CN117439452B - Method for measuring initial angle of permanent magnet synchronous motor rotor - Google Patents
Method for measuring initial angle of permanent magnet synchronous motor rotor Download PDFInfo
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- CN117439452B CN117439452B CN202311393545.9A CN202311393545A CN117439452B CN 117439452 B CN117439452 B CN 117439452B CN 202311393545 A CN202311393545 A CN 202311393545A CN 117439452 B CN117439452 B CN 117439452B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 23
- 238000002347 injection Methods 0.000 claims abstract description 39
- 239000007924 injection Substances 0.000 claims abstract description 39
- 238000004364 calculation method Methods 0.000 claims abstract description 18
- 230000003068 static effect Effects 0.000 claims abstract description 5
- 230000006698 induction Effects 0.000 claims description 27
- 238000012937 correction Methods 0.000 claims description 13
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 13
- 238000012795 verification Methods 0.000 abstract description 3
- 238000013459 approach Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
-
- 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
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a method for measuring the initial angle of a rotor of a permanent magnet synchronous motor, which aims to solve the problems that in the estimation of the initial angle of the rotor without a position sensor, the calculated amount is large, the calculated accuracy is low, and the calculated initial angle of the rotor is not effective, so that the accuracy of the calculation is not verified by an effective verification method. The whole idea is as follows: injecting low-frequency rotation voltage in a static coordinate system, calculating a rotor deflection estimated angle according to a response current value of the low-frequency rotation voltage, injecting secondary injection voltage according to the rotor deflection estimated angle, enabling the secondary injection voltage and the rotor deflection angle to gradually become parallel, and finally calculating the rotor angle according to the secondary injection voltage when the response current value approaches 0. The method reduces the workload of calculating the initial deflection angle, directly verifies the accuracy of rotor deflection angle estimation through actual induced current change, and improves the accuracy of rotor deflection angle estimation.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a method for measuring an initial angle of a rotor of a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor (PERMANENT MAGNET Synchronous Motor, PMSM) is a motor using permanent magnets as a rotor magnetic field source, has the advantages of high efficiency, high power density, good dynamic response characteristics, wide working speed range and the like, and is widely applied to the industrial field and the electric driving field.
The permanent magnet synchronous motor needs to measure the initial position of the rotor to control the starting of the motor. In controlling the starting process of a permanent magnet synchronous motor, it is very important to determine the exact position of the rotor, so that the controller can provide correct current and voltage to the motor according to the actual position of the rotor of the motor and the preset starting process.
In practice, a common method is to use a rotor position sensor (such as an encoder or hall sensor) to measure the position of the rotor. These sensors can provide accurate rotor position information and feed back the measurement to the controller. Based on the position information, the controller can control a current vector or a voltage vector of the motor, so that the motor can normally run in the starting process, and quick and stable starting is realized.
Without position sensor or position sensor control, estimation and control of rotor position can be performed by other methods such as observation and estimation of parameters of current, voltage, rotational speed, etc., in combination with mathematical models and algorithms.
For example, the chinese patent with the publication number CN113315441B discloses a method for detecting the magnetic pole of the motor rotor based on high-frequency injection optimization, and the method obtains the angle information of the negative sequence component by a fourier series method, so that the calculation amount is large, the calculation complexity is also large, and the method is not suitable for the working environment of the permanent magnet synchronous motor.
In summary, the following problems exist in the measurement of the initial angle of the rotor of the permanent magnet synchronous motor:
1. in the estimation of the initial angle of the rotor without the position sensor, the calculated amount is large and the calculated accuracy is not high;
2. For the calculated initial angle of the rotor, there is no effective verification method for verifying the accuracy of calculation.
Based on this, we propose a method for measuring the initial angle of the rotor of the permanent magnet synchronous motor to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a method for measuring the initial angle of a rotor of a permanent magnet synchronous motor, which aims to solve the problems that in the estimation of the initial angle of the rotor without a position sensor, the calculated amount is large, the calculated accuracy is low, and the calculated initial angle of the rotor is not verified by an effective verification method.
