CN105406776B - A kind of detection device and detection method of permanent magnet synchronous motor rotating speed - Google Patents
A kind of detection device and detection method of permanent magnet synchronous motor rotating speed Download PDFInfo
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- CN105406776B CN105406776B CN201510867786.1A CN201510867786A CN105406776B CN 105406776 B CN105406776 B CN 105406776B CN 201510867786 A CN201510867786 A CN 201510867786A CN 105406776 B CN105406776 B CN 105406776B
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Abstract
The invention discloses a kind of detection devices and detection method of permanent magnet synchronous motor rotating speed, described device is made of direct voltage source, three-phase full-bridge inverter, high resistance measurement and permanent magnet synchronous motor, wherein direct voltage source provides power supply to three-phase full-bridge inverter, three-phase full-bridge inverter connects permanent magnet synchronous motor, the neutral point of direct voltage source neutral earthing, permanent magnet synchronous motor is grounded by high resistance measurement.The method is：Detection obtains the voltage at high resistance measurement both ends as permanent magnet synchronous motor neutral point voltage；It determines permanent magnet synchronous electric set end voltage, subtracts neutral point voltage with terminal voltage, obtain phase voltage；The permanent magnet synchronous motor three-phase phase current detected using phase voltage and by current sensor, is calculated permanent magnet synchronous motor three-phase opposite potential；Permanent magnet synchronous motor rotating speed is calculated using three-phase opposite potential and winding back emf coefficient.The present invention solves the problems, such as that motor speed is difficult to accurate detection in real time in permanent magnet synchronous motor closed-loop control.
Description
Technical field
The present invention relates to the detection devices and inspection of a kind of permanent magnet synchronous motor more particularly to a kind of permanent magnet synchronous motor rotating speed
Survey method belongs to permanent magnet synchronous motor control field.
Background technology
Permanent magnet synchronous motor has many advantages, such as simple in structure, power density is high, control is simple.In recent years, permanent magnetism is same
Step motor has obtained increasingly extensive application in the industrial circles such as high-performance governing system and servo-control system.
In permanent magnet synchronous motor closed-loop control, the detection of rotating speed has important influence for the stable operation of motor.If
Rotating speed measring is inaccurate, and PMSM Speed low precision, servo effect will be caused bad, permanent magnet synchronous motor can be made when serious
It is not normally functioning.Currently, the well known prior art, first, using the various sensor inspections such as Hall sensor, photoelectric encoder
Measured motor rotating speed, but this method hardware cost is high, and electric machine control system reliability can be reduced；Another method utilizes motor
Voltage, current signal observe motor speed by various observer methods, but this algorithm is often extremely complex, it is difficult to
Practical application.
Therefore, there are problems for the Rotating speed measring effect of the prior art, it is difficult to meet permanent magnet synchronous motor closed-loop control
It is required that.How in real time accurate detection permanent magnet synchronous motor rotating speed, being the prior art has problem to be solved.
Invention content
Technical problem：The purpose of the present invention is to solve motor speeds in permanent magnet synchronous motor closed-loop control to be difficult in real time
The problem of accurate detection, and propose a kind of detection device and detection method of permanent magnet synchronous motor rotating speed.
Technical solution：In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of detection device of permanent magnet synchronous motor rotating speed, the rotating speed for detecting permanent magnet synchronous motor；Described device packet
Include direct voltage source, three-phase full-bridge inverter and high resistance measurement, wherein the direct voltage source carries for three-phase full-bridge inverter
Power supply source, and the neutral earthing of direct voltage source；The three-phase full-bridge inverter connection permanent magnet synchronous motor, and permanent magnet synchronous electric
The neutral point of machine is grounded via high resistance measurement.
Three-phase full-bridge inverter described above is formed by three branch circuit parallel connections, and each branch includes two be serially connected
Metal-oxide-semiconductor, and each metal-oxide-semiconductor is respectively connected with anti-paralleled diode, three branches of the three-phase full-bridge inverter are separately connected permanent magnetism
A, B, C three-phase of synchronous motor.
High resistance measurement described above refers to the resistance device that resistance value is more than 100M Ω.
