WO2015058445A1 - 永磁同步电机带速重新投入的控制方法、装置及系统 - Google Patents
永磁同步电机带速重新投入的控制方法、装置及系统 Download PDFInfo
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- WO2015058445A1 WO2015058445A1 PCT/CN2013/089575 CN2013089575W WO2015058445A1 WO 2015058445 A1 WO2015058445 A1 WO 2015058445A1 CN 2013089575 W CN2013089575 W CN 2013089575W WO 2015058445 A1 WO2015058445 A1 WO 2015058445A1
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- permanent magnet
- synchronous motor
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- 238000002347 injection Methods 0.000 description 35
- 239000007924 injection Substances 0.000 description 35
- 238000010586 diagram Methods 0.000 description 12
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- 238000005259 measurement Methods 0.000 description 7
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details of starting control
- H02P1/029—Restarting, e.g. after power failure
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Definitions
- the invention relates to the technical field of permanent magnet synchronous motor control, in particular to a control method, device and system for re-input of a permanent magnet synchronous motor.
- PMSM Magnetic Synchronous Motor
- FIG. 1 the figure is a schematic diagram of a PMSM transmission system in the prior art.
- the rail transit permanent magnet traction system may mainly include a control unit 100, an inverter 200, an isolating contactor 300, and a permanent magnet synchronous motor 400.
- the control unit 100 is mainly used to control the operation of the inverter 200, send a PWM pulse signal to control the switching state of each tube in the inverter 200, and enable the inverter 200 to output a required voltage to supply power to the permanent magnet synchronous motor 400. ;
- the isolation contactor 300 is connected between the inverter 200 and the permanent magnet synchronous motor 400; the control unit 100 is further configured to control the switching state of the isolation contactor to control the connection between the inverter 200 and the permanent magnet synchronous motor 400. relationship.
- the PMSM400 is magnetized with permanent magnets.
- the PMSM400 generates a back EMF at the motor end as long as it is rotated.
- the formula is expressed as follows:
- the reaction potential E can be seen from the formula (1).
- the amplitude is strictly proportional to the rotor speed. Therefore, when the PMSM400 rotates at a high speed, the back electromotive force may be higher than the DC side voltage of the inverter 200. If the PMSM 400 is idling and there is no isolation contactor 300 disconnected between the PMSM 400 end and the inverter 400, it is directly turned on. Then, the capacitance of the inverter 400 will all endure the ultra-high back electromotive force generated by the rotation of the PMSM 400, which brings a risk of damage to the capacitance of the inverter 400.
- an isolation contactor 300 is installed between the PMSM 400 and the inverter 400.
- the speed re-input means that the inverter 400 is thrown in the case of the PMSM400 speed operation, that is, the isolation contactor 300 is closed, and the inverter 400 is connected to the PMSM400.
- the vector control of permanent magnet synchronous motor generally controls the stator current or voltage by detecting or estimating the position and amplitude of the rotor flux of the motor. Its rotor flux position is the same as the rotor mechanical position, so by detecting the actual position of the rotor current The magnetic flux position of the rotor is obtained.
- the mechanical position sensor is generally used in the current measurement of the rotor position, but the method is costly and increases the volume of the motor, so that the motor The anti-interference is reduced, and the environmental conditions such as temperature and vibration are limited, which is not conducive to the wide application of the motor. Therefore, the research on the position sensorless has become a hot spot of the permanent magnet synchronous motor drive system. For the research of position sensorless, direct calculation, observer based estimation method, model reference adaptive, artificial intelligence and other methods are generally used.
- Either of the above methods is a certain position estimation scheme after the motor is in normal operation, that is, after the closed-loop control is established.
- the key to re-injection with speed is to detect or calculate the rotor position and speed of the permanent magnet synchronous motor at the input point before the stable closed-loop control of the motor has been established, so as to ensure that the closed-loop control system can be quickly and stably after the motor is put into operation. Established.
- none of the above methods considers the problem from a system perspective, and does not consider the input logic of the isolated contactor during re-injection. It is impossible to guarantee the stable operation of the closed-loop control system after the permanent magnet synchronous motor is put into operation.
