CN110601632B - Estimation method and system for initial position of rotor of permanent magnet synchronous motor - Google Patents
Estimation method and system for initial position of rotor of permanent magnet synchronous motor Download PDFInfo
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- CN110601632B CN110601632B CN201910836979.9A CN201910836979A CN110601632B CN 110601632 B CN110601632 B CN 110601632B CN 201910836979 A CN201910836979 A CN 201910836979A CN 110601632 B CN110601632 B CN 110601632B
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Classifications
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides an estimation method and a system for an initial position of a rotor of a permanent magnet synchronous motor, wherein the estimation method comprises the following steps: three phases of motor are collected through ADC current collection moduleThe current is sampled and the modulus of the high-frequency rotating current is calculatedI m (n)And phase angleθ 1 (n)(ii) a Wherein n represents the number of beats; injecting high-frequency voltage into the wave-transmitting module to generate high-frequency rotating voltage in a motor winding; and estimating the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats. By adopting the technical scheme of the invention, the estimation precision is high, the calculation is simple, and the inherent time delay caused by complex digital signal processing is avoided. The invention can be used for the position-sensorless control of the compressor or other permanent magnet motors.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a method and a system for estimating an initial position of a rotor of a permanent magnet synchronous motor.
Background
The initial position of the rotor needs to be accurately obtained when the permanent magnet motor is started, reverse rotation can be avoided, starting torque can be improved, starting impact is reduced, and the like. Typically, the rotor position information is derived from mechanical sensors, and the presence of mechanical sensors not only adds to the hardware cost of the system, but also reduces the robustness and reliability of the system.
At present, research is disclosed for estimating the initial position of a rotor of a permanent magnet synchronous motor, a high-frequency current vector is generated in a stator winding by injecting a rotating high-frequency voltage signal into a motor winding, a negative sequence current containing rotor information in a high-frequency current component is generated, and a high-frequency injection position estimation value is obtained by adopting an arc tangent algorithm. The method is complex in calculation, a large amount of sine and cosine trigonometric operation and digital filtering are needed for extracting negative sequence current, engineering implementation is complex, signal phase delay is brought, position estimation accuracy is affected, and a method which can be simply implemented is needed.
Disclosure of Invention
Aiming at the technical problems, the invention discloses a method and a system for estimating the initial position of a rotor of a permanent magnet synchronous motor, which have high estimation precision and simple calculation.
In contrast, the technical scheme adopted by the invention is as follows:
a method for estimating an initial position of a rotor of a permanent magnet synchronous motor includes:
sampling the three-phase current of the motor through an ADC current acquisition module, and calculating to obtain a modulus I of the high-frequency rotating currentm(n) and phase angle θ1(n); wherein n represents the number of beats;
injecting high-frequency voltage into the wave-transmitting module to generate high-frequency rotating voltage in a motor winding;
and estimating the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats.
The technical scheme of the invention adopts auxiliary mathematical geometry, estimates the direction of the long axis of the ellipse by calculating the gravity center line of a polygon formed by the modulus and the phase angle of the high-frequency rotating current of adjacent three beats, and can quickly and accurately estimate the position of the rotor by simple geometric operation.
As a further improvement of the invention, the modulus I of the high-frequency rotating currentm(n) and phase angle θI(n) is calculated by adopting the following steps:
step S101, collecting three-phase current value Iu(n)、Iv(n) and Iw(n)；
Step S102, converting three phases of current into two phases, and calculating the current I of the nth beat alpha and beta components by adopting the following formulaα(n) and Iβ(n)：
Step S103, calculating a modulus I of the high-frequency rotating current by adopting the following formulam(n) and phase angle θI(n)：
As a further improvement of the present invention, α and β components of the high-frequency rotating voltage are calculated by using the following formula:
wherein, UmIs the modulus of the high-frequency rotating voltage, omega isThe digital angular frequency of the high-frequency rotating voltage, n is the number of beats.
As a further improvement of the invention, the initial position of the rotor is estimated by adopting the following formula according to the gravity center line of a polygon formed by the modulus and the phase angle of the high-frequency rotating current of adjacent three beats:
where x is the index of the maximum phase vector magnitude of the high frequency rotating phase current, θ (x) is the current phase angle at the maximum phase current vector magnitude, Im(x),Im(x+1),ImAnd (x-1) respectively representing the module value at the maximum phase current vector module value and the current module values of the next beat and the previous beat.