In order to achieve the above objectives, another technical solution that the present invention uses is：
A kind of detection method of the detection device of permanent magnet synchronous motor rotating speed, includes the following steps：
(1) voltage at detection high resistance measurement both ends, as permanent magnet synchronous motor neutral point voltage；
(2) according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode,
It determines permanent magnet synchronous motor three-phase terminal voltage, neutral point voltage is subtracted with the terminal voltage, obtain permanent magnet synchronous motor three-phase phase
Voltage；
(3) detection permanent magnet synchronous motor A, B, C three-phase phase current is balanced in conjunction with aforementioned three-phase phase voltage according to phase voltage
Equation calculation three-phase opposite potential；
(4) permanent magnet synchronous motor rotating speed is calculated.
In step (2) described above, the determination method of permanent magnet synchronous motor three-phase terminal voltage is：First determine whether three phase full bridge
Inverter is operated in turn on process or afterflow process, when being operated in turn on process, the state that three-phase terminal voltage passes through power tube
It determines：If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just,
If the lower bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity is negative；Work as work
Make in afterflow process, three-phase terminal voltage is determined by the state of fly-wheel diode：If the upper bridge arm fly-wheel diode of certain phase is open-minded,
Then the phase terminal voltage numerical value be the 1/2 of direct voltage source amplitude, polarity be just, if the lower bridge arm fly-wheel diode of certain phase is open-minded,
Then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative.
Judgement three-phase full-bridge inverter described above, which is operated in turn on process or the method for afterflow process, is：Detect three-phase
Whether full-bridge inverter power tube is all off, when three-phase full-bridge inverter power tube is not all of shutdown, then shows three-phase
Full-bridge inverter is on process；When three-phase full-bridge inverter power tube is all off, then show at three-phase full-bridge inverter
In afterflow process.
The method of calculating three-phase opposite potential is in step (3) described above：Permanent-magnet synchronous is detected using current sensor
Motor three-phase phase current ia、ib、ic, in conjunction with the three-phase phase voltage u in step (2)a、ub、uc, permanent magnet synchronous motor according to the following formula
Permanent magnet synchronous motor three-phase opposite potential e is calculated in phase voltage equilibrium equationa、eb、ec：
Wherein, Ra、Rb、RcRespectively permanent magnet synchronous motor three-phase phase resistance, La、Lb、LcRespectively permanent magnet synchronous motor three
Phase phase inductance.
The specific method that step (4) described above calculates permanent magnet synchronous motor rotating speed is, using above-mentioned permanent magnet synchronous motor
A, B, C three-phase opposite potential ea、eb、ecAnd permanent magnet synchronous motor back emf coefficient Ke, it is same that permanent magnetism is calculated using following formula
Walk motor speed n：
Advantageous effect：The advantages of the present invention are mainly：
1, of the invention for detecting permanent magnet synchronous motor rotational speed devices, simple in structure, accuracy of detection is high, and real-time is good.
2, the detection method of permanent magnet synchronous motor rotating speed of the invention, the required parameter of electric machine is few, and calculation amount is small, solves
Motor speed is difficult to the problem of accurate detection in real time in permanent magnet synchronous motor closed-loop control.
Description of the drawings
Fig. 1 is the structure of the detecting device block diagram of permanent magnet synchronous motor rotating speed.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is described in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention,
It is not intended to limit the present invention.
As shown in Figure 1, a kind of detection device of permanent magnet synchronous motor rotating speed of the present invention, including direct voltage source, three-phase
Full-bridge inverter and high resistance measurement, the opposite potential for detecting permanent magnet synchronous motor, wherein direct voltage source connects three-phase
Full-bridge inverter provides power supply, and the neutral earthing of the direct voltage source for three-phase full-bridge inverter；The three phase full bridge is inverse
Become device to be formed by three branch circuit parallel connections, each branch includes two metal-oxide-semiconductors being serially connected, and each metal-oxide-semiconductor is respectively connected with instead
Parallel diode, three branches of the three-phase full-bridge inverter are separately connected A, B, C three-phase of permanent magnet synchronous motor, and permanent magnetism
The neutral point of synchronous motor is grounded via high resistance measurement, wherein the high resistance measurement refers to that resistance value is more than 100M Ω
Resistance device.
