KR100616460B1 - Initial Pole Position Estimation Method of PMSMPermernat Magnet Synchronous Motor - Google Patents

Abstract

The present invention improves the initial angle estimation accuracy and shortens the estimation time, reduces the movement of the rotor during the initial angle estimation period, and reduces the noise of the motor during the initial angle estimation. The present invention relates to applying a positive semi-sinusoidal test current to the D axis and additionally applying a negative semi-sinusoidal wave to minimize the moving distance, and for the constant current, the movement of the rotor (the mover) is proportional to the torque and the magnetic pole position Find the position where the generated torque of the motor is minimized by using displacement amount instead of torque value using the relation with cosine value for, and estimate the magnetic pole position, and test current on Q axis for the estimated initial angle. It is characterized by determining the sign of the magnetic pole position by applying a.

Permanent magnet, rotational synchronous motor, linear synchronous motor, initial stimulus estimation, sensorless

Description

Initial Pole Position Estimation Method of Permanent Magnet Synchronous Motor (PMSM)

1 is a block diagram for implementing an initial stimulation estimation method of a permanent magnet synchronous motor according to the present invention.

2 is a schematic diagram of a method for estimating initial stimulation of a permanent magnet synchronous motor according to the present invention.

3 is a control flowchart showing a method of estimating initial stimulation of a permanent magnet synchronous motor according to the present nickname;

4 is an explanatory diagram of a Secant Method used for initial stimulation estimation, that is, electric angle calculation according to the present invention.

Figure 5a is a graph for showing the relationship between the torque according to the electric angle for explaining the present invention and the magnetic pole position where the torque is zero.

Figure 5b is a graph showing a positive half sine wave and a negative half sine wave of the test current for magnetic pole position estimation according to the present invention.

Figure 5c is a graph showing the relationship between the electric angle change value according to the test current magnitude in the present invention.

Figure 5d is a characteristic diagram for determining the polarity of the initial stimulation position according to the present invention.

<Description of the symbols for the main parts of the drawings>

10: initial stimulation location estimation

20: test current generator

30: current control unit

40: DQ- ¹ converter

50: PWM inverter

60: synchronous motor

70: DQ converter

81-84: Total

The present invention relates to a permanent magnet linear and rotational synchronous motor, and more particularly to a method for estimating the initial stimulation of a permanent magnet synchronous motor without using a pole sensor.

When starting the AC synchronous motor, information of the initial stimulation position detected from the magnetic pole detector is required, and the AC synchronous motor is operated according to a command based on the information of the correctly detected initial stimulation position. If the detected information on the desired stimulus position is shifted by ± 90 degrees from the magnetic pole position of the AC synchronous motor, no torque is generated so that the AC synchronous motor does not operate.If the deviation is exceeded by ± 90 degrees, There is a problem of reverse rotation in the opposite direction to the command. For this reason, since the information of the precisely detected initial stimulation position is important for AC synchronous motors, various initial stimulation estimation methods have been devised until now to obtain accurate information on the detected initial stimulation position.

However, in the conventional initial track estimation method, the position of the initial stimulus was estimated using the stimulus sensor, and the method of estimating the position of the initial stimulus without using the stimulus sensor was very complicated and the position of the initial stimulus was estimated. There were problems such as taking a long time to do, and there were problems such as noise.

However, the prior art uses a trial and error repetition method of estimating the value of the initial stimulation position of the AC synchronous motor after using the speed controller and testing the position of the torque shaft at 45 ° intervals. do.

(1) By using the speed controller, an error may accompany the speed detection method.

(2) The use of a trapezoidal speed waveform may cause the rotor to move smoothly and make a loud noise.

(3) It is difficult to implement the initial angle position estimation method.

Accordingly, the present invention is to solve the above-mentioned conventional problems, to increase the initial angle estimation accuracy and shorten the estimated time shortly, to reduce the movement of the rotor in the initial angle estimation period, and the motor at the initial angle estimation The purpose of the present invention is to provide a method for estimating the initial stimulus of a permanent magnet synchronous motor which reduces noise.

