WO2020228201A1 - 无位置传感器矢量控制永磁同步电机平滑启动控制方法 - Google Patents

无位置传感器矢量控制永磁同步电机平滑启动控制方法 Download PDF

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WO2020228201A1
WO2020228201A1 PCT/CN2019/105364 CN2019105364W WO2020228201A1 WO 2020228201 A1 WO2020228201 A1 WO 2020228201A1 CN 2019105364 W CN2019105364 W CN 2019105364W WO 2020228201 A1 WO2020228201 A1 WO 2020228201A1
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speed
control
target
constant
motor
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PCT/CN2019/105364
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English (en)
French (fr)
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蓝竞豪
边文清
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中山大洋电机股份有限公司
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Publication of WO2020228201A1 publication Critical patent/WO2020228201A1/zh

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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
    • H02P6/21—Open loop start
    • 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
    • H02P21/24—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
    • H02P21/34—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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/08—Arrangements for controlling the speed or torque of a single motor
    • 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

Definitions

  • the invention relates to a smooth start control method for a position sensorless vector control permanent magnet synchronous motor.
  • Chinese patent CN103929109(A) also discloses a constant speed control method based on a position sensorless vector control permanent magnet synchronous motor.
  • the start-up control strategy of permanent magnet synchronous motor based on the position sensorless vector control under the constant torque operation mode usually adopts the current observer control strategy to estimate the back electromotive force, and then uses the back electromotive force to estimate the speed and rotor position.
  • the open-loop control is used to increase the motor speed to a speed that can be reliably estimated, and then switch to the closed-loop control.
  • the constant torque control strategy does not perform closed-loop control on the speed, so in order to be able to reliably access the closed-loop control during the startup phase, the usual approach is to increase the speed of the open-loop control, which will easily cause overshoot during the startup phase and motor vibration during startup. And noisy. In the low-speed starting phase, the current signal is chaotic. If the user starts with a smaller torque command value, it is easy to cause the current limit and cause the speed estimation to lose step, and finally the start fails. Therefore, it is necessary to have an effective and reliable control strategy, which can not only ensure stable operation in constant speed mode, but also stable start in constant torque mode, improve user experience, and ensure the reliability of successful startup.
  • the purpose of the present invention is to provide a position sensorless vector control permanent magnet synchronous motor smooth start control method, which mainly solves the problem that the permanent magnet synchronous motor based on the position sensorless vector control under the constant torque operation mode in the prior art is started Unstable starting, large motor vibration and noise, easy to cause starting failure, starting unreliable technical problems.
  • the position sensorless vector control permanent magnet synchronous motor smooth start control method includes at least two stages: open-loop control and constant-speed closed-loop control.
  • the above-mentioned position sensorless vector control permanent magnet synchronous motor is set to a constant torque operation mode or a constant speed operation mode after being started, and the control method includes the following steps:
  • Open-loop control Convert the maximum value of the output torque Tmax of the motor into the maximum value of q-axis current Iq_max, and use the maximum value of q-axis current Iq_max as the upper limit of the q-axis current to control the motor to enter the operating state of open loop control;
  • Constant speed closed-loop control When the actual operating steady-state speed V of the motor reaches the first target speed V_ref1, the maximum q-axis current Iq_max is slowly reduced to the q-axis current target value Iq0 corresponding to the target torque value T0 set by the user , And maintain the operating mode of constant speed closed-loop control with the first target speed V_ref1.
  • the above-mentioned position sensorless vector control permanent magnet synchronous motor smooth start control method further includes:
  • Speed raising operation control In the constant speed closed loop operation mode, the first target speed V_ref1 is raised to the highest target speed V_max to control the motor operation.
  • the highest target speed is used V_max maintains the operating mode of constant speed closed-loop control; when the actual operating steady-state speed V of the motor does not reach the highest target speed V_max, it enters the operating mode of constant torque closed-loop control.
  • the operating mode of the constant torque closed-loop control described in the above control method is based on the target torque value T0 for constant torque closed-loop control, that is, the target torque value T0 set by the user is converted into the q-axis current target value Iq0, and the q-axis The current PI control loop of the Q-axis current target value Iq0 as the target for closed-loop control.
  • the actual operating steady-state rotation speed V mentioned in the above control method means that the motor runs at a constant speed at the first target rotation speed V_ref1 and detects that the rotation speed Vt is equivalent to the first target rotation speed V_ref1 within a certain time T2.
  • the certain time T2 in the above control method refers to 2 seconds to 4 seconds, and the real-time detection speed Vt equal to the first target speed V_ref1 means that the difference between the two does not exceed 10 revolutions/minute.
  • the smooth start control method of the present invention includes at least two stages: open-loop control and constant-speed closed-loop control.