As a further development of the invention, the estimation of the initial position of the rotor comprises the following steps:
step S301, determining the analog angular frequency omega and the switching period T of the high-frequency voltage vectorsCalculating the digital angular frequency ω 2 pi Ω TsAnd the total number of beats of hair required
Setting n to be 0;
step S302, calculating the wave generation voltage U of the nth beatα(n),Uβ(n) wave sending is carried out, an ADC current acquisition module carries out phase current acquisition and calculation to obtain the phase current vector modulus value I of the ith beatm(i) And phase angle theta1(i) If the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number x of the phase current vector modulus value, and estimating the initial position of the rotor
The invention also discloses an estimation system for the initial position of the rotor of the permanent magnet synchronous motor, which comprises the following steps:
ADC current collection module, pairSampling the three-phase current of the motor, and calculating to obtain the module value I of the high-frequency rotating currentm(n) and phase angle θ1(n); wherein n represents the number of beats;
the high-frequency voltage injection wave-transmitting module is used for generating high-frequency rotating voltage in the motor winding;
and the rotor initial position estimation module estimates the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats.
As a further improvement of the invention, the modulus I of the high-frequency rotating currentm(n) and phase angle θI(n) is calculated by adopting the following steps:
step S101, collecting three-phase current value Iu(n)、Iv(n) and Iw(n)；
Step S102, converting three phases of current into two phases, and calculating the current I of the nth beat alpha and beta components by adopting the following formulaα(n) and Iβ(n)：
Step S103, calculating a modulus I of the high-frequency rotating current by adopting the following formulam(n) and phase angle θI(n)：
As a further improvement of the present invention, α and β components of the high-frequency rotating voltage are calculated by using the following formula:
wherein, UmThe modulus of the high-frequency rotating voltage is shown, omega is the digital angular frequency of the high-frequency rotating voltage, and n is the beat number.
As a further improvement of the invention, the initial position of the rotor is estimated by adopting the following formula according to the gravity center line of a polygon formed by the modulus and the phase angle of the high-frequency rotating current of adjacent three beats:
where x is the index of the maximum phase vector magnitude of the high frequency rotating phase current, θ (x) is the current phase angle at the maximum phase current vector magnitude, Im(x),Im(x+1),ImAnd (x-1) respectively representing the module value at the maximum phase current vector module value and the current module values of the next beat and the previous beat.
As a further development of the invention, the estimation of the initial position of the rotor comprises the following steps:
step S301, determining the analog angular frequency omega and the switching period T of the high-frequency voltage vectorsCalculating the digital angular frequency ω 2 pi Ω TsAnd the total number of beats of hair required
Setting n to be 0; the calculation of step S302 is started from n — 0;
step S302, calculating the wave generation voltage U of the nth beatα(n),Uβ(n) wave sending is carried out, an ADC current acquisition module carries out phase current acquisition and calculation to obtain the phase current vector modulus value I of the ith beatm(i) And phase angle theta1(i) If the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number x of the phase current vector modulus value, and estimating the initial position of the rotor according to the formula (4)
Compared with the prior art, the invention has the beneficial effects that:
according to the technical scheme, the rotor position can be solved into the direction of the long axis of the current elliptic track, the direction of the long axis of the ellipse is estimated by calculating the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats by means of mathematical geometry, and the rotor position can be quickly and accurately estimated by simple geometric operation. The estimation precision is high, the calculation is simple, and the inherent time delay caused by complex digital signal processing is avoided. The invention can be used for the position-sensorless control of the compressor or other permanent magnet motors.
Detailed Description
Preferred embodiments of the present invention are described in further detail below.
A method for estimating an initial position of a rotor of a permanent magnet synchronous motor includes:
(1) sampling the three-phase current of the motor through an ADC current acquisition module, and calculating to obtain a modulus I of the high-frequency rotating currentm(n) and phase angle θ1(n); wherein n represents the number of beats; the method comprises the following specific steps:
step S101, collecting three-phase current value Iu(n)、Iv(n) and Iw(n)；
Step S102, converting three phases of current into two phases, and calculating the current I of the nth beat alpha and beta components by adopting the following formulaα(n) and Iβ(n)：
Step S103, calculating a modulus I of the high-frequency rotating current by adopting the following formulam(n) and phase angle θI(n)：
(2) Injecting high-frequency voltage into the wave-transmitting module to generate high-frequency rotating voltage in a motor winding; the alpha and beta components of the high-frequency rotating voltage are calculated by adopting the following formula:
wherein, UmThe modulus of the high-frequency rotating voltage is shown, omega is the digital angular frequency of the high-frequency rotating voltage, and n is the beat number.