The initial stimulation estimation method of the permanent magnet synchronous motor according to the present invention,

Applying a positive half-sinusoidal test current to the D-axis and additionally applying a negative half-sinusoidal wave to test drive the synchronous motor by minimizing the moving distance; By using the relation that the movement of the rotor (mover) is proportional to the torque and has a cosine value for the magnetic pole position for a constant current, the position where the generated torque of the motor is minimized is used by using the displacement amount instead of the torque value. Estimating the magnetic pole position by finding out whether the electric angle with respect to the distance is within a predetermined angle; A test current is applied to the Q axis with respect to the estimated magnetic pole position to determine the sign of the magnetic pole position.

As an embodiment for achieving the present invention, the electric angle, the initial full-angle, the initial current period, etc. are set to the initial value, the positive half-sine wave is applied as the driving signal of the D axis, and there is no initial and moving distance difference. In the case of increasing the current until the maximum current value and the electric current fluctuations randomly adjusted, and after calculating the electric angle, applying a negative semi-sinusoidal wave to the D-axis and applying the positive semi-sinusoidal wave again Process;

Comparing whether there is a difference in the distance that the synchronous motor is rotated by the positive semi-sinusoidal signal in the first step, and if there is no difference in the distance, the electric angle of the first step is calculated by increasing the current value by a predetermined size. A second process performed from the step of performing;

A third step of repeating the first step until there is a difference in moving distance in the second step until detecting an electric angle with respect to the current moving distance to fall within a predetermined range; If the electric angle detected in the third process is within a predetermined range, the current value is increased by a predetermined magnitude so that the current current value is adjusted stepwise to a predetermined maximum current value, and then the negative half sine wave of the first process is repeated. Performing a fourth process;

A fifth step of repeatedly applying the negative semi-sine wave of the first step until the current electric angle fluctuation is within a predetermined convergence value when the current value is gradually increased to the maximum current value in the fourth step; Process;

If the electric angle fluctuation value is within the convergence range in the fifth process, after applying a negative semi-sinusoidal wave and applying a final test current to the Q axis, it is determined whether the movement distance is converted to an electric angle and then +90 degrees or -90 degrees. And a sixth process of estimating the initial stimulation position.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram for implementing an initial stimulation estimation method of a permanent magnet synchronous motor according to the present invention. As shown in FIG. 1, the initial stimulus position estimator 10, the test current generator 20, the current controller 30, the DQ ⁻¹ converter 40, the PWM inverter 50, And a synchronous motor 60, a DQ converter 70, and a plurality of summers 81-84.

The initial stimulation position estimating unit 10 is a module for estimating the initial stimulus of the synchronous motor 60 by performing a program according to the present invention, which will be described in detail later.

The test current generator 20 generates a test current for estimating the initial stimulus of the synchronous motor 60, and includes the semi-sinusoidal wave and the inverse sinusoidal wave as shown in FIG. 3. Is generated by the control. The current controller 30 generates a sinusoidal wave generation signal of the test current generator 20 as a current signal for driving the synchronous motor 60, and is a part for controlling current during normal synchronous motor 60 driving. The DQ ^-1 converter 40 controls the two-phase voltage generated by the current controller 30, that is, the D-axis voltage Vd * and the Q-axis voltage Vq * to be driven in three phases for driving the synchronous motor 60. It is a DQ ^-1 converter that converts voltages Va *, Vb *, and Vc *. The PWM inverter 50 is a circuit for driving the synchronous motor 60 by switching the three-phase voltage, the DQ converter 70 is a three-phase current (Ia, Ib, Ic) for controlling the synchronous motor (60) 2 The DQ converter converts phase current (Id, Iq). The D and Q currents Id * and Iq * generated by the test current generation unit 20 are passed through the summers 81 and 82 to the D and Q currents Id and I of the 3-2 phase conversion unit 70. Iq) is subtracted and input to the current controller 30, and the 3-2 phase converter 70 receives Ib and Ic currents from the Vb and Vc phases of the PWM inverter 50, and the current difference between the two phases. Obtained by the summer 83, the Ia current is input.

The current controller 30, the DQ- ¹ converter 40, the PWM inverter 50, and the DQ converter 70 and the summers 81, 82, 83 for summing the currents are normally synchronized. The configuration of the motor control device and its operation are also the same, and thus will not be described in detail here. The non-explaining summer 84 adds the mechanical angle θrm according to the amount of rotation of the synchronous motor 60 and the electrical angle θest estimated and controlled by the initial stimulation estimator 10 to convert the DQ- ¹ converter 40. And the conversion function θcomp of the DQ conversion unit 70 is generated and input.