  • Open-loop control converts the maximum value of the output torque Tmax of the motor into the maximum value of q-axis current Iq_max, and uses the maximum value of q-axis current The value Iq_max is used as the upper limit of the q-axis current to control the motor to enter the operating state of open-loop control; in constant-speed closed-loop control: when the actual operating steady-state speed V of the motor reaches the first target speed V_ref1, the q-axis current is set to the maximum value Iq_max slowly decreases to the q-axis current target value Iq0 corresponding to the target torque value T0 set by the user, and maintains the operation mode of constant speed closed loop control at the first target speed V_ref1; speed increase operation control: that is, operation in the constant speed closed loop In the mode, the first target speed V_ref1 is raised to the highest target speed V
  • the start-up process is very smooth, avoiding traditional methods that may easily cause overshoot during the start-up phase, eliminating the motor vibration and noise problems caused by the traditional control strategy during start-up, and improving user experience;
  • the motor can be started stably and reliably under the minimum torque command, and the control mode switching process is smooth; the effect of the whole starting process of the present invention can achieve the same start effect as the permanent magnet synchronous motor with Hall sensor;
  • Figure 1 is a block diagram of the constant torque control of a traditional position sensorless vector control permanent magnet synchronous motor.
  • Figure 2 is a schematic diagram of the principle of a position sensorless vector control permanent magnet synchronous motor.
  • Figure 3 is a perspective view of the permanent magnet synchronous motor of the present invention.
  • FIG. 4 is a perspective view of the motor controller of the permanent magnet synchronous motor of the present invention.
  • Figure 5 is a cross-sectional view of the permanent magnet synchronous motor of the present invention.
  • Figure 6 is a schematic block diagram of the motor controller of the permanent magnet synchronous motor of the present invention.
  • Fig. 7 is a circuit diagram corresponding to Fig. 6;
  • Figure 8 is a diagram of the relationship between the coordinate systems of the permanent magnet synchronous motor vector control
  • Figure 9 is a smooth start control flow chart of the permanent magnet synchronous motor of the present invention.
  • Figure 10 is a block diagram of the open loop control of the permanent magnet synchronous motor of the present invention.
  • Figure 11 is a block diagram of the constant speed closed loop control of the permanent magnet synchronous motor of the present invention.
  • Fig. 12 is a block diagram of the rotation speed raising operation control of the permanent magnet synchronous motor of the present invention.
  • Fig. 13 is a block diagram of the constant torque closed loop control of the permanent magnet synchronous motor of the present invention.
  • the present invention is a three-phase permanent magnet synchronous motor, consisting of a motor controller 2 and a motor unit 1, and the motor unit 1 includes a stator assembly 12, The rotor assembly 13 and the housing assembly 11, the stator assembly 13 is installed on the housing assembly 11, the rotor assembly 13 is set inside or outside the stator assembly 12, and the motor controller 2 includes a control box 22 and a control box 22 installed inside
  • the control circuit board 21 generally includes a power supply circuit, a microprocessor, a bus voltage detection circuit, and an inverter.
  • the power supply circuit supplies power to each part of the circuit.
  • the bus voltage detection circuit inputs the DC bus voltage Uabc to the microprocessor.
  • the microprocessor controls the inverter, and the inverter controls the on and off of each phase coil winding of the stator assembly 12.
  • the phase line current detection circuit of a 3-phase brushless DC permanent magnet synchronous motor inputs the currents ia, ib, and ic of each phase to the microprocessor.
  • the DC bus voltage Vbus is output at one end of the capacitor C1.
  • the DC bus voltage Vbus is related to the input AC voltage.
  • the PWM signal input to the inverter.
  • the inverter is composed of electronic switching tubes q1, q2, q3, q4, q5, and q6.
  • the control terminals of the electronic switching tubes q1, q2, q3, q4, q5, and q6 are respectively processed by the microprocessor
  • the 6-channel PWM signal (P1, P2, P3, P4, P5, P6) output by the device is controlled.
  • the rotor rotating coordinate system dq axis There are two coordinate systems, one is the rotor rotating coordinate system dq axis; the other stator static coordinate system ABC coordinate system (can be converted into a coordinate system where ⁇ is perpendicular to each other); the rotor can be regarded as the function of the excitation current if to rotate speed wr Rotation, the stator can be regarded as the action of the excitation current is, the speed ws rotation, the composite vector of the stator in the figure is S; according to the calculation formula of electromagnetic torque:
  • K is a constant, and the electromagnetic torque Te of the permanent magnet synchronous motor is only related to the q-axis current.
  • the ABC coordinate system of the stator static coordinate system is replaced with a coordinate system in which ⁇ is perpendicular to each other.
  • the stator stationary coordinate system is the ⁇ coordinate system
  • the rotor rotating coordinate system is the dq coordinate system
  • the angle between the ⁇ coordinate system and the dq coordinate system is ⁇ .
  • the position sensorless vector control permanent magnet synchronous motor smooth start control method of the present invention includes at least two stages of open loop control and constant speed closed loop control.
