WO2021003987A1 - 一种永磁同步电机正弦驱动方法 - Google Patents

一种永磁同步电机正弦驱动方法 Download PDF

Info

Publication number
WO2021003987A1
WO2021003987A1 PCT/CN2019/123183 CN2019123183W WO2021003987A1 WO 2021003987 A1 WO2021003987 A1 WO 2021003987A1 CN 2019123183 W CN2019123183 W CN 2019123183W WO 2021003987 A1 WO2021003987 A1 WO 2021003987A1
Authority
WO
WIPO (PCT)
Prior art keywords
phase
permanent magnet
hall
magnet synchronous
sinusoidal
Prior art date
Application number
PCT/CN2019/123183
Other languages
English (en)
French (fr)
Inventor
余张国
陈学超
黄强
秦鸣悦
李庆庆
张伟民
Original Assignee
北京理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京理工大学 filed Critical 北京理工大学
Publication of WO2021003987A1 publication Critical patent/WO2021003987A1/zh

Links

Images

Classifications

    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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 belongs to the technical field of motor driving, and specifically relates to a sinusoidal driving method of a permanent magnet synchronous motor.
  • Linear Hall sensor has the characteristics of small size and low cost. It not only provides commutation information, but can also replace the high-resolution encoder to realize position feedback and output the sinusoidal signal of the rotor angle. By linearly combining the Hall signals to obtain the required parameters of the sine drive, the calculation of the trigonometric function can be avoided, thereby reducing the calculation consumption.
  • the existing paper Sinusoidal brushless drive with low-cost linear hall effect position sensors proposes a drive method that directly uses the linear Hall output as the corresponding phase current reference value. However, due to the angular offset between the sensor and the coil, the reference current It does not strictly correspond to the Hall signal.
  • the method of calculating the trigonometric function to obtain the three-phase voltage value will introduce more memory usage and calculation delay.
  • the method of obtaining the reference value of the corresponding phase current directly from the Hall output is not suitable for the situation where there is an angular deviation between the sensor and the coil.
  • a sinusoidal drive method for permanent magnet synchronous motors which realizes the phase shift transformation of the Hall signal through linear combination, so that the phase shifted Hall signal is consistent with the desired voltage vector direction.
  • the angular deviation of the sensor and the coil is compensated without calculating the trigonometric function, and the three-phase voltage value of the sinusoidal drive is obtained.
  • the new three-phase voltage is expressed as C( ⁇ h ) is a constant matrix expressed as:
  • the new three-phase voltage method is:
  • V A k 1 H 1 +k 2 H 2 +k 3 H 3 ;
  • a n and D n are the amplitude gain and DC component of the n-th Hall signal, respectively.
  • the present invention realizes the Hall signal phase shift transformation by means of linear combination, so that the phase shifted Hall signal is consistent with the expected voltage vector direction, thereby compensating for the angular deviation of the sensor and the coil without calculating the trigonometric function to obtain the sine The three-phase voltage value of the drive.
  • the invention can compensate the angular deviation of the Hall sensor and the stator coil, and is suitable for the situation where the Hall signal and the expected phase of the three-phase voltage are inconsistent.
  • Figure 1 is a linear Hall sensor layout diagram.
  • linear Hall sensors As shown in Figure 1, there are 3 linear Hall sensors evenly arranged around the motor with a difference of 120 degrees.
  • the linear Hall sensors detect the three-phase analog signal as the original static Hall signal:
  • the original static Hall signal has amplitude error and DC error.
  • ⁇ is the angular displacement of the rotor relative to the Hall sensor
  • a n and D n are the amplitude gain and DC component of the n-th Hall signal, which can be obtained by measurement.
  • N is the amplitude gain after normalization.
  • V A , V B , and V C are the three-phase drive voltages of phase A, phase B and phase C, respectively.
  • U is the drive voltage amplitude; when the Hall sensor and the stator are installed at a fixed position, ⁇ and There is a fixed angle deviation ⁇ h between them, and the relationship between the three is: In theta and In the case of unknown, the three-phase drive phase A voltage V A is obtained by linear combination from H n :
  • V A k 1 H 1 +k 2 H 2 +k 3 H 3 (4)
  • C( ⁇ h ) is a constant matrix expressed as:

