the motor excitation voltage-building process without additional injection signals and considering amplitude selection of the injection signals, and electromagnetic torque is not generated in the detection process, so that the detection method is easy to realize, the position estimation time is obviously shortened, and the problem of shaking of the motor in the initial position detection process is avoided. Compared with the method of phase current change caused by injection signals, the method has the advantages that the value of the phase current containing rotor position information is larger, the signal-to-noise ratio of detection signals is increased, and the accuracy of position estimation is improved.
In addition, the necessary process of establishing the magnetic field of the motor directly detects the initial position of the rotor, and additional system time is not required to be added for detection, so that the estimation process is simplified.
Drawings
Fig. 1 is a control block diagram of a rotor initial position detection method of the present application.
Fig. 2 is a graph showing changes in exciting current, induced current of the three-phase armature winding, d-axis current, and q-axis current during detection of the initial position of the rotor.
Detailed Description
The following describes the embodiments of the present application further with reference to the drawings.
The application discloses a method for detecting the initial position of a rotor of a sinusoidal electro-magnetic doubly salient motor, referring to a control block diagram shown in fig. 1, in the topology structure of the sinusoidal electro-magnetic doubly salient motor, a three-phase armature winding A, B, C of the sinusoidal electro-magnetic doubly salient motor (SDSEM) is connected in a Y-type manner, namely one end of an A-phase armature winding, one end of a B-phase armature winding and one end of a C-phase armature winding are connected, the other end of the three-phase armature winding is respectively connected with the middle points of bridge arms of three bridge arms of a three-phase full-bridge inverter, and the three-phase full-bridge inverter is connected with a bus voltage U DC1 . Excitation winding F of sine-type electric excitation doubly salient motor is connected with internal asymmetric half-bridge, and bus voltage U is connected with the asymmetric half-bridge DC2 。
And in the static process of the sinusoidal electric excitation doubly salient motor, energizing the excitation winding of the sinusoidal electric excitation doubly salient motor. The method for energizing the exciting winding of the sine-type electric excitation doubly-salient motor comprises the following steps: collecting the actual value i of exciting current flowing through exciting winding F f . Set the exciting current to a given valueAnd the actual value i of exciting current f Takes the difference value of the PI controller as the input of the PI controller, and generates a first control signal S through a PWM control algorithm to the output of the PI controller F . According to the first control signal S F The asymmetric half bridge connected with the exciting winding of the sine-type electric excitation doubly-salient motor is controlled so that the exciting current actual value i of the exciting winding f Rising and following the excitation current setpoint +.>
In the process of increasing exciting current of the exciting winding, response currents are induced on three-phase armature windings of the sinusoidal electro-excited doubly-salient motor, and the response currents induced on an A-phase armature winding, a B-phase armature winding and a C-phase armature winding in a natural coordinate system (abc coordinate system) are respectively i a 、i b 、i c . Since the three-phase armature winding adopts Y-type connection, i is a +i b +i c ＝0。
The application takes any two-phase armature winding as a two-phase reference winding, and the response currents induced by the two-phase reference winding are respectively taken as reference response currents i 1 And a reference response current i 2 Thus, i 1 And i 2 Is i a 、i b 、i c Two of which respond to current. For example, in fig. 1, the a-phase armature winding and the B-phase armature winding are taken as two-phase reference windings, and the response current i is referenced 1 ＝i a Reference response current i 2 ＝i b . The other combinations of two-phase reference windings are similar, and the like.
Then according to the reference response current i of the two-phase reference winding 1 And a reference response current i 2 Calculating to obtain an estimated value of the initial position of the rotor of the sinusoidal electrically excited doubly salient motorRotor initial position estimate +.>With respect to reference response current i 1 And a reference response current i 2 The expression of (2) is obtained by pre-fitting, and the determining method comprises the following steps:
(1) The sum of the response currents combined with the three-phase armature winding is 0, i.e. i a +i b +i c Characteristic of =0, determining current amplitude i in rotating coordinate system s Reference response current i with respect to two-phase reference windings in natural coordinate system 1 And a reference response current i 2 Is an expression of (2).
The coordinate transformation relationship between the rotation coordinate system and the natural coordinate system is as follows:
wherein i is q Is the q-axis current in the rotating coordinate system, i d Is the d-axis current in the rotating coordinate system, θ is the rotor position.
