CN107404274B - Method for detecting zero position of PMSM rotor based on open-loop voltage - Google Patents
Method for detecting zero position of PMSM rotor based on open-loop voltage Download PDFInfo
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- CN107404274B CN107404274B CN201710694819.6A CN201710694819A CN107404274B CN 107404274 B CN107404274 B CN 107404274B CN 201710694819 A CN201710694819 A CN 201710694819A CN 107404274 B CN107404274 B CN 107404274B
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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
- 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
- H02P21/32—Determining the initial rotor position
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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
- 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
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- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a method for detecting the zero position of a PMSM rotor based on open-loop voltage, which mainly solves the problems of complex operation, large operation amount and strong theoretical performance of the existing PMSM rotor zero position acquisition method in the prior art. The method for detecting the zero position of the PMSM rotor based on the open-loop voltage is characterized in that the corresponding PMSM rotating speed is recorded through the open-loop voltage, a rotor position sampling value and a PMSM rotor zero position calibration value, and the optimal PMSM rotor zero position is determined through a minimum absolute value method. Through the scheme, the motor parameter independence is achieved. The whole detection process is short in execution time, the motor controller can automatically complete the calculation on line, and the method has high practical value and popularization value.
Description
Technical Field
The invention relates to the technical field of Permanent Magnet Synchronous Motor (PMSM) control, in particular to a method for detecting a PMSM rotor zero position based on open-loop voltage.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of high efficiency, high power density, good control performance, good starting characteristic and the like, so that the PMSM is very wide in application; when a motor controller performs field oriented vector control (FOC) on a permanent magnet synchronous motor, if the zero position of a rotor is not accurate, the vector control on the permanent magnet motor is unstable, so that the zero position of the rotor must be obtained to control the PMSM.
When a general motor controller cannot obtain the zero position of a PMSM rotor, the zero position of the motor needs to be determined according to a complex algorithm operated by motor parameters; the representative method is a high-frequency signal injection method, and because the method utilizes the space salient pole effect of a motor rotor, the demodulation algorithm of the high-frequency current response signal is complex, the calculation amount is large, and the theoretical performance is strong; in addition, in the literature, methods such as a model reference adaptive method, a fuzzy control method, an artificial neural network, a design sliding-mode observer and the like are used for estimating the initial position of the rotor of the permanent magnet synchronous motor, but the methods all need complex formulas and operations.
Disclosure of Invention
The invention aims to provide a method for detecting the zero position of a PMSM rotor based on open-loop voltage, and aims to solve the problems of complex operation, large operation amount and strong theoretical performance of the existing PMSM rotor zero position acquisition method.
In order to solve the above problems, the present invention provides the following technical solutions:
a method for detecting the zero position of a PMSM rotor based on open-loop voltage comprises the following steps:
(a) respectively giving open-loop voltage U of D axis in PMSM vector controldAnd open loop voltage U of Q axisq；
(b) According to U given in step (a)qAnd UdUnder the state, calculating the zero position of the PMSM rotor
Wherein i is 0, 1, 2 … n-1 respectively;
(c) calculating the PMSM rotor position θ according to step (b)ei＝θi+pθmWhere p is the number of pole pairs of PMSM, θmSampling values for rotor positions;
(d) calculating the PMSM rotation speed according to (c)
(e) And obtaining the zero position of the PMSM rotor according to a minimum absolute value method.
Specifically, the step (e) includes the steps of:
(e1) given U in positive rotation of PMSMqAnd UdRepeating the steps (a) to (d), and storing the PMSM rotating speed omega when the PMSM rotating speed is stablePi(i＝0，1，2...n-1)；
(e2) Given U at PMSM inversionqAnd UdRepeating the steps (a) to (d), and storing the PMSM rotating speed omega when the PMSM rotating speed is stableNi(i＝0，1，2...n-1)；
(e3) Calculating the rotational speed and ω of step (e1) and step (e2)di,ωdi＝ωPi+ωNi；
(e4) Finding the smallest ω in step (e3)diAnd obtaining the zero position of the rotor of the PMSM.