In order to achieve the above purpose, the invention provides a method for measuring an initial angle of a rotor of a permanent magnet synchronous motor, which has the following overall thought: measuring the initial angle of the rotor of the permanent magnet synchronous motor: injecting low-frequency rotation voltage in a static coordinate system, calculating a rotor deflection estimated angle according to a response current value of the low-frequency rotation voltage, injecting secondary injection voltage according to the rotor deflection estimated angle, enabling the secondary injection voltage and the rotor deflection angle to gradually become parallel, and finally calculating the rotor angle according to the secondary injection voltage when the response current value approaches 0. According to the method, the accuracy of rotor deflection angle estimation is directly verified through actual induced current change, and the accuracy of rotor deflection angle estimation is improved.
The invention further improves in that, a method for measuring the initial angle of the rotor of the permanent magnet synchronous motor is provided, which comprises the following steps:
s1: injecting a low-frequency rotation voltage, U α、Uβ, on the two-phase stationary coordinate system alpha-beta coordinate system,
Uα＝Uxzcos(ωt)；
Uβ＝Uxzsin(ωt)；
Wherein, U α is the voltage value injected on the alpha axis, U β is the voltage value injected on the beta axis, U xz is the amplitude of the injected rotation voltage, ω is the fixed value, ω is the angular velocity of the injected rotation voltage, and t represents the current time interval t;
S2: measuring the induction current value i α、iβ on an alpha-beta coordinate system of the two static coordinate systems; wherein i α is the induced current value measured on the α -axis of the stationary coordinate system, and i β is the induced current value measured on the β -axis of the stationary coordinate system;
s3: the rotor deflection angle is calculated as follows:
Wherein θ is a rotor deflection angle, i α (t) is a sensed current value of a t-th time interval measured on an α -axis of a stationary coordinate system, and i β (t) is a sensed current value of a t-th time interval measured on a β -axis of the stationary coordinate system; omega is the angular speed of the injection voltage, T is the time interval number of one period, is an integer, is a preset fixed value for a worker, and T is any integer between 1 and T;
S4: injecting a secondary injection voltage at the stator side according to the calculated rotor deflection angle, wherein the secondary injection voltage is as follows:
Wherein, U a(t0) is the voltage value injected to line terminal a at time interval t 0, U b(t0) is the voltage value injected to line terminal b at time interval t 0, and U c(t0) is the voltage value injected to line terminal c at time interval t 0; θ is the deflection angle measured; t 0 represents an injection time of t 0 time intervals, and U 0 is the amplitude of the secondary injection voltage;
S5: measuring maximum induced current
S6: comparing the maximum induced currentAnd the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S6, explaining that the calculated rotor deflection angle has errors, and executing the operation; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s7: the incremental correction is carried out on the deflection angle of the rotor, and the specific correction method comprises the following steps: adding an angle delta theta on the basis of the original rotor deflection angle, wherein delta theta is a fixed value, is an angle value set in advance by a manager and is used for correcting the rotor deflection angle;
s8: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S3, and measuring the maximum induction current If maximum induced current/>If the current is larger than the maximum induction current measured last time, the corrected direction is indicated to be problematic, and S9 is executed; otherwise compare maximum induced current/>And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S7 is performed; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s9: the rotor deflection angle is subjected to decreasing correction, and the specific correction method comprises the following steps: the angle delta theta is reduced on the basis of the original rotor deflection angle;
S10: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S3, and measuring the maximum induction current Comparing maximum induced current/>And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S9 is performed; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
S11: and (5) ending.
The invention further improves that the specific steps of measuring the maximum induction current in the S5 are as follows:
S501: measuring the end-of-line induced current of a motor Wherein/>For the value of the induced current measured from line terminal a,/>For the value of the induced current measured from line terminal b,/>A value of the induced current measured from the line terminal c;
S502: calculating the value of the induced current in the alpha-beta coordinate system of the stationary coordinate system The calculation formula is as follows:
wherein, An induction current value in the alpha-axis direction at time interval t gy,/>Induction current value in beta-axis direction at time interval t gy,/>For the induction current value measured from line end a at time interval t gy,/>For the induction current value measured from line end b at time interval t gy,/>For the induced current value measured from line terminal c at time interval t gy, t gy represents the time interval t gy during which the induced current is measured;
S503: calculating the resultant induced current The calculation formula is as follows:
wherein, A value representing the resultant induced current at time interval t gy;
s504: calculating the maximum induced current The calculation formula is as follows:
wherein, Represents the maximum induced current, max { } represents the maximum value calculation formula,/>Representing the value of the resulting induced current at time interval T gy, T gy represents the set of time intervals in which the induced current is measured.
