TW200839275A - Method for detecting initial magnetic pole position in permanent-magnet motor - Google Patents

Abstract

A Method for detecting initial magnetic pole position in permanent-magnet motor first determines a PWM pulse width Dt applied to stator, where the PWM pulse width Dt depends on motor parameters. Six voltage vectors are then successively applied to the stators and the associated current rising time are calculated. The position of rotor is determined based on the shortest current rising time. The voltage vectors are again successively applied to the stators to recalculate the position of rotor. The position of rotor can be precisely determined when the two calculations are matched. When the two calculations are not matched, the voltage vectors are again successively applied to the stators to recalculate the position of rotor until the calculations are matched. The set current level can be larger than the motor rated current, for example, 160% motor rated current, to facilitate the determination of current rising time. The set current level can be 160% drive rated current when the motor rated current is larger than the drive rated current.

Description

200839275 IX. Description of the invention: [Technical field to which the invention pertains] t The present invention relates to a method for measuring a starting magnetic pole of a permanent magnet motor, and more particularly to a method for detecting a magnetic pole of a permanent magnet motor using a voltage pulse, a voltage The pulse is related to the motor parameters. /, [Previous technology], / legacy industry upgrades and industrial automation must, the servo motor in / iC, such as CNC machine tools, robotic arms, industrial machinery, electric ί 'air-cooled air brakes, etc., are required Motor precision control and drive. Nearly = due to the significant increase in microprocessor and power component technology, the comparative method: the technical method of 'methods can be practiced, and thus the control performance is greatly improved 0 ^ ^ ^ X > 4 ^ ^ 4 it (permanent magnet AC servo motor) is a rotating magnetic field generated by a frequency converter, (inVerter), pulse width dulation in the stator of the motor, which generates a rotational torque with the magnetic field caused by the permanent magnet of the rotor. The permanent magnet motor drive control technology is based on the position of the motor rotor, and the switch state is generated to generate a suitable stator rotating magnetic field to make the motor produce a flat rotating magnetic field. Since the starting position of the permanent magnet of the rotor is random and unknown, the rotor may be forward or reversed when the motor is started. However, if the motor does not allow the motor to reverse when it is used in an elevator or the like, it is necessary to detect the permanent magnet starting position of the rotor to avoid this reversal. The method of detecting the starting magnetic pole by the hydromagnetic motor can be mainly divided into two types: high frequency injection method _ and electric Wei injection method. High-frequency injection method has been counted 200839275 d-Q axis inductance needs to be known, can not distinguish ± (10) system voltage pulse is to use different angle temples. Different current rise slopes are passed, and the comparison = does not cause a position. The work is ★ Mao Mailsheng%k can serve the starting magnetic pole: If the second, the law is too dependent on the motor parameters, the right rising day of the day is not set correctly 4 caused the initial magnetic pole detection is not correct stone Cui ~ into The motor coil is damaged, too low and magnetic 2 can be developed if it can be developed quickly and accurately. The detection of the starting magnetic pole is high, and can be compatible with any motor method to take the dependence on the wheat number. SUMMARY OF THE INVENTION The main object of the present invention is to reduce the starting magnetic pole of the motor. The invention can quickly and accurately determine the permanent magnet for the above purpose, and the invention provides a detection method, firstly based on the motor parameter=motor starting magnetic pole

Pulse depletion Df · π 丨 丨 疋 疋 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到 加到Time; pick up the location of the Bodhisattva. In order to achieve the above purpose, the method of the present invention can be used to obtain the position of the magnetic pole detection side of the motor of the Yashan 7 motor. The six voltage vectors are sent to the stator and the rotor is recalculated. Comparing the results of the two pairs of positive magnetic poles will lead to > silk, hit & 0', and fruit, the right is the same, then the detection is completed, if the shell j repeats, the voltage injection of the kind of connection method, stop. And the two results are the same for the above purpose, the present invention i 7 motor starting magnetic pole detection method 200839275 ^ 'can be current level is greater than the motor rated current, for example, the motor name of the motor class to compare the rise time The length of the motor; if the rated current of the motor is greater than the rated current of the drive, the current level can be set to 160% of the rated current of the drive. % [Continuous application method] " The technical content and detailed description of this u are as follows: Μ八. A picture of the corpse of the brother and the first figure ,, is a permanent magnet motor stator magnet:: a schematic diagram of the field, in which the rotor magnetic field is produced by a permanent magnet = butterfly is established by an external power supply, so it can be set =. When the stator magnetic field is opposite to the direction of the rotor magnetic field, 豕 is unsaturated (linear); otherwise, when the same is taken, the synthetic magnetic field is fresh. The direction of the sub-magnetic field + the saturation of the magnetic flux of the nozzle will affect the metalworking 2. Therefore, the permanent magnet motor rotor can be measured by this characteristic (4): the starting diagram, 嶋: the relationship between the magnetic flux and the current in the permanent magnet motor. Whether it is saturated to the stator, 'when the synthetic magnetic field is saturated, the electric salt is 'f S ', small effect,

