CN109802604A - A kind of magneto driving method and system - Google Patents
A kind of magneto driving method and system Download PDFInfo
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- CN109802604A CN109802604A CN201910091589.3A CN201910091589A CN109802604A CN 109802604 A CN109802604 A CN 109802604A CN 201910091589 A CN201910091589 A CN 201910091589A CN 109802604 A CN109802604 A CN 109802604A
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Abstract
The present invention provides a kind of magneto driving method and system, which comprises monitors the stator current and voltage of motor in real time；Go out the first estimation rotational speed omega 1 of rotor according to the V/F curve estimation of motor stator electric current and preset tracking motor speed；The back-emf of motor is calculated according to motor stator electric current and voltage and the second estimation rotational speed omega 2 of rotor is estimated according to the back-emf of motor；Go out the final rotational speed omega of rotor according to the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega；The driving signal for being used for driving motor is generated according to the final rotational speed omega of rotor.The control precision of magneto can be improved in magneto driving method of the invention and system.
Description
Technical field
The invention belongs to motor driven field, in particular to a kind of magneto driving method and system.
Background technique
The output of permanent magnet synchronous motor covers micro-, small and middle size motor power bracket, and extends to high-power field.
And High Energy Product, small size and the light-weighted feature for using permanent-magnet material are relied on, permanent magnet synchronous motor also has electrode electromagnetic torque
Fluctuate small, revolving speed is steady, dynamic response is fast, overload capacity is strong, high-effect, low-power consumption, low speed when the spy with big torque output
Point, therefore, permanent magnet synchronous motor is with a wide range of applications.
Permanent magnet synchronous motor is developed by excitation three-phase synchronous motor, is made of stator and rotor two parts, rotor
Material is electrical excitation system of the permanent magnet instead of synchronous motor, thus eliminates the structure of excitation winding, collector ring and brush.
Generally use frequency converter in the industry to control magneto, common control mode has: VF is controlled, without PG vector controlled, band
PG vector controlled.The control strategy of current general no PG vector controlled be by detecting current of electric, by flux observation and
Velocity estimation obtains the speed of back-emf (EMF) and rotor, to realize as band PG vector controlled, there is speed closed loop
Vector controlled.Although control precision and dynamic property with PG vector controlled is not achieved in the control program.
Above-mentioned control strategy embodies good control performance in the application of most of asynchronous machines, in the strategy only
The electric current of motor is detected, the back-emf of motor is to estimate according to the parameter of electric machine, and often the parameter of motor can be with motor
The raising of aging and temperature rise has greatly changed, and leads to the turn count inaccuracy of motor, the control accuracy decline of motor.
Summary of the invention
It is an object of the invention to propose it is a kind of can improve magneto control precision magneto driving method and be
System.
In the embodiment of the present invention, a kind of magneto driving method is provided comprising
Monitor the stator current and voltage of motor in real time；
Go out the first estimation of rotor according to the V/F curve estimation of motor stator electric current and preset tracking motor speed
Rotational speed omega 1；
The back-emf of motor is calculated according to motor stator electric current and voltage and motor is estimated according to the back-emf of motor
Second estimation rotational speed omega 2 of rotor；
Go out the final of rotor according to the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega
Rotational speed omega；
The driving signal for being used for driving motor is generated according to the final rotational speed omega of rotor.
In the embodiment of the present invention, electricity is obtained according to the first estimation rotational speed omega 1 and the second estimation synthesis of rotational speed omega 1
The formula of the final rotational speed omega of machine rotor is as follows:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%.
In the embodiment of the present invention, estimate that the specific steps of the first estimation revolving speed Ω 1 of rotor include:
According to the V/F curve of preset tracking motor speed, the constantly output frequency and voltage of change frequency converter, and according to
Stator current active component judges whether current motor operates in electronic and generating state switching point, and then according to switching point
The output frequency of frequency converter obtains the actual speed of motor.
In the embodiment of the present invention, the calculation formula for calculating stator current active component is as follows:
Wherein, Id is the active component of stator current, and the reactive component of stator current when Iq, Iu, Iv are stator current
U, two vectors, θ in the direction V are the angle of voltage vector and current vector.
In the embodiment of the present invention, when active component of current Id=0, motor operation is in electronic and generating state switching point.
