CN117767835A - Non-inductive motor starting control method, device, system and storage medium - Google Patents
Non-inductive motor starting control method, device, system and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of non-inductive motor control, and discloses a non-inductive motor start control method, a device, a system and a storage medium, wherein the method comprises the following steps: based on the collected three-phase current of the non-inductive motor, controlling the non-inductive motor to perform speed loop open-loop operation; acquiring a rotor position of the sensorless motor, and performing coordinate transformation on the three-phase current based on the rotor position to obtain an observed moment current and an observed exciting current; when the speed loop is opened, the observed moment current is used as an integral initial value of an integral link of the speed loop, so that when the motor speed of the non-inductive motor is positioned in a target switching speed interval, the non-inductive motor is controlled to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value. Therefore, when the sensorless motor is switched from the open loop to the closed loop control of the speed ring, the electromagnetic torque output by the speed ring can be close to the current load, so that the abnormal speed of the motor at the moment of switching is avoided, and the reliable starting of the sensorless motor is ensured.
Description
Technical Field
The invention relates to the technical field of non-inductive motor control, in particular to a non-inductive motor starting control method, a non-inductive motor starting control device, a non-inductive motor starting control system and a computer readable storage medium.
Background
In the related art, the starting modes of the sensorless motor mainly include the following two modes: the first method is that based on artificial given starting current, the non-inductive motor is rotated in a mode of opening a speed loop, when the non-inductive motor is rotated to a reliable observation speed interval of a conventional rotor position observer by opening the loop, the starting value of a speed PI controller is given by an artificial given current command, the speed loop is closed-loop controlled by cutting in, and the starting of the non-inductive motor is completed; the second is to rotate the sensorless motor in a way of opening a speed loop based on the artificial given starting current, a moment current command is output by a bypass opening speed PI controller in the process of opening the loop to rotate the sensorless motor, and the moment current command output by the bypass speed PI controller is cut into the speed loop for closed loop control when the loop is opened to rotate the motor to a reliable observation speed interval of a conventional rotor position observer, so that the starting of the sensorless motor is completed.
However, because the load of the non-inductive motor is different, the artificial given current command or the bypass virtual speed PI controller output may be too much different from the actual load, so that when the non-inductive motor is switched from the open loop to the closed loop control of the speed loop, the phenomenon of overshoot or serious drop of the motor speed occurs, and the motor is unreliable to start.
Disclosure of Invention
In view of the above, the present invention provides a method, apparatus, system and storage medium for controlling startup of a non-inductive motor, so as to solve the problem of abnormal motor speed when the non-inductive motor is switched from open loop to closed loop control of the speed loop.
in order to achieve the above object, an embodiment of the present invention provides a method for controlling startup of a sensorless motor, the method including:
Collecting three-phase current of a non-inductive motor;
controlling the sensorless motor to perform speed loop open-loop operation based on the three-phase current;
Acquiring the rotor position of the sensorless motor;
coordinate transformation is carried out on the three-phase current based on the rotor position, so that an observed moment current and an observed exciting current are obtained;
when the speed loop is opened, taking the observed moment current as an integral initial value of an integral link of the speed loop;
And when the motor speed of the non-inductive motor is detected to be in a target switching speed interval, controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value.
As an improvement of the above solution, the controlling the sensorless motor to perform the speed loop open-loop operation based on the three-phase current includes:
performing coordinate transformation on the three-phase current based on a given open-loop angle to obtain an open-loop torque current and an open-loop exciting current;
Adjusting a first torque current deviation of a given torque current command and the open-loop torque current and a first excitation current deviation of a given excitation current command and the open-loop excitation current through a current PI controller to generate an open-loop voltage command;
And controlling the sensorless motor based on the open-loop voltage command to realize the open-loop operation of the speed loop.
As a modification of the above, the open loop angle is calculated by the following formula:
；
Wherein θopen loopfor the open loop angle omegamFor the mechanical angular frequency, p, of the sensorless motornIs the motor pole pair number of the sensorless motor.
as an improvement of the above, the speed loop includes a speed PI controller; the speed loop includes a speed PI controller; the controlling the sensorless motor to perform a speed loop closed-loop operation based on the observed torque current, the observed exciting current and the integrated initial value includes:
acquiring the rotor speed of the sensorless motor;
The proportional link of the speed PI controller is used for carrying out proportional adjustment on the given speed instruction and the speed deviation of the rotor speed to obtain a proportional adjustment result;
The speed deviation is subjected to integral adjustment through an integral link of the speed PI controller and the integral initial value, so that an integral adjustment result is obtained;
generating a closed loop current command based on a sum of the proportional adjustment result and the integral adjustment result;
Adjusting a second torque current deviation of the closed-loop current instruction and the observed torque current and a second excitation current deviation of the excitation current instruction and the observed excitation current through the current PI controller to generate a closed-loop voltage instruction;
And controlling the non-inductive motor based on the closed-loop voltage command so as to realize the closed-loop operation of the speed loop.
as an improvement of the above solution, the integrating adjustment of the speed deviation by the integrating link of the speed PI controller and the integration initial value to obtain an integration adjustment result includes:
calculating the product of the speed deviation and a preset integral gain through an integral link of the speed PI controller, and calculating the sum of the product and the integral initial value to obtain an integral regulating result; and the current integral adjustment result is used as an integral initial value of the next round of integral adjustment.
