CN106100488B - Low-power permanent magnet synchronous motor non-position sensor vector control method - Google Patents
Low-power permanent magnet synchronous motor non-position sensor vector control method Download PDFInfo
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- CN106100488B CN106100488B CN201610674503.6A CN201610674503A CN106100488B CN 106100488 B CN106100488 B CN 106100488B CN 201610674503 A CN201610674503 A CN 201610674503A CN 106100488 B CN106100488 B CN 106100488B
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Abstract
The present invention relates to a kind of low-power permanent magnet synchronous motor non-position sensor vector control methods, include the following steps：(1) apply voltage vector in initial angle, generate the magnetic field of respective direction, determine the initial position of rotor, and start motor；(2) to low speed the position of rotor is estimated when；(3) rotating speed is divided into different sections, the position of rotor when according to different sections to switching from low speed to high speed is estimated；(4) position of rotor is estimated when by observer and phase-locked loop structures to high speed.Using this method, low speed algorithm for estimating is simplified, reduces the occupancy of resources of chip, and small startup time；Estimated with the rotor-position for the method centering high speed stage that phaselocked loop is combined using observer, eliminates deviation；Directly system concussion can be caused even to shut down from low speed algorithm for estimating to the switching of high speed algorithm for estimating, by blending algorithm, seamlessly transitting for two kinds of algorithms of realization is with a wide range of applications.
Description
Technical field
The present invention relates to motor control technology field more particularly to low-power permanent magnet synchronous motor control technology field, tools
Body refers to a kind of low-power permanent magnet synchronous motor non-position sensor vector control method.
Background technology
In controlling permanent magnet synchronous motor operational process, need to detect the position of rotor by sensor and constantly by position
Confidence breath is sent to controller, it is therefore desirable to higher precision.Occasion especially more demanding in motor running, to rotor
The required precision higher of position.Sensor common at present has photoelectric encoder and rotary transformer etc., although these sensors
It can relatively accurately detect the position of rotor, but also bring many problems：
1) sensor is expensive, the cost of a whole set of motor control system has been significantly greatly increased, in batch production often
It is very surprising that a product, which reduces benefit caused by the use of a sensor,；
2) installation sensor can increase the difficulty of motor manufacturing process, cause motor cost itself and maintenance difficulty
Increase；
3) use of sensor has environment certain requirement, limits the use scope of motor.As high temperature, dust,
The performance of sensor can be caused unstable in the case of the bad environments such as humidity, prodigious influence is caused on the precision of sensor,
The maintenance difficulty and cost of these local sensors can also greatly improve simultaneously；
4) volume that will increase integral device after installation sensor, for the smaller place in some spaces, installation
Sensor difficulty can increase, such as auto pump, oil pump；
5) there are some influences to the stability of motor entirety, need to increase by one on hardware controls plate after increasing sensor
A little devices, while also to increase by 4~6 connecting lines etc., increase the complexity of structure, stability reduces.The installation of sensor
The rotary inertia of motor itself can be increased, and due to the influence of accuracy of instrument and installation error, the axle center of sensor and electricity
Always there are a degree of offsets in the axle center of motivation rotor, these can all reduce the stability of motor running.
Based on the above various reasons, the control technology of research and development permanent magnet synchronous motor position-sensor-free, which seems, very must
It wants.It is mainly based upon motor itself quantity of state (such as stator phase voltage, stator current) and inherent characteristic to rotor
Speed and position are estimated, to realize the high performance control of motor.There is presently no a kind of single methods can be complete
More accurate rotor position estimate is carried out to motor in fast range, is to use a variety of methods to solve this contradiction largely
The mode being combined is controlled, i.e., low speed and high speed respectively use a kind of control method.
In low speed the principle of used method be mainly using stator core non-linear saturated characteristic, it is more commonly used and
Effective method is High Frequency Injection.Rotation high-frequency voltage signal or pulsating high-frequency voltage signal are injected into stator
In, to the alternating magnetic field for generating the rotating excitation field of constant amplitude or pulsing along a certain axis, field spider can be to these senses
The magnetic field answered is modulated effect, and finally the high-frequency carrier signal containing rotor position information just appears in stator phase currents
In, it these carrier signals demodulated and carry out certain processing can be obtained by rotor-position.It can be seen that this side
Method is only related to the structure of motor itself, does not all have with motor itself parameter (such as stator resistance, inductance) and rotating speed etc.