Based on above-described detection device, a kind of detection side of the detection device of permanent magnet synchronous motor rotating speed of the invention
Method includes the following steps：
(1) permanent magnet synchronous motor neutral point voltage is determined
By direct voltage source neutral earthing, permanent magnet synchronous motor neutral point is grounded by high resistance measurement, detection obtains
The voltage at high resistance measurement both ends, using the voltage at the high resistance measurement both ends as permanent magnet synchronous motor neutral point voltage；
(2) permanent magnet synchronous motor A, B, C three-phase terminal voltage and phase voltage are determined
The determination of permanent magnet synchronous electric set end voltage can be divided to three-phase full-bridge inverter turn on process and afterflow process two kinds of situations
Consider respectively, three-phase full-bridge inverter is on process or afterflow process by whether detecting three-phase full-bridge inverter power tube
It is all off to judge：When three-phase full-bridge inverter power tube is not all of shutdown, then shows that three-phase full-bridge inverter is in and lead
Pass through journey；When three-phase full-bridge inverter power tube is all off, then show that three-phase full-bridge inverter is in afterflow process.
In the state that three-phase full-bridge inverter turn on process, permanent magnet synchronous motor A, B, C three-phase terminal voltage pass through power tube
It determines：If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just,
If the lower bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity is negative.
In three-phase full-bridge inverter afterflow process, permanent magnet synchronous motor A, B, C three-phase terminal voltage passes through fly-wheel diode
State determines：Since afterflow process three-phase full-bridge inverter power tube is all off, permanent magnet synchronous motor A, B, C are each mutually by each
The fly-wheel diode afterflow uniquely opened from the three-phase full-bridge inverter bridge arm connected, if upper two pole of bridge arm afterflow of certain phase
Manage open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is just, if two pole of lower bridge arm afterflow of certain phase
Manage open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative.
Above-mentioned permanent magnet synchronous electric set end voltage is subtracted into above-mentioned permanent magnet synchronous motor neutral point voltage, obtains permanent magnet synchronous electric
Machine phase voltage.
(3) permanent magnet synchronous motor A, B, C three-phase opposite potential is calculated
Using above-mentioned permanent magnet synchronous motor A, B, C three-phase phase voltage ua、ub、ucAnd it detects to obtain by current sensor
A, B, C three-phase phase current ia、ib、ic, according to permanent magnet synchronous motor phase voltage equilibrium equation, it is opposite that A, B, C three-phase is calculated
Potential ea、eb、ec：
Wherein, Ra、Rb、RcThe respectively phase resistance of permanent magnet synchronous motor A, B, C three-phases, La、Lb、LcRespectively permanent-magnet synchronous
The phase inductance of motor A, B, C three-phase.
(4) permanent magnet synchronous motor rotating speed is calculated
Using above-mentioned permanent magnet synchronous motor A, B, C three-phase opposite potential ea、eb、ecAnd permanent magnet synchronous motor back-emf system
Number Ke, permanent magnet synchronous motor rotating speed n is calculated using following formula：
It these are only embodiments of the present invention, the description thereof is more specific and detailed, but can not therefore be interpreted as pair
The limitation of the scope of the claims of the present invention.It should be pointed out that for those of ordinary skill in the art, not departing from the present invention
Under the premise of design, various modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (3)
1. a kind of detection method of permanent magnet synchronous motor rotating speed, the detection device for detecting permanent magnet synchronous motor rotating speed includes straight
Galvanic electricity potential source, three-phase full-bridge inverter and high resistance measurement, wherein the direct voltage source provides electricity for three-phase full-bridge inverter
Source, and the neutral earthing of direct voltage source；The three-phase full-bridge inverter connection permanent magnet synchronous motor, and permanent magnet synchronous motor
Neutral point is grounded via high resistance measurement；It is characterized in that the detection method includes the following steps：
(1) voltage at detection high resistance measurement both ends, as permanent magnet synchronous motor neutral point voltage；
(2) it according to the on off operating mode of three-phase full-bridge inverter turn on process and afterflow process power tube and fly-wheel diode, determines