2 is a schematic diagram of a method for estimating initial stimulation of a permanent magnet synchronous motor according to the present invention. As shown in FIG. 2, the initial stimulation estimator 10 sets the variation of the electric angle, the initial current period, and the like as initial values, applies a positive half-sine wave to the D-axis, and changes the electric angle variation. The first position (S10) of applying a negative semi-sinusoidal wave to the D-axis after calculating the electrical angle and the magnetic pole position estimating unit (10) by the positive anti-sine wave signal applied in the first process (S10) Input encoder pulse number (mechanical angle) and calculates the difference between the number of pulses in the past and current to determine whether there is a difference in the distance moved. If not, the second step (S20) to perform the electric angle calculation of the first step (S10) by increasing the current value by a predetermined predetermined size, and the current moving distance if there is a difference in the moving distance in the second step (S20) Detects the electric angle for a given range Returning to the first process (S10) until it is within the first step (S30) and repeatedly performed to apply a negative half-sine wave, and the electrical angle detected in the third process (S30) within a predetermined range A fourth step (S40) of repeating the step of applying a negative half-sine wave of the first step (S10) by increasing the current value by a predetermined magnitude so that the current current value is gradually adjusted to a predetermined maximum current value; In the case where the current value is gradually increased to the maximum current value in the fourth process (S40), applying a negative half sine wave of the first process (S10) until the current electric angle variation value is within a predetermined convergence value. If the variation of the electric angle in the fifth step (S50) and the fifth step (S15) is within the convergence range, the negative half sine wave is applied and then the final test current is applied to the Q-axis to transfer the moving distance. After converting to an angle, a sixth process (S60) of estimating the initial stimulation position is performed by determining whether it is +90 degrees or -90 degrees.

The initial stimulus estimation method of the present invention is a method of estimating the magnetic pole position using a moving distance difference by finding the magnetic pole position where the torque is maximum or minimum.

5A is a graph for illustrating a magnetic pole position where the torque for explaining the present invention becomes zero.

The generated torque of the permanent magnet motor can be expressed as follows as a function of the magnetic pole position.

Where Te is the generated torque of the motor, Kt is the torque constant, I is the maximum value of the phase current, and θ is the pole position (electric angle).

In the above equation, torque is proportional to current and has cosine value for magnetic pole position. Therefore, when the magnetic pole position where the torque is maximum or minimum is found, the magnetic pole position can be estimated using this relationship.

In the present invention, since the actual generated torque is not known, the displacement amount by the moving distance is used instead of the torque value by using a relationship in which the moving distance of the rotor (mover) is proportional to the torque for a constant test current in the present invention. When it was determined that the convergence was within a certain range, the test current was increased to increase the initial angle estimation accuracy. As the method of estimating the initial angle, the secant method with excellent convergence among numerical methods was used. In addition, the initial magnetic pole position was estimated by finding the magnetic pole position where the torque became zero, that is, the electric angles of −90 ° and + 90 ° as shown in FIG. 5A.

5B is a graph showing a positive half sine wave and a negative half sine wave of a test current for estimating a magnetic pole position according to the present invention.

As the test current, a positive half sine wave as shown in FIG. 5B was used, and a negative half sine wave was additionally applied to minimize the moving distance. Between the sine waves of each half cycle, there is always waiting time to stop to remove the effect on the movement before applying the test current.

Differences in the distance required to estimate the position of the magnetic poles were compared when the test currents ⓐ and test currents ⓑ were applied to two consecutive semi-sinusoidal waves. The magnitude of the test current was always increased from a current of about 1/50 of the rated current of the motor to a current equal to three times the rated current, so that the final judgment was made when the test current was maximum.

The algorithm flow chart of the initial stimulus position estimation is shown in FIG. 3 and the details thereof are as follows. The initial value of Δθ (k) is 20 ° and the initial value of Logic is 0. The period of the sine wave is fixed, the initial current value is set to the rated current × 0.02, and the initial θest applied for DQ conversion is applied with 0.