Relationship, strong robustness, precision is very high in this way for institute.
Rotor position estimate algorithm comparison is more when high speed, and more commonly used is observer, as shown in Figure 1.Required for it
The amount of observation is stator current, and it is counter electromotive force to need the amount predicted, can pass through the deviation of observation electric current and actual current
Error compensation item is built, counter electromotive force is obtained, has thus obtained the closed-loop system of estimation extension counter electromotive force.Input quantity is
The stator voltage u of measurementsWith electric current is, output quantity is the counter electromotive force of estimationAnd the rotating speed estimatedIt can be byIt carries out anti-
Tangent is found out.Although also having used section motor parameter in observer, the deviation of parameter value can pass through PI tune
Section device is corrected, and observer does not also carry out differential to electric current, reduces the susceptibility to noise.Just because of these
Feature so that the performance of Luenberger observer is better than other methods.
However there are many shortcomings in the application in the prior art, and first, when low speed estimates rotor-position, from
It can be seen that the defect of this method is exactly that motor itself is needed to have saliency, and high frequency in the principle of high-frequency signal injection
The injection of signal will also result in torque pulsation simultaneously, if the amplitude of high-frequency signal is excessive, also bring along electromagnetic noise.The algorithm
The drawbacks of operand is also larger, and the requirement to chip itself is also higher, these are all the algorithms.
Secondly, when high speed estimates rotor-position, when be expanded counter electromotive force after, it will usually directly by anti-
The method of tangent obtains rotor-position.The rotor-position that arc tangent is calculated at 90 ° or so will produce deviation, while anyway
Cut more sensitive to noise, and noise inevitably exists in practice, will appear very in the angle result of solution in this way
Crinosity is pierced.
Finally, when low speed algorithm for estimating is switched over to high speed algorithm for estimating, typically directly switching or the two are inclined
Difference in a certain range when switch over, this way may result in the violent shake of rotating speed, cause system to be shaken, when serious
It can even cause motor step-out to stalling.
Invention content
The purpose of the present invention is overcoming the above-mentioned prior art, a kind of low-power permanent magnetism that can be realized is provided
Synchronous motor non-position sensor vector control method.
To achieve the goals above, of the invention that there is following constitute：
The low-power permanent magnet synchronous motor non-position sensor vector control method, includes the following steps：
(1) apply voltage vector in initial angle, generate the magnetic field of respective direction, determine the initial position of rotor, and open
Dynamic motor；
(2) to low speed the position of rotor is estimated when；
(3) rotating speed is divided into different sections, the position of rotor when according to different sections to switching from low speed to high speed
Estimated；
(4) position of rotor is estimated when by observer and phase-locked loop structures to high speed.
Preferably, the step (1) is further comprising the steps of：
(1-1) controls voltage according to actual loading calibrating and positioning；
(1-2) applies voltage in succession at least two directions, need to be slowly increased according to certain slope voltage to position control
Rotor pressure is attracted to initial position by voltage processed；
(1-3) starts motor by initial position.
Preferably, the step (2) includes the following steps：
(2-1) can be generated according to the size of permanent magnet synchronous motor rated current and permanent magnet magnetic flux to calculate motor
Level of torque：
Te=1.5pnψfiq,
Wherein TeFor the torque that motor can be generated, pnFor motor number of pole-pairs, ψfFor permanent magnet magnetic flux, iqIt is same for permanent magnetism
Walk rated current of motor；
(2-2) is gone out the acceleration of rotor by electromechanics equation calculation：
Wherein, α is the acceleration of rotor, and J is rotary inertia, T0For load torque；
(2-3) offsets the influence of damping action, and the angular speed of rotor is obtained to the integral of time using the acceleration of rotor：
ωm_open=k ∫ α dt=k α t,
Wherein, k (k<1) it is correction factor, ωm_openFor the angular speed of rotor；
(2-4) integrates the angular speed of rotor, obtains required angle when open loop operation：
Wherein, θm_openFor open loop operation when required angle.