As an improvement of the above solution, the controlling the sensorless motor based on the closed-loop voltage command to implement the speed loop closed-loop operation includes:
Performing coordinate transformation on the closed-loop voltage command to obtain a closed-loop voltage signal under a static coordinate system;
Performing space vector pulse width modulation on the closed-loop voltage signal to obtain a closed-loop modulation wave;
and controlling the non-inductive motor based on the closed-loop modulation wave so as to realize the closed-loop operation of the speed loop.
as an improvement of the scheme, the target switching speed interval is 5% -10% of the rated rotation speed of the sensorless motor.
in order to achieve the above object, an embodiment of the present invention further provides a device for controlling startup of a sensorless motor, the device including:
The three-phase current acquisition module is used for acquiring three-phase current of the sensorless motor;
The speed open-loop control module is used for controlling the non-inductive motor to perform speed loop open-loop operation based on the three-phase current;
the rotor position acquisition module is used for acquiring the rotor position of the sensorless motor;
the observation current calculation module is used for carrying out coordinate transformation on the three-phase current based on the rotor position to obtain an observation moment current and an observation exciting current;
the torque current assignment module is used for taking the observed torque current as an integration initial value of an integration link of the speed loop when the speed loop is opened;
And the speed closed-loop control module is used for controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value when the motor speed of the non-inductive motor is detected to be in a target switching speed interval.
In order to achieve the above object, an embodiment of the present invention further provides a sensorless motor start control system, including:
the non-inductive motor starting control method comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the non-inductive motor starting control method of any embodiment is executed.
To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the sensorless motor start control method of any one of the above embodiments.
Compared with the prior art, the method, the device, the system and the storage medium for controlling the starting of the non-inductive motor provided by the embodiment of the invention have the advantages that firstly, three-phase current of the non-inductive motor is collected to control the non-inductive motor to perform speed loop open-loop operation; secondly, acquiring a rotor position of the non-inductive motor in the process of open-loop operation of the speed loop, and carrying out coordinate transformation on three-phase current based on the rotor position to obtain an observed moment current and an observed exciting current; then, when the speed ring is opened, taking the observed moment current as an integral initial value of an integral link of the speed ring so as to backup the real moment current of the sensorless motor observed in advance to the speed ring in advance; and when the motor speed of the non-inductive motor is detected to be in the target switching speed interval, controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value. Therefore, the output of the speed loop is ensured to be close to the real moment current at the moment that the sensorless motor is switched into the speed loop closed-loop control by the speed loop open loop through the observation moment current backed up in advance, so that the electromagnetic moment at the switching moment is close to the current load size, and the abnormal phenomenon that the motor speed is overshot or falls seriously at the switching moment is avoided, so that the reliable starting of the motor is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for sensorless motor start control according to an embodiment of the invention;
FIG. 2 is a logic control block diagram of a sensorless motor start control according to an embodiment of the invention;
FIG. 3 is a schematic diagram of an actual observed rotor position parameter according to an embodiment of the present invention;
fig. 4 is a block diagram showing a structure of a sensorless motor start control apparatus according to an embodiment of the present invention;
Fig. 5 is a block diagram of a sensorless motor start control system according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, equipment such as a traditional industrial water pump, an industrial fan, an air conditioner compressor and the like is gradually switched from the traditional power grid power supply to the solar non-inductive motor power supply. Because of constraints of working environment, manufacturing process, cost control and the like, the induction type rotor position sensor cannot be installed in the equipment, so that the starting difficulty of the sensorless motor of the equipment is increased. Therefore, methods such as high-frequency injection are also proposed in the industry to reliably start the sensorless motor in the full speed range. However, the conventional starting method of closed-loop control of dragging the motor rotation by the open-loop speed loop and then cutting the motor into the speed loop is still largely applied to the starting of the sensorless motor due to the limitation of the disappearance of the saturated salient pole effect of the motor.
In the related starting method of the sensorless motor switched from the open-loop control of the speed loop to the closed-loop control, because the load of the sensorless motor is different, the artificial given current command or the bypass virtual speed PI (proportional integral ) controller output may be too different from the actual load, thereby causing abnormal phenomena of overshoot or serious drop of the motor speed when the open-loop control of the speed loop is switched to the closed-loop control, and causing unreliable starting of the sensorless motor.
In view of the foregoing, embodiments of the present invention provide a method for controlling starting of a sensorless motor, which can be used for the sensorless motor described above, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and although a logic sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a different order than that illustrated herein.
fig. 1 is a schematic flow chart of a method for controlling starting of a sensorless motor according to an embodiment of the invention, as shown in fig. 1, the flow chart includes the following steps:
Step S101, collecting three-phase current of the sensorless motor.
Specifically, the three-phase current of the sensorless motor can be collected through a hall effect sensor, a current transformer or a current detection module built in the sensorless motor, and the collection mode of the three-phase current is not limited.
and step S102, controlling the sensorless motor to perform speed loop open-loop operation based on the three-phase current.
specifically, in a mode of opening a speed loop, three-phase current is converted into a synchronous rotation coordinate system to obtain open-loop torque current and open-loop exciting current, a torque current instruction and an exciting current instruction of a current PI controller of a given current loop are input into the current PI controller in a feedback manner to carry out tracking control, an open-loop voltage instruction is generated and applied to a non-inductive motor, and the non-inductive motor rotates under the open-loop voltage instruction.