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

一种永磁同步电机正弦驱动方法，通过均布在电机外围的3个线性霍尔传感器输出三相模拟信号（如式（I）所示）对三相模拟信号处理获得具有120度固定相位差的正弦波H n(n＝1，2，3)，进而得到正弦驱动的三相电压V N(N＝A，B，C)；根据转子相对于霍尔传感器的角度位移θ、转子相对于定子线圈的角度位移φ和固定角度偏差φ h之间的数量关系，得到新的三相电压；该方法通过线性组合的方式实现霍尔信号相移变换，使得相移后的霍尔信号与期望的电压矢量方向一致，从而在不计算三角函数的情况下补偿传感器和线圈的角度偏差，获得正弦驱动的三相电压数值。

Description

一种永磁同步电机正弦驱动方法 技术领域
本发明属于电机驱动技术领域，具体涉及一种永磁同步电机正弦驱动方法。
背景技术
永磁同步电机的特性适合采用正弦方式驱动，需要转子旋转角度和三角函数的计算获得相应参数。线性霍尔传感器具有体积小、成本低等特点，不仅提供换向信息，还可以取代高分辨率编码器实现位置反馈，输出转子角度的正弦信号。通过对霍尔信号线性组合的方式获得正弦驱动的所需参数，可避免三角函数的计算，从而减少计算消耗。
现有论文Position estimation and control of compact bldc motors based on analog linear hall effect sensors提出了一种由霍尔传感器输出解算位置，再通过三角函数的计算获得三相电压值的方式实现正弦方式驱动，然而反复计算三角函数会引入较多的计算消耗。
现有论文Sinusoidal brushless drive with low-cost linear hall effect position sensors提出了一种直接把线性霍尔输出当做对应相电流参考值的驱动方法，然而由于传感器和线圈之间通常存在角度偏移，参考电流和霍尔信号并不严格对应。
基于转子位置，计算三角函数获得三相电压数值的方式会引入较多的内存占用和计算延迟。直接由霍尔输出获得对应相电流参考值的方式，不适用于传感器和线圈之间存在角度偏差的情况。
发明内容
为了解决现有技术中的不足，提出了一种永磁同步电机正弦驱动方法，通过线性组合的方式实现霍尔信号相移变换，使得相移后的霍尔信号与期望的电压矢量方向一致，从而在不计算三角函数的情况下补偿传感器和线圈的角度偏差，获得正弦驱动的三相电压数值。
本发明所采用的技术方案如下：
一种永磁电机角度检测方法，通过均布在电机外围的3个线性霍尔传感器输出三相模拟信号
Figure PCTCN2019123183-appb-000001
对三相模拟信号处理获得具有120度固定相位差的正弦波H n(n＝1，2，3)，进而得到正弦驱动的三相电压V N(N＝A，B，C)；根据转子相对于霍尔传感器的角度位移θ、转子相对于定子线圈的角度位移
Figure PCTCN2019123183-appb-000002
和固定角度偏差φ h之间的数量关系，得到新的三相电压表示为
Figure PCTCN2019123183-appb-000003
C(φ h)为常数矩阵表示为：
Figure PCTCN2019123183-appb-000004
进一步，获得新的三相电压方法为：
S1，通过线性组合的方式得到三相驱动A相电压V A：V A＝k 1H 1+k 2H 2+k 3H 3；
S2，令k 1＝0，上式为：
Figure PCTCN2019123183-appb-000005
S3，将上式通过和差角公式展开，cos和sin对应项系数相等，可得
Figure PCTCN2019123183-appb-000006
Figure PCTCN2019123183-appb-000007
S4，得到三相电压：
Figure PCTCN2019123183-appb-000008
进一步，所述三相模拟信号
Figure PCTCN2019123183-appb-000009
表示为：
Figure PCTCN2019123183-appb-000010
其中，A n和D n(n＝1,2,3)分别为第n路霍尔信号的幅值增益和直流分量。
进一步，所述正弦波H n(n＝1，2，3)表示为：
Figure PCTCN2019123183-appb-000011
本发明的有益效果：
本发明通过线性组合的方式实现霍尔信号相移变换，使得相移后的霍尔信号与期望的电压矢量方向一致，从而在不计算三角函数的情况下补偿传感器和线圈的角度偏差，获得正弦驱动的三相电压数值。
本发明能够补偿霍尔传感器和定子线圈的角度偏差，适用于霍尔信号和三相电压期望相位不一致的情况。
附图说明
图1是线性霍尔传感器排布图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用于解释本发明，并不用于限定本发明。
如图1所示，环绕电机相差120度均匀排布有3个线性霍尔传感器，线性霍尔传感器检测出三相模拟信号为原始的静态霍尔信号：
Figure PCTCN2019123183-appb-000012
然而原始的静态霍尔信号存在幅值误差和直流误差。其中，θ为转子相对于霍尔传感器的角度位移，A n和D n(n＝1,2,3)分别为第n路霍尔信号的幅值增益和直流分量，可以通过测量得到。
通过：
Figure PCTCN2019123183-appb-000013
将三相模拟信号转换为具有120度固定相位差的正弦波形，正弦波表达式为：
Figure PCTCN2019123183-appb-000014
其中，N为归一化后的幅值增益。
进而得到正弦驱动的三相电压表达式为：
Figure PCTCN2019123183-appb-000015
其中，V A、V B、V C分别为三相驱动A相、B相、C相电压，
Figure PCTCN2019123183-appb-000016
为转子相对于定子线圈的角度位移，U为驱动电压幅值；当霍尔传感器与定子的安装位置固定，θ和
Figure PCTCN2019123183-appb-000017
之间具有固定角度偏差φ h，三者之间的关系为：
Figure PCTCN2019123183-appb-000018
在θ和
Figure PCTCN2019123183-appb-000019
未知的情况下，由H n通过线性组合的方式得到三相驱动A相电压V A：
V A＝k 1H 1+k 2H 2+k 3H 3     (4)
为简化计算，令k 1＝0，上式写为：
Figure PCTCN2019123183-appb-000020
通过和差角公式展开，cos和sin对应项系数相等，可得
Figure PCTCN2019123183-appb-000021
Figure PCTCN2019123183-appb-000022
同理通过霍尔信号获得所有三相电压：
Figure PCTCN2019123183-appb-000023
其中，C(φ h)为常数矩阵表示为：
Figure PCTCN2019123183-appb-000024
从式(7)可以看出，由于φ h是定值，所以C(φ h)与电机转子当前位置
Figure PCTCN2019123183-appb-000025
和θ无关，可通过离线计算获得。因此，既不需要解算转子角度，也不需要计算三角函数cos，直接利用霍尔信号基于线性变换就可得到正弦驱动的三相电压。
以上实施例仅用于说明本发明的设计思想和特点，其目的在于使本领域内的技术人员能够了解本发明的内容并据以实施，本发明的保护范围不限于上述实施例。所以，凡依据本发明所揭示的原理、设计思路所作的等同变化或修饰，均在本发明的保护范围之内。