Preferably, the step (3) includes the following steps：
(3-1) sets ωbeginAnd ωendThe starting velocity and terminate speed that respectively low speed switches to high speed, determine
ωbeginAnd ωendSize, rotating speed is divided into three sections, respectively rotating speed≤ω of low speed estimationbeginFirst interval,
ωbeginThe rotating speed ＜ ω of ＜ low speed estimationendSecond interval and low speed estimation rotating speed >=ωend3rd interval；
Step (2) is then continued in section where (3-2) judges current estimation rotating speed if it is first interval, if it is the
Step (3-3) is then continued in two sections, if it is 3rd interval, then continues step (4)；
(3-3 is calculated by the following formula β：
Wherein, β is fusion coefficients, ωr_lowFor the spinner velocity of low speed estimation；
(3-4) obtains estimation output by following blending algorithm：
Estimate output=low speed estimation × (1- β)+high speed estimation × β.
More preferably, the determination ωbeginAnd ωendSize, include the following steps：
Rotating speed deviation that (3-1-1) is estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ωbegin's
Size；
The deviation of (3-1-2) such as two kinds of rotating speeds estimated is less than the threshold value of setting, then switches over, velocity amplitude at this time
As switching starting velocity, and terminate speed omegaendBe set as motor attainable maximum speed 10%；
(3-1-3) is according to required acceleration index to ωbeginAnd ωendIt is adjusted.
Preferably, including the following steps in the step (4)：
(4-1) calculates the counter electromotive force of motor by observer；
(4-2) tracks by phaselocked loop and locks the phase in counter electromotive force, and adjustment estimation is controlled by angular deviation
Rotating speed.
More preferably, further comprising the steps of in the step (4-1)：
Estimator is substituted into the relevant variable in the virtual voltage equation of motor by (4-1-1), obtains observation electric current；
(4-1-2) is compared electric current is observed with actually measured stator current, obtains error compensation item；
(4-1-3) determines the size of counter electromotive force according to the error compensation item.
More preferably, further comprising the steps of in the step (4-2)：
(4-2-1) converts the phase to speed controling signal by PID controller；
(4-2-2) integrates the speed controling signal, obtains the high speed estimation angle of rotor；
(4-2-3) estimates the rotor-position of next cycle according to current velocity information, then feeds back to input terminal.
The low-power permanent magnet synchronous motor non-position sensor vector control method in the invention is used, due to motor master
The high speed stage is operated in, therefore is not necessarily to the rotor position estimate in excessive research low rate start stage, the present invention is very big
Rotor position estimate algorithm when ground simplifies low rate start ensures that motor can start, reduces the occupancy of resources of chip,
The chip of more low side thus may be used, it is cost-effective, while quick start method can reduce the startup time；Using observation
Device is estimated with the rotor-position for the method centering high speed stage that phaselocked loop is combined, and directly obtains observer anti-electronic
The method that gesture progress arc tangent handles to obtain rotor-position is more sensitive to noise, and estimated result has many burrs, and uses
Phase-locked loop structures carry out processing and are estimated that the position without phase delay, while compensating improvement to traditional phaselocked loop,
Eliminate deviation present in it；When low speed algorithm for estimating switches to high speed algorithm for estimating, directly switching, which may result in, is
System concussion is even shut down.The present invention uses a kind of blending algorithm, two kinds of algorithms of realization to seamlessly transit.
Description of the drawings
Fig. 1 is the structural schematic diagram of the observer of the prior art.
Fig. 2 is the phase-locked loop structures frame of the low-power permanent magnet synchronous motor non-position sensor vector control method of the present invention
Figure.
Fig. 3 is the concrete operating principle of the low-power permanent magnet synchronous motor non-position sensor vector control method of the present invention
Schematic diagram.