Step S103, acquiring a rotor position of the sensorless motor.
Specifically, during a sensorless motor rotation transition, a sensorless rotor position observer controlling the bypass starts to operate to monitor the actual rotor position. For example, sensorless rotor position observers such as sliding mode rotor position observers, long Beige rotor position observers, voltage model rotor position observers, current model rotor position observers, flux linkage rotor position observers, etc. may be employed to monitor actual rotor position.
and step S104, carrying out coordinate transformation on the three-phase current based on the rotor position to obtain an observed moment current and an observed exciting current.
Specifically, clark conversion is performed on three-phase current, the three-phase current is converted from a natural coordinate system to a static coordinate system, two-phase current of an alpha axis and a beta axis is obtained, park conversion is performed on the two-phase current of the alpha axis and the beta axis through a rotor position, and the two-phase current of the alpha axis and the beta axis is converted to a synchronous rotation coordinate system, so that observation torque current of a q axis and observation exciting current of a d axis are obtained.
step S105, when the speed loop is opened, the observed moment current is used as an integration initial value of an integration link of the speed loop.
Specifically, the speed loop includes a speed PI controller, the speed PI controller includes a proportional link and an integral link, and the integral link of the speed PI controller includes an integrator/unit delayer. In the step S105, the observed torque current may be given to the input end of the integrator/unit delay, and the observed torque current is used as an integration initial value of the integration link of the speed loop by using the function of temporarily storing the input data by the integrator/unit delay. It should be noted that, when the subsequent speed loop is closed, the speed PI controller will restore the original working state, and the observed torque current will not be applied to the input end of the integrator/unit delayer.
And step S106, when the motor speed of the sensorless motor is detected to be in the target switching speed interval, controlling the sensorless motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value.
optionally, the target switching speed interval is 5% -10% of the rated rotation speed of the sensorless motor, namely a reliable observation speed interval of the sensorless rotor position observer.
It should be noted that, since the sensorless rotor position observer is affected by the dead zone of pulse width modulation (Pulse Width Modulation, PWM), the current sampling precision, the motor parameter precision, etc., at low speed, the signal-to-noise ratio caused by these affecting factors is very low, but as the rotation speed of the sensorless motor increases, the voltage controlling the sensorless motor increases, the counter electromotive force of the sensorless motor also increases, the observed signal-to-noise ratio of the sensorless rotor position observer increases, and the angle of the observed rotor position becomes more accurate, and at the same time, the torque current magnitude also needs to be obtained by the angular rotation conversion of the accurate rotor position. Therefore, when the motor speed of the sensorless motor approaches a reliable observation speed section (i.e., a target switching speed section) of the sensorless rotor position observer, the magnitude of the observation torque current obtained through the coordinate transformation is more accurate than that of the extremely low speed section. Based on the method, when the motor speed of the non-inductive motor is detected to be in the target switching speed interval, the non-inductive motor is controlled to perform speed loop closed-loop operation, so that the observed moment current of an integration link backed up to the speed loop in advance is ensured to be closer to the actual moment current, the initial moment current of the speed loop is caused to be close to the equivalent moment current in the process of switching the speed loop from open loop to closed loop operation, and the abnormal phenomenon of shaking overshoot or dropping of the motor speed at the switching moment is avoided.
The method for controlling the starting of the non-inductive motor provided by the embodiment comprises the steps of firstly, collecting three-phase current of the non-inductive motor to control the non-inductive motor to perform speed loop open-loop operation; secondly, acquiring a rotor position of the non-inductive motor in the process of open-loop operation of the speed loop, and carrying out coordinate transformation on three-phase current based on the rotor position to obtain an observed moment current and an observed exciting current; then, when the speed ring is opened, taking the observed moment current as an integral initial value of an integral link of the speed ring so as to backup the real moment current of the sensorless motor observed in advance to the speed ring in advance; and when the motor speed of the non-inductive motor is detected to be in the target switching speed interval, controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value. Therefore, the output of the speed loop is ensured to be close to the real moment current at the moment that the sensorless motor is switched into the speed loop closed-loop control by the speed loop open loop through the observation moment current backed up in advance, so that the electromagnetic moment at the switching moment is close to the current load size, and the abnormal phenomenon that the motor speed is overshot or falls seriously at the switching moment is avoided, so that the reliable starting of the motor is ensured.
As an alternative embodiment, the step S101 includes the following steps a1 to a3.
and a1, carrying out coordinate transformation on the three-phase current based on a given open-loop angle to obtain an open-loop torque current and an open-loop exciting current.
Specifically, clark transformation is carried out on three-phase current, the three-phase current is transformed from a natural coordinate system to a static coordinate system, two-phase current of an alpha axis and a beta axis is obtained, park transformation is carried out on the two-phase current of the alpha axis and the beta axis through a given open-loop angle, and the two-phase current of the alpha axis and the beta axis is transformed to a synchronous rotation coordinate system, so that open-loop torque current of a q axis and open-loop exciting current of a d axis are obtained.
Further, the open loop angle is calculated by the following formula:The method comprises the steps of carrying out a first treatment on the surface of the Wherein/>For open loop angle omegamMechanical angular frequency, p, of a non-inductive motornis the motor pole pair number of the sensorless motor.