Binding i a +i b +i c Characteristic of =0, according toCan be converted to obtain the current amplitude i under the rotation coordinate system s With respect to reference response current i 1 And a reference response current i 2 The expression of (2) is
(2) Because the excitation flux linkage has coupling relation with the d-axis flux linkage only, the excitation current change only causes the d-axis current i d And q-axis current i q Always equal to 0. Exciting current i of the process f Response current i induced by three-phase armature winding a 、i b 、i c Current of d axis i d And q-axis current i q The waveform diagram over time is shown in fig. 2.
Thus taking the q-axis current i in the rotating coordinate system q =0, d-axis current i d ＝i s Combining the coordinate transformation relation between the rotating coordinate system and the natural coordinate system to obtain the initial position estimation value of the rotor of the sine-type electrically excited doubly salient motorWith respect to reference response current i 1 And a reference response current i 2 The expression of (2) includes:
taking i q ＝0、And combining the coordinate transformation relation between the rotary coordinate system and the natural coordinate system to obtain the following transformation:
binding i a +i b +i c Feature conversion of =0 to obtain rotor initial position estimation valueWith respect to reference response current i 1 And a reference response current i 2 Is an expression of (2).
The rotor initial position estimation value thus obtainedWith respect to reference response current i 1 And a reference response current i 2 The expression of (2) includes two expressions by which the estimated value of the initial position of the rotor can be calculated, respectively>Is +.>And a second estimate +.>Wherein:
fitting by the method to obtain the estimated value of the initial position of the rotorWith respect to reference response current i 1 And a reference response current i 2 After the expression of (2), the acquired reference response current i can be substituted 1 And a reference response current i 2 Calculating to obtain an estimated value of the initial position of the rotor +.>Comprising the following steps:
firstly, respectively calculating to obtain estimated values of initial positions of rotorsIs the first estimated value of (2)Second estimate +.>Then according to the calculated +.>And->Calculating to obtain an estimated value of the initial position of the rotor>When calculated->And->When one of the values is positive and the other is negative, determining an estimated value of the initial position of the rotor +.>When calculated->And->When the values of (a) are positive or negative, determining the estimated value of the initial position of the rotor +.>
In addition, in the process of detecting the initial position of the rotor according to the method provided by the application, the control of the sinusoidal electro-magnetic doubly-salient motor further comprises the following steps: during the stationary process of the sinusoidal electrically excited doubly salient motor, the alpha-axis voltage u in the alpha-beta coordinate system is given α =0 and beta-axis voltage u β =0, according to u using SVPWM control method (space vector pulse width modulation method) α =0 and u β =0 to obtain the second control signal S ABC According to the second control signal S ABC The three-phase full-bridge inverter is controlled to control the upper bridge arm switching tubes of three bridge arms of the three-phase full-bridge inverter to be turned off and the lower bridge arm switching tubes of the three bridge arms to be turned on. So that the three-phase armature windings of the sinusoidal electro-magnetic doubly-salient motor are in a short-circuit state and the d-axis voltage and the q-axis voltage under a rotating coordinate system (dq coordinate system) are constant equal to 0, namelySo that the exciting winding of the sine-type electric excitation doubly-salient motor is electrified and a rotor initial position estimated value is obtained +.>In the detection process of the rotor, the electromagnetic torque of the sinusoidal electro-magnetic doubly salient motor is 0, the rotor does not rotate, and the problem of shaking or even reverse rotation in the initial position detection process of the rotor is avoided.
The above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are deemed to be included within the scope of the present application.
