CN204103815U - A kind of electric excitation synchronous motor initial position of rotor checkout gear - Google Patents
A kind of electric excitation synchronous motor initial position of rotor checkout gear Download PDFInfo
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- CN204103815U CN204103815U CN201420476577.5U CN201420476577U CN204103815U CN 204103815 U CN204103815 U CN 204103815U CN 201420476577 U CN201420476577 U CN 201420476577U CN 204103815 U CN204103815 U CN 204103815U
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Abstract
The utility model relates to a kind of electric excitation synchronous motor initial position of rotor checkout gear, it is characterized in that, described checkout gear comprises three-phase voltage source type inverter (1), controlled rectifier (2), electric excitation synchronous motor (3), DSP+FPGA/CPLD control system (4), current sensor (51) and current sensor (52), three-phase alternating-current supply is connected with the excitation winding of electric excitation synchronous motor (3) by controlled rectifier (2), described current sensor (51) is arranged on the excitation winding electrical cable between controlled rectifier (2) and electric excitation synchronous motor (3), wherein the signal output part of current sensor (51) is connected with the input of DSP+FPGA/CPLD control system (4), described current sensor (51) gathers the excitation winding current feedback values of electric excitation synchronous motor (3) to DSP+FPGA/CPLD control system (4), DSP+FPGA/CPLD control system (4) exports trigger impulse to controlled rectifier (2), realize the control to controlled rectifier (2).
Description
Technical field
The utility model relates to a kind of checkout gear, and specifically a kind of electric excitation synchronous motor initial position of rotor checkout gear, belongs to electrically excited synchronous motor location detecting technology field.
Background technology
In electric excitation synchronous motor high performance control system, initial position of rotor detects the smooth startup being related to motor.In electric excitation synchronous motor vector control system, during startup, the inaccurate meeting of initial position of rotor directly affects the accurate precision of stator flux observer, thus reduces the startability of system, and system can be caused time serious to start unsuccessfully.
Electrically excited synchronous motor, with its high efficiency, the advantage such as power factor is adjustable, is widely used in high-power industrial production machine driving.Usual electrically excited synchronous motor rotor-position detects many by detecting stator winding voltage realization, concrete methods of realizing is stator winding no power, rotor windings applies DC excitation, increase to steady-state value process at rotor current from zero, detect stator winding voltage, obtained amplitude and the phase place of magnetic linkage by pure integral voltage model.Due between initial position of rotor detection period, stator winding no power, therefore be rotor flux by the magnetic linkage that pure integral voltage model obtains, its magnetic linkage phase place is initial position of rotor.The method calculates magnetic linkage phase place by detecting stator winding voltage obtains initial position of rotor, method is comparatively simple, but the decay of stator winding induced voltage is very fast, the introducing of pure integrator simultaneously can be with the problems such as integration initial value and DC offset, and its accuracy of detection is not high.Its method improved is that adopt novel voltage model, although this model can eliminate integration initial value problem, DC offset problem still exists.In recent years, occur that employing discrete Fourier analysis (DFT) carries out fundamental information extraction to the magnetic linkage that voltage model obtains, carry out the method obtaining initial position of rotor, the method can effectively avoid the problem such as DC offset and noise jamming, but algorithm is comparatively complicated, amount of calculation is larger, higher to the performance requirement of microprocessor, also have relevant checkout gear in prior art, some needs increase extra equipment, and cost is higher, some method amounts of calculation are large, length consuming time, is not easy to realize, and precision is not easy to control.In view of the technical problem existed in prior art, therefore, a kind of new checkout gear of exigence solves the problems of the technologies described above.
Summary of the invention
The utility model, just for the technical problem existed in prior art, provides a kind of electric excitation synchronous motor initial position of rotor checkout gear and detection method, and this device overall construction design is ingenious, cost is lower, detection method is consuming time short, and precision is high, is easy to realize.