The open-loop angle is an open-loop electrical angle. The open loop electrical angle is defined by the electrical angular frequency omegaeIs obtained by integration of (a) and (b),. At the same time, electrical angular frequency omegaeAngular frequency ω of machinerymAnd motor pole pair number pnThere is a relationship between: /(I). The load of the non-inductive motor such as a fan, a water pump, a compressor and the like is lighter in a low-speed interval, and the load is heavier along with the speed increase, so that if the mechanical angular frequency omega is equal tomtoo fast can lead to the step-out of the sensorless motor during open loop dragging, so the mechanical angular frequency ω is typicallymthe value range of (2) is/>the method comprises the steps of carrying out a first treatment on the surface of the In the open loop control process, the mechanical angular frequency is gradually increased from zero to the value range, so that the open loop angle is gradually increased from zero. To sum up, open loop angle。
And a step a2, adjusting the first torque current deviation of the given torque current command and the open-loop torque current and the first excitation current deviation of the given excitation current command and the open-loop excitation current through a current PI controller to generate an open-loop voltage command.
Specifically, the current PI controller includes a torque current PI controller and an excitation current PI controller, and the open-loop voltage command includes an open-loop voltage command of the q-axis and an open-loop voltage command of the d-axis. Then, the step a2 includes: the method comprises the steps of adjusting a first torque current deviation of a given torque current command and an open-loop torque current through a torque current PI controller to generate an open-loop voltage command of a q-axis; and adjusting the first exciting current deviation of the given exciting current command and the open-loop exciting current through an exciting current PI controller to generate an open-loop voltage command of the d axis. Alternatively, the given excitation current command is 0.
And a3, controlling the sensorless motor based on the open-loop voltage command to realize open-loop operation of the speed loop.
specifically, performing coordinate transformation on the open-loop voltage command to obtain an open-loop voltage signal under a static coordinate system; performing space vector pulse width modulation on the open-loop voltage signal to obtain an open-loop modulation wave; and controlling the sensorless motor based on the open-loop modulation wave to realize the open-loop operation of the speed loop.
specifically, the performing coordinate transformation on the open-loop voltage command to obtain an open-loop voltage signal under a static coordinate system includes: and performing Park inverse transformation on the open-loop voltage command to transform the open-loop voltage command from a synchronous rotation coordinate system to a static coordinate system, so as to obtain open-loop voltage signals of alpha and beta axes.
It should be noted that the physical principle of the above-mentioned speed ring open-loop operation is: 1. the stator winding coil of the non-inductive motor is supplied with current to generate a stator magnetic fieldsince the rotor of the sensorless motor is a permanent magnet, a rotor magnetic field/>, is also generated by itselfwhen stator currents (i.e., open-loop torque current and open-loop exciting current) are spatially rotated according to an open-loop angle, the magnetic field direction generated by the stator winding coils is also spatially rotated, and the stator attracts the rotor to move together. When there is a relative angle/>, between the stator winding coil and the rotorThen electromagnetic force/>, is generatedthe motor rotor is dragged to rotate along with the magnetic field of the motor stator. It should be noted that the relative angle of the magnetic field is not fixed during open loop control, but the relative angle is generally controlled to be 90 degrees and the electromagnetic force is maximum during closed loop control of the rotor angle.
As an alternative embodiment, the speed loop comprises a speed PI controller; the step S106 includes the following steps b1 to b6.
And b1, acquiring the rotor speed of the sensorless motor.
Specifically, the actual rotor speed is monitored by a bypass sensorless rotor position observer.
And b2, carrying out proportion adjustment on the speed deviation between a given speed command and the speed of the rotor through a proportion link of the speed PI controller to obtain a proportion adjustment result.
Specifically, the product of the speed deviation and the preset proportional gain is calculated through the proportional link of the speed PI controller, and a proportional adjustment result is obtained.
It should be noted that, the speed command is an angular frequency speed command of the sensorless motor, and the speed needs to be automatically changed under different working conditions, for example: the external temperature is high, the rotating speed of the fan/compressor is increased, the heat dissipation effect of the fan is improved, the refrigerating effect of the compressor is improved or the rotating speed of the non-inductive motor is reduced so as to save energy. The speed command is usually generated by controlling the physical quantity deviation fed back from the outside through other PI controllers.
And b3, carrying out integral adjustment on the speed deviation through an integral link and an integral initial value of the speed PI controller to obtain an integral adjustment result.
Specifically, the step b3 includes: calculating the product of the speed deviation and a preset integral gain through an integral link of the speed PI controller, and calculating the sum of the product and an integral initial value to obtain an integral regulating result; the current integral regulating result is used as an integral initial value of the integral regulating of the next round.
And b4, generating a closed-loop current instruction based on the sum of the proportional adjustment result and the integral adjustment result.
And b5, adjusting a second moment current deviation between the closed-loop current instruction and the observed moment current and a second excitation current deviation between the excitation current instruction and the observed excitation current through a current PI controller to generate a closed-loop voltage instruction.