Claims (4)

  1. 一种永磁同步电机正弦驱动方法，其特征在于，通过均布在电机外围的3个线性霍尔传感器输出三相模拟信号
    Figure PCTCN2019123183-appb-100001
    n＝1，2，3，对三相模拟信号处理获得具有120度固定相位差的正弦波H n,n＝1，2，3，进而得到正弦驱动的三相电压V N,N＝A，B，C；根据转子相对于霍尔传感器的角度位移θ、转子相对于定子线圈的角度位移
    Figure PCTCN2019123183-appb-100002
    和固定角度偏差φ h之间的数量关系，得到新的三相电压表示为
    Figure PCTCN2019123183-appb-100003
    C(φ h)为常数矩阵表示为：
    Figure PCTCN2019123183-appb-100004
  2. 根据权利要求1所述的一种永磁同步电机正弦驱动方法，其特征在于，获得新的三相电压方法为：
    S1，通过线性组合的方式得到三相驱动A相电压V A：V A＝k 1H 1+k 2H 2+k 3H 3；
    S2，令k 1＝0，上式为：
    Figure PCTCN2019123183-appb-100005
    S3，将上式通过和差角公式展开，cos和sin对应项系数相等，可得
    Figure PCTCN2019123183-appb-100006
    Figure PCTCN2019123183-appb-100007
    S4，得到三相电压：
    Figure PCTCN2019123183-appb-100008
  3. 根据权利要求1所述的一种永磁同步电机正弦驱动方法，其特征在于，所述三相模拟信号
    Figure PCTCN2019123183-appb-100009
    表示为：
    Figure PCTCN2019123183-appb-100010
    其中，A n和D n，n＝1,2,3分别为第n路霍尔信号的幅值增益和直流分量。
  4. 根据权利要求1所述的一种永磁同步电机正弦驱动方法，其特征在于，所述正弦波H n表示为：
    Figure PCTCN2019123183-appb-100011
PCT/CN2019/123183 2019-07-11 2019-12-05 一种永磁同步电机正弦驱动方法 WO2021003987A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910622272.8A CN110247604A (zh) 2019-07-11 2019-07-11 一种永磁同步电机正弦驱动方法
CN201910622272.8 2019-07-11

Publications (1)

Publication Number Publication Date
WO2021003987A1 true WO2021003987A1 (zh) 2021-01-14

Family

ID=67891744

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/123183 WO2021003987A1 (zh) 2019-07-11 2019-12-05 一种永磁同步电机正弦驱动方法