- the technical problem to be solved by the present invention is to provide a control method for the re-input of the permanent magnet synchronous motor with a speed, which can ensure the stable operation of the permanent magnet synchronous motor after the input is closed.
- Embodiments of the present invention provide a control method for re-input of a permanent magnet synchronous motor with a speed, including the following Steps:
- the permanent magnet synchronous motor is controlled to be in a short circuit state, and the current angle of the stationary coordinate system is obtained by the highest amplitude of the three-phase current of the permanent magnet synchronous motor short-circuit state, and the permanent magnet synchronous motor is The duration of the short circuit state calculates the current angle of the dq coordinate system, and the difference between the current angle of the dq coordinate system and the current angle of the stationary coordinate system is the rotor position angle; the permanent magnet synchronous motor is started by the rotor position angle;
- the rotor speed of the permanent magnet synchronous motor is less than or equal to the predetermined speed, a voltage space vector of different directions is applied to the permanent magnet synchronous motor, the three-phase current of the permanent magnet synchronous motor is measured, and the three-phase current of the permanent magnet synchronous motor is used to obtain the rotor.
- the position angle, the permanent magnet synchronous motor is started by the rotor position angle.
- the controlled permanent magnet synchronous motor is in a short circuit state
- the current angle of the static coordinate system is obtained from the highest amplitude of the three-phase current of the permanent magnet synchronous motor short-circuit state
- the dq coordinate is calculated from the duration of the permanent magnet synchronous motor in the short-circuit state.
- the current angle of the system, the difference between the current angle of the dq coordinate system and the current angle of the stationary coordinate system is the rotor position angle, specifically:
- the rotor position angle is:
- the permanent magnet synchronous motor applies voltage space vectors in different directions to measure the three-phase current of the permanent magnet synchronous motor, specifically:
- the voltage space vectors s1 and H s4 are sequentially applied for a predetermined period of time to obtain the phase A current of the permanent magnet synchronous motor;
- N is a predetermined integer
- the voltage space vectors s2 and ii s5 are sequentially applied for a predetermined period of time to obtain the B-phase current of the permanent magnet synchronous motor;
- the voltage space vectors ii s3 and ii s6 are sequentially applied for a predetermined period of time to obtain the C-phase current of the permanent magnet synchronous motor;
- sl , sl , n s3 , n s4 , ⁇ and ⁇ are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
- the three-phase current of the permanent magnet synchronous motor obtains a rotor position angle, specifically:
- ⁇ c ⁇ - [ + L q ) ⁇ (L d - L q ) cos 2 ( ⁇ ⁇ - ⁇ ⁇ / ⁇ ⁇ .
- the back electromotive force of the permanent magnet synchronous motor is calculated by the following formula:
- E The permanent magnet synchronous motor back electromotive force; the permanent magnet synchronous motor rotor electrical angular velocity; f is the permanent magnet flux linkage.
- the embodiment of the invention further provides a control device for re-input of a permanent magnet synchronous motor with a speed, comprising: a voltage judging unit, an isolated contactor control unit, a rotor rotation speed judging unit, a rotor position angle obtaining unit at a medium and high speed, and a rotor position at a low speed.
- Angular obtaining unit a control device for re-input of a permanent magnet synchronous motor with a speed, comprising: a voltage judging unit, an isolated contactor control unit, a rotor rotation speed judging unit, a rotor position angle obtaining unit at a medium and high speed, and a rotor position at a low speed.