Specifically, a closed-loop current command and a second torque current deviation of the observed torque current are regulated through a torque current PI controller, and a q-axis closed-loop voltage command is generated; and regulating the second exciting current deviation between the exciting current command and the observed exciting current through an exciting current PI controller to generate a q-axis closed-loop voltage command.
and b6, controlling the sensorless motor based on the closed-loop voltage command to realize the closed-loop operation of the speed loop.
Specifically, the step b6 includes: performing coordinate transformation on the closed-loop voltage command to obtain a closed-loop voltage signal under a static coordinate system; performing space vector pulse width modulation on the closed-loop voltage signal to obtain a closed-loop modulation wave; and controlling the sensorless motor based on the closed-loop modulation wave to realize the closed-loop operation of the speed loop.
Specifically, the coordinate transformation is performed on the closed-loop voltage command to obtain a closed-loop voltage signal under a static coordinate system, which includes: and performing Park inverse transformation on the closed-loop voltage command to transform the closed-loop voltage command from a synchronous rotating coordinate system to a static coordinate system, so as to obtain closed-loop voltage signals of alpha and beta axes.
Referring to fig. 2, fig. 2 is a logic control block diagram of a method for controlling startup of a sensorless motor according to an embodiment of the present invention, where the sensorless motor startup control system provided by the embodiment of the present invention includes: clark conversion device 1, open-loop Park conversion device 2, closed-loop Park conversion device 3, park inverse conversion device 4, sensorless rotor position observer 5, first subtractor 6, second subtractor 7, third subtractor 8, speed PI controller 9, torque current PI controller 10, excitation current PI controller 11, first switching device S1, second switching device S2, third switching device S3, space vector modulation device 12, and sensorless motor 13. The speed PI controller includes a first multiplier 91, a second multiplier 92, a first adder 93, a second adder 94, a unit delay 95, and a fourth switching device S4.
as shown in fig. 2, a specific control flow of the sensorless motor start control method provided by the embodiment of the invention is as follows.
1. Clark conversion is carried out on three-phase current of the sensorless motor based on a Clark conversion device so as to obtain two-phase current of alpha and beta axes under a static coordinate system.
2. Will give an open loop angle thetaopen loopInput to an open loop Park conversion device, and pass through the open loop Park conversion device and an open loop angle thetaopen looppark conversion is carried out on two-phase currents of the alpha axis and the beta axis to obtain open-loop moment current i of the q axisq open loopAnd open-loop excitation current i of d axisd open loop。
3. The open loop torque current i is applied via the first switching deviceq open loopthe given moment current command i is input to the negative feedback end of the first subtracter through the third switching deviceq open loop instructionIs input to the positive feedback end of the first subtracter to calculate the moment current command and the open loop moment current i through the first subtracterq open loopIs a first moment current bias of (a).
4. the first torque current deviation is regulated by a torque current PI controller to generate an open-loop voltage command of the q-axis.
5. The open-loop exciting current i is transmitted through the second switching deviced open loopa negative feedback end input to the second subtracter for giving a given exciting current instruction id instructionIs input to the positive feedback end of the second subtracter to calculate the exciting current command and the open loop exciting current i through the second subtracterq open loopIs set to a first excitation current deviation of (a).
6. And adjusting the first exciting current deviation through an exciting current PI controller to generate an open-loop voltage command of the d axis.
7. and performing Park inverse transformation on the open-loop voltage commands of the d and q axes by a Park inverse transformation device to obtain open-loop voltage signals of the alpha and beta axes under the static coordinates.
8. and performing space vector pulse width modulation on the open-loop voltage signals of the alpha and beta axes by a space vector modulation device to obtain open-loop modulation waves.
9. And controlling the sensorless motor based on the open-loop modulation wave to realize the open-loop operation of the speed loop.
10. during the open-loop operation of the speed loop of the sensorless motor, the rotor position theta observed by the sensorless rotor position observerObservationinput to a closed-loop Park conversion device, through which the rotor position theta is converted and the closed-loop Park conversion deviceObservationPark conversion is carried out on the two-phase current of the alpha axis and the beta axis to obtain the observed moment current i of the q axisq observationAnd observed excitation current i of d-axisd observation。
11. During the opening of the speed loop, the torque current i is observed through the fourth switching deviceq observationinput to the input end of the unit delayer to observe the moment current iq observationas an integration initial value of the integration link of the speed loop, at this time, the output end of the first adder is disconnected from the input end of the unit delayer.
12. When the motor speed of the sensorless motor is detected to be in a target switching speed interval, controlling a first switching device to switch a negative feedback end of a first subtracter to be connected with a closed-loop Park conversion device so as to input an observed moment current to the negative feedback end of the first subtracter; controlling the second switching device to switch the negative feedback end of the second subtracter to be connected with the closed-loop Park conversion device so as to input the observed exciting current to the negative feedback end of the second subtracter; controlling a third switching device to switch the positive feedback of the first subtracter to be connected with the output end of the speed PI controller; and controlling the fourth switching device to switch the input end of the unit delayer to be connected with the output end of the first adder so as to realize the speed loop closed loop.
13. During the closed loop operation of the speed loop, a given speed command is giventhe positive feedback end of the third subtracter is input to observe the rotor speed omega of the sensorless rotor position observerObservationinput to the negative feedback end of the third subtracter to calculate the speed command/>, based on the third subtracterAnd rotor speed omegaObservationIs a speed deviation of (2).