In the embodiment of the present invention, a kind of driving system of permanent magnet motor is additionally provided comprising:
Current-voltage sampling module, for monitoring the stator current and voltage of motor in real time；
V/F turn count module, for the V/F curve estimation according to motor stator electric current and preset tracking motor speed
First estimation rotational speed omega 1 of rotor out；
Back-emf turn count module, for calculating the back-emf and basis of motor according to motor stator electric current and voltage
The back-emf of motor estimates the second estimation rotational speed omega 2 of rotor；
Motor speed calculates module, for comprehensive according to the first estimation rotational speed omega 1 and the second estimation rotational speed omega 2
Calculate the final rotational speed omega of rotor；
Motor drive module, for generating the driving signal for being used for driving motor according to the final rotational speed omega of rotor.
In the embodiment of the present invention, the motor speed calculates module according to the first estimation rotational speed omega 1 and described second
The estimation synthesis of rotational speed omega 1 show that the formula of the final rotational speed omega of rotor is as follows:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%.
In the embodiment of the present invention, the first estimation revolving speed Ω's 1 of the V/F turn count module estimation rotor is specific
Mode is as follows:
According to the V/F curve of preset tracking motor speed, the constantly output frequency of change frequency converter and voltage and basis
Stator current active component judges whether current motor operates in electronic and generating state switching point, and then according to switching point
The output frequency of frequency converter obtains the actual speed of motor.
Compared with prior art, magneto driving method of the invention and system, according to motor stator electric current and in advance
If tracking motor speed V/F curve estimation go out rotor first estimation rotational speed omega 1, according to motor stator electric current and electricity
Pressure calculates the back-emf of motor and estimates the second estimation rotational speed omega 2 of rotor according to the back-emf of motor, according to institute
It states the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega goes out the final rotational speed omega of rotor, according to motor
The final rotational speed omega of rotor generates the driving signal for being used for driving motor, estimates the revolving speed of motor respectively using two ways,
And the revolving speed estimated according to two carries out control amendment, the comprehensive revolving speed for obtaining motor, so as to more accurately obtain
The revolving speed of motor improves the control precision of motor.
Detailed description of the invention
Fig. 1 is the flow chart of magneto driving method of the invention.
Fig. 2 is the structural schematic diagram of driving system of permanent magnet motor of the invention.
Specific embodiment
As shown in Figure 1, the embodiment of the invention provides a kind of magneto driving methods comprising step S1-S5.Below
It is described in detail respectively.
Step S1: the stator current and voltage of motor are monitored in real time.
It should be noted that being made of in magneto stator and rotor two parts, rotor material is permanent-magnet material, is led to
The Current Voltage of external drive module is crossed to stator, so that rotor be driven to rotate.The Current Voltage of external drive module export to
After stator, since stator is during driving rotor rotation, the voltage and current of stator can also change therewith, therefore, it is necessary to
The stator current and voltage for monitoring motor, thus to obtain the operating status of motor.
Step S2: rotor is gone out according to the V/F curve estimation of motor stator electric current and preset tracking motor speed
First estimation rotational speed omega 1.
It should be noted that in the motor control mode of V/F being changed by the change of driving voltage and driving frequency
The revolving speed of power transformation machine.Before the revolving speed for changing motor, it is to be understood that the revolving speed of current motor estimates that the first of rotor is estimated
Calculate revolving speed Ω 1 specific steps include:
According to the V/F curve of preset tracking motor speed, the constantly output frequency and voltage of change frequency converter, and according to
Stator current active component judges whether current motor operates in electronic and generating state switching point, and then according to switching point
The output frequency of frequency converter obtains the actual speed of motor.Wherein, the output frequency of the frequency converter of switching point obtains motor stator
Rotational frequency.When stator current active component Id=0, motor operation is in electronic and generating state switching point.
In the embodiment of the present invention, the calculation formula for calculating stator current active component Id is as follows:
Wherein, when Iq stator current reactive component, Iu, Iv be two vectors, the θ in the direction U, V of stator current be electricity
The angle of the amount of pressing to and current vector.
Step S3: the back-emf of motor is calculated according to motor stator electric current and voltage and is estimated according to the back-emf of motor
Second estimation rotational speed omega 2 of rotor out.