- the voltage determining unit is configured to determine whether a back electromotive force of the permanent magnet synchronous motor is greater than a voltage of the inverter side;
- the isolation contactor control unit when the voltage determination unit determines that the back electromotive force of the permanent magnet synchronous motor is greater than the voltage of the inverter side, the control isolation contactor is disconnected, and the re-injection operation is prohibited;
- the rotor rotation speed judging unit is configured to determine whether the reciprocal potential of the permanent magnet synchronous motor is less than or equal to the voltage on the inverter side, and determine whether the rotor rotation speed of the permanent magnet synchronous motor is greater than a predetermined rotation speed;
- the medium-high speed rotor position angle obtaining unit when the rotor speed determining unit determines that the rotor speed of the permanent magnet synchronous motor is greater than a predetermined speed, is used to control the permanent magnet synchronous motor in a short circuit state, and the permanent magnet synchronous motor is short-circuited
- the highest amplitude of the three-phase current obtains the current angle of the stationary coordinate system, and the current angle of the dq coordinate system is calculated from the duration of the permanent magnet synchronous motor in the short-circuit state, and the difference between the current angle of the dq coordinate system and the current angle of the stationary coordinate system is the rotor Position angle; starting the permanent magnet synchronous motor by the rotor position angle;
- the low speed rotor position angle obtaining unit when the rotor speed determining unit determines that the rotor speed of the permanent magnet synchronous motor is less than or equal to a predetermined speed, is used to apply a voltage space vector of different directions to the permanent magnet synchronous motor, and measure the permanent magnet synchronization
- the three-phase current of the motor is obtained from the three-phase current of the permanent magnet synchronous motor to obtain the rotor position angle, and the permanent magnet synchronous motor is started by the rotor position angle.
- the medium and high speed rotor position angle obtaining unit comprises: a motor short-circuit control sub-unit for applying a zero voltage vector to make the permanent magnet synchronous motor in a short-circuit state;
- the motor short-circuit current obtains a sub-unit at the angle of the stationary coordinate system for obtaining the angle of the current in the stationary coordinate system by the following formula;
- the low speed rotor position angle obtaining unit comprises: a voltage space vector applying subunit, a three-phase current obtaining subunit, and a driving pulse blocking subunit;
- the voltage space vector applying subunit is configured to sequentially apply a voltage space vector and each predetermined time period without interruption; the three-phase current obtaining subunit is configured to obtain a phase A current of the permanent magnet synchronous motor; Blocking subunit, used to block the drive pulse of the inverter for N milliseconds; N The voltage space vector applying subunit is configured to sequentially apply the voltage space vector sl and the predetermined time period to obtain the B phase current of the permanent magnet synchronous motor; the driving pulse blocking subunit is used for blocking the inverter The drive pulse of the device is N milliseconds; N is a predetermined integer;
- the voltage space vector applying sub-unit is configured to sequentially apply the voltage space vectors ⁇ and ⁇ for a predetermined period of time to obtain the C-phase current of the permanent magnet synchronous motor;
- , u s3 , 4 , ⁇ and 6 are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
- the embodiment of the invention further provides a control system for re-input of a permanent magnet synchronous motor with a speed, comprising: a control unit, a permanent magnet synchronous motor, an inverter and an isolating contactor;
- the control unit is configured to control an on state of the isolation contactor; the isolation contactor is connected between the inverter and the permanent magnet synchronous motor;
- the control unit is further configured to output a driving pulse to control a switching state of the tube in the inverter; the control unit is further configured to determine whether a back electromotive force of the permanent magnet synchronous motor is greater than a voltage of the inverter side; If the back electromotive force of the magnetic synchronous motor is greater than the voltage on the inverter side, the control isolation contactor is disconnected, and the re-injection operation is prohibited; if the back electromotive force of the permanent magnet synchronous motor is less than or equal to the voltage on the inverter side, the permanent magnet is continuously determined.
- the permanent magnet synchronous motor is controlled to be in a short circuit state, and the static coordinate system is obtained from the highest amplitude of the three-phase current of the permanent magnet synchronous motor short circuit state
- the current angle, the current angle of the dq coordinate system is calculated from the duration of the permanent magnet synchronous motor in the short circuit state, and the difference between the current angle of the dq coordinate system and the current angle of the stationary coordinate system is the rotor position angle;
- Magnetic synchronous motor if the rotor speed of the permanent magnet synchronous motor is less than or equal to the predetermined speed, Voltage space vector is applied to the synchronous motor in different directions, measuring the phase current of the permanent magnet synchronous motor, a permanent magnet synchronous three-phase current of the motor rotor position angle is obtained, starting from the position angle of the rotor permanent magnet synchronous motor.