14. Calculating a preset proportional gain k by a first multiplierpAnd obtaining a proportional adjustment result by multiplying the speed deviation.
15. Calculating a preset integral gain k by a second multiplieriand calculating the sum of the output of the second multiplier and the output of the unit delayer based on the product of the second multiplier and the speed deviation to obtain an integral regulating result.
16. calculating the sum of the proportional adjustment result and the integral adjustment result by a second adder to generate a closed loop current command。
17. Calculating a closed loop current command i by a first subtractorq closed loop instructionand observing moment current iq observationIs provided.
18. and regulating the second moment current deviation through a moment current PI controller to generate a q-axis closed-loop voltage command.
19. Calculating the excitation current command i by a second subtracterd instructionAnd observing exciting current id observationIs set to a second excitation current deviation of (a).
20. and regulating the second exciting current deviation through an exciting current PI controller to generate a d-axis closed-loop voltage command.
21. And performing Park inverse transformation on the closed-loop voltage commands of the d and q axes by using a Park inverse transformation device to obtain closed-loop voltage signals of the alpha and beta axes.
22. And performing space vector pulse width modulation on the closed-loop voltage signals of the alpha and beta axes by a space vector modulation device to obtain closed-loop modulation waves.
23. And controlling the sensorless motor based on the closed-loop modulation wave to realize the closed-loop operation of the speed loop.
when the control of the non-inductive motor is switched from the speed loop open-loop operation to the speed loop closed-loop operation, the starting process of the non-inductive motor is completed.
it should be noted that, the overall control principle of the sensorless motor starting control method provided by the embodiment of the invention is as follows: different electromagnetic moments are generated based on the relative angle between the stator and rotor fields as set forth aboveAccording to the equation of motion/>it can be known that the rotor is dragged up only when the acceleration is applied; wherein/>Is the load moment, J is the rotational inertia of the system,/>The mechanical angular velocity of the rotor is given, and t is time. If the load is large, the current relative angle is insufficient to generate electromagnetic force for dragging the rotor load, so that the stator current continues to rotate forwards based on the open loop angle, so that the generated stator magnetic field generates a relative angle which leads the rotor magnetic field by a large degree, and electromagnetic torque which is larger than or equal to the load torque is generated. As shown in FIG. 3, in the reliable observation interval, the stator A axis is taken as the zero-degree reference position of the rotor, and the angle of the actual rotor position is thetaObservationthe N pole direction of the actual rotor is dObservationAxial direction leading dObservationthe 90-degree direction of the shaft is qObservationAxial direction, dopen loopAxis at a given open loop angle θopen loopoverlap, lead dopen loop90 degree direction qopen loopThe axial direction. When stator magnetic field and rotor magnetic field, i.e. dObservationWhen the included angle of axis observation is large, projection is carried out on qObservationthe active current (moment current) on the shaft is larger and projected to dObservationthe reactive current (i.e., exciting current) on the shaft is small. Therefore, in the process that the non-inductive motor rotates in an open loop with a speed ring, the motor rotor can automatically form a proper moment angle with the current rotating current to generate moment current matched with the current load, if the load is small, the equivalent moment current is small, and the equivalent reactive current is large; otherwise, if the load is large, the equivalent moment current is large, and the equivalent reactive current is small. Since the electromagnetic torque of the non-inductive motor is proportional to the torque current, the stator magnetic field and the rotor magnetic field form electromagnetic torque close to the load torque in the open-loop rotation process of the non-inductive motor, so that the non-inductive motor rotates at the open-loop speed.
according to the analysis, the motor speed of the sensorless motor is kept stable when the speed loop open-loop control is switched to the speed loop closed-loop control, and the premise is that a closed-loop current instruction output by the speed loop is matched with the current load, and if the closed-loop current instruction is too large, positive acceleration is generated, and the speed is overshot; if the closed loop current command is too small, reverse acceleration and speed drop can occur. Therefore, in the embodiment of the invention, the real observed torque current of the motor observed in advance is backed up to the input end of the integrator/unit delayer of the speed PI controller in advance to be used as the integral initial value of the speed loop, as shown in fig. 2, the closed loop current command output by the speed PI controller is composed of two parts, one part is a proportional termThe method comprises the steps of carrying out a first treatment on the surface of the Wherein k ispFor presetting proportional gain,/>For speed command, ωObservationis rotor speed. Another part is the cumulative integral term/>The method comprises the steps of carrying out a first treatment on the surface of the Wherein i isq observationTo observe the moment current, k, for backup in advanceiTo preset the integral gain, the accumulated integral term output is always i before the switch S4 is switchedq observationThe first output after switching is/>And is always after the second time. It will be appreciated that at the instant of switching from speed loop open loop to speed loop closed loop, the proportional term is close to zero as the given speed command and rotor speed are generally equal, while the integral term, due to the effect of the stored history, has a value approximately equal to the observed torque current, thus ensuring that the electromagnetic torque at the switching instant is close to the current load torque magnitude when the motor speed enters the target switching speed interval, and the speed transitions smoothly from speed loop open loop control to speed loop closed loop control. As shown in fig. 2, after the fourth switch module switches the input end of the unit delayer to be connected with the output end of the first adder, the integral term history value of the speed PI controller in the integral link is not affected by the subsequent observed torque current any more, and is completely from the speed deviation between the speed command and the rotor speed, so that the speed PI controller becomes a normal speed PI controller, while the fourth switch module switches, the first switch module, the second switch module and the third switch module also complete the switching, the current command input by the torque current PI controller is switched from the given torque current command to the closed loop current command output by the speed PI controller, the current feedback input by the torque current PI controller is switched from the open loop torque current to the observed torque current, and the current feedback input by the exciting current PI controller is switched from the open loop exciting current to the observed exciting current.