Specifically, the specific process of step (e4) is: find omegadiThe positive number with the smallest value is recorded as omegadk(ii) a The zero position of the rotor of the PMSM is
I.e. thetae＝θk+pθmCorrect PMSM rotor position.
In particular, according to the U given in step (e1) and step (e2), respectivelyqAnd UdAnd the obtained PMSM rotor position thetaeiOutputting sine wave voltage U of PMSMa，Ub，Uc(ii) a The calculation formula is as follows:
compared with the prior art, the invention has the following beneficial effects: compared with the traditional PMSM rotor zero position detection method, the method has simple algorithm, only needs open loop control, and does not depend on motor parameters in the calculation process. The whole detection process is short in execution time, the motor controller can automatically complete calculation on line, and data do not need to be analyzed off line.
Drawings
FIG. 1 is a control block diagram of the present invention.
FIG. 2 is a flow chart of the present invention.
Detailed Description
The present invention is further illustrated by the following figures and examples, which include, but are not limited to, the following examples.
As shown in fig. 1 and 2, a method for detecting the zero position of the PMSM rotor based on the open-loop voltage is to record the corresponding PMSM rotation speed through the open-loop voltage, a rotor position sampling value and a PMSM rotor zero position calibration value, and determine the optimal PMSM rotor zero position through a minimum absolute value method; the specific process is as follows:
step 1: respectively setting open-loop voltage of D axis and Q axis in PMSM vector control, Uq＝C，UdC is a relatively small voltage value and is constant so that the motor does not rotate too fast.
Step 2: setting PMSM rotor zero
Calculating PMSM rotor position thetaei＝θi+pθmRunning a vector control algorithm
Output Ua、Ub、Uc。
And step 3: respectively setting i as 0, 1, 2 … n-1, repeating the step 2, and when the motor rotating speed is stable, storing the PMSM rotating speed omega by a programPi(i＝0，1，2...n-1)。
And 4, step 4: respectively setting open-loop voltage of D axis and Q axis in PMSM vector control, Uq＝-C，UdC is a relatively small voltage value and is constant so that the motor does not rotate too fast.
And 5: respectively setting i as 0, 1, 2 … n-1, repeating the step 2, and when the motor rotating speed is stable, storing the PMSM rotating speed omega by a programNi(i＝0，1，2...n-1)。
Step 6: calculate ωdi＝ωPi+ωNi；
And 7: find omegadiThe positive number with the smallest value is recorded as omegadk；
And 8: the zero position of the rotor of the PMSM is
I.e. thetae＝θk+pθmAnd the position is the correct PMSM motor rotor position.
And (5) obtaining the rotor zero position of the PMSM through the steps 1 to 8.
The basic principle of the invention is as follows: the mechanical characteristics of the permanent magnet synchronous motor are the same when the permanent magnet synchronous motor rotates forwards and reversely in no-load, and if the zero position of the motor is correct, a U is givenq＝C，U d0 and Uq＝-C，UdWhen the rotation speed is equal to 0, the rotation speeds should be equal and opposite in theory under two conditions, and U isqWhen the motor is in positive rotation, the motor rotates forwards. If the zero bit is incorrect, then it is a positive U under the above conditionsqRotational speed and negative UqShould be unequal.
The implementation conditions of the test example of the invention are as follows: can give Uq、UdThe motor controller and the permanent magnet synchronous motor fed back by the absolute position sensor can acquire the rotating speed of the permanent magnet synchronous motor.
The following table shows the actual data measured: the zero calibration value of the PMSM rotor can be obtained to be 5.654867 radians, the actual PMSM rotor zero is 5.75959 radians, and the error is 0.10472 radians. The effectiveness of the invention is verified. If the step length is reduced, namely the value of n is increased, the precision of the zero calibration value of the motor rotor can be increased.