(3) Estimating the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats, wherein the specific algorithm steps are as follows:
step S301, determining the analog angular frequency omega and the switching period T of the high-frequency voltage vectorsCalculating the digital angular frequency ω 2 pi Ω TsAnd the total number of beats of hair required
Setting n to be 0;
step S302, calculating the wave generation voltage U of the nth beatα(n),Uβ(n) wave sending is carried out, an ADC current acquisition module carries out phase current acquisition and calculation to obtain the phase current vector modulus value I of the ith beatm(i) And phase angle theta1(i) If the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number x of the phase current vector modulus value, and estimating the initial position of the rotor according to the following formula (4)
Where x is the index of the maximum phase vector magnitude of the high frequency rotating phase current, θ (x) is the current phase angle at the maximum phase current vector magnitude, Im(x),Im(x+1),ImAnd (x-1) respectively representing the module value at the maximum phase current vector module value and the current module values of the next beat and the previous beat.
The rotation track of the high-frequency current vector is an ellipse, and the direction of the major axis is coincident with the rotor position, so that the rotor position can be solved by converting into the direction of the major axis of the current elliptic track. The technical scheme of the invention adopts auxiliary mathematical geometry, estimates the direction of the long axis of the ellipse by calculating the gravity center line of a polygon formed by the modulus and the phase angle of the high-frequency rotating current of adjacent three beats, and can quickly and accurately estimate the position of the rotor by simple geometric operation.
In addition, the invention also discloses an estimation system of the initial position of the rotor of the permanent magnet synchronous motor, which comprises the following steps:
the ADC current acquisition module samples the current of three phases of the motor and calculates the module value I of the high-frequency rotating currentm(n) and phase angle θ1(n); wherein n represents the number of beats;
the high-frequency voltage injection wave-transmitting module is used for generating high-frequency rotating voltage in the motor winding;
and the rotor initial position estimation module estimates the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats.
Modulus I of the high-frequency rotating currentm(n) and phase angle θI(n) is calculated by adopting the following steps:
step S101, collecting three-phase current value Iu(n)、Iv(n) and Iw(n)；
Step S102, converting three phases of current into two phases, and calculating the current I of the nth beat alpha and beta components by adopting the following formulaα(n) and Iβ(n)：
Step S103, calculating a modulus I of the high-frequency rotating current by adopting the following formulam(n) and phase angle θI(n)：
The alpha and beta components of the high-frequency rotating voltage are calculated by adopting the following formula:
wherein, UmThe modulus of the high-frequency rotating voltage is shown, omega is the digital angular frequency of the high-frequency rotating voltage, and n is the beat number.
The rotor initial position estimation module estimates the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats by adopting the following steps:
step S301, determining the analog angular frequency omega and the switching period T of the high-frequency voltage vectorsCalculating the digital angular frequency ω 2 pi Ω TsAnd the total number of beats of hair required
Setting n to be 0;
step S302, calculating the wave generation voltage U of the nth beatα(n),Uβ(n) wave sending is carried out, an ADC current acquisition module carries out phase current acquisition and calculation to obtain the phase current vector modulus value I of the ith beatm(i) And phase angle theta1(i) If the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number x of the phase current vector modulus value, and estimating the initial position of the rotor according to the formula (4)
Where x is the index of the maximum phase vector magnitude of the high frequency rotating phase current, θ (x) is the current phase angle at the maximum phase current vector magnitude, Im(x),Im(x+1),Im(x-1) is the modulus at the maximum phase current vector modulus andcurrent mode values of the next beat and the previous beat.