To achieve these goals, the technical solution adopted in the utility model is, a kind of electric excitation synchronous motor initial position of rotor checkout gear, it is characterized in that, described checkout gear comprises three-phase voltage source type inverter, controlled rectifier, electric excitation synchronous motor, DSP+FPGA/CPLD control system, current sensor and current sensor, three-phase alternating-current supply is connected with the excitation winding of electric excitation synchronous motor by controlled rectifier, described current sensor is arranged on the excitation winding electrical cable between controlled rectifier and electric excitation synchronous motor, wherein the signal output part of current sensor is connected with the input of DSP+FPGA/CPLD control system, described current sensor gathers the excitation winding current feedback values of electric excitation synchronous motor to DSP+FPGA/CPLD control system, DSP+FPGA/CPLD control system exports trigger impulse to controlled rectifier, realize the control to controlled rectifier, the output of three-phase voltage source type inverter is connected with the stator winding of electric excitation synchronous motor, electrical cable between three-phase voltage source type inverter and the stator winding of electric excitation synchronous motor has current sensor, and the stator winding current that current sensor gathers electric excitation synchronous motor is delivered to DSP+FPGA/CPLD control system, before initial position of rotor observation, DSP+FPGA/CPLD control system power output device (IGBT) controls signal to three-phase voltage source type inverter, keeps the related power device in three-phase voltage source type inverter to open or turn off.
Improve as one of the present utility model, described three-phase voltage source type inverter is three-phase diode clamp formula three-level inverter.
Improve as one of the present utility model, described controlled rectifier is SCR rectifier bridge; Described DSP+FPGA/CPLD control system adopts many boards multibus framework, the digital signal control system of many IO plate expansion.For supporting multi-digital signal processor expansion, digital signal processor can select TMS320F2812 or TMS320F28335 of TI company, in conjunction with Spartan series of programmable logical device and the XC95144XL of Xilinx company, pulse-triggered unit is core with FPGA, has been responsible for the functions such as pulse planning, the operating state inspection of IGBT and failure diagnosis; Described current sensor 51 quantity is 1, and the model adopting ABB AB is ESC500-9661 Hall current sensor, and the quantity of described current sensor 52 is two, adopts ESC1000C Hall current sensor.
A detection method for electric excitation synchronous motor initial position of rotor checkout gear, is characterized in that, described method concrete steps are as follows,
1) control electric excitation synchronous motor stator winding and be in Y type short circuit state;
2) given electric excitation synchronous motor rotor excitation current is constant DC quantity, gathers exciting current through excitation winding current sensor
i f feed back to control system, export exciting voltage controlled quentity controlled variable through PID controller
v f , and then control controlled rectifier exports satisfactory exciting voltage;
3) induced current of stator winding is detected by stator current transducer;
4) current signal of the stator current gathered under 3s/2s is transformed to two-phase rest frame, obtains stator equivalence induced voltage through discrete equivalent point model;
5) by arc tangent, level angle calculating is carried out to the stator equivalence induced voltage under two-phase rest frame, the level angle obtained is normalized;
6) normalized level angle is transformed into stator magnet chain angle, namely obtains initial position angle of rotor.
Improve as one of the present utility model, described step 1 detailed process is as follows: 1) control electric excitation synchronous motor stator winding and be in Y type short circuit state; During initial position of rotor observation, DSP+FPGA/CPLD control system power output device (IGBT) control signal, controls device for power switching S in three-phase voltage source type inverter
a3-S
a4, S
b3-S
b4, S
c3-S
c4open-minded, keep S simultaneously
a1-S
a2, S
b1-S
b2, S
c1-S
c2be in off state, realize electric excitation synchronous motor stator winding and be in Y type short circuit state.
Improve as one of the present utility model, described step 2 detailed process is as follows, and 2) in DSP+FPGA/CPLD control system, rotor excitation current adopts exciting current closed-loop control, and given electric excitation synchronous motor rotor excitation current is constant DC quantity
i f_ref , gather exciting current through excitation winding current sensor (51)
i f feed back to DSP+FPGA/CPLD control system (4), export exciting voltage controlled quentity controlled variable through PID controller
v f , and then control controlled rectifier exports satisfactory exciting voltage.