  • the position sensorless vector control permanent magnet synchronous motor is started after the start Set to constant torque operation mode or constant speed operation mode, the control method includes the following steps:
  • Open-loop control Convert the maximum value of the output torque Tmax of the motor into the maximum value of q-axis current Iq_max, and use the maximum value of q-axis current Iq_max as the upper limit of the q-axis current to control the motor to enter the operating state of open loop control;
  • Constant speed closed-loop control When the actual operating steady-state speed V of the motor reaches the first target speed V_ref1, the maximum q-axis current Iq_max is slowly reduced to the q-axis current target value Iq0 corresponding to the target torque value T0 set by the user , And maintain the operating mode of constant speed closed-loop control with the first target speed V_ref1.
  • Speed raising operation control In the constant speed closed loop operation mode, the first target speed V_ref1 is raised to the highest target speed V_max to control the motor operation.
  • the highest target speed is used V_max maintains the operating mode of constant speed closed-loop control; when the actual operating steady-state speed V of the motor does not reach the highest target speed V_max, it enters the operating mode of constant torque closed-loop control.
  • open-loop control convert the maximum value of the motor output torque Tmax into the maximum value of q-axis current Iq_max, and use the maximum value of q-axis current Iq_max as the upper limit of the q-axis current to control the motor to enter the operating state of open loop control, see As shown in Figure 10;
  • Constant speed closed-loop control Set the first target speed V_ref1 as the closed-loop cut-in point speed. Under open-loop control, when the actual operating steady-state speed V of the motor reaches the first target speed V_ref1, the q-axis current maximum value Iq_max is slowly decreased To the q-axis current target value Iq0 corresponding to the target torque value T0 set by the user, and maintain the operating mode of constant speed closed-loop control at the first target speed V_ref1, as shown in Figure 11;
  • Speed raising operation control In the constant speed closed loop operation mode, the first target speed V_ref1 is raised to the highest target speed V_max to control the motor operation.
  • the highest target speed is used V_max maintains the operating mode of constant speed closed-loop control; when the actual operating steady-state speed V of the motor does not reach the maximum target speed V_max, it enters the operating mode of constant torque closed-loop control, as shown in Figure 12, V_max>V_ref1.
  • Constant torque closed-loop control use the target torque value T0 for constant torque closed-loop control, that is, convert the target torque value T0 set by the user into the q-axis current target value Iq0, and use the q-axis current PI control loop to control the q-axis
  • the current target value Iq0 is the target for closed-loop control, as shown in Figure 13.
  • the motor uses the set minimum target speed V_min for constant speed control, if the speed difference Err between the actual operating steady-state speed V and the lowest target speed V_min is greater than the set value E0, exit the constant speed control and re-enter the constant torque control. That is, the target torque value T0 is used for constant torque closed-loop control, that is, the q-axis current PI control loop is used to convert the target torque value T0 set by the user into the q-axis current target value Iq0 as the target for closed-loop control.
  • the actual operating steady-state rotation speed V mentioned in the above control method means that the motor runs at a constant speed at the first target rotation speed V_ref1 and detects that the rotation speed Vt is equivalent to the first target rotation speed V_ref1 within a certain time T2.
  • the certain time T2 in the above control method refers to 2 seconds to 4 seconds, and the real-time detection speed Vt equal to the first target speed V_ref1 means that the difference between the two does not exceed 10 revolutions/minute.
  • the present invention adopts the control strategy of this invention, and the start-up and operation process of the motor is smooth and reliable, and its noise and vibration can be ignored, which meets the needs and experience of users. Moreover, when the motor is started with the default minimum torque value, the starting process is stable and smooth, which meets the user's torque adjustment range.
  • Step 1 Open loop control stage, convert the maximum output torque value Tmax of the motor to the maximum value of q-axis current as Iq_max, and use Iq_max as the upper limit given by the q-axis current to drive the motor to run, and set the first target speed V_ref1 is the closed-loop cut-in point speed.
  • the time of the open-loop control phase is t1, which is appropriately longer to avoid vibration and noise caused by the excessive increase of the q-axis current.
  • Set the first target speed V_ref1 300 rpm / divided into closed-loop cut-in Point speed:
  • Detect the current value Iq1 compare the q-axis real-time detection current value Iq1 with the q-axis current given value Iq0 corresponding to the target torque value T0, and use the q-axis current PI control loop to slowly converge the q-axis real-time detection current value Iq1 To Iq0;
  • V_max is the highest speed.
  • the highest target speed V_max is used to maintain the operating mode of constant speed closed-loop control; when the actual operating steady-state speed V of the motor cannot reach At the highest target speed V_max, it enters the operating mode of constant torque closed-loop control.
  • Step 4 Constant torque closed-loop control stage: use the target torque value T0 for constant torque control, that is, use the q-axis current PI control loop to target the q-axis current target value Iq0 for closed-loop control, as shown in Figure 13 .
  • the speed difference Err is greater than the set value E0, the speed PI control loop is exited, and delta_Iq is the speed difference Earn after Err points.