- control unit applies a voltage space vector of different directions to the permanent magnet synchronous motor to measure the three-phase current of the permanent magnet synchronous motor, specifically:
- the voltage space vectors s1 and 4 are sequentially applied for a predetermined period of time to obtain the phase A current of the permanent magnet synchronous motor;
- N is a predetermined integer
- the voltage space vector and the predetermined time period of s5 are continuously applied in sequence to obtain permanent magnet synchronous power.
- the voltage space vectors ii s3 and ii s6 are sequentially applied for a predetermined period of time to obtain the C-phase current of the permanent magnet synchronous motor;
- sl , H s2 , u s3 , u s4 , s5 and ⁇ are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
- the present invention has the following advantages:
- PMSM is obtained from the speed of the trailer. Thereby obtaining the back EMF of the PMSM.
- the back EMF is compared with the voltage on the inverter side. If the back EMF is higher than the voltage on the inverter side, the PMSM speed re-injection is not allowed, and the PMSM speed re-injection is allowed.
- the PMSM speed re-injection will close the isolation contactor, and the PMSM speed re-injection will be prohibited to disconnect the isolation contactor.
- PMSM speed re-entry requires knowledge of the rotor position angle.
- the rotor position angle is calculated by dividing the two working conditions of low speed and medium height, and different working conditions correspond to different rotor position angles, and the PMSM is started by the rotor position angle.
- the method provided by the invention proposes a comprehensive control method from the system point of view, prohibiting the re-injection of the belt speed in the high speed section of the PMSM (the corresponding back electromotive force is too large at the high speed), and calculating the rotor position angle by using the short circuit method in the middle and high speed sections to determine the re-injection Point position, the low speed section uses the INFORM method to calculate the rotor position angle to determine the position of the re-point.
- FIG. 1 is a schematic view of a PMSM transmission system in the prior art
- Figure 2 is a voltage phasor diagram of a permanent magnet synchronous motor
- FIG. 3 is a first-class diagram of an embodiment of a control method for a re-input of a permanent magnet synchronous motor provided by the present invention
- FIG. 5 is a schematic diagram of current angles of current vectors in different coordinate systems provided by the present invention
- FIG. 6 is a flow chart of calculating a rotor position angle by using the INFORM method provided by the present invention
- 7 is a schematic diagram of a voltage space vector provided by the present invention
- Figure 8 is a schematic diagram of current measuring points provided by the present invention.
- FIG. 9 is a schematic view showing an embodiment of a control device for re-injection of a permanent magnet synchronous motor with a speed of the present invention.
- Figure 10 is a schematic diagram of Embodiment 2 of the apparatus provided by the present invention.
- Figure 11 is a schematic view showing the third embodiment of the apparatus provided by the present invention.
- Fig. 12 is a view showing an embodiment of a control system for re-injection of a permanent magnet synchronous motor with a speed of the present invention.
- FIG. 3 there is shown a flow chart of a first embodiment of a method for controlling the re-input of a permanent magnet synchronous motor with a speed.
- the PMSM will reverse charge the DC side of the inverter.
- the capacitor on the DC side of the inverter will be charged higher than the capacitor's safe allowable value, causing damage to the capacitor.
- the belt speed re-injection can be performed at all speeds of the PMSM, and it is necessary to judge the speed of the PMSM according to the re-point.
- the method provided by the embodiment of the invention is based on the safety of the rail transit, and the re-entry logic is defined based on the system trailer speed from the system perspective.
- the speed of the PMSM can be obtained by using the system trailer speed.
- back EMF of PMSM can be obtained by using formula (1), which can be obtained by system trailer.
- the voltage on the inverter side can be determined by using the voltage on the DC side of the inverter.
- the voltage on the inverter side can be used.