Improve as one of the present utility model, described step 3 detailed process is as follows, 3) stator winding is in Y type connection status, the magnetic linkage that rotor excitation current produces is coupled to stator winding, electric current is had in stator winding, motor three-phase windings is symmetrical, is detected the three-phase induction electric current of stator winding by 2 stator current transducers (52)
i a ,
i b .
Improve as one of the present utility model, described step 4 detailed process is as follows, the stator current of collection
i a ,
i b current signal under static transformation matrix is transformed to two-phase rest frame
i α ,
i β ,
;
Stator equivalence induced voltage is obtained through discrete equivalent point model
u α ,
u β ; Specific as follows:
U α (n)?=?
U α (n-1)?+?K*Ts*
I α (n-1)；
U β (n)?=?
U β (n-1)?+?K*Ts*
I β (n-1)；
Systematic sampling computing cycle is Ts=1/10000s;
i α (n-1),
i β (n-1) electric current of the (n-1)th step sampling instant is respectively,
u α (n-1),
u β (n-1) voltage of the (n-1)th step sampling instant is respectively,
u α (n),
u β n () is respectively the voltage of the n-th step sampling instant, n>=1; K is forward direction input gain, and K > 0, now gets K=1, and concrete value can be determined according to actual control system.Adopt discrete equivalent point model, reduce and calculate consuming time, improve observed responses performance, avoid DC offset that pure integral model brings and initial value affects problem simultaneously.
Improve as one of the present utility model, described step 5 detailed process is as follows, 5) by arc tangent to the equivalent induced voltage of the stator under two-phase rest frame
u α ,
u β carry out level angle
θ u calculate, consider that the scope of the level angle obtained by arctan function is for-0.5Pi ~ 0.5Pi, convenient not when follow-up angle calculation and application, the level angle obtained is normalized for this reason; Described normalized is specific as follows,
θ u =artan(
U β /?
U α )；
θ 1 ?=Rem((
θ u +2*Pi)，2*Pi)；
θ 11 =θ 1 *360/(2*Pi)。
Improve as one of the present utility model, described step 6 detailed process is as follows, and 6) by normalized level angle
θ 11 be transformed into stator magnet chain angle, namely obtain initial position angle of rotor
θ r ,
θ r =θ 11 -90°。
Relative to prior art, advantage of the present utility model is as follows, 1) whole detection device is simple, higher certainty of measurement is achieved only by three-phase voltage source type inverter, controlled rectifier, electric excitation synchronous motor, DSP+FPGA/CPLD control system and two current sensors in this technical scheme, and whole technical scheme structure is simple, and cost is lower; 2) method described in this technical scheme passes through frequency conversion shorted stator winding, given DC excitation, and adopt stator current directly to carry out angle calculation, whole method amount of calculation is little, consuming time short, is easy to realize, ensure that higher certainty of measurement simultaneously; 3), during the observation of this technical scheme rotor initial position, DSP+FPGA/CPLD control system power output device (IGBT) control signal, controls device for power switching S in three-phase voltage source type inverter
a3-S
a4, S
b3-S
b4, S
c3-S
c4open-minded, keep S simultaneously
a1-S
a2, S
b1-S
b2, S
c1-S
c2be in off state, realize electric excitation synchronous motor stator winding and be in Y type short circuit state; 4) in this technical scheme, because stator winding is in Y type connection status, the magnetic linkage produced due to rotor excitation current is coupled to stator winding, therefore has electric current in stator winding, motor three-phase windings is symmetrical, is detected the three-phase induction electric current of stator winding by 2 stator current transducers
i a ,
i b , and then obtain stator equivalence induced voltage, by being normalized level angle, obtain the level angle that precision is higher.