Country Status (2)

Country Link
CN (1) CN110247604A (zh)
WO (1) WO2021003987A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110247604A (zh) * 2019-07-11 2019-09-17 北京理工大学 一种永磁同步电机正弦驱动方法
CN113933576B (zh) * 2021-10-14 2023-11-10 北京理工大学 电子安全系统放电回路的非介入式电流测试方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105811824A (zh) * 2014-12-30 2016-07-27 上海新跃仪表厂 基于线性霍尔的微纳卫星反作用飞轮控制方法
CN105958875A (zh) * 2016-05-30 2016-09-21 北京理工大学 一种无速度传感器永磁同步电机的高精度调速控制方法
CN106374790A (zh) * 2015-07-23 2017-02-01 德昌电机(深圳)有限公司 转动体转动位置定位系统、定位方法以及采样系统
US20170353130A1 (en) * 2016-06-05 2017-12-07 Firstec Co., Ltd. Device for correcting hall sensor installation position error of bldc motor having linear hall sensor, and method thereof
CN110247604A (zh) * 2019-07-11 2019-09-17 北京理工大学 一种永磁同步电机正弦驱动方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105811824A (zh) * 2014-12-30 2016-07-27 上海新跃仪表厂 基于线性霍尔的微纳卫星反作用飞轮控制方法
CN106374790A (zh) * 2015-07-23 2017-02-01 德昌电机(深圳)有限公司 转动体转动位置定位系统、定位方法以及采样系统
CN105958875A (zh) * 2016-05-30 2016-09-21 北京理工大学 一种无速度传感器永磁同步电机的高精度调速控制方法
US20170353130A1 (en) * 2016-06-05 2017-12-07 Firstec Co., Ltd. Device for correcting hall sensor installation position error of bldc motor having linear hall sensor, and method thereof
CN110247604A (zh) * 2019-07-11 2019-09-17 北京理工大学 一种永磁同步电机正弦驱动方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
YU, ZHANGGUO ET AL. ,: "Computationally Efficient Coordinate Transformation for Field-Oriented Control Using Phase Shift of Linear Hall-Effect Sensor Signals,", IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,, vol. 67, no. 5, 19 June 2019 (2019-06-19), XP011769994, ISSN: 0278-0046, DOI: 20200317112444X *

Also Published As

Publication number Publication date
CN110247604A (zh) 2019-09-17

Similar Documents

Publication Publication Date Title
CN104052359B (zh) 马达控制系统和带宽补偿
US9705436B2 (en) Linear hall device based field oriented control motor drive system
CN111750903B (zh) 一种绕组集成磁电编码器及其独立标定方法
CN101247104B (zh) 定子磁链定向的交流电机旋转速度和转子位置推测方法
CN106374789B (zh) 永磁无刷直流电机低转矩脉动霍尔容错控制方法
WO2021003987A1 (zh) 一种永磁同步电机正弦驱动方法
JP2008271740A (ja) モータ制御装置
CN107809191B (zh) 一种同步电机无速度传感器的角度观测方法
US10298157B2 (en) Brushless motor and electric power steering apparatus
JPH0919184A (ja) ブラシレスモータ
JP3755582B2 (ja) 電動機制御装置
CN108964527B (zh) 定子电流矢量定向下pmsm转矩脉动抑制方法
CN101286725A (zh) 同步电机矢量控制系统中电机旋转速度和转子位置推测方法
KR101749522B1 (ko) 선형 홀 센서를 갖는 bldc모터의 홀 센서 장착 위치 오차 보정 장치 및 방법
JP6710994B2 (ja) 回転角検出装置
CN109450303B (zh) 一种单相无刷电机磁阻转矩波动的补偿方法
US11038444B2 (en) Generation of motor drive signals with misalignment compensation
Mok et al. Reduction of PMSM torque ripple caused by resolver position error
CN109039198A (zh) 永磁电机霍尔位置的校正方法及装置
JP2006158198A (ja) モータ駆動制御装置及び電動パワーステアリング装置
JP2012194086A (ja) ３相ブラシレスモータ
CN116222629B (zh) 一种无传感器电机驱动的多圈编码器装置及其计数方法
US20070216324A1 (en) Demodulation method of resolver output position signal
CN110912481A (zh) 一种基于梯度下降法的旋变周期性误差幅值相位补偿方法
Khattab et al. A Novel method for online correction of amplitude and phase imbalances in sinusoidal encoders signals

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19936676

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 19936676

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 29/03/2023)

122 Ep: pct application non-entry in european phase

Ref document number: 19936676

Country of ref document: EP

Kind code of ref document: A1