Specific implementation mode
In order to more clearly describe the technology contents of the present invention, carried out with reference to specific embodiment further
Description.
In a kind of feasible embodiment, low-power permanent magnet synchronous motor non-position sensor vector control method, packet
Include following steps：
(1) apply voltage vector in initial angle, generate the magnetic field of respective direction, determine the initial position of rotor, and open
Dynamic motor；
(2) to low speed the position of rotor is estimated when；
(3) rotating speed is divided into different sections, the position of rotor when according to different sections to switching from low speed to high speed
Estimated；
(4) position of rotor is estimated when by observer and phase-locked loop structures to high speed.
In a kind of preferable embodiment, the step (1) is further comprising the steps of：
(1-1) controls voltage according to actual loading calibrating and positioning；
(1-2) applies voltage in succession at least two directions, need to be slowly increased according to certain slope voltage to position control
Rotor pressure is attracted to initial position by voltage processed；
(1-3) starts motor by initial position.
In a kind of preferable embodiment, the step (2) includes the following steps：
(2-1) can be generated according to the size of permanent magnet synchronous motor rated current and permanent magnet magnetic flux to calculate motor
Level of torque：
Te=1.5pnψfiq,
Wherein TeFor the torque that motor can be generated, pnFor motor number of pole-pairs, ψfFor permanent magnet magnetic flux, iqIt is same for permanent magnetism
Walk rated current of motor；
(2-2) is gone out the acceleration of rotor by electromechanics equation calculation：
Wherein, α is the acceleration of rotor, and J is rotary inertia, T0For load torque；
(2-3) offsets the influence of damping action, and the angular speed of rotor is obtained to the integral of time using the acceleration of rotor：
ωm_open=k ∫ α dt=k α t,
Wherein, k (k<1) it is correction factor, ωm_openFor the angular speed of rotor；
(2-4) integrates the angular speed of rotor, obtains required angle when open loop operation：
Wherein, θm_openFor open loop operation when required angle.
In a kind of preferable embodiment, the step (3) includes the following steps：
(3-1) sets ωbeginAnd ωendThe starting velocity and terminate speed that respectively low speed switches to high speed, determine
ωbeginAnd ωendSize, rotating speed is divided into three sections, respectively rotating speed≤ω of low speed estimationbeginFirst interval,
ωbeginThe rotating speed ＜ ω of ＜ low speed estimationendSecond interval and low speed estimation rotating speed >=ωend3rd interval；
Step (2) is then continued in section where (3-2) judges current estimation rotating speed if it is first interval, if it is the
Step (3-3) is then continued in two sections, if it is 3rd interval, then continues step (4)；
(3-3) is calculated by the following formula β：
Wherein, β is fusion coefficients, ωr_lowFor the spinner velocity of low speed estimation；
(3-4) obtains estimation output by following blending algorithm：
Estimate output=low speed estimation × (1- β)+high speed estimation × β.
In a kind of more preferably embodiment, the determination ωbeginAnd ωendSize, include the following steps：
Rotating speed deviation that (3-1-1) is estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ωbegin's
Size；
The deviation of (3-1-2) such as two kinds of rotating speeds estimated is less than the threshold value of setting, then switches over, velocity amplitude at this time
As switching starting velocity, and terminate speed omegaendBe set as motor attainable maximum speed 10%；
(3-1-3) is according to required acceleration index to ωbeginAnd ωendIt is adjusted.
In a kind of preferable embodiment, the step includes the following steps in (4)：
(4-1) calculates the counter electromotive force of motor by observer；
(4-2) tracks by phaselocked loop and locks the phase in counter electromotive force, and adjustment estimation is controlled by angular deviation
Rotating speed.
It is further comprising the steps of in the step (4-1) in a kind of more preferably embodiment：
Estimator is substituted into the relevant variable in the virtual voltage equation of motor by (4-1-1), obtains observation electric current；
(4-1-2) is compared electric current is observed with actually measured stator current, obtains error compensation item；
(4-1-3) determines the size of counter electromotive force according to the error compensation item.