3 is a control flowchart illustrating a method for estimating initial stimulation of a permanent magnet synchronous motor according to the present invention.

The first step (S10) of applying a positive sine wave and a negative half sine wave while adjusting the electric angle fluctuation value Δθ (k) has a first step (S11) of applying a positive half sine wave and there is no difference between the initial and moving distances. When the test current is increased, after applying the next positive half-sine wave, the second step (S12) of adjusting Δθ (k) according to the current current value, and when the test current is increased after the movement distance difference is generated. Using the third step S13 of setting the previous Δθ (k-1) and the Δθ adjusted in the second step S12 and the third step S13 to be equal to the current of the previous positive half sine wave. A fourth step (S14) of calculating an electric angle (electric angle θ + = Δθ * n_pi / 180) as a function θest value for DQ conversion, and a negative semi-sine wave after the fourth step (S14). Is applied, and waits for the motor stop time, and performs a fifth step (S15) of performing the first step (S10). Logic0, 1, 2, 3, and 4 are flags for identifying the connection routine for program execution.

In the first step S11, as shown in FIG. 5A, a semi-sinusoidal wave (ⓐ, ⓑ, ⓒ, ...) of the amount of test current is applied. In the first step S11, as shown in FIG. 5B, Δθ gives an initial value of 20 degrees, and the initial current is given about 0.02 of the rated current of the rated current to apply a positive semi-sine wave. Then, the initial electric angle θ = 0 is given as a DQ transform function, a negative half sine wave is applied, and the next positive half sine wave is applied.

In the second step (S12) Logic = 1, when the magnetic pole position estimation is first started and Logic = 0 during the magnetic pole position estimation, that is, once in the initial stage and when there is no moving distance difference, the current is increased (S23). Then, the next sampling is performed and Δθ (k) is automatically adjusted according to the test current magnitude. In this case, if the moving distance difference between the positive half sine wave ⓐ and ⓑ is 0 after applying the positive semi-sinusoidal wave (S11), set Logic = 0.If the current size is small, the difference of the moving distance can be 0. If Logic = 0, increase the test current.

The third step (S13) Logic = 3 is performed in the next sampling after meeting the step of increasing the current until the moving distance difference occurs to the maximum current value after Logic = 2 during the magnetic pole position estimation and Δθ (k) The magnetic pole position is estimated by setting Δθ (k-1).

[Delta] [theta] of the second step S12 and the third step S13 is the same condition as the graph by the test current I_ref as shown in the graph showing the relationship between the electric angle fluctuation value of the present invention and the test current of FIG. In the case of 0.02 of the initial current rated current Is_rate, Δθ is 20 degrees, and is applied in inverse relationship between the rated current and the initial current, and Δθ is constant at 2.2 above the rated current. This relationship is obtained experimentally so that Δθ is adjusted by the current value by numerical calculation method in advance.

After the second step S12 or the third step S13 is performed, the flag variable is forcibly set to Logic = 4 so that the second and third steps can be performed only in special cases.

The electrical angle calculation of the fourth step (S14), because the secant method cannot be applied, is given by arbitrarily adjusting Δθ (k) and calculated by using the same. Electric angle n_Theta_i + = d_theta * n_pi / 180, that is, electric angle + = Δθ * n_pi / 180. Where n_pi is the number of encoder pulses for each pie.

Thereafter, after applying the negative half sine wave in the fifth step S15, the process returns to the first step S11 and the next positive half sine wave is applied.

After applying at least two positive sinusoids, a comparison is made whether there is a difference in the distance at which the synchronous motor rotates by the positive half-sinusoidal signal applied immediately and at the present time. A second process S20 of performing the first process S10 is performed by increasing the current value by a predetermined size. This is a process of calculating the distance difference when Logic = 4 or more.

In the second process S20, when the positive sine wave is applied, detecting the distance difference from the distance moved by the previous positive sine wave by the number of pulses of the encoder detected from the synchronous motor (S21); Comparing step (S22) to compare whether there is a difference in the movement distance, and if there is no movement distance difference increases the current by a predetermined predetermined size and then the current increasing step to return to the electrical angle calculation step of the first step (S10) (S23).