The invention is further improved in that the induced current threshold valueAnd the fixed value is a fixed value set by the staff according to the actual working environment.
Compared with the prior art, the invention has the following beneficial effects:
1. the accumulated form is adopted to replace integral operation, so that the step of estimating the deflection angle is simplified, and the operation speed is improved;
2. after the deflection angle is subjected to primary operation, the voltage similar to the deflection angle of the rotor is injected in a mode of injecting secondary voltage, the accuracy of operation is further verified through a method of measuring induced current, and a calculation result is corrected in a correction mode, so that the estimation accuracy of the initial angle of the rotor is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
FIG. 1 is a main flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Referring to fig. 1, in an embodiment of the present invention, a method for measuring an initial angle of a rotor of a permanent magnet synchronous motor includes the following specific steps:
s1: injecting a low-frequency rotation voltage, U α、Uβ, on the two-phase stationary coordinate system alpha-beta coordinate system,
Uα＝Uxzcos(ωt)；
Uβ＝Uxzsin(ωt)；
Wherein, U α is the voltage value injected on the alpha axis, U β is the voltage value injected on the beta axis, U xz is the amplitude of the injected rotation voltage, ω is the fixed value, ω is the angular velocity of the injected rotation voltage, and t represents the current time interval t;
The expression of the injected low-frequency rotation voltage on the synchronous rotation coordinate system d-q coordinate system is as follows:
wherein u dp is a low-frequency rotation voltage on a synchronous rotation coordinate system d-q coordinate system, j is an imaginary symbol, and θ pz represents an actual deflection angle of the motor rotor;
the voltage equation can be written approximately:
The expression of the induced current in response is: (2.22)
Where i d denotes a current response value corresponding to the d-axis, i q denotes a current response value corresponding to the q-axis,Representing the corresponding d-axis current response amplitude,/>Representing the corresponding q-axis current response amplitude, ω being the angular velocity of the injected rotational voltage, t representing at time interval t, θ pz representing the actual yaw angle of the motor rotor;
The conversion into complex form is as follows:
wherein i dq is a current response value on a d-q coordinate system after being converted into a complex form, and j represents an imaginary number;
The current response expression on the two-phase stationary coordinate system α - β is:
wherein i αβ is the current response value on the alpha-beta coordinate system after being converted into complex form;
And multiplying e j·ω·t by the left and right sides to obtain:
The two sides perform the integration operation, and since the first half is a periodic component and the value after the integration operation is 0, the value after the integration operation is:
in an actual scenario, i αβ·ej·ω·t can be expressed as:
iαβ·ej·ω·t＝[iα·cos(ω·t)-iβ·sin(ω·t)]+j·[iα·sin(ω·t)+iβ·cos(ω·t)]
The following can be obtained:
since the integral transformation is too complex, the deflection angle is approximated by a form of summation:
Wherein θ is a rotor deflection angle, i α (t) is a sensed current value of a t-th time interval measured on an α -axis of a stationary coordinate system, and i β (t) is a sensed current value of a t-th time interval measured on a β -axis of the stationary coordinate system; omega is the angular speed of the injection voltage, T is the time interval number of one period, is an integer, is a preset fixed value for a worker, and T is any integer between 1 and T;
S4: injecting a secondary injection voltage at the stator side according to the calculated rotor deflection angle, wherein the secondary injection voltage is as follows:
Wherein, U a(t0) is the voltage value injected to line terminal a at time interval t 0, U b(t0) is the voltage value injected to line terminal b at time interval t 0, and U c(t0) is the voltage value injected to line terminal c at time interval t 0; θ is the deflection angle measured; t 0 represents an injection time of t 0 time intervals, and U 0 is the amplitude of the secondary injection voltage;
S5: measuring maximum induced current The method comprises the following specific steps:
S501: measuring the end-of-line induced current of a motor Wherein/>For the value of the induced current measured from line terminal a,/>For the value of the induced current measured from line terminal b,/>A value of the induced current measured from the line terminal c;
S502: calculating the value of the induced current in the alpha-beta coordinate system of the stationary coordinate system The calculation formula is as follows:
wherein, An induction current value in the alpha-axis direction at time interval t gy,/>Induction current value in beta-axis direction at time interval t gy,/>For the induction current value measured from line end a at time interval t gy,/>For the induction current value measured from line end b at time interval t gy,/>For the induced current value measured from line terminal c at time interval t gy, t gy represents the time interval t gy during which the induced current is measured;
S503: calculating the resultant induced current The calculation formula is as follows:
wherein, A value representing the resultant induced current at time interval t gy;
s504: calculating the maximum induced current The calculation formula is as follows:
wherein, Represents the maximum induced current, max { } represents the maximum value calculation formula,/>A value representing the resultant induced current at time interval T gy, T gy representing a set of time intervals in which the induced current is measured;
S6: comparing the maximum induced current And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S6, explaining that the calculated rotor deflection angle has errors, and executing the operation; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s7: the incremental correction is carried out on the deflection angle of the rotor, and the specific correction method comprises the following steps: adding an angle delta theta on the basis of the original rotor deflection angle, wherein delta theta is a fixed value, is an angle value set in advance by a manager and is used for correcting the rotor deflection angle;
s8: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S3, and measuring the maximum induction current If maximum induced current/>If the current is larger than the maximum induction current measured last time, the corrected direction is indicated to be problematic, and S9 is executed; otherwise compare maximum induced current/>And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S7 is performed; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s9: the rotor deflection angle is subjected to decreasing correction, and the specific correction method comprises the following steps: the angle delta theta is reduced on the basis of the original rotor deflection angle;
S10: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S3, and measuring the maximum induction current Comparing maximum induced current/>And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S9 is performed; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
S11: and (5) ending.
Claims (4)
1. The method for measuring the initial angle of the rotor of the permanent magnet synchronous motor is characterized by comprising the following steps of: the method specifically comprises the following steps:
S1: injecting low-frequency rotation voltage on an alpha-beta coordinate system of a two-phase static coordinate system;
s2: measuring the induction current value on an alpha-beta coordinate system of a two-phase static coordinate system;
S3: calculating a rotor deflection angle;
s4: injecting a secondary injection voltage at the stator side according to the calculated rotor deflection angle;
the calculation formula for calculating the rotor deflection angle is as follows:
Wherein θ is a rotor deflection angle, i α (t) is a sensed current value of a t-th time interval measured on an α -axis of a stationary coordinate system, and i β (t) is a sensed current value of a t-th time interval measured on a β -axis of the stationary coordinate system; omega is the angular speed of the injection voltage, T is the time interval number of one period, is an integer, is a preset fixed value for a worker, and T is any integer between 1 and T;
the secondary voltage is as follows:
Wherein, U a(t0) is the voltage value injected to line terminal a at time interval t 0, U b(t0) is the voltage value injected to line terminal b at time interval t 0, and U c(t0) is the voltage value injected to line terminal c at time interval t 0; θ is the deflection angle measured; t 0 represents an injection time of t 0 time intervals, and U 0 is the amplitude of the secondary injection voltage;
S5: measuring maximum induced current
The method comprises the following specific steps:
S501: measuring the end-of-line induced current of a motor Wherein/>For the value of the induced current measured from line terminal a,For the value of the induced current measured from line terminal b,/>A value of the induced current measured from the line terminal c;
S502: calculating the value of the induced current in the alpha-beta coordinate system of the stationary coordinate system The calculation formula is as follows:
wherein, An induction current value in the alpha-axis direction at time interval t gy,/>Induction current value in beta-axis direction at time interval t gy,/>For the induction current value measured from line end a at time interval t gy,/>For the induction current value measured from line end b at time interval t gy,/>For the induced current value measured from line terminal c at time interval t gy, t gy represents the time interval t gy during which the induced current is measured;