It is further comprising the steps of in the step (4-2) in a kind of more preferably embodiment：
(4-2-1) converts the phase to speed controling signal by PID controller；
(4-2-2) integrates the speed controling signal, obtains the high speed estimation angle of rotor；
(4-2-3) estimates the rotor-position of next cycle according to current velocity information, then feeds back to input terminal.
To realize the goal of the invention of the technical program, following key technology is needed：
1) rotor fixed position technology.In the case of not knowing initial position of rotor on startup, apply using in specific direction
The method of voltage makes rotor be fixed to some known location.In order to avoid positioning fails, voltage need to be applied successively in multiple directions；
In order to avoid rush of current is excessive, voltage need to be increased according to certain slope.
2) start control.Given rotating speed and angle curve are accelerated by motor according to the curve, oblique by adjusting curve
Acceleration magnitude can be changed in rate, realizes and quickly starts.
3) observer rotor-position when the method that phaselocked loop is combined is to high speed is used to estimate.It directly will observation
The method that the counter electromotive force progress arc tangent that device obtains handles to obtain rotor-position is more sensitive to noise, and estimated result has very
Crinosity is pierced, and carries out processing using phase-locked loop structures it is estimated that the position without phase delay.Simultaneously to traditional phaselocked loop
Improvement is compensated, deviation present in it is eliminated.
4) when low speed algorithm for estimating switches to high speed algorithm for estimating, directly switching may result in system concussion or even stop
Machine.The present invention uses a kind of blending algorithm, two kinds of algorithms of realization to seamlessly transit.
In a kind of more specifically embodiment, it is based on above-mentioned key technology, as shown in figure 3, due to motor major part
When all operate under high speed operating mode, if consume many resources of system go estimation low-speed stage rotor-position it is uneconomical,
So replacing complicated high-frequency signal injection using a kind of simple and effective method of estimation.Due to needing to know rotor when starting
Initial position, it is proposed that apply voltage vector in a certain special angle, it is made to generate the magnetic field of the direction, rotor is forced to attract
To the position, the method that is then started.The following is should be noted in positioning：
Location control voltage need to be demarcated according to actual loading, and avoiding the occurrence of positioning voltage and crossing lesser trochanter quickly to move
Moving to setting position or positioning voltage are excessive causes electric current excessive；
It causes positioning to fail to avoid actual rotor position and positioning voltage from being separated by 180 °, need in succession be applied in multiple directions
Add certain voltage.In order to avoid voltage fill suddenly lead to current break caused by impact, need to be slow according to certain slope
Increase voltage swing to setting value.
Just start later from the position of positioning, is counted according to permanent magnet synchronous motor rated current and the size of permanent magnet magnetic flux
Calculate the level of torque that motor can be generated：
Te=1.5pnψfiq
Ignore influence of the damping action to rotating speed accelerator, the acceleration of rotor is gone out by electromechanics equation calculation：
Wherein, J is rotary inertia, T0For load torque.
The influence of damping action is not accounted for during due to calculating acceleration, so true acceleration can be slightly less than
This value needs to be multiplied by correction factor k (k ＜ 1) during use, and rotor is obtained to the integral of time using this acceleration
Speed.
ωm_open=k ∫ α dt=k α t
Required angle when being integrated to obtain open loop operation by calculated rotating speed：
Rotor-position when being exactly to high speed later is estimated.The state to be predicted of observer is the anti-of motor
Electromotive force, and counter electromotive force can be determined by error compensation item, and error compensation item is by the inclined of observation electric current and actual current
Difference determines.The virtual voltage equation of reference model, that is, motor, adjustable model, that is, Partial Variable therein change estimator into, this
The electric current of observation can be calculated in sample, be compared with the stator current that real sensor obtains.
After calculating motor back emf, by it by a kind of structure for being phaselocked loop, this structure can track instead
It phase (i.e. location information) in electromotive force and is locked.When the rotating speed of estimation is more than actual speed, it is desirable to which reduction is estimated
Metering rotating speed, corresponding angular deviation Δ θr=θ 'r-θrAlso can reduce；When the rotating speed of estimation is less than actual speed, it is desirable to increase
Estimate that rotating speed, corresponding angular deviation can also reduce, it can be seen that the rotating speed of adjustment estimation can be controlled by angular deviation.By
This can be seen that this is a feedback control system with phase deviation object in order to control, and the phase of output signal is made to believe with input
Number phase keep synchronize.