  • the speed difference Err is greater than or equal to 0, it enters the speed PI control loop, and the q-axis current increment delta_Iq It is not zero; when the speed difference Err is less than or equal to 0, exit the speed PI control loop, and the delta_Iq of the q-axis current is 0, which is equivalent to entering the constant torque closed loop control mode.
  • a general fan is driven by a motor, and the motor is set with constant torque control, which is converted into the q-axis current set value Iq0 according to the user-set torque T, and then the q-axis target current value Iq0 is set equal to the current set value Iq_limit ,
  • the q-axis current PI control loop uses the q-axis current PI control loop to achieve constant torque control; when the external static pressure suddenly increases a lot (equivalent to an increase in load), the speed will drop, when the actual operating steady-state speed V is less than the preset minimum target speed V_min (for example 600 rpm), exit the constant torque control mode and enter the constant speed control.
  • the actual operating steady-state speed V is estimated by the speed observer.
  • the signal of the actual operating steady-state speed V is processed by mean filtering and recursive filtering, which can suppress the speed fluctuation in a small range without affecting the response speed.
  • the current increment delta_Iq can be quickly and dynamically adjusted to ensure that the slip Err tends to 0 and the speed fluctuation is very small. It can also be adjusted to a steady state in a short time when the load (rotation speed V) fluctuates, and the transition is smooth when the current increment is input and exit, which basically solves all the shortcomings of the traditional control strategy.
  • the main key points of this control strategy are as follows:
  • Speed is a very critical electrical parameter for position sensorless vector control. In constant torque mode, if the speed is unstable, it will inevitably cause torque instability. Therefore, the speed feedback signal must be processed to ensure the stability of the speed signal without affecting the response speed. At present, the speed signal is processed by mean filtering and recursive filtering, which can suppress the speed fluctuation in a small range without affecting the response speed, and basically meet the control requirements.