The embodiment also provides a device for controlling the starting of the sensorless motor, which is used for realizing the above embodiment and the preferred implementation manner, and the description is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The present embodiment provides a non-inductive motor start control device, as shown in fig. 4, including:
The three-phase current acquisition module 201 is used for acquiring three-phase current of the sensorless motor;
The speed open-loop control module 202 is used for controlling the sensorless motor to perform speed loop open-loop operation based on three-phase current;
a rotor position acquisition module 203 for acquiring a rotor position of the sensorless motor;
an observation current calculation module 204, configured to perform coordinate transformation on the three-phase current based on the rotor position, to obtain an observation torque current and an observation excitation current;
the torque current assignment module 205 is configured to take the observed torque current as an integration initial value of an integration link of the speed loop when the speed loop is opened;
the speed closed-loop control module 206 is configured to control the sensorless motor to perform a speed loop closed-loop operation based on the observed torque current, the observed exciting current, and the integrated initial value when the motor speed of the sensorless motor is detected to be within the target switching speed interval.
In some alternative embodiments, the speed open loop control module 202 includes:
the open-loop current calculation unit is used for carrying out coordinate transformation on the three-phase current based on a given open-loop angle to obtain an open-loop torque current and an open-loop exciting current;
The open-loop current adjusting unit is used for adjusting the first torque current deviation of a given torque current command and open-loop torque current and the first excitation current deviation of a given excitation current command and open-loop excitation current through the current PI controller to generate an open-loop voltage command;
And the open-loop motor control unit is used for controlling the non-inductive motor based on the open-loop voltage command so as to realize open-loop operation of the speed loop.
In some alternative embodiments, the open loop angle in the open loop current calculation unit is calculated by the following formula:
；
Wherein θopen loopFor open loop angle omegamMechanical angular frequency, p, of a non-inductive motornis the motor pole pair number of the sensorless motor.
In some alternative embodiments, the speed loop includes a speed PI controller; the speed closed loop control module 206 includes:
a rotor speed acquisition unit for acquiring a rotor speed of the sensorless motor;
the speed proportion adjusting unit is used for carrying out proportion adjustment on the speed deviation between a given speed instruction and the speed of the rotor through a proportion link of the speed PI controller to obtain a proportion adjusting result;
The speed integral adjusting unit is used for carrying out integral adjustment on the speed deviation through an integral link and an integral initial value of the speed PI controller to obtain an integral adjusting result;
the closed-loop speed adjusting unit is used for generating a closed-loop current instruction based on the sum of the proportional adjusting result and the integral adjusting result;
the closed-loop current adjusting unit is used for adjusting the second moment current deviation of the closed-loop current instruction and the observed moment current and the second excitation current deviation of the excitation current instruction and the observed excitation current through the current PI controller to generate a closed-loop voltage instruction;
and the closed-loop motor control unit is used for controlling the non-inductive motor based on the closed-loop voltage command so as to realize the closed-loop operation of the speed loop.
In some alternative embodiments, the speed integral adjustment unit includes:
The integral regulating subunit is used for calculating the product of the speed deviation and the preset integral gain through the integral link of the speed PI controller, and calculating the sum of the product and the integral initial value to obtain an integral regulating result; the current integral regulating result is used as an integral initial value of the integral regulating of the next round.
in some alternative embodiments, the closed loop motor control unit includes:
The voltage conversion subunit is used for carrying out coordinate transformation on the closed-loop voltage command to obtain a closed-loop voltage signal under a static coordinate system;
The signal modulation subunit is used for carrying out space vector pulse width modulation on the closed-loop voltage signal to obtain a closed-loop modulation wave;
And the motor control subunit is used for controlling the non-inductive motor based on the closed-loop modulation wave so as to realize the closed-loop operation of the speed loop.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
in some alternative embodiments, the target switching speed interval in the speed closed-loop control module 206 is 5% to 10% of the rated speed of the sensorless motor.
The sensorless motor start control means in this embodiment is presented in the form of functional units, here referred to as ASIC (Application Specific Integrated Circuit ) circuits, processors and memories executing one or more software or fixed programs, and/or other devices that can provide the above described functions.
Referring to fig. 5, a schematic structural diagram of a sensorless motor start control system according to an embodiment of the present invention is shown.
The embodiment of the invention provides a starting control system of a sensorless motor, which comprises the following components: a processor 301, a memory 302, and a computer program stored in the memory 302 and configured to be executed by the processor 301, the processor 301 implementing the sensorless motor start control method of any of the embodiments described above when executing the computer program.
The processor 301, when executing a computer program, implements the steps of the embodiments of the sensorless motor start control method described above, such as all the steps of the sensorless motor start control method shown in fig. 1. Alternatively, the processor 301, when executing a computer program, implements the functions of the modules/units in the above-described embodiments of the sensorless motor start control apparatus, for example, the functions of the modules of the sensorless motor start control apparatus shown in fig. 4.