When being applied to PMSM rotor position estimates, the input quantity of phaselocked loop is the counter electromotive force of extension, wherein including rotor
Location information can be equivalent to reference frequency above.The output quantity of phaselocked loop is to be wrapped in rotor angle, with counter electromotive force
It is rotating speed that the rotor position information contained is passed through the control signal that low-pass filter obtains more afterwards, and rotating speed obtains angle after integral
Degree, control structure figure are as shown in Figure 2.
The angle feed-back estimated goes back to be compared with the angle at current time, but feedback quantity can prolong after discretization
When one unit period, the rotor-position that such phaselocked loop is actually estimated is the position of upper a cycle, is not this moment
Real position.In order to solve this problem, it needs to compensate the rotor-position of feedback.It specifically can be according to current speed
Information estimates the rotor-position of next cycle, then feeds back to input terminal, since feedback quantity has carried out unit delay, so
The amount just compared is the amount in this period.
When low speed algorithm for estimating switches to high speed algorithm for estimating, caused system concussion when in order to avoid directly switching,
A kind of switching function with speed reference signal in order to control is used, low speed algorithm for estimating is realized and is calculated to high speed location estimation
Method takes over seamlessly.
Control thought is：
1) when low speed estimates rotating speed≤ωbeginWhen, the required rotating speed of motor running and angle are all estimated by low speed
Algorithm provides；
2) work as ωbegin＜ low speed estimates rotating speed ＜ ωendWhen, low speed algorithm for estimating and high speed location-estimation algorithm are simultaneously
Work, output is to motor after the rotating speed of the two output and angle are merged by certain algorithm.Blending algorithm is：
Estimate output=low speed estimation × (1- β)+high speed estimation × β.
3) when low speed estimates rotating speed >=ωend, the required rotating speed of motor running and angle are all estimated by high speed position
Calculating method provides.
Wherein variable-definition is as follows：
ωbegin, ωend：The starting velocity and terminate speed that low speed algorithm for estimating switches to high speed location-estimation algorithm；
ωr_lowFor the spinner velocity of low speed estimation.
In handoff procedure, rotating speed and angle proportion that low speed algorithm for estimating estimates are gradually reduced, and are opened from switching
1 when the beginning arrives 0 when finishing switching, realizes low speed algorithm for estimating seamlessly transitting to high speed location-estimation algorithm.But
For the starting velocity ω of switchingbeginDetermination need to consider more factor, if this value is too low, counter electromotive force is smaller at this time,
Again due to the influence of noise, the spinner velocity and position deviation that high speed location-estimation algorithm estimates are larger；If this value is excessively high,
The spinner velocity and position deviation of low speed algorithm for estimating estimation also can be increasing, and both of these case can all lead to handover failure.
Therefore for starting velocity ωbeginSelection not only rely on the workable minimum speed of high speed location-estimation algorithm, simultaneously also
It is affected by a load, need according under different occasion difference operating modes to ωbeginIt is adjusted.
Most starting to determine switching starting speed omegabeginWhen, mainly calculated according to low speed algorithm for estimating and high speed estimation
Rotating speed deviation that method estimates determines, is just switched over when the deviation for the rotating speed that two kinds estimate is less than the threshold value of setting,
Velocity amplitude at this time is as switching starting velocity.Terminate speed omegaendMay be set to motor attainable maximum speed
10%, then it is adjusted according to required acceleration index.
In some other embodiments, starting this part, have at present algorithm be given rotation voltage by motor into
Row accelerates, while the voltage rotary speed is getting faster to allow motor to obtain switch speed.But this method starts the time
Can be more long, because the reason of electromechanics inertia, voltage rotary speed cannot be excessive when beginning, can only be slowly increased, not so
It can cause to start and fail.