  • Speed PI control loop control speed and control parameter selection the output current delta_Iq of the speed PI control loop should always respond to the current PI control loop of the inner loop, so the speed PI control loop is faster than the general constant speed control speed loop Much, but must take into account the speed response and inner loop (current PI control loop) speed, the speed PI control loop can not be too fast. But if it is too slow, it will cause shocks if it is not adjusted in time. However, different load characteristics have different execution speeds.
  • the above-mentioned actual operating steady-state speed V is realized by the speed estimation module.
  • the signal of the actual operating steady-state speed V is processed by mean filtering and recursive filtering, which can suppress the speed fluctuation within a small range without affecting responding speed.

Abstract

一种无位置传感器矢量控制永磁同步电机平滑启动控制方法，该永磁同步电机在启动后被设定为恒转矩运行模式或恒转速运行模式，该方法包括：开环控制，以Iq_max为q轴电流的目标值驱动电机运行，在开环控制下，当电机的实际运行稳态转速V达到第一目标转速V_ref1，进入恒转速闭环控制模式；恒转速闭环控制阶段，利用q轴的电流PI控制环将q轴实时检测电流值Iq1缓慢地收敛到Iq0；在转速闭环控制模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，然后进入恒转矩控制模式。该方法能保证启动的平滑稳定，减少电机运行的振动和噪音，提高启动可靠性。

Description

无位置传感器矢量控制永磁同步电机平滑启动控制方法 技术领域：
本发明涉及无位置传感器矢量控制永磁同步电机平滑启动控制方法。
背景技术：
目前，无位置传感器矢量控制永磁同步电机的控制方法，一般有恒转矩控制模式、或恒转速控制模式，或恒风量控制模式三种。
例如美国专利US7525269公开的无位置传感器三相同步电机矢量控制器，只公开了电流转矩控制模式，进行恒转矩控制。
中国专利CN103929109(A)也公开，基于无位置传感器矢量控制永磁同步电机的恒转速控制方法。
如图1所示，一般恒转矩控制的方框图如图1所示，由于力矩T只与q轴电流有关，根据力矩计算公式T＝K*Iq，给出力矩设定值T就换算成q轴的设定电流Iq，就可以利用q轴PI电流环进行闭环控制实现恒力矩的控制。
基于恒转矩运行模式下的无位置传感矢量控制的永磁同步电机启动控制策略，通常是采用电流观测器控制策略来估算反电动势，再通过反电动来估算转速和转子位置。在过低的转速，由于电参量幅值偏小，很难进行有效的估算。所以，通常电机启动时，先通过开环控制将电机转速提高到能够可靠估算的转速，然后再切入到闭环控制。而恒转矩控制策略并未对转速做闭环控制，所以在启动阶段为了能够可靠的接入闭环控制，通常的做法是提高开环控制的转速，这样容易引起启动阶段超调，启动时电机震动和噪音较大。在低速启动阶段电流信号比较混乱，若用户以较小的力矩指令值来启动，则容易引起电流限幅而导致转速估算失步，最终启动失败。因此，需要有一个有效可靠的控制策略，既能保证在恒转速模式下运行平稳，又可以在恒转矩模式下启动平稳，提高用户体验，又能够确保启动成功可靠性。
发明内容：
本发明的目的是提供一种无位置传感器矢量控制永磁同步电机平滑启动控制方法，主要解决现有技术中基于恒转矩运行模式下的无位置传感矢量控制的永磁同步电机在启动中启动不平稳，电机震动和噪音较大，容易引起启动失败，启动不可靠的技术问题。
本发明的目的是通过以下的技术方案予以实现的：
无位置传感器矢量控制永磁同步电机平滑启动控制方法，至少包括开环控制和恒转速闭环控制两个阶段。
上述的无位置传感器矢量控制永磁同步电机在启动后被设定为恒转矩运行模式或恒转速运行模式，所述控制方法包括如下步骤：
开环控制：根据电机的输出力矩最大值Tmax换算成q轴电流最大值Iq_max，以q轴电流最大值Iq_max作为q轴电流的上限值，控制电机进入开环控制的运行状态；
恒转速闭环控制：当电机的实际运行稳态转速V达到第一目标转速V_ref1后，将q轴电流最大值Iq_max缓慢下降到用户设定的目标转矩值T0所对应的q轴电流目标值Iq0，并以第一目标转速V_ref1保持恒转速闭环控制的运行模式。
上述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，还包括：
转速抬升运行控制：即在恒转速闭环运行模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，当电机的实际运行稳态转速V达到最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式。
上述控制方法所述恒转矩闭环控制的运行模式是以目标转矩值T0作恒转矩闭环控制，即根据用户设定的目标转矩值T0换算成q轴电流目标值Iq0，利用q轴的电流PI控制环以q轴电流目标值Iq0为目标进行闭环控制。