It should be noted that after calculating the back-emf of motor by motor stator electric current and voltage, it can be according to back-emf
Waveform pass zero point can calculate the position of rotor and the period by certain point, thus calculate calculate motor turn
Speed.
It should also be noted that, the sequence of above-mentioned steps S2 and step S3 can be interchanged, progress can also be synchronized.
Step S4: rotor is gone out according to the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega
Final rotational speed omega.
In the embodiment of the present invention, electricity is obtained according to the first estimation rotational speed omega 1 and the second estimation synthesis of rotational speed omega 1
The formula of the final rotational speed omega of machine rotor is as follows:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%.
It should be noted that the value of a, b can be set according to the actual operating condition of motor.In a kind of embodiment party
In formula, a=50%, b=50%.
Step S5: the driving signal for being used for driving motor is generated according to the final rotational speed omega of rotor.
It should be noted that after obtaining the revolving speed of motor, can according to rotating speed of target to output to the driving signal of motor
It is adjusted, rotating speed of target is run to driving motor.
As shown in Fig. 2, additionally providing a kind of driving system of permanent magnet motor comprising Current Voltage in the embodiment of the present invention
Sampling module 1, V/F turn count module 2, back-emf turn count module 3, motor speed calculate module 4 and motor driven mould
Block 5.
The current-voltage sampling module 1, for monitoring the stator current and voltage of motor in real time；
The V/F turn count module 2, it is bent for the V/F according to motor stator electric current and preset tracking motor speed
Line estimates the first estimation rotational speed omega 1 of rotor；
The back-emf turn count module 3, for calculating the back-emf of motor according to motor stator electric current and voltage
And the second estimation rotational speed omega 2 of rotor is estimated according to the back-emf of motor；
The motor speed calculates module 4, for according to the first estimation rotational speed omega 1 and the second estimation rotational speed omega
2 COMPREHENSIVE CALCULATINGs go out the final rotational speed omega of rotor；
The motor drive module 5, for generating the driving for being used for driving motor according to the final rotational speed omega of rotor
Signal.
In the embodiment of the present invention, the motor speed calculates module 4 according to the first estimation rotational speed omega 1 and described second
The estimation synthesis of rotational speed omega 1 show that the formula of the final rotational speed omega of rotor is as follows:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%.
In the embodiment of the present invention, the V/F turn count module 2 estimates the tool of the first estimation revolving speed Ω 1 of rotor
Body mode is as follows:
According to the V/F curve of preset tracking motor speed, the constantly output frequency of change frequency converter and voltage and basis
Stator current active component judges whether current motor operates in electronic and generating state switching point, and then according to switching point
The output frequency of frequency converter obtains the actual speed of motor.
In conclusion magneto driving method of the invention and system, according to motor stator electric current and preset tracking
The V/F curve estimation of motor speed goes out the first estimation rotational speed omega 1 of rotor, is calculated according to motor stator electric current and voltage
The back-emf of motor and the second estimation rotational speed omega 2 that rotor is estimated according to the back-emf of motor, estimate according to described first
It calculates rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega goes out the final rotational speed omega of rotor, most according to rotor
Whole rotational speed omega generates the driving signal for being used for driving motor, estimates the revolving speed of motor respectively using two ways, and according to two
A revolving speed estimated carries out control amendment, the comprehensive revolving speed for obtaining motor, so as to more accurately obtain turning for motor
Speed improves the control precision of motor.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (8)
1. a kind of magneto driving method characterized by comprising
Monitor the stator current and voltage of motor in real time；
Go out the first estimation revolving speed of rotor according to the V/F curve estimation of motor stator electric current and preset tracking motor speed
ω1；
The back-emf of motor is calculated according to motor stator electric current and voltage and rotor is estimated according to the back-emf of motor
Second estimation rotational speed omega 2；
Go out the final revolving speed of rotor according to the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega
ω, formula are as follows:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%；
The driving signal for being used for driving motor is generated according to the final rotational speed omega of rotor.
2. magneto driving method according to claim 1, which is characterized in that estimate that the first estimation of rotor turns
The concrete mode of fast ω 1 is as follows:
According to the V/F curve of preset tracking motor speed, constantly change the output frequency and voltage of frequency converter, and according to stator
The active component of current judges whether current motor operates in electronic and generating state switching point, and then according to the frequency conversion of switching point
The output frequency of device obtains the actual speed of motor.