- S303 if the back electromotive force of the permanent magnet synchronous motor is less than or equal to the voltage on the inverter side, continue to determine whether the rotor speed of the permanent magnet synchronous motor is greater than a predetermined speed; If the back EMF of the permanent magnet synchronous motor is less than or equal to the voltage on the inverter side, the isolation contactor is allowed to close, but it is further necessary to know the rotor position angle of the PMSM to start the PMSM. Therefore, the following needs to be obtained according to the speed of the trailer.
- the size is divided into two cases to obtain the rotor position angle respectively. One is how to obtain the rotor position angle in the case of low speed, and the other is how to obtain the rotor position angle in the middle and high speed.
- the method provided by S304 can be summarized as a short circuit method.
- this short-circuit method the mid-high-speed lower rotor position angle can be obtained, thereby knowing the initial position of the rotor to start the PMSM.
- the method provided by S305 mainly applies the INFORM (Indirect Flux detection by On-line Reactance Measurement) method.
- the method provided by the present invention obtains the PMSM from the speed of the trailer from a system perspective. Thereby the back EMF of the PMSM is obtained. The back EMF is compared with the voltage on the inverter side. If the back EMF is higher than the voltage on the inverter side, the PMSM speed re-injection is not allowed, and the PMSM speed re-injection is allowed. The PMSM speed re-injection will close the isolation contactor, and the PMSM speed re-injection will be prohibited to disconnect the isolation contactor. However, the PMSM speed re-injection requires knowledge of the rotor position angle.
- the rotor position angle is calculated by dividing the two working conditions of low speed and medium height, and different working conditions correspond to different rotor position angles, and the PMSM is started by the rotor position angle.
- the method provided by the invention proposes a comprehensive control method from the system point of view, prohibiting the re-injection of the belt speed in the high speed section of the PMSM (the corresponding back electromotive force is too large at the high speed), and calculating the rotor position angle by using the short circuit method in the middle and high speed sections to determine the re-injection Point position, the low speed section uses the INFORM method to calculate the rotor position angle to determine the position of the re-point.
- Method embodiment two provides a detailed description of the rotor position angle obtained by a short circuit method when the PMSM is in the middle and high speed sections.
- FIG. 4 the figure is a flow chart of a short circuit method in the middle and high speed sections provided by the present invention.
- the short-circuit method can be used to obtain the rotor position angle.
- the permanent magnet synchronous motor can also be in a short circuit state; when all the tubes of the lower arm are turned on, the permanent magnet synchronous motor can also be in a short circuit state, which is not specifically limited in the embodiment of the present invention. Specifically, all the tubes of the upper arm are turned on, or all the tubes of the lower arm are turned on.
- S402 Keep the permanent magnet synchronous motor short-circuited for a predetermined period of time r s3 ⁇ 4 to obtain the highest amplitude of the three-phase current of the PMSM.
- Figure 5 the two coordinate systems are drawn in the same figure, that is, Figure 5 includes the dq coordinate system and the stationary coordinate system.
- the embodiment of the present invention details how to calculate the rotor position angle in the middle and high speed stages by the one-time short circuit method. That is, using the results of the equations (5) and (7), the rotor position angle is obtained by the formula (8).
- this figure is a flow chart for calculating the rotor position angle using the INFORM method provided by the present invention.
- the magnetic circuit of the motor has a convex polarity, and the inductance value of the stator winding is a rotor.
- the function of position, so the current response generated by the voltage space vector at different positions must contain rotor position information.
- the motor model can be written in the form of a vector equation, namely:
- Li-AL ALsin 2 ⁇ +ALcos20 e can be seen from equation (1). Under the action of voltage space vector ⁇ in a certain direction, the current response depends on the inductance matrix, and the stator winding inductance changes with the position of the rotor electrical angle.
- the voltage space vector can be generated by various methods in the specific implementation process, and one of the more simple methods is to directly use the inverter in the system, as shown in FIG. 7 , the voltage space vector, respectively Along the axis of the ABC winding, alternately applying a voltage space vector from both the forward and reverse directions, for example, for the A-axis of the PMSM, can be applied and, and the pulse-width modulated switching voltage vector generated by the inverter is implemented, due to the inverter
- the switching frequency is 4 ⁇ high, so the applied sl and s4 are also high frequency stator voltage signals.