Accompanying drawing explanation
Fig. 1 is the utility model main circuit structure block diagram;
Fig. 2 is the simplified flow chart of the utility model method;
Fig. 3 is rotor excitation current waveform;
Fig. 4 is stator three-phase current waveform;
Fig. 5 is the initial position angle of rotor detected.
In figure: 1, three-phase voltage source type inverter; 2, controlled rectifier; 3, electric excitation synchronous motor; 4, DSP+FPGA/CPLD control system; 51, current sensor; 52, current sensor.
Embodiment
In order to deepen understanding and cognition of the present utility model, below in conjunction with accompanying drawing the utility model be further described and introduce.
embodiment 1:as Fig. 1, a kind of electric excitation synchronous motor initial position of rotor checkout gear, described checkout gear comprises three-phase voltage source type inverter 1, controlled rectifier 2, electric excitation synchronous motor 3, DSP+FPGA/CPLD control system 4, current sensor 51 and current sensor 52, three-phase alternating-current supply is connected with the excitation winding of electric excitation synchronous motor 3 by controlled rectifier 2, described current sensor 51 is arranged on the excitation winding electrical cable between controlled rectifier 2 and electric excitation synchronous motor 3, wherein the signal output part of current sensor 51 is connected with the input of DSP+FPGA/CPLD control system 4, described current sensor 51 gathers the excitation winding current feedback values of electric excitation synchronous motor 3 to DSP+FPGA/CPLD control system 4, DSP+FPGA/CPLD control system 4 exports trigger impulse to controlled rectifier 2, realize the control to controlled rectifier 2, the output of three-phase voltage source type inverter 1 is connected with the stator winding of electric excitation synchronous motor 3, electrical cable between three-phase voltage source type inverter 1 and the stator winding of electric excitation synchronous motor 3 has current sensor 52, the stator winding current that current sensor 52 gathers electric excitation synchronous motor 3 is delivered to DSP+FPGA/CPLD control system 4, before initial position of rotor observation, DSP+FPGA/CPLD control system 4 power output device (IGBT) controls signal to three-phase voltage source type inverter 1, keeps the related power device in three-phase voltage source type inverter 1 to open or turn off.
In the present embodiment, described three-phase voltage source type inverter 1 is three-phase diode clamp formula three-level inverter; Described controlled rectifier 2 is SCR rectifier bridge; Described DSP+FPGA/CPLD control system 4 adopts many boards multibus framework, the digital signal control system of many IO plate expansion.For supporting multi-digital signal processor expansion, digital signal processor can select TMS320F2812 or TMS320F28335 of TI company, in conjunction with Spartan series of programmable logical device and the XC95144XL of Xilinx company, pulse-triggered unit is core with FPGA, has been responsible for the functions such as pulse planning, the operating state inspection of IGBT and failure diagnosis; Described current sensor 51 quantity is 1, and the model adopting ABB AB is ESC500-9661 Hall current sensor, and the quantity of described current sensor 52 is two, adopts ESC1000C Hall current sensor.
embodiment 2:see Fig. 2, a kind of detection method of electric excitation synchronous motor initial position of rotor checkout gear, described method concrete steps are as follows,
1) control electric excitation synchronous motor stator winding and be in Y type short circuit state;
2) given electric excitation synchronous motor rotor excitation current is constant DC quantity, gathers exciting current through excitation winding current sensor
i f feed back to control system, export exciting voltage controlled quentity controlled variable through PID controller
v f , and then control controlled rectifier exports satisfactory exciting voltage;
3) induced current of stator winding is detected by stator current transducer;
4) current signal of the stator current gathered under 3s/2s is transformed to two-phase rest frame, obtains stator equivalence induced voltage through discrete equivalent point model;
5) by arc tangent, level angle calculating is carried out to the stator equivalence induced voltage under two-phase rest frame, the level angle obtained is normalized;
6) normalized level angle is transformed into stator magnet chain angle, namely obtains initial position angle of rotor.