3. magneto driving method according to claim 2, which is characterized in that
The calculation formula for calculating stator current active component is as follows:
Wherein, Id is the active component of stator current, and the reactive component of stator current when Iq, Iu, Iv are the U of stator current, the side V
To two vectors, θ be voltage vector and current vector angle.
4. magneto driving method according to claim 3, which is characterized in that when active component of current Id=0, motor
Operate in electronic and generating state switching point.
5. a kind of driving system of permanent magnet motor characterized by comprising
Current-voltage sampling module, for monitoring the stator current and voltage of motor in real time；
V/F turn count module, for calculating electricity according to the V/F curve of motor stator electric current and preset tracking motor speed
First estimation rotational speed omega 1 of machine rotor；
Back-emf turn count module, for calculating the back-emf of motor according to motor stator electric current and voltage and according to motor
Back-emf estimate rotor second estimation rotational speed omega 2；
Motor speed calculates module, for according to the first estimation rotational speed omega 1 and the second estimation 2 COMPREHENSIVE CALCULATING of rotational speed omega
The final rotational speed omega of rotor, formula are as follows out:
ω=a* ω 1+b* ω 2, wherein a, b are the percent coefficient of setting, and a+b=100%；
Motor drive module, for generating the driving signal for being used for driving motor according to the final rotational speed omega of rotor.
6. driving system of permanent magnet motor according to claim 5, which is characterized in that the V/F turn count module estimation
The concrete mode of first estimation rotational speed omega 1 of rotor is as follows:
According to the V/F curve of preset tracking motor speed, constantly change the output frequency and voltage and according to stator of frequency converter
The active component of current judges whether current motor operates in electronic and generating state switching point, and then according to the frequency conversion of switching point
The output frequency of device obtains the actual speed of motor.
7. driving system of permanent magnet motor according to claim 6, which is characterized in that
The calculation formula for calculating stator current active component is as follows:
Wherein, Id is the active component of stator current, and the reactive component of stator current when Iq, Iu, Iv are the U of stator current, the side V
To two vectors, θ be voltage vector and current vector angle.
8. driving system of permanent magnet motor according to claim 7, which is characterized in that when active component of current Id=0, motor
Operate in electronic and generating state switching point.
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| CN201910091589.3A CN109802604A (en) | 2019-01-30 | 2019-01-30 | A kind of magneto driving method and system |
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| CN201910091589.3A CN109802604A (en) | 2019-01-30 | 2019-01-30 | A kind of magneto driving method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111969923A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
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| US20110115423A1 (en) * | 2009-11-18 | 2011-05-19 | Kern Lynn R | Brushless, Three Phase Motor Drive |
| CN102291079A (en) * | 2011-07-05 | 2011-12-21 | 东南大学 | Speed sensor-free control algorithm for direct-drive permanent magnet synchronous wind power generation system |
| CN104113259A (en) * | 2014-07-29 | 2014-10-22 | 深圳市步科电气有限公司 | Motor rotating speed tracking method and device of frequency converter |
| CN108988723A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of hall position sensor segmented estimation rotor-position method |
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2019
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101335496A (en) * | 2007-06-29 | 2008-12-31 | 株式会社东芝 | Motor controlling device, motor drive system, method of motor control, semiconductor device and electronic device |
| US20110115423A1 (en) * | 2009-11-18 | 2011-05-19 | Kern Lynn R | Brushless, Three Phase Motor Drive |
| CN102291079A (en) * | 2011-07-05 | 2011-12-21 | 东南大学 | Speed sensor-free control algorithm for direct-drive permanent magnet synchronous wind power generation system |
| CN104113259A (en) * | 2014-07-29 | 2014-10-22 | 深圳市步科电气有限公司 | Motor rotating speed tracking method and device of frequency converter |
| CN108988723A (en) * | 2018-07-20 | 2018-12-11 | 张懿 | A kind of hall position sensor segmented estimation rotor-position method |
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| CN111969923A (en) * | 2020-07-20 | 2020-11-20 | 四川虹美智能科技有限公司 | Method and device for determining rotating speed of motor and electronic equipment |
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