S503: calculating the resultant induced current The calculation formula is as follows:
wherein, A value representing the resultant induced current at time interval t gy;
s504: calculating the maximum induced current The calculation formula is as follows:
wherein, Represents the maximum induced current, max { } represents the maximum value calculation formula,/>A value representing the resultant induced current at time interval T gy, T gy representing a set of time intervals in which the induced current is measured;
S6: comparing the maximum induced current And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S7, explaining that the calculated rotor deflection angle has errors, and executing the step S; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s7: the incremental correction is carried out on the deflection angle of the rotor, and the specific correction method comprises the following steps: adding an angle delta theta on the basis of the original rotor deflection angle, wherein delta theta is a fixed value, is an angle value set in advance by a manager and is used for correcting the rotor deflection angle;
S8: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S4, and measuring the maximum induction current If maximum induced current/>If the current is larger than the maximum induction current measured last time, the corrected direction is indicated to be problematic, and S9 is executed; otherwise compare maximum induced current/>And the induced current threshold/>If the maximum induced current/>Greater than the induced current threshold/>S7 is performed; if the maximum induced current/>No greater than the induced current thresholdThen the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
s9: the rotor deflection angle is subjected to decreasing correction, and the specific correction method comprises the following steps: the angle delta theta is reduced on the basis of the original rotor deflection angle;
s10: injecting a secondary injection voltage according to the newly obtained rotor deflection angle, wherein the injection mode is the same as the injection mode of S4, and measuring the maximum induction current Comparing maximum induced current/>And the induced current threshold/>If the maximum induced current is the same as the magnitude of (a)Greater than the induced current threshold/>S9 is performed; if the maximum induced current/>Not greater than the induced current threshold/>Then the calculated rotor deflection angle θ is taken as the final rotor deflection angle, S11 is executed;
S11: and (5) ending.
2. The method for measuring an initial angle of a rotor of a permanent magnet synchronous motor according to claim 1, wherein: the magnitude of the injected low-frequency rotation voltage value in the S1 is as follows:
Uα＝Uxzcos(ωt)；
Uβ＝Uxzsin(ωt)；
Wherein, U α is a voltage value injected on the α -axis, U β is a voltage value injected on the β -axis, U xz is a magnitude of an injected rotation voltage, ω is a constant value, ω is an angular velocity of the injected rotation voltage, and t represents a current time interval at t.
3. The method for measuring an initial angle of a rotor of a permanent magnet synchronous motor according to claim 1, wherein: the induction values measured in the S2 on the two-phase stationary coordinate system alpha-beta coordinate system are i α and i β, wherein i α is the induction value measured on the stationary coordinate system alpha axis, and i β is the induction value measured on the stationary coordinate system beta axis.
4. The method for measuring an initial angle of a rotor of a permanent magnet synchronous motor according to claim 1, wherein: the induced current threshold valueAnd the fixed value is a fixed value set by the staff according to the actual working environment.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108847802A (en) * | 2018-07-20 | 2018-11-20 | 上海肖可雷电子科技有限公司 | A kind of rotor position estimation method of the noninductive starting of orientation |
| CN111585494A (en) * | 2019-02-18 | 2020-08-25 | 柯尼卡美能达株式会社 | Motor control device, initial position estimation method, and image forming apparatus |
| CN114785228A (en) * | 2022-05-18 | 2022-07-22 | 哈尔滨工业大学 | Permanent magnet synchronous motor inductance parameter online identification method based on virtual shafting injection |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108847802A (en) * | 2018-07-20 | 2018-11-20 | 上海肖可雷电子科技有限公司 | A kind of rotor position estimation method of the noninductive starting of orientation |
| CN111585494A (en) * | 2019-02-18 | 2020-08-25 | 柯尼卡美能达株式会社 | Motor control device, initial position estimation method, and image forming apparatus |
| CN114785228A (en) * | 2022-05-18 | 2022-07-22 | 哈尔滨工业大学 | Permanent magnet synchronous motor inductance parameter online identification method based on virtual shafting injection |
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