Permanent magnet synchronous motor three-phase terminal voltage subtracts neutral point voltage with the terminal voltage, obtains permanent magnet synchronous motor three-phase phase voltage；
(3) permanent magnet synchronous motor A, B, C three-phase phase current is detected, in conjunction with aforementioned three-phase phase voltage, according to phase voltage equilibrium equation
Calculate three-phase opposite potential；
(4) permanent magnet synchronous motor rotating speed is calculated；
Wherein, in the step (2), the determination method of permanent magnet synchronous motor three-phase terminal voltage is：First determine whether that three phase full bridge is inverse
Become device and be operated in turn on process or afterflow process, when being operated in turn on process, three-phase terminal voltage is true by the state of power tube
It is fixed：If the upper bridge arm power tube of certain phase is open-minded, which is the 1/2 of direct voltage source amplitude, polarity be just, if
The lower bridge arm power tube of certain phase is open-minded, then the phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；Work as work
In afterflow process, three-phase terminal voltage is determined by the state of fly-wheel diode：If the upper bridge arm fly-wheel diode of certain phase is open-minded,
The phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity be just, if the lower bridge arm fly-wheel diode of certain phase is open-minded,
The phase terminal voltage numerical value is the 1/2 of direct voltage source amplitude, polarity is negative；
The judgement three-phase full-bridge inverter, which is operated in turn on process or the method for afterflow process, is：Detect three phase full bridge inversion
Whether device power tube is all off, when three-phase full-bridge inverter power tube is not all of shutdown, then shows three phase full bridge inversion
Device is on process；When three-phase full-bridge inverter power tube is all off, then show that three-phase full-bridge inverter is in afterflow
Journey；
The method of calculating three-phase opposite potential is in the step (3)：Permanent magnet synchronous motor three-phase is detected using current sensor
Phase current ia、ib、ic, in conjunction with the three-phase phase voltage u in step (2)a、ub、uc, permanent magnet synchronous motor phase voltage is flat according to the following formula
Weigh equation, and permanent magnet synchronous motor three-phase opposite potential e is calculateda、eb、ec：
Wherein, Ra、Rb、RcRespectively permanent magnet synchronous motor three-phase phase resistance, La、Lb、LcRespectively permanent magnet synchronous motor three-phase phase
Inductance；
The specific method that the step (4) calculates permanent magnet synchronous motor rotating speed is, using above-mentioned permanent magnet synchronous motor A, B, C three-phase
Opposite potential ea、eb、ecAnd permanent magnet synchronous motor back emf coefficient Ke, permanent magnet synchronous motor rotating speed is calculated using following formula
n：
2. detection method as described in claim 1, it is characterised in that：The three-phase full-bridge inverter by three branch circuit parallel connections and
At each branch includes two metal-oxide-semiconductors being serially connected, and each metal-oxide-semiconductor is respectively connected with anti-paralleled diode, and the three-phase is complete
Three branches of bridge inverter are separately connected A, B, C three-phase of permanent magnet synchronous motor.
3. detection method as described in claim 1, it is characterised in that：The high resistance measurement refers to that resistance value is more than 100M Ω
Resistance device.
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| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
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| KR101066700B1 (en) * | 2006-10-19 | 2011-09-21 | 미쓰비시덴키 가부시키가이샤 | Power converter |
| WO2013153656A1 (en) * | 2012-04-12 | 2013-10-17 | 株式会社 日立製作所 | Electric motor drive device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103516267A (en) * | 2012-06-27 | 2014-01-15 | 珠海格力电器股份有限公司 | Method and system for starting permanent magnet synchronous fan motor for air conditioner |
| CN103647492A (en) * | 2013-06-19 | 2014-03-19 | 江苏科技大学 | Brushless direct-current motor stator flux linkage identification method |
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Effective date of registration: 20180808 Address after: 225603 Fenghuang industrial concentration area, Gaoyou Town, Gaoyou City, Yangzhou, Jiangsu Applicant after: YANGZHOU DAJIN MOTOR MANUFACTURING CO., LTD. Address before: 212003 Mengxi Road, Jingkou District, Zhenjiang, Jiangsu Province, No. 2 Applicant before: Jiangsu University of Science and Technology |
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