上述控制方法所述恒转矩闭环控制中，当转矩指令值偏小时或者负载变重 时，实际运行稳态转速V小于预设的最低目标转速V_min时，退出恒转矩闭环控制模式进入恒转速控制，并通过在q轴电流目标值Iq0基础上增加电流增量delta_Iq对转速进行干预，使电机以设定的最低目标转速V_min作恒转速闭环控制，V_max>V_min≥V_ref1。
上述控制方法所述在电机以设定的最低目标转速V_min作恒转速控制时，若实际运行稳态转速V与最低目标转速V_min的转速差Err大于设定值E0时，退出恒转速控制重新进入恒转矩控制，即以目标转矩值T0作恒转矩闭环控制。
上述控制方法所述的实际运行稳态转速V，是指电机以第一目标转速V_ref1恒速运行在一定的时间T2内实时检测转速Vt与第一目标转速V_ref1相当。
上述控制方法所述的一定的时间T2是指2秒至4秒，所述的实时检测转速Vt与第一目标转速V_ref1相当是指两者相差不超过10转/分钟。
本发明的无位置传感器矢量控制永磁同步电机平滑启动控制方法有益效果是：
1)本发明的平滑启动控制方法，至少包括开环控制和恒转速闭环控制两个阶段，开环控制：根据电机的输出力矩最大值Tmax换算成q轴电流最大值Iq_max，以q轴电流最大值Iq_max作为q轴电流的上限值，控制电机进入开环控制的运行状态；在恒转速闭环控制：当电机的实际运行稳态转速V达到第一目标转速V_ref1后，将q轴电流最大值Iq_max缓慢下降到用户设定的目标转矩值T0所对应的q轴电流目标值Iq0，并以第一目标转速V_ref1保持恒转速闭环控制的运行模式；转速抬升运行控制：即在恒转速闭环运行模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，当电机的实际运行稳态转速V达到最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式。这样控制方式产生如下的技术效果：
A、启动过程非常平滑，避免传统的做法容易引起启动阶段超调问题，消除 传统的控制策略下引起启动时电机震动和噪音问题，提高用户体验；
B、启动稳定，有效消除启动失败，提高启动的可靠性；
C、能够在最小力矩指令下稳定可靠的启动电机，控制模式切换过程平滑；本发明整个启动过程效果可以做到与带霍尔传感器的永磁同步电机的启动效果无多大差别；
D、扩大电机的在启动阶段的力矩值整定范围,有利于启动控制的平滑。
附图说明：
图1是传统无位置传感器矢量控制永磁同步电机恒转矩控制方框图。
图2是无位置传感器矢量控制永磁同步电机原理示意图。
图3是本发明永磁同步电机的立体图；
图4是本发明永磁同步电机的电机控制器的立体图；
图5是本发明永磁同步电机的剖视图；
图6是本发明永磁同步电机的电机控制器的原理方框图；
图7是图6对应的电路图；
图8是永磁同步电机矢量控制的各坐标系关系图；
图9是本发明的永磁同步电机的平滑启动控制流程图；
图10是本发明的永磁同步电机的开环控制的框图；
图11是本发明的永磁同步电机的恒转速闭环控制的框图；
图12是本发明的永磁同步电机的转速抬升运行控制的框图；
图13是本发明的永磁同步电机的恒转矩闭环控制的框图。
具体实施方式：
下面通过具体实施例并结合附图对本发明作进一步详细的描述。
如图3、图4、图5所示，举例：假设本发明是一种三相永磁同步电机,由电机控制器2和电机单体1,所述的电机单体1包括定子组件12、转子组件13和机壳组件11，定子组件13安装在机壳组件11上，转子组件13套装在定子组 件12的内侧或者外侧组成，电机控制器2包括控制盒22和安装在控制盒22里面的控制线路板21，控制线路板21一般包括电源电路、微处理器、母线电压检测电路、逆变器，电源电路为各部分电路供电，母线电压检测电路将直流母线电压Uabc输入到微处理器，微处理器控制逆变器，逆变器控制定子组件12的各相线圈绕组的通断电。
如图6、图7所示，假设3相无刷直流永磁同步电机的相线电流检测电路将各相的电流ia、ib、ic输入到微处理器。交流输入(AC INPUT)经过由二级管D7、D8、D9、D10组成的全波整流电路后，在电容C1的一端输出直流母线电压Vbus,直流母线电压Vbus与输入交流电压有关，微处理器输入到逆变器的PWM信号，逆变器由电子开关管q1、q2、q3、q4、q5、q6组成，电子开关管q1、q2、q3、q4、q5、q6的控制端分别由微处理器输出的6路PWM信号(P1、P2、P3、P4、P5、P6)控制。
如图2所示，简述无位置传感器矢量控制永磁同步电机的基本工作原理(教科书有详细的描述)，永磁同步电机看作是定子的旋转磁场与转子旋转磁场相互作用的结果，图中有两个坐标系，一个是转子旋转坐标系dq轴；另一个定子静止坐标系ABC坐标系(可以转换成αβ相互垂直的坐标系)；转子可以看作是励磁电流if的作用以转速wr旋转，定子可以看作是励磁电流is的作用转速ws旋转,图中定子的合成矢量是S；根据电磁转矩的计算公式：
T e＝P 0·ψ f×i q------(1)
P0是电机的极对数(常数)，Ψf是励磁电流if的作用产生的磁链，由于转子是永磁转子，if＝0,Ψf变成常熟，电磁转矩的公式变成：
T e＝K×i q------(2)
K是一个常数，永磁同步电机电磁转矩Te只与q轴电流有关。
如图8所示，定子静止坐标系ABC坐标系用αβ相互垂直的坐标系代替。 定子静止坐标系是αβ的坐标系，转子旋转坐标系是dq坐标系，αβ的坐标系与dq坐标系的夹角是θ。
如图9所示，本发明的无位置传感器矢量控制永磁同步电机平滑启动控制方法，至少包括开环控制和恒转速闭环控制两个阶段，该无位置传感器矢量控制永磁同步电机在启动后被设定为恒转矩运行模式或恒转速运行模式，所述控制方法包括如下步骤：
开环控制：根据电机的输出力矩最大值Tmax换算成q轴电流最大值Iq_max，以q轴电流最大值Iq_max作为q轴电流的上限值，控制电机进入开环控制的运行状态；
恒转速闭环控制：当电机的实际运行稳态转速V达到第一目标转速V_ref1后，将q轴电流最大值Iq_max缓慢下降到用户设定的目标转矩值T0所对应的q轴电流目标值Iq0，并以第一目标转速V_ref1保持恒转速闭环控制的运行模式。