- ⁇ and ⁇ can be applied
- the force s3 and ° can be applied
- the following is an example of applying a voltage space vector to an A-axis phase winding.
- FIG 8 the figure is a schematic diagram of current measurement points provided by the present invention.
- stator three-phase current deviation can be expressed as a space vector form / ( ⁇ ), which has:
- f(Ai s ) By measuring the highest amplitude of the three-phase current of the stator of the PMSM, f(Ai s ) can be calculated from equation (19), and the spatial phase can be obtained. It can be known from equation (20) that it is equal to (2 + ⁇ ) and can be estimated by equation (20;
- the predetermined time period can be set according to a specific situation.
- the predetermined time period can be set to 100 us.
- S602 Blocking the driving pulse of the inverter for N milliseconds; N is a predetermined integer;
- the drive pulse of the inverter is blocked for N milliseconds, that is, no voltage space vector is applied, in order to zero the current of the PMSM.
- N can also select different values as needed.
- N can take a value of 1, that is, the drive pulse is blocked for 1 ms.
- S603 sequentially applying the voltage space vectors ⁇ and ⁇ for a predetermined period of time to obtain the B-phase current of the permanent magnet synchronous motor;
- S605 sequentially applying the voltage space vectors ⁇ and 6 for a predetermined period of time to obtain the C-phase current of the permanent magnet synchronous motor;
- sl , sl , n s3 , s4 , ⁇ and 6 are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
- the voltage space vector can be specifically referred to FIG. Device embodiment 1:
- the present invention also provides a control device for re-injecting the speed of the permanent magnet synchronous motor, which will be described in detail below with reference to the specific drawings.
- Fig. 9 is a schematic view showing a first embodiment of a control device for re-injecting a speed of a permanent magnet synchronous motor according to the present invention.
- the control device for the re-input of the permanent magnet synchronous motor with the speed of the present invention includes: a voltage judging unit 901, an isolating contactor control unit 902, a rotor rotational speed determining unit 903, a middle-high speed rotor position angle obtaining unit 904, and a low speed rotor.
- the voltage determining unit 901 is configured to determine whether the back electromotive force of the permanent magnet synchronous motor is greater than the inverter Side voltage
- back EMF of PMSM can be obtained by using formula (1), which can be obtained by system trailer.
- the voltage on the inverter side can be used as a criterion by using the voltage on the DC side of the inverter.
- the voltage on the inverter side can be t/ / ⁇ .
- the isolation contactor control unit 902 when the voltage determination unit 901 determines that the back electromotive force of the permanent magnet synchronous motor is greater than the voltage of the inverter side, controls the isolation contactor to be disconnected, and the re-injection operation is prohibited; The safety of the DC side capacitor of the transformer.
- the isolation contactor is allowed to close, but it is further necessary to know the rotor position angle of the PMSM to start the PMSM. Therefore, the following is required according to the speed of the trailer.
- the size of the wheel is divided into two cases to obtain the rotor position angle. One is how to obtain the rotor position angle at low speed, and the other is how to obtain the rotor position angle at medium and high speed.
- the medium-high speed rotor position angle obtaining unit 904 is configured to control the permanent magnet synchronous motor to be in a short-circuit state and short-circuited by the permanent magnet synchronous motor when the rotor rotational speed determining unit 903 determines that the permanent magnet synchronous motor has a rotor rotational speed greater than a predetermined rotational speed.
- the highest amplitude of the three-phase current of the state obtains the current angle of the stationary coordinate system, and the current angle of the dq coordinate system is calculated from the duration of the permanent magnet synchronous motor in the short-circuit state, and the difference between the current angle of the dq coordinate system and the current angle of the stationary coordinate system
- the rotor position angle; the permanent magnet synchronous motor is started by the rotor position angle;
- the low speed rotor position angle obtaining unit 905 when the rotor speed determining unit 903 determines that the rotor speed of the permanent magnet synchronous motor is less than or equal to the predetermined speed, is used to apply a voltage space vector of different directions to the permanent magnet synchronous motor, and the measurement is permanent.