Claims (6)
1. The method for detecting the initial position of the rotor of the sinusoidal electro-magnetic doubly salient motor is characterized by comprising the following steps of:
energizing an excitation winding of the sinusoidal electro-magnetic doubly salient motor in a stationary process of the sinusoidal electro-magnetic doubly salient motor;
determining response currents of two-phase reference windings of the sinusoidal electric excitation doubly-salient motor in the process of increasing exciting currents of the exciting windings to serve as reference response currents i respectively 1 And a reference response current i 2 The two-phase reference winding is one of two-phase armature windings of the sinusoidal electro-magnetic doubly salient motor;
reference response current i according to two-phase reference winding 1 And a reference response current i 2 Calculating to obtain the estimated value of the initial position of the rotor of the sinusoidal electrically excited doubly salient motor
Calculating an estimated value of the initial position of a rotor of the sinusoidal electrically excited doubly salient motorThe method of (1) comprises:
calculating to obtain an estimated value of the initial position of the rotorIs +.>Second estimate +.>
According to the calculationObtained byAnd->Calculating to obtain an estimated value of the initial position of the rotor>Comprising the following steps: when calculated->And->When one of the values is positive and the other is negative, determining an estimated value of the initial position of the rotor +.>When calculated->And->When the values of (a) are positive or negative, determining the estimated value of the initial position of the rotor +.>
2. The method according to claim 1, wherein the method further comprises:
determining the current amplitude i under a rotating coordinate system by combining the characteristic that the sum of response currents of three-phase armature windings is 0 s Reference response current i with respect to two-phase reference windings in natural coordinate system 1 And a reference response current i 2 Is an expression of (2);
taking q-axis current i under rotation coordinate system q =0, d-axis current i d ＝i s And combining the coordinate transformation relation between the rotating coordinate system and the natural coordinate system to obtain the initial position estimation value of the rotor of the sinusoidal electro-magnetic doubly salient motorWith respect to reference response current i 1 And a reference response current i 2 Is an expression of (2).
3. The method according to claim 2, characterized in that the current amplitude i in the rotating coordinate system is determined s With respect to reference response current i 1 And a reference response current i 2 The method of the expression of (2) comprises:
determining the coordinate transformation relation between the rotation coordinate system and the natural coordinate system asWherein i is q Is the q-axis current in the rotating coordinate system, i d Is the d-axis current in the rotating coordinate system, i a 、i b 、i c Response currents of the three-phase armature windings in the natural coordinate system, respectively, θ being the rotor position;
binding i a +i b +i c Characteristic of =0, according toObtaining the current amplitude i under the rotation coordinate system s With respect to reference response current i 1 And a reference response current i 2 The expression of (2) is +.>i 1 And i 2 Is i a 、i b 、i c Two of which respond to current.
4. A method according to claim 3The method is characterized in that an estimated value of the initial position of the rotor is obtainedWith respect to reference response current i 1 And a reference response current i 2 The method of the expression of (2) comprises:
taking i q ＝0、And combining the coordinate transformation relation between the rotary coordinate system and the natural coordinate system to obtain the following transformation:
binding i a +i b +i c Feature conversion of =0 to obtain rotor initial position estimation valueWith respect to reference response current i 1 And a reference response current i 2 Is an expression of (2).
5. The method of claim 1, wherein the three-phase armature windings of the sinusoidal electro-magnetic doubly salient motor are connected in a Y-type manner and are respectively connected to bridge arm midpoints of three bridge arms of a three-phase full-bridge inverter, and the method for controlling the sinusoidal electro-magnetic doubly salient motor further comprises:
in the stationary process of the sinusoidal electro-magnetic doubly salient motor, the upper bridge arm switching tubes of the three bridge arms of the three-phase full-bridge inverter are controlled to be turned off, the lower bridge arm switching tubes of the three bridge arms are controlled to be turned on, so that three-phase armature windings of the sinusoidal electro-magnetic doubly salient motor are in a short-circuit state, d-axis voltage and q-axis voltage in a rotating coordinate system are constant equal to 0, and the exciting windings of the sinusoidal electro-magnetic doubly salient motor are electrified and a rotor initial position estimated value is obtainedIn the detection process of (2), the electromagnetic torque of the sinusoidal electro-magnetic doubly salient motor is 0, and the rotor does not rotate.
6. The method of claim 1, wherein energizing the field winding of the sinusoidal electrically-excited doubly-salient motor comprises:
collecting the actual value i of exciting current flowing through exciting winding f ；
Set the exciting current to a given valueAnd the actual value i of exciting current f The difference value of the first control signal is used as the input of a PI controller, and a first control signal is generated on the output of the PI controller through a PWM control algorithm;
controlling an asymmetric half bridge connected with an excitation winding of the sinusoidal electric excitation doubly-salient motor according to the first control signal, so that an excitation current actual value i of the excitation winding f Rise and follow the excitation current set point
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| US10284121B2 (en) * | 2016-09-29 | 2019-05-07 | Rockwell Automation Technologies, Inc. | Permanent magnet motor with absolute rotor position detection |
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