转速抬升运行控制：即在恒转速闭环运行模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，当电机的实际运行稳态转速V达到最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式。
其中，开环控制：根据电机的输出力矩最大值Tmax换算成q轴电流最大值Iq_max，以q轴电流最大值Iq_max作为q轴电流的上限值，控制电机进入开环控制的运行状态,见图10所示；
恒转速闭环控制：设定第一目标转速V_ref1为闭环切入点转速，在开环控制下，当电机的实际运行稳态转速V达到第一目标转速V_ref1后，将q轴电流最大值Iq_max缓慢下降到用户设定的目标转矩值T0所对应的q轴电流目标值Iq0，并以第一目标转速V_ref1保持恒转速闭环控制的运行模式，见图11所示；
转速抬升运行控制：即在恒转速闭环运行模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，当电机的实际运行稳态转速V达到 最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式，见图12所示，V_max>V_ref1。
恒转矩闭环控制：以目标转矩值T0作恒转矩闭环控制，即根据用户设定的目标转矩值T0换算成q轴电流目标值Iq0，利用q轴的电流PI控制环以q轴电流目标值Iq0为目标进行闭环控制，见图13所示，在恒转矩闭环控制中，当转矩指令值偏小时或者负载变重时，实际运行稳态转速V小于预设的最低目标转速V_min时，退出恒转矩闭环控制模式进入恒转速控制，并通过在q轴电流目标值Iq0基础上增加电流增量delta_Iq对转速进行干预，使电机以设定的最低目标转速V_min作恒转速闭环控制，V_max>V_min≥V_ref1。在电机以设定的最低目标转速V_min作恒转速控制时，若实际运行稳态转速V与最低目标转速V_min的转速差Err大于设定值E0时，退出恒转速控制重新进入恒转矩控制，即以目标转矩值T0作恒转矩闭环控制，即利用q轴的电流PI控制环，根据用户设定的目标转矩值T0换算成q轴电流目标值Iq0为目标进行闭环控制。
上述控制方法所述的实际运行稳态转速V，是指电机以第一目标转速V_ref1恒速运行在一定的时间T2内实时检测转速Vt与第一目标转速V_ref1相当。
上述控制方法所述的一定的时间T2是指2秒至4秒，所述的实时检测转速Vt与第一目标转速V_ref1相当是指两者相差不超过10转/分钟。
本发明经过分析和大量试验后，采用此发明控制策略，电机的启动运行过程做到平滑可靠，其噪音和震动可以忽略，满足用户需求和体验。而且，采用默认的最小力矩值启动电机，其启动过程一样稳定平滑，满足用户的力矩调整范围。
具体实验过程如下：提取一台电机做实验，假设V_ref1＝300转/分，V_ref2＝600转/分，V_min＝580转/分，该永磁同步电机在启动后被设定为恒转矩运行模式，即根据用户设定的目标转矩值T0＝79牛.米,换算成q轴电流目标值Iq0＝1.5A，以目标转矩值T0作恒转矩控制。
第一步：开环控制阶段，根据电机的最大输出力矩值Tmax换算成q轴电流最大值为Iq_max，并以Iq_max为q轴电流给定的上限值驱动电机运行,设定第一目标转速V_ref1为闭环切入点转速,开环控制阶段的时间为t1,适当较长，避免q轴电流的增量过大导致的震动和噪音，设定第一目标转速V_ref1＝300转/分为闭环切入点转速：
第二步：恒转速闭环控制阶段，在以第一目标转速V_ref1＝300转/分为目标的恒转速控制下，使电机以第一目标转速V_ref1恒速运行达到稳定后，将q轴电流给定上限值从Iq_max缓慢下降到用户设定的目标转矩值T0所对应的电流值Iq0，此时还是以第一目标转速V_ref1恒速运行,然后进入转速抬升阶段；也就是缩小q轴实际检测电流值Iq1，将q轴实时检测电流值Iq1与目标转矩值T0对应的q轴电流给定值Iq0进行比较，利用q轴的电流PI控制环将q轴实时检测电流值Iq1缓慢的收敛到Iq0；
第三步：转速抬升阶段，将第一目标转速V_ref1＝300转/分提高到＝V_ref2＝600转/分，在转速闭环控制的模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，V_max为最高转速,当电机的实际运行稳态转速V达到最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式。
第四步：恒转矩闭环控制阶段：以目标转矩值T0作恒转矩控制，即利用q轴的电流PI控制环以q轴电流目标值Iq0为目标进行闭环控制，见图13所示。
在恒转矩控制阶段中，当转矩指令值偏小时或者负载变重时，转速会下降，当实际运行稳态转速V小于预设的最低目标转速V_min时，退出恒转矩控制模式进入恒转速控制模式，通过在q轴的电流给定值Iq0基础上增加额外电流增量delta_Iq对转速进行干预，使电机以设定的最低目标转速V_min作恒转速闭环控制；在电机以设定的最低目标转速V_min作恒转速控制时，若实际运行稳态转速V与最低目标转速V_min的转速差Err大于设定值E0时，退出恒转速控 制重新进入恒转矩控制若实际运行稳态转速V与最低目标转速V_min的转速差Err大于设定值E0时，退出恒转速控制重新进入恒转矩闭环控制，即以目标转矩值T0作恒转矩控制，利用q轴的电流PI控制环以q轴电流目标值Iq0为目标进行闭环控制。
上述的转速PI控制环设置进入和退出机制，转速差Err＝V-V_min，利用转速差Err作为判断要件，当转速差Err大于设定值E0时，退出转速PI控制环，delta_Iq是对转速差Err积分后获得。
上述的转速PI控制环设置进入和退出机制，转速差Err＝V1-V_min，利用转速差Err作为判断要件，当转速差Err大于等于0时，进入转速PI控制环，q轴电流的增量delta_Iq不为零；当转速差Err小于等于0时，退出转速PI控制环，q轴电流的增量delta_Iq为0，相当于进入恒转矩闭环控制模式。