- the three-phase current of the magnetic synchronous motor is obtained from the three-phase current of the permanent magnet synchronous motor to obtain the rotor position angle, and the permanent magnet synchronous motor is started by the rotor position angle.
- the rotor position angle is obtained at low speed.
- the INFORM Indirect Flux detection by On-line Reactance Measurement
- the INFORM Indirect Flux detection by On-line Reactance Measurement
- the apparatus provided by the present invention obtains the PMSM from the speed of the trailer from a system perspective. Thereby the back EMF of the PMSM is obtained. The back EMF is compared with the voltage on the inverter side. If the back EMF is higher than the voltage on the inverter side, the PMSM speed re-injection is not allowed, and the PMSM speed re-injection is allowed. The PMSM speed re-injection will close the isolation contactor, and the PMSM speed re-injection will be prohibited to disconnect the isolation contactor. However, the PMSM speed re-injection requires knowledge of the rotor position angle.
- the rotor position angle is calculated by dividing the two working conditions of low speed and medium height, and different working conditions correspond to different rotor position angles, and the PMSM is started by the rotor position angle.
- the device provided by the invention proposes comprehensive control from the system point of view, prohibiting the re-injection of the belt speed in the high speed section of the PMSM (the corresponding back electromotive force is too large at the high speed), and calculating the rotor position angle by using the short circuit method in the middle and high speed sections to determine the re-pointing point.
- Position, low speed section uses the INFORM method to calculate the rotor position angle to determine the position of the re-point.
- Device embodiment 2 is
- FIG. 10 the figure is a schematic diagram of Embodiment 2 of the apparatus provided by the present invention.
- the medium and high speed rotor position angle obtaining unit comprises: a motor short circuit control subunit 904a and a rotor position angle first obtaining unit 904b.
- the motor short circuit control sub-unit 904a is configured to apply a zero voltage vector to make the permanent magnet synchronous motor be in a short circuit state
- the permanent magnet synchronous motor can also be in a short circuit state; when all the tubes of the lower arm are turned on, the permanent magnet synchronous motor can also be in a short circuit state, which is not specifically limited in the embodiment of the present invention. Specifically, all the tubes of the upper arm are turned on, or all the tubes of the lower arm are turned on.
- the motor short-circuit current obtains a sub-unit at the angle of the stationary coordinate system for obtaining the angle of the current in the stationary coordinate system by the following formula;
- the motor short-circuit current is obtained at the angle of the dq coordinate system to obtain a sub-unit for obtaining the current in the dq coordinate system by the following formula;
- Device embodiment three
- FIG. 11 the figure is a schematic diagram of Embodiment 3 of the apparatus provided by the present invention.
- the low speed rotor position angle obtaining unit includes: a voltage space vector applying subunit 905a, a three-phase current obtaining subunit 905b, and a driving pulse blocking subunit 905c;
- the voltage space vector applying sub-unit 905a is configured to sequentially apply a voltage space vector and a predetermined time period without interruption; the three-phase current obtaining sub-unit 905b is configured to obtain a phase A current of the permanent magnet synchronous motor;
- the driving pulse blocking subunit 905c is configured to block the driving pulse of the inverter for N milliseconds; N is a predetermined integer;
- the voltage space vector applying sub-unit 905a is further configured to sequentially apply a voltage space vector and a predetermined time period without interruption to obtain a B-phase current of the permanent magnet synchronous motor; the driving pulse blocking sub-unit 905c is used for blocking
- the driving pulse of the inverter is N milliseconds; N is a predetermined integer;
- the voltage space vector applying sub-unit 905a is also used to sequentially apply voltage space without interruption Vector and 6 predetermined time periods, obtaining a C-phase current of the permanent magnet synchronous motor;
- , u s3 , U s4 , ⁇ and 6 are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
- the present invention Based on the control method and apparatus for the re-input of the permanent magnet synchronous motor with the speed of the above-described embodiments, the present invention also provides a control system for re-injecting the speed of the permanent magnet synchronous motor.