Loss ο feels less, on the contrary, when the synthetic magnetic field goes I 屯, larger. When the stator inductance becomes larger, the same electric material is used, and the current rises at a slower speed. The car is big enough to make the extra picture. Can be: for the stator inductance different current and time of the network, do not ask 'the current rises to the same level because the electric power from the detection of the permanent magnet motor starting magnetic pole position. To get '200839275, in other words, the above-mentioned rotor can be used at different positions to cause inductance' to cause different current rise time in the original king: the initial magnetic pole position. The fourth picture shows the permanent magnet ^ 'started; inserted into the network seven buckets, " 1 mortal construction turn, the two-phase winding shoulders. The six groups shown in the four brothers, v, v, f Bias voltage] one phase % v A Hunting the trigger pulse wave of each phase winding u, negative polarity; then measuring the rise time and starting position of the current generated by the six kinds of bias modes respectively. ^Between the rotor and the stator Compared with the fifth figure, the equivalent circuit diagram of the motor is shown, and the current waveform of the sixth circle is excited, the force in the middle is ',, ', the green ring resistance of the friend bite, Z is the thunder <160% order, Can calculate the rise time ivel ~ ^ rated sense... is the rated current of the busbar (four) electric m motor:

L , —X] R

Ikvel XR can be seen from the sixth graph. If the inductance is smaller, the electric product is also the shorter the rise time. Therefore, "L k is also fast, according to the six pseudo-disgusts shown in the four figures, plus the trigger pulse. Re-measure the current rise of the ^ ^ is the car abandoned by the 斟 4 s 'the rising day of the shortest 厶 P is: the stator magnetic pole of the sub-alignment 'so can get the starting position of the permanent magnet =. As for the current level '/ : When the level is not large, it is not easy to compare the rise time of the riser's "level is _ motor rated power" and 疋 current constant current, then the drive rated current plane is based on the magnitude of (4) (4) In order to simplify the calculation, the resistor can be simplified by the above formula: 4/V ignore 'can be 200839275

/ = Z x lki£L 匕. To avoid the current rising too fast,! The injection cannot be used with the power switch. Therefore, the voltage is turned on by TM (pulse width modulation _ mode to turn on, the necessary picture is used for the use of the pulse wave width sound; the main input electric dust. See the seventh picture. Because different The motor has no: the way to inject the voltage will be different, so the design of the PWM pulse width is 'fortunately: the rise time is also shown in the eighth picture, which is changed for the interruption of the touch pulse width ^=Duffin number. , the relationship between the _ a PWM B s P P pulse width Dt and other eight corpses Lt pulse width "divided into 256 temple y knife, after the rise time tr split knives shown in the seventh figure), where - For::人^

Dt : . At this point, the PM pulse width can be calculated.