Improve as one of the present utility model, described step 1 detailed process is as follows: 1) control electric excitation synchronous motor stator winding and be in Y type short circuit state; During initial position of rotor observation, DSP+FPGA/CPLD control system power output device (IGBT) control signal, controls device for power switching S in three-phase voltage source type inverter
a3-S
a4, S
b3-S
b4, S
c3-S
c4open-minded, keep S simultaneously
a1-S
a2, S
b1-S
b2, S
c1-S
c2be in off state, realize electric excitation synchronous motor stator winding and be in Y type short circuit state.
Improve as one of the present utility model, described step 2 detailed process is as follows, and 2) in DSP+FPGA/CPLD control system, rotor excitation current adopts exciting current closed-loop control, and given electric excitation synchronous motor rotor excitation current is constant DC quantity
i f_ref , gather exciting current through excitation winding current sensor (51)
i f feed back to DSP+FPGA/CPLD control system (4), export exciting voltage controlled quentity controlled variable through PID controller
v f , and then control controlled rectifier exports satisfactory exciting voltage.
Improve as one of the present utility model, described step 3 detailed process is as follows, 3) stator winding is in Y type connection status, the magnetic linkage that rotor excitation current produces is coupled to stator winding, electric current is had in stator winding, motor three-phase windings is symmetrical, is detected the three-phase induction electric current of stator winding by 2 stator current transducers (52)
i a ,
i b .
Improve as one of the present utility model, described step 4 detailed process is as follows, the stator current of collection
i a ,
i b current signal under static transformation matrix is transformed to two-phase rest frame
i α ,
i β ,
;
Stator equivalence induced voltage is obtained through discrete equivalent point model
u α ,
u β ; Specific as follows:
U α (n)?=?
U α (n-1)?+?K*Ts*
I α (n-1)；
U β (n)?=?
U β (n-1)?+?K*Ts*
I β (n-1)；
Systematic sampling computing cycle is Ts=1/10000s;
i α (n-1),
i β (n-1) electric current of the (n-1)th step sampling instant is respectively,
u α (n-1),
u β (n-1) voltage of the (n-1)th step sampling instant is respectively,
u α (n),
u β n () is respectively the voltage of the n-th step sampling instant, n>=1; K is forward direction input gain, and K > 0, now gets K=1, and concrete value can be determined according to actual control system.Adopt discrete equivalent point model, reduce and calculate consuming time, improve observed responses performance, avoid DC offset that pure integral model brings and initial value affects problem simultaneously.
Improve as one of the present utility model, described step 5 detailed process is as follows, 5) by arc tangent to the equivalent induced voltage of the stator under two-phase rest frame
u α ,
u β carry out level angle
θ u calculate, the level angle obtained is normalized; Described normalized is specific as follows,
θ u =artan(
U β /?
U α )；
θ 1 ?=Rem((
θ u +2*pi)，2*Pi)；
θ 11 =θ 1 *360/(2*Pi)。
Improve as one of the present utility model, described step 6 detailed process is as follows, and 6) by normalized level angle
θ 11 be transformed into stator magnet chain angle, namely obtain initial position angle of rotor
θ r ,
θ r =θ 11 -90°。
Setting initial position angle of electro-excitation synchronous machine rotor is 120o, and given electric excitation synchronous motor rotor excitation current is constant DC quantity
i f_ref =50A, according to above-mentioned detection method concrete operations, adopts the utility model method to carry out electric excitation synchronous motor initial position of rotor and detects, after PID closed-loop adjustment, record rotor excitation current
i f as shown in Figure 3, the three-phase induction electric current of stator winding is observed in simulations
i a ,
i b ,
i c, as shown in Figure 4, visible three-phase current sum is zero, adopts 2 current sensor observation stator currents to be effective, saved hardware cost, and then obtained initial position angle of rotor in the technical program
θ r waveform as shown in Figure 5, recording rotor position angle is 119.9993o, and the visible the method that adopts possesses higher certainty of measurement, and response is simultaneously rapidly.
