CN110912486B - Method for starting permanent magnet synchronous motor and self-correcting rotor position - Google Patents

Method for starting permanent magnet synchronous motor and self-correcting rotor position Download PDF

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Publication number
CN110912486B
CN110912486B CN201911164817.1A CN201911164817A CN110912486B CN 110912486 B CN110912486 B CN 110912486B CN 201911164817 A CN201911164817 A CN 201911164817A CN 110912486 B CN110912486 B CN 110912486B
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rotor
current
permanent magnet
magnet synchronous
motor
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CN110912486A (en
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夏安俊
汪凤翔
解伟
于新红
陶鹏
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Quanzhou Institute of Equipment Manufacturing
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Quanzhou Institute of Equipment Manufacturing
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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
    • H02P21/34—Arrangements for starting
    • 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
    • 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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a method for starting a permanent magnet synchronous motor and self-correcting a rotor position in the field of motor control, which comprises the following steps: step S10, setting the rotation speed setting and the rotation direction of the motor, taking the current position of the rotor as the orientation reference of the d axis, and starting the permanent magnet synchronous motor; step S20, judging whether the motor is started successfully according to the current steering and the set steering of the rotor; and step S30, after the motor is started successfully, measuring the stator current of the motor, calculating a current vector under a two-phase static coordinate system, calculating the active power and the reactive power consumed by the motor by combining the current voltage vector of the stator, calculating the real d-axis current and the real q-axis current of the motor according to a motor state equation, obtaining the angle deviation of the rotor position, and further correcting the rotor position. The invention has the advantages that: the time consumption of rotor positioning can be shortened, the positioning steps are simplified, the positioning precision of the rotor is improved, and the positioning accumulated deviation of the rotor in the running process of the motor is eliminated.

Description

Method for starting permanent magnet synchronous motor and self-correcting rotor position
Technical Field
The invention relates to the field of motor control, in particular to a method for starting a permanent magnet synchronous motor and self-correcting a rotor position.
Background
In a servo system that uses an incremental encoder to measure the position of a rotor of a permanent magnet synchronous motor, the initial position of the rotor needs to be obtained in advance when the permanent magnet synchronous motor is started.
The accuracy of the initial position of the rotor not only affects the control precision of a servo system, but also affects the operation stability of the permanent magnet synchronous motor, and further determines the overall control performance of the system. If the error between the estimated rotor position and the actual rotor position is too large, the rotor is reversed or the control is failed, and the permanent magnet synchronous motor is unstable in control. In addition, in the operation process of the permanent magnet synchronous motor, due to external