例如一般的风机由电机驱动，电机设置恒转矩控制，即根据用户设定的力矩T换算成q轴的电流给定值Iq0，然后给定q轴的目标电流值Iq0等于电流给定值Iq_limit，利用q轴的电流PI控制环实现恒转矩控制；当外部静压突然增加很多(相当于负载增加)，转速会下降，当实际运行稳态转速V小于预设的最低目标转速V_min(例如600转/分)时，退出恒转矩控制模式进入恒转速控制。
实际运行稳态转速V是由速度观测器来估算，实际运行稳态转速V的信号加了均值滤波和递推滤波处理，能够把转速波动抑制在较小范围内，又不影响响应速度。
在进入转速PI控制环调整时，由于转速PI控制环的作用，能快速动态调整电流增量delta_Iq，保证转差Err趋于0，转速波动非常小。在负载(转速V)波动时也能够在短时间内调整到稳态，而且在电流增量投入和退出时过渡平滑，基本解决传统控制策略的所有缺点。这个控制策略主要关键点有如下几点：
1、转速反馈信号的处理:转速对于无位置传感器矢量控制来说是一个相当关键的电参量，在恒转矩模式下，如果转速不稳定，必然会引起力矩不稳定。 所以，必须要对转速反馈信号加以处理，确保在不影响响应速度的情况下转速信号的稳定。目前转速信号加了均值滤波和递推滤波处理，能够把转速波动抑制在较小范围内，又不影响响应速度，基本能满足控制要求。
2、转速PI控制环控制速度和控制参数的选择：转速PI控制环输出电流增量delta_Iq要时刻响应内环的电流PI控制环，所以转速PI控制环要比一般恒转速控制的速度环要快得多，但要兼顾转速响应和内环(电流PI控制环)速度，转速PI控制环也不能太快。但如果太慢又会调整不及时引起震荡。而不同的负载特性，其执行速度又有所区别。
分析认为，负载的转动惯量越大，转速PI控制环的速度就要放慢；转动惯量越小，则为保证响应速度，可以适当加快转速PI控制环的响应速度。
上述所述的实际运行稳态转速V是由速度估算模块来实现，实际运行稳态转速V的信号加了均值滤波和递推滤波处理，能够把转速波动抑制在较小范围内，又不影响响应速度。
以上实施例为本发明的较佳实施方式，但本发明的实施方式不限于此，其他任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均为等效的置换方式，都包含在本发明的保护范围之内。

Claims (8)

  1. 无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于，所述控制方法至少包括开环控制和恒转速闭环控制两个阶段。
  2. 根据权利要求1所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：所述的无位置传感器矢量控制永磁同步电机在启动后被设定为恒转矩运行模式或恒转速运行模式，所述控制方法包括：
    开环控制：根据电机的输出力矩最大值Tmax换算成q轴电流最大值Iq_max，以q轴电流最大值Iq_max作为q轴电流的上限值，控制电机进入开环控制的运行状态；
    恒转速闭环控制：当电机的实际运行稳态转速V达到第一目标转速V_ref1后，将q轴电流最大值Iq_max缓慢下降到用户设定的目标转矩值T0所对应的q轴电流目标值Iq0，并以第一目标转速V_ref1保持恒转速闭环控制的运行模式。
  3. 根据权利要求2所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于，所述控制方法还包括：
    转速抬升运行控制：即在恒转速闭环运行模式下，将第一目标转速V_ref1抬升到最高目标转速V_max控制电机运行，当电机的实际运行稳态转速V达到最高目标转速V_max时,以最高目标转速V_max保持恒转速闭环控制的运行模式；当电机的实际运行稳态转速V达不到最高目标转速V_max时,则进入恒转矩闭环控制的运行模式。
  4. 根据权利要求3所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：所述的恒转矩闭环控制的运行模式是以目标转矩值T0作恒转矩闭环控制，即根据用户设定的目标转矩值T0换算成q轴电流目标值Iq0，利用q轴的电流PI控制环以q轴电流目标值Iq0为目标进行闭环控制。
  5. 根据权利要求4所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：在所述恒转矩闭环控制中，当转矩指令值偏小时或者负载变重时，实际运行稳态转速V小于预设的最低目标转速V_min时，退出恒转 矩闭环控制模式进入恒转速控制，并通过在q轴电流目标值Iq0基础上增加电流增量delta_Iq，使电机以设定的最低目标转速V_min作恒转速闭环控制。
  6. 根据权利要求5无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：在电机以设定的最低目标转速V_min作恒转速控制时，若实际运行稳态转速V与最低目标转速V_min的转速差Err大于设定值E0时，退出恒转速控制重新进入恒转矩控制，即以目标转矩值T0作恒转矩闭环控制。
  7. 根据权利要求2至6所述的任一种所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：所述的实际运行稳态转速V，是指电机以第一目标转速V_ref1恒速运行在一定的时间T2内实时检测转速Vt与第一目标转速V_ref1相当。
  8. 根据权利要求7所述的无位置传感器矢量控制永磁同步电机平滑启动控制方法，其特征在于：所述的一定的时间T2是指2秒至4秒，所述的实时检测转速Vt与第一目标转速V_ref1相当是指两者相差不超过10转/分钟。
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