The method is based on open-loop control, does not depend on motor parameters, does not need to design a complex algorithm, and can calculate the rotor zero position of the PMSM after a program executes a detection process.
The invention is well implemented in accordance with the above-described embodiments. It should be noted that, based on the above structural design, in order to solve the same technical problems, even if some insubstantial modifications or colorings are made on the present invention, the adopted technical solution is still the same as the present invention, and therefore, the technical solution should be within the protection scope of the present invention.
Claims (2)
1. A method for detecting the zero position of a PMSM rotor based on open-loop voltage is characterized by comprising the following steps:
(a) respectively giving open-loop voltage U of D axis in PMSM vector controldAnd open loop voltage U of Q axisq；
(b) According to U given in step (a)qAnd UdUnder the state, calculating the zero position of the PMSM rotor
Wherein i is 0, 1, 2.. n-1, respectively;
(c) calculating the PMSM rotor position θ according to step (b)ei＝θi+pθmWhere p is the number of pole pairs of PMSM, θmSampling values for rotor positions;
(d) calculating the PMSM rotation speed according to (c)
(e) Obtaining the zero position of the rotor of the PMSM according to a minimum absolute value method;
the step (e) comprises the steps of:
(e1) given U in positive rotation of PMSMqAnd UdRespectively setting i as 0, 1, 2.. n-1, repeating the steps (a) to (d), and storing the PMSM rotation speed omega when the PMSM rotation speed is stablePi(i＝0，1，2...n-1)；
(e2) Given U at PMSM inversionqAnd UdRespectively setting i as 0, 1, 2.. n-1, repeating the steps (a) to (d), and storing the PMSM rotation speed omega when the PMSM rotation speed is stableNi(i＝0，1，2...n-1)；
(e3) Calculating the rotational speed and ω of step (e1) and step (e2)di，ωdi＝ωPi+ωNi；
(e4) Finding the smallest ω in step (e3)diObtaining the zero position of the rotor of the PMSM;
the specific process of step (e4) is as follows: find omegadiThe positive number with the smallest value is recorded as omegadk(ii) a The zero position of the rotor of the PMSM is
I.e. thetae＝θk+pθmCorrect PMSM rotor position.
2. The method for detecting the zero position of the PMSM rotor based on the open-loop voltage of claim 1, wherein the U is given according to the step (e1) and the step (e2) respectivelyqAnd UdAnd the obtained PMSM rotor position thetaeiOutputting sine wave voltage U of PMSMa，Ub，Uc(ii) a The calculation formula is as follows:
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| CN109873589B (en) * | 2019-04-17 | 2020-07-31 | 电子科技大学 | Method for detecting zero position of rotor of permanent magnet synchronous motor |
| CN112087176B (en) * | 2020-09-01 | 2023-03-10 | 深圳熙斯特新能源技术有限公司 | Motor rotor reference zero offset correction method and system |
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| CN102401626A (en) * | 2011-11-20 | 2012-04-04 | 中国科学院光电技术研究所 | A Method for Estimating Installation Deviation of Rotor Position Sensor of Permanent Magnet Synchronous Motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN106130415A (en) * | 2016-03-31 | 2016-11-16 | 法乐第(北京)网络科技有限公司 | For demarcating the method for motor and controlling device |
| CN106374791A (en) * | 2015-07-23 | 2017-02-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Zero adjustment method and device for incremental encoder servo motor |
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| US8853979B2 (en) * | 2011-02-28 | 2014-10-07 | Deere & Company | Method and system for calibrating rotor position offset of an electric motor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102401626A (en) * | 2011-11-20 | 2012-04-04 | 中国科学院光电技术研究所 | A Method for Estimating Installation Deviation of Rotor Position Sensor of Permanent Magnet Synchronous Motor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN106374791A (en) * | 2015-07-23 | 2017-02-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Zero adjustment method and device for incremental encoder servo motor |
| CN106130415A (en) * | 2016-03-31 | 2016-11-16 | 法乐第(北京)网络科技有限公司 | For demarcating the method for motor and controlling device |
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