- FIG. 12 there is shown a first embodiment of a control system for re-input of a permanent magnet synchronous motor with a speed.
- the control unit is configured to control an on state of the isolation contactor 300; the isolation contactor 300 is connected between the inverter 200 and the permanent magnet synchronous motor 400;
- the control unit 100 is further configured to output a driving pulse to control a switching state of the tube in the inverter 200;
- the control unit 100 is further configured to determine whether the back electromotive force of the permanent magnet synchronous motor 400 is greater than the voltage of the inverter 200 side; if the back electromotive force of the permanent magnet synchronous motor 400 is greater than the voltage of the inverter 200 side, the control isolation contact If the back electromotive force of the permanent magnet synchronous motor 400 is less than or equal to the voltage of the inverter 200 side, it is determined whether the rotor speed of the permanent magnet synchronous motor 400 is greater than a predetermined speed; if the permanent magnet is synchronized When the rotor speed of the motor 400 is greater than the predetermined speed, the permanent magnet synchronous motor 400 is controlled to be in a short-circuit state, and the current angle of the static coordinate system is obtained by the highest amplitude of the three-phase current in the short-circuit state of the permanent magnet synchronous motor 400, and the permanent magnet synchronous motor 400 is The duration of the short circuit state calculates the current angle of the dq coordinate system, the difference between the current angle of the dq coordinate
- the system provided by the invention is obtained from the perspective of the rail transit traction system by the speed of the trailer PMSM of e. Thereby the back EMF of the PMSM is obtained.
- the back EMF is compared with the voltage on the inverter side. If the back EMF is higher than the voltage on the inverter side, the PMSM speed re-injection is not allowed, and the PMSM speed re-injection is allowed.
- the PMSM speed re-injection will close the isolation contactor, and the PMSM speed re-injection will be prohibited to disconnect the isolation contactor.
- the PMSM speed re-injection requires knowledge of the rotor position angle.
- the rotor position angle is calculated by dividing the two working conditions of low speed and medium height, and different working conditions correspond to different rotor position angles, and the PMSM is started by the rotor position angle.
- the system provided by the invention proposes comprehensive control from the system point of view, prohibiting the re-injection of the belt speed in the high speed section of the PMSM (the corresponding back electromotive force is too large at the high speed), and calculating the rotor position angle by using the short circuit method in the middle and high speed sections to determine the re-pointing point.
- Position, low speed section uses the INFORM method to calculate the rotor position angle to determine the position of the re-point.
- the control unit applies a voltage space vector of different directions to the permanent magnet synchronous motor, and measures the three-phase current of the permanent magnet synchronous motor, specifically:
- the voltage space vectors s1 and 4 are sequentially applied for a predetermined period of time to obtain the phase A current of the permanent magnet synchronous motor;
- N is a predetermined integer
- the voltage space vector and the predetermined time period are continuously applied in sequence to obtain the B phase current of the permanent magnet synchronous motor;
- the voltage space vectors s3 and s6 are sequentially applied for a predetermined period of time to obtain the c-phase current of the permanent magnet synchronous motor;
- i si , s2 , s3 , U s4 , ⁇ and 6 are sequentially space vectors which are 60 degrees out of phase in the counterclockwise direction.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
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US15/031,479 US10033313B2 (en) | 2013-10-25 | 2013-12-16 | Control method for restarting permanent magnet synchronous motor with speed, device and system thereof |
GB1607342.1A GB2535368B (en) | 2013-10-25 | 2013-12-16 | Control method for restarting permanent magnet synchronous motor with speed, device and system thereof |
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CN201310512095.0A CN103516281B (zh) | 2013-10-25 | 2013-10-25 | 永磁同步电机带速重新投入的控制方法、装置及系统 |
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TWI717001B (zh) * | 2019-09-05 | 2021-01-21 | 登騰電子股份有限公司 | 電動機控制器與電動機控制方法 |
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CN103516281B (zh) | 2015-02-11 |
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US10033313B2 (en) | 2018-07-24 |
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