The method and the system of the embodiment are simple, and the rotor position can be estimated quickly and accurately through simple geometric operation. The estimation precision is high, the calculation is simple, and the inherent time delay caused by complex digital signal processing is avoided.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. A method for estimating an initial position of a rotor of a permanent magnet synchronous motor, comprising:
sampling the three-phase current of the motor through an ADC current acquisition module, and calculating to obtain the modulus value of the high-frequency rotating currentI m (n)And phase angle
(ii) a Wherein n represents the number of beats;
injecting high-frequency voltage into the wave-transmitting module to generate high-frequency rotating voltage in a motor winding;
estimating the initial position of the rotor according to the gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats;
modulus of the high-frequency rotating current
And phase angle
The method comprises the following steps:
step S101, collecting three-phase current value
、
And
；
step S102, converting three phases of current into two phases, and calculating by the following formula to obtain the nth beatα、βCurrent of component
And
：
step S103, calculating the modulus of the high-frequency rotating current by adopting the following formula
Angle of sum
：
Of said high-frequency rotating voltageα、βComponent(s) of
、
The formula is as follows:
wherein,
the modulus of the high-frequency rotating voltage is shown, omega is the digital angular frequency of the high-frequency rotating voltage, and n is the beat number.
2. The method of claim 1, wherein the initial position of the rotor is estimated by using the following formula according to a gravity center line of a polygon formed by a module value and a phase angle of the high-frequency rotating current of three adjacent beats:
whereinxIs the index with the maximum modulus value of the high-frequency rotating phase current vector,
is the current phase angle at the maximum phase current vector mode value,
the modulus at the maximum phase current vector modulus and the current modulus of the next beat and the previous beat are respectively.
3. The method of estimating an initial position of a rotor of a permanent magnet synchronous motor according to claim 2, wherein the estimating of the initial position of the rotor comprises the steps of:
step S301, determining the analog angular frequency omega and the switching period of the high-frequency voltage vector
Calculating the digital angular frequency
And the total number of beats of hair required
Setting n = 0;
step S302, calculating the nth beat
And sending waves, and acquiring phase current and calculating by an ADC current acquisition module to obtain the phase current vector modulus value of the ith beatI m (i)And phase angle
If the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number of the phase current vector modulus valuexEstimating the initial position of the rotor
。
4. An estimation system of an initial position of a rotor of a permanent magnet synchronous motor, comprising:
the ADC current acquisition module samples the three-phase current of the motor and calculates the module value of the high-frequency rotating currentI m (n)And phase angle
(ii) a Wherein n represents the number of beats;
the high-frequency voltage injection wave-transmitting module is used for generating high-frequency rotating voltage in the motor winding;
the rotor initial position estimation module is used for estimating the initial position of the rotor according to a gravity center line of a polygon formed by the module value and the phase angle of the high-frequency rotating current of the adjacent three beats;
modulus of the high-frequency rotating current
And phase angle
The method comprises the following steps:
step S101, collecting three-phase current value
、
And
；
step S102, converting three phases of current into two phases, and calculating by the following formula to obtain the nth beatα、βCurrent of component
And
：
step S103, calculating the modulus of the high-frequency rotating current by adopting the following formula
Angle of sum
：
Of said high-frequency rotating voltageα、βComponent(s) of
、
The formula is as follows:
wherein,
the modulus of the high-frequency rotating voltage is shown, omega is the digital angular frequency of the high-frequency rotating voltage, and n is the beat number.
5. The system for estimating the initial position of the rotor of the permanent magnet synchronous motor according to claim 4, wherein the rotor initial position estimation module estimates the initial position of the rotor according to a gravity center line of a polygon formed by a module value and a phase angle of the high-frequency rotating current of three adjacent beats by adopting the following formula:
whereinxIs the index with the maximum modulus value of the high-frequency rotating phase current vector,
is the current phase angle at the maximum phase current vector mode value,
are respectively at maximumThe modulus at the phase current vector modulus and the current modulus for the next and previous beats.
6. The system of claim 5, wherein the estimation of the initial position of the rotor comprises the steps of:
step S301, determining the analog angular frequency omega and the switching period of the high-frequency voltage vector
Calculating the digital angular frequency
And the total number of beats of hair required
Setting n = 0;
step S302, calculating the nth beat
And sending waves, and acquiring phase current and calculating by an ADC current acquisition module to obtain the phase current vector modulus value of the ith beatI m (i)And phase angleIf the number of beats n is added to 1<Repeating the step to calculate the phase current vector modulus value and the phase angle of the N +1 th beat, otherwise, skipping to the next step;
step S301, determining the maximum beat number of the phase current vector modulus valuexEstimating the initial position of the rotor
。
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| CN114123870B (en) * | 2021-11-10 | 2024-02-20 | 深圳市振邦智能科技股份有限公司 | Permanent magnet motor position detection method based on high-frequency injection |
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