Also there is the method for extended Kalman filter (EKF) in high speed algorithm for estimating, is recursion used by it
The method of calculating, can one side gathered data, carry out recursive operation on one side.Due to the algorithm structure of EKF itself, in recurrence calculation
Everywhere output result be all most probable occur or it is optimal.Since EKF is mainly for nonlinear system, fully consider
The influence of system noise and measurement noise, so still be able to accurately estimate the various shapes of system when noise occurs in system
State, with other methods comparatively, this is unusual clear advantage.But EKF algorithms are sufficiently complex, calculation amount is also very big, right
The requirement of hardware is relatively high, these influence its On-line Estimation speed.And the statistics ginseng of many noises can be used in EKF
Number, these need a large amount of time to go to analyze, and the design of parameter is also sufficiently complex in feedback gain matrix, needs great work
It is debugged as amount, these all limit its application.
The low-power permanent magnet synchronous motor non-position sensor vector control method in the invention is used, due to motor master
The high speed stage is operated in, therefore is not necessarily to the rotor position estimate in excessive research low rate start stage, the present invention is very big
Rotor position estimate algorithm when ground simplifies low rate start ensures that motor can start, reduces the occupancy of resources of chip,
The chip of more low side thus may be used, it is cost-effective, while quick start method can reduce the startup time；Using observation
Device is estimated with the rotor-position for the method centering high speed stage that phaselocked loop is combined, and directly obtains observer anti-electronic
The method that gesture progress arc tangent handles to obtain rotor-position is more sensitive to noise, and estimated result has many burrs, and uses
Phase-locked loop structures carry out processing and are estimated that the position without phase delay, while compensating improvement to traditional phaselocked loop,
Eliminate deviation present in it；When low speed algorithm for estimating switches to high speed algorithm for estimating, directly switching, which may result in, is
System concussion is even shut down.The present invention uses a kind of blending algorithm, two kinds of algorithms of realization to seamlessly transit.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (7)
1. a kind of low-power permanent magnet synchronous motor non-position sensor vector control method, which is characterized in that the method packet
Include following steps：
(1) apply voltage vector in initial angle, generate the magnetic field of respective direction, determine the initial position of rotor, and start electricity
Machine；
(2) to low speed the position of rotor is estimated when；
(3) rotating speed is divided into different sections, the position of rotor when according to different sections to switching from low speed to high speed carries out
Estimation；
(4) position of rotor is estimated when by observer and phase-locked loop structures to high speed；
The step (3) includes the following steps：
(3-1) sets ωbeginAnd ωendThe starting velocity and terminate speed that respectively low speed switches to high speed, determine ωbeginWith
ωendSize, rotating speed is divided into three sections, respectively rotating speed≤ω of low speed estimationbeginFirst interval, ωbegin＜
The rotating speed ＜ ω of low speed estimationendSecond interval and low speed estimation rotating speed >=ωend3rd interval；
Then continue step (2), if it is the secondth area if it is first interval in section where (3-2) judges current estimation rotating speed
Between, then continue step (3-3), if it is 3rd interval, then continues step (4)；
(3-3) is calculated by the following formula β：
Wherein, β is fusion coefficients, ωr_lowFor the spinner velocity of low speed estimation；
(3-4) obtains estimation output by following blending algorithm：
Estimate output=low speed estimation × (1- β)+high speed estimation × β.
2. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 1, feature exist
In the step (1) is further comprising the steps of：
(1-1) controls voltage according to actual loading calibrating and positioning；
(1-2) applies voltage in succession at least two directions, and voltage need to be slowly increased according to certain slope to location control electricity
Rotor pressure is attracted to initial position by pressure；
(1-3) starts motor by initial position.
3. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 1, feature exist
In the step (2) includes the following steps：
(2-1) calculates the torque that motor can be generated according to permanent magnet synchronous motor rated current and the size of permanent magnet magnetic flux
Size：
Te=1.5pnψfiq,
Wherein, TeFor the torque that motor can be generated, pnFor motor number of pole-pairs, ψfFor permanent magnet magnetic flux, iqFor permanent magnet synchronous electric
Machine rated current；
(2-2) is gone out the acceleration of rotor by electromechanics equation calculation：
Wherein, α is the acceleration of rotor, and J is rotary inertia, T0For load torque；
(2-3) offsets the influence of damping action, and the angular speed of rotor is obtained to the integral of time using the acceleration of rotor：
ωm_open=k ∫ α dt=k α t,
Wherein, k is correction factor, k ＜ 1, ωm_openFor the angular speed of rotor；
(2-4) integrates the angular speed of rotor, obtains required angle when open loop operation：
Wherein, θm_openFor open loop operation when required angle.
4. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 1, feature exist
In the determination ωbeginAnd ωendSize, include the following steps：
Rotating speed deviation that (3-1-1) is estimated according to low speed algorithm for estimating and high speed algorithm for estimating determines ωbeginSize；
The deviation of (3-1-2) such as two kinds of rotating speeds estimated is less than the threshold value of setting, then switches over, velocity amplitude conduct at this time
Switch starting velocity, and terminates speed omegaendBe set as motor attainable maximum speed 10%；
(3-1-3) is according to required acceleration index to ωbeginAnd ωendIt is adjusted.
5. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 1, feature exist
In the step includes the following steps in (4)：
(4-1) calculates the counter electromotive force of motor by observer；
(4-2) tracks by phaselocked loop and locks the phase in counter electromotive force, and the rotating speed of adjustment estimation is controlled by angular deviation.
6. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 5, feature exist
In further comprising the steps of in the step (4-1)：
Estimator is substituted into the relevant variable in the virtual voltage equation of motor by (4-1-1), obtains observation electric current；
(4-1-2) is compared electric current is observed with actually measured stator current, obtains error compensation item；
(4-1-3) determines the size of counter electromotive force according to the error compensation item.
7. low-power permanent magnet synchronous motor non-position sensor vector control method according to claim 5, feature exist
In further comprising the steps of in the step (4-2)：
(4-2-1) converts the phase to speed controling signal by PID controller；
(4-2-2) integrates the speed controling signal, obtains the high speed estimation angle of rotor；
(4-2-3) estimates the rotor-position of next cycle according to current velocity information, then feeds back to input terminal.
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| CN106788083B (en) * | 2016-12-30 | 2019-06-11 | 苏州科技大学 | Position identification method of AC permanent magnet synchronous motor rotor |
| CN107070348A (en) * | 2017-03-14 | 2017-08-18 | 广东美的制冷设备有限公司 | Air conditioner, compressor and its closed loop zero-speed start method, system |
| TWI647902B (en) * | 2017-05-22 | 2019-01-11 | 大青節能科技公司 | Motor control system with tracking phase module |
| FR3084222B1 (en) * | 2018-07-20 | 2020-06-26 | Renault S.A.S | METHOD FOR DETERMINING THE POSITION AND SPEED OF THE ROTOR OF A SYNCHRONOUS ELECTRIC MACHINE WITH A ROTOR REEL. |
| CN110880897A (en) * | 2019-12-13 | 2020-03-13 | 珠海格力电器股份有限公司 | Motor control method and device and driving device |
| CN111106766B (en) * | 2019-12-22 | 2021-05-11 | 同济大学 | Control switching transition method, system and control method of reluctance synchronous motor |
| CN112636653A (en) * | 2020-12-31 | 2021-04-09 | 索格菲（苏州）汽车部件有限公司 | Non-inductive control circuit and method for permanent magnet synchronous motor of automobile electronic water pump |
| CN112671298B (en) * | 2021-01-13 | 2023-03-21 | 湖南进芯电子科技有限公司 | Improved PLL non-inductive control algorithm for permanent magnet synchronous motor control |
| CN113422548B (en) * | 2021-06-07 | 2022-08-05 | 南京航空航天大学 | Phase-locked loop-based permanent magnet synchronous motor position-free hybrid control switching method |
| CN118074590B (en) * | 2024-02-22 | 2024-11-08 | 上海耀杉电子科技有限公司 | Motor startup control method, device, electronic device and readable storage medium |
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