Can be found out by above-described embodiment, this technical scheme overall structure is simple, and line design is ingenious, has greatly saved cost, and secondly this detection method amount of calculation is little, consuming time short, be easy to realize, ensure that higher certainty of measurement, 2*10 after emulation starts simultaneously
-4namely s records initial position angle of electro-excitation synchronous machine rotor, and its error is ± 0.0007
o.
It should be noted that above-described embodiment, be not used for limiting protection range of the present utility model, equivalents done on the basis of technique scheme or the alternative scope all falling into the utility model claim and protect.
Claims (3)
1. an electric excitation synchronous motor initial position of rotor checkout gear, it is characterized in that, described checkout gear comprises three-phase voltage source type inverter (1), controlled rectifier (2), electric excitation synchronous motor (3), DSP+FPGA/CPLD control system (4), current sensor (51) and current sensor (52), three-phase alternating-current supply is connected with the excitation winding of electric excitation synchronous motor (3) by controlled rectifier (2), described current sensor (51) is arranged on the excitation winding electrical cable between controlled rectifier (2) and electric excitation synchronous motor (3), wherein the signal output part of current sensor (51) is connected with the input of DSP+FPGA/CPLD control system (4), described current sensor (51) gathers the excitation winding current feedback values of electric excitation synchronous motor (3) to DSP+FPGA/CPLD control system (4), DSP+FPGA/CPLD control system (4) exports trigger impulse to controlled rectifier (2), realize the control to controlled rectifier (2), the output of three-phase voltage source type inverter (1) is connected with the stator winding of electric excitation synchronous motor (3), electrical cable between three-phase voltage source type inverter (1) and the stator winding of electric excitation synchronous motor (3) has current sensor (52), the stator winding current that current sensor (52) gathers electric excitation synchronous motor (3) is delivered to DSP+FPGA/CPLD control system (4), before initial position of rotor observation, DSP+FPGA/CPLD control system (4) power output device (IGBT) controls signal to three-phase voltage source type inverter (1), keeps the related power device in three-phase voltage source type inverter (1) to open or turn off.
2. electric excitation synchronous motor initial position of rotor checkout gear as claimed in claim 1, it is characterized in that, described three-phase voltage source type inverter (1) is three-phase diode clamp formula three-level inverter.
3. electric excitation synchronous motor initial position of rotor checkout gear as claimed in claim 2, it is characterized in that, described controlled rectifier (2) is SCR rectifier bridge; Described DSP+FPGA/CPLD control system adopts many boards multibus framework, the digital signal control system of many IO plate expansion.
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| CN201420476577.5U CN204103815U (en) | 2014-08-22 | 2014-08-22 | A kind of electric excitation synchronous motor initial position of rotor checkout gear |
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|---|---|---|---|
| CN201420476577.5U CN204103815U (en) | 2014-08-22 | 2014-08-22 | A kind of electric excitation synchronous motor initial position of rotor checkout gear |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104167971A (en) * | 2014-08-22 | 2014-11-26 | 徐州中矿大传动与自动化有限公司 | Detection device and method of initial position of rotor of electrically excited synchronous motor |
| CN107872176A (en) * | 2016-09-28 | 2018-04-03 | 中国电力科学研究院 | A kind of control method of synchronous unit starting static frequency changer |
-
2014
- 2014-08-22 CN CN201420476577.5U patent/CN204103815U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104167971A (en) * | 2014-08-22 | 2014-11-26 | 徐州中矿大传动与自动化有限公司 | Detection device and method of initial position of rotor of electrically excited synchronous motor |
| CN107872176A (en) * | 2016-09-28 | 2018-04-03 | 中国电力科学研究院 | A kind of control method of synchronous unit starting static frequency changer |
| CN107872176B (en) * | 2016-09-28 | 2020-11-24 | 中国电力科学研究院有限公司 | Control method of static frequency converter for starting synchronous unit |
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