By way of example, a computer program may be split into one or more modules, which are stored in memory 302 and executed by processor 301 to perform the present invention. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of a computer program in a sensorless motor start control system.
The sensorless motor starting control system can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The sensorless motor start control system may include, but is not limited to, a processor 301, a memory 302. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a sensorless motor start control system and is not limiting of a sensorless motor start control system, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., a sensorless motor start control system may also include input and output devices, network access devices, buses, etc.
The processor 301 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the processor 301 is a control center of the sensorless motor start control system, and connects various parts of the entire sensorless motor start control system using various interfaces and lines.
The memory 302 may be used to store computer programs and/or modules, and the processor 301 implements various functions of the sensorless motor start control system by running or executing the computer programs and/or modules stored in the memory 302 and invoking data stored in the memory 302. The memory 302 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like; the storage data area may store data created according to the use of the sensorless motor start control system, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Wherein the modules/units integrated in the sensorless motor start control system may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A method for sensorless motor start control, the method comprising:
Collecting three-phase current of a non-inductive motor;
controlling the sensorless motor to perform speed loop open-loop operation based on the three-phase current;
Acquiring the rotor position of the sensorless motor;
coordinate transformation is carried out on the three-phase current based on the rotor position, so that an observed moment current and an observed exciting current are obtained;
when the speed loop is opened, taking the observed moment current as an integral initial value of an integral link of the speed loop;
And when the motor speed of the non-inductive motor is detected to be in a target switching speed interval, controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value.
2. the method of claim 1, wherein said controlling said sensorless motor to perform a speed loop open-loop operation based on said three-phase current comprises:
performing coordinate transformation on the three-phase current based on a given open-loop angle to obtain an open-loop torque current and an open-loop exciting current;
Adjusting a first torque current deviation of a given torque current command and the open-loop torque current and a first excitation current deviation of a given excitation current command and the open-loop excitation current through a current PI controller to generate an open-loop voltage command;
And controlling the sensorless motor based on the open-loop voltage command to realize the open-loop operation of the speed loop.
3. the sensorless motor start-up control method of claim 2 wherein the open loop angle is calculated by the following equation:
；
Wherein θopen loopfor the open loop angle omegamFor the mechanical angular frequency, p, of the sensorless motornIs the motor pole pair number of the sensorless motor.
4. The sensorless motor start-up control method of claim 2, wherein the speed loop includes a speed PI controller; the controlling the sensorless motor to perform a speed loop closed-loop operation based on the observed torque current, the observed exciting current and the integrated initial value includes:
acquiring the rotor speed of the sensorless motor;
The proportional link of the speed PI controller is used for carrying out proportional adjustment on the given speed instruction and the speed deviation of the rotor speed to obtain a proportional adjustment result;
The speed deviation is subjected to integral adjustment through an integral link of the speed PI controller and the integral initial value, so that an integral adjustment result is obtained;
generating a closed loop current command based on a sum of the proportional adjustment result and the integral adjustment result;
Adjusting a second torque current deviation of the closed-loop current instruction and the observed torque current and a second excitation current deviation of the excitation current instruction and the observed excitation current through the current PI controller to generate a closed-loop voltage instruction;
And controlling the non-inductive motor based on the closed-loop voltage command so as to realize the closed-loop operation of the speed loop.
5. The method of claim 4, wherein the integrating the speed deviation by the integration link of the speed PI controller and the integration initial value to obtain an integrated adjustment result comprises:
calculating the product of the speed deviation and a preset integral gain through an integral link of the speed PI controller, and calculating the sum of the product and the integral initial value to obtain an integral regulating result; and the current integral adjustment result is used as an integral initial value of the next round of integral adjustment.
6. the method of claim 4, wherein said controlling said sensorless motor based on said closed loop voltage command to achieve said speed loop closed loop operation comprises:
Performing coordinate transformation on the closed-loop voltage command to obtain a closed-loop voltage signal under a static coordinate system;
Performing space vector pulse width modulation on the closed-loop voltage signal to obtain a closed-loop modulation wave;
and controlling the non-inductive motor based on the closed-loop modulation wave so as to realize the closed-loop operation of the speed loop.
7. The sensorless motor start-up control method according to claim 1, wherein the target switching speed interval is 5% to 10% of the rated rotational speed of the sensorless motor.
8. a sensorless motor start control apparatus, comprising:
The three-phase current acquisition module is used for acquiring three-phase current of the sensorless motor;
The speed open-loop control module is used for controlling the non-inductive motor to perform speed loop open-loop operation based on the three-phase current;
the rotor position acquisition module is used for acquiring the rotor position of the sensorless motor;
the observation current calculation module is used for carrying out coordinate transformation on the three-phase current based on the rotor position to obtain an observation moment current and an observation exciting current;
the torque current assignment module is used for taking the observed torque current as an integration initial value of an integration link of the speed loop when the speed loop is opened;
And the speed closed-loop control module is used for controlling the non-inductive motor to perform speed loop closed-loop operation based on the observed moment current, the observed exciting current and the integral initial value when the motor speed of the non-inductive motor is detected to be in a target switching speed interval.
9. A sensorless motor start control system, comprising:
a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the sensorless motor start control method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the sensorless motor start control method of any one of claims 1 to 7.
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