Dt^(tr+32xDB)xCFx^ 32 When: td two t: two is the maximum carrier that prevents the short circuit of the upper and lower arms of the drive power switch, such as 4//S), (4) drive war/skin frequency (c y frequency ). Referring to the ninth figure, in accordance with the method of the present invention, the method of "measuring, (4) horse private magnetic pole detection rate, 苜ψ, PWM,, and a few of the maximum carrier frequency of the driver. Ten different PWM pulse width Dt (steps in order) Send out the species ♦ cranial a曰u), pick up the frame of the four figures of the brothers to produce the electric castle to the stator (step 1 each voltage vector generated by electricity) 'receiver 5 differently on the opposite and ... Between the inches (steps! ◦ 4) " 妾-liter (four) to pay the rotor position (step 10 200839275 complex step 1 0 2 to step 丄〇 the same (step i 〇 8) early k for two measurements results in the middle In order to avoid noise interference, the measurement error is: 贞==flow 2 to step 1 〇6. Therefore, repeat step 1 and the measurement is completed. If it is different, the result of fresh 、, car = pole, if the same, then The results are the same. "The power plant of the kind of connection method is injected until two times, and the above is only the preferred embodiment of the present invention, and the scope of the present invention is that the variation and the f decoration are all according to the present invention. The equalization of the scope of the invention patent (the simple description of the diagram) shows the diagram I and the -_ The permanent magnet motor stator magnetic field and the rotor magnetic field—the second figure shows the relationship between the magnetic flux and the current in the permanent magnet motor. It is the relationship between the current and the time of the stator inductance. The four modes of the method are shown before the permanent magnet motor. The six kinds of bias voltages of the windings - the fifth figure shows the equivalent circuit diagram of the motor. The first figure shows the current waveform when the motor coil is excited. The figure = the PWM voltage (pulse width modulation) is used to inject the voltage. The schematic diagram shows the relationship between the interruption of the simple pulse width (4) and the width of the pulse width. The ninth diagram shows the flow of the permanent magnetic motor starting magnetic core debt measurement method according to the present invention. 200839275 [Description of main component symbols] Steps 100 to 108

Claims (1)

200839275 X. Patent application scope: The method includes: a permanent magnet and a starting magnetic pole detecting method, the permanent magnet motor packer driving, the method comprising a phase winding, the permanent magnet motor is driven by a driving (a) to a pwM pulse width applied to the stator μ ; sequentially output six voltage vectors to the stator; (:) calculate the current rise time 丨 and () of each voltage vector to obtain the position of the job. The method further includes the first magnetic pole motor starting magnetic pole measurement of the first item of the patent consumption. 夂 The above steps (6)-(4), and the comparison results are the same. Method 2: The patent scope is the first! The initial test of the permanent magnet motor of the item is divided into 256 equal parts by the interruption time of the iPWM pulse width Γ' '. Method 苴中上:*! The third pole of the Liganwei permanent magnet motor starting magnetic pole detection /, medium rise (four) tr split into 32 times PWM interrupt method set Π 巧 范围 range 4th permanent magnet motor start In the touch test, the simple pulse width Dt is calculated according to the following method: Di = (fr+32xDB)xCFx^i 2:; square stop C: the force rate switch upper and lower arms are one short y). For the maximum carrier frequency of the drive "Print method 6: the first permanent magnet motor starting magnetic pole detection method (10) motor rated current. 200839275 rj method, such as 2 patent range of the sixth permanent magnet motor start The magnetic pole detects a t if the motor rated current is greater than the driver's amount, and the rated current of the actuator is 160%. 15 people - the permanent magnet motor starting magnetic pole detection method, the permanent magnet motor package has a braid and the dice has three a phase winding, the permanent magnet motor being driven by a driving force, the method comprising: (a) determining a pwM pulse width M applied to the stator; (b) sequentially driving six voltage vectors to the stator; (c) a leaf The current rise time generated by each voltage vector of the county; and the comparison rise time to obtain a preliminary rotor position; =^ repeat the above steps (6)-(4), and compare the results are the same; the right comparison result is the same, the correct rotor position is obtained (g) If the result of the right alignment is different, repeat steps (b)-(e) until the comparison result is the same. 'Directly better than the other party, /苴=Please call the magnetic pole of the patent range 8th permanent magnet Detective 'two,: secondary PWM pulse width The time of the break, the second permanent magnet of the second item of the second, and the (a) split between the two are completed by the 32-time PWM interrupt. 11. The method of claim 10, wherein the PWM pulse width Dt is based on the following Mode calculation: pole detection is '=(/,. + 32 X DB) xCFx 32 The failure time eadtime) to prevent short circuit of the upper and lower arms of the drive power switch, CF is the maximum carrier frequency of the driver (_ 14 200839275 frequency ). For example, the permanent method of applying the patent range δ, wherein the current level is the rated current of the motor, the starting magnetic pole is measured 13, and the permanent magnetic motor starting magnetic pole preparation method according to the patent application scope 12, wherein the motor If the rated current is greater than the rated current of the driver, the rated current of the driver is 160%.