The moving distance difference detecting step (S21) calculates the difference of the moving distances of the two positive semi-sinusoidal waves ⓐ and ⓑ, ⓑ and ⓒ, ⓒ and ⓓ, ... immediately following. As a result of the comparison in the comparison step S22, when the difference in the movement distance due to the positive half-sine wave of the head is 0, the current increase step S23 is performed. When the difference in the movement distance is not 0, the third process S30. ).

The current increasing step S23 sets the flag Logic = 0, increases the test current magnitude, and branches to the electric angle calculating step S14 of the first process. The reason why the logic is set to 0 is that when the difference between the past and the present moving distance is 0, the operation using the secant method cannot be performed, the difference between the moving distance is 0 and the absolute value of the moving distance is 0. In this case, it could be judged that almost converged at the positions of -90 ° and + 90 °, but in this case, the current was increased to increase the initial angle estimation accuracy. Increasing the magnitude of the current increases the predetermined constant magnitude.

If the movement distance difference is not zero in the second process (S20), the third process (S30) is performed. In the third process, if the movement distance difference is not zero, the sequential method is performed using the movement distance difference. Electric angle calculation step (S31) for calculating the electric angle and providing it as a variable of a function for DQ conversion, an electric angle conversion step (S32) for converting the current moving distance into an electric angle, and converting the moving distance It is determined whether the electric angle is within a predetermined predetermined angle (eg, 2 degrees), and if it is not within the predetermined angle, the electric angle determination step (S33) is returned to the step of applying the negative semi-sine wave of the first process. do.

When the difference in the movement distance is not 0 in the second process, the electric angle calculation step S31 of calculating the electric angle by using a sequential method (FIG. 3) is always performed. [theta] is provided as [theta] est of FIG. 1 and applied as an electrical angle value for calculating a function value of the DQ transform.

4 is a schematic diagram for explaining the electric angle calculation according to the present invention. The electric angle is calculated based on the secant method as shown in FIG. 4. Electric angle n_Theta_i + = d_theta * n_pi / 180, that is, electric angle + = Δθ * n_pi / 180. Here, the secant method is a numerical analysis method used to calculate the electric angle when the magnetic pole position is estimated.

The d_theta = -distance * d_theta / ds is obtained by multiplying the current moving distance (-distance) by Δθ and dividing it by the moving distance difference ds to obtain the current Δθ.

Therefore, the current electric angle X3 = X2-f (X2) * (X2-X1) / (f (X2) -f (X1)). X3 is the electric angle θ to be obtained now, X2 is the electric angle θ when the positive sine wave is currently applied, X1 is the electric angle θ when the positive sine wave is applied immediately before, f (X2) represents the movement distance at X2, f (X1) represents the movement distance at X1, and (X2-X1) represents the electric angle change value Δθ. Since the secant method is a well known method, the electric angle is calculated using the calculation method in the present invention without further description.

And the step of converting the current moving distance to the electric angle (S32), and the method of converting the moving distance to the electric angle, "movement distance × 180 / (number of encoder pearls (constant) corresponding to the electric angle π)) Is obtained by Comparing (S33) whether the electric angle converted by the moving distance is smaller than a predetermined angle (for example, 2 degrees), if the moving distance is greater than 2 ° in the first convergence condition, the first step of the Branching to the step (D15) of applying a negative semi-sinusoidal wave, if less than 2 ° performs a fourth process (S40).

In the fourth step S40, the step S41 of comparing the current test current with the test current maximum value I_lmt is performed. When the test current is smaller than the test current maximum value, the test current increases by one step (S42). After that, the step (S15) of applying the negative half-sine wave of the first process is performed. If the current test current is greater than the test current maximum value I_lmt, a fifth process (S50) is performed. At this time, the current increase step (S42) is set to Logic = 2, and the test current is increased to branch to the fifth step (S15) of the first process. The reason why the flag Logic is set to 2 is to use the past Δθ (k-1) value because the moving distance due to the magnitude of the changed test current cannot be compared. That is, after performing the step of increasing the current (S42) and then performing the first step (S11) of the first process, the flag Logic is increased by one and the Logic3 step (S13) is performed to perform the past Δθ (k- 1) will be used.

On the other hand, the step of increasing the current (S23) of the second process (S20) is performed when the difference of the moving distance is set to Logic = 0 and the difference in the moving distance is 0 for estimating the magnetic pole position The operation Secant method (Secant Method) is not used and the next sampling (S12) is set to an arbitrary Δθ (k).

The magnitude of the test current should always be increased at a constant rate from about 1/50 of the rated current of the motor to 3 times the rated current so that the final judgment is made when the test current is at its maximum.

In the fourth step (S40), it is determined whether the current test current is the maximum value and the routine repeating while increasing the current until the maximum value is reached, up to the maximum current value to ensure reliability when the convergence condition appears in the initial or several times. This is to determine the final convergence condition after application as a test current.

In the fourth process S40, when the test current is equal to or greater than the maximum value, the fifth process of determining whether the absolute value of Δθ falls within a predetermined convergence condition (for example, 0.1 degree) without further increasing the current. ). This determines whether or not the electric angle difference Δθ due to the moving distance is almost converged. If the condition is not satisfied, the process returns to step S15 of applying a negative semi-sine wave of the first process S10. Will be repeated.

A sixth process of determining a sign of an initial stimulus position by applying a final test current to the Q axis when Δθ due to a movement distance difference satisfies a convergence condition (| Δθ | <0.1 degrees) in the fifth process (S50) Perform (S60).

5D is a characteristic diagram for determining the polarity of the initial stimulation position according to the present invention. In the sixth step S60, when the electric angle variation due to the moving distance difference satisfies the convergence condition, applying the negative half sine wave to the D axis (S61) and applying the final test current to the Q axis. Step S62 and the step of determining the initial stimulus polarity (S63) by determining whether the movement distance by applying the final test current is +90 degrees or -90 degrees by converting the electric angle into electrical angles.

Therefore, according to the present invention, the convergence condition can be determined using the moving distance and the difference by applying a semi-sine wave to the D axis without using a stimulus sensor, and the sign of the initial stimulus can be determined by applying the final test current to the Q axis. It will be possible.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the above-described embodiments, and the present invention is not limited to the above-described embodiments without departing from the spirit of the present invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such modifications are intended to fall within the scope of the appended claims.

As described above, the present invention can eliminate the error of the speed detection by not using the speed controller and can implement the initial angle position estimation method concisely and easily. As the final estimation precision using the numerical method called the secant method, It has the effect of preventing noise by using sinusoidal test current with high estimation accuracy and short estimation time within ± 5 °.

Claims (7)

In the initial stimulation estimation method of a permanent magnet synchronous motor, Applying a positive half-sinusoidal test current to the D-axis and additionally applying a negative half-sinusoidal wave to test drive the synchronous motor by minimizing the moving distance; By using the relation that the movement of the rotor (mover) is proportional to the torque and has a cosine value for the magnetic pole position for a constant current, the position where the generated torque of the motor is minimized is used by using the displacement amount instead of the torque value. Estimating the magnetic pole position by finding out whether the electric angle with respect to the distance is within a predetermined angle; A method of estimating the initial stimulus of a permanent magnet synchronous motor, comprising: estimating the position of an initial stimulus by applying a test current to the Q axis to determine the sign of the stimulus position. The method of claim 1, wherein the test driving of the synchronous motor comprises: A first step S11 of applying a positive semi-sinusoidal wave to the D axis; A second step (S12) of adjusting the electric angle fluctuation value Δθ (k) to an arbitrary value according to the current after increasing the test current and applying the next positive sinusoidal wave when there is no moving distance difference; A third step S13 of setting the electric angle change value Δθ (k-1) immediately before the test current is increased after the movement distance difference is generated to be equal to the current of the previous positive semi-sine wave; The electric angle (electric angle θ = Δθ * n_pi / 180) using the electric angle fluctuation value Δθ adjusted in the second step S12 and the third step S13, provided that n_pi is the number of encoder pulses for the electric angle π. Step 4 (S14) for calculating and providing as a function θest value for DQ conversion, After the fourth step (S14) is applied to the negative half-sine wave to the D-axis, and waiting for the motor stop time, it is made to perform a fifth step (S15) to perform the first step (S10) Initial stimulation estimation method of permanent magnet synchronous motor. The method of claim 2, wherein the electric angle calculation method, Initial stimulation of permanent magnet synchronous motor, characterized by electric angle n_Theta_i + = d_theta * n_pi / 180, that is, electric angle + = Δθ * n_pi / 180 (where n_pi is the number of encoder pulses for electric angle pi) Estimation method. According to claim 1, wherein the magnetic pole position estimation process, During the test drive of the synchronous motors, the synchronous motors are compared with each other for the difference in the distance from which the synchronous motors are rotated by the positive anti-sine wave signal applied to the D axis. A step of comparing the moving distance back to the electric angle calculation and the negative semi-sinusoidal application process of the test drive of the synchronous motor; If there is a difference in the moving distance, the electric angle is calculated based on the difference in the moving distance and applied as an electric angle signal for the DQ conversion, and the electric angle for the current moving distance is detected until it is within a predetermined range. An electric angle convergence process that returns to a process of applying a negative semi-sinusoidal wave of the test drive of the synchronous motor; When the electric angle detected in the electric angle convergence process is within a predetermined range, the negative half sine wave of the process of driving the synchronous motor is increased by increasing the current value by a predetermined magnitude so that the current current value is adjusted stepwise to a predetermined maximum current value. Increasing the current back to the applying step;  If the current value is gradually increased to the maximum current value, the process returns to the process of applying a negative semi-sine wave in the test driving process of the synchronous motor until the current electric angle variation value is within a predetermined convergence value. An initial stimulus estimation method of a permanent magnet synchronous motor, characterized in that to perform the electric angle fluctuation convergence process. The method of claim 4, wherein the electric angle convergence process, An electric angle calculation step (S31) of calculating an electric angle θ in a sequential manner using the movement distance difference and providing it as a variable of a function for DQ conversion when the difference in distance is not zero; An electric angle conversion step (S32) of converting a current moving distance into an electric angle; Determining whether the electric angle converted from the moving distance is within a predetermined predetermined angle, and if not within the predetermined angle, performing the electric angle determination step (S33) to return to the step of applying the negative half-sine wave. Initial stimulation estimation method of permanent magnet synchronous motor. According to claim 1, wherein the magnetic pole position code determination process, If the electric angle variation due to the moving distance difference satisfies the convergence condition, applying a negative semi-sinusoidal wave to the D axis to which the negative angle is applied (S61); Applying the final test current to the Q axis (S62), In the permanent magnet synchronous motor, characterized in that the step of determining the sign of the initial stimulation position by determining whether the movement distance by the application of the final test current is +90 degrees or -90 degrees Early stimulus estimation method. In the initial stimulation estimation method of a permanent magnet synchronous motor, Set the electric angle, initial full angle, initial current period, etc. to initial values, apply a positive half-sine wave as the drive signal on the D-axis, and increase the current until there is no initial and moving distance difference and the maximum current value. A first step of adjusting an electric angle fluctuation value randomly, calculating an electric angle, applying a negative half sine wave to the D-axis, and then applying the positive half sine wave again; Comparing whether there is a difference in the distance that the synchronous motor is rotated by the positive semi-sinusoidal signal in the first step, and if there is no difference in the distance, the electric angle of the first step is calculated by increasing the current value by a predetermined size. A second process performed from the step of performing; A third step of repeating the first step until there is a difference in moving distance in the second step until detecting an electric angle with respect to the current moving distance to fall within a predetermined range; If the electric angle detected in the third process is within a predetermined range, the current value is increased by a predetermined magnitude so that the current current value is adjusted stepwise to a predetermined maximum current value, and then the negative half sine wave of the first process is repeated. Performing a fourth process; A fifth step of repeatedly applying the negative semi-sine wave of the first step until the current electric angle fluctuation is within a predetermined convergence value when the current value is gradually increased to the maximum current value in the fourth step; Process; If the electric angle fluctuation value is within the convergence range in the fifth process, after applying a negative semi-sinusoidal wave and applying a final test current to the Q axis, it is determined whether the movement distance is converted to an electric angle and then +90 degrees or -90 degrees. Initial stimulation estimation method of a permanent magnet synchronous motor, characterized in that to perform a sixth process of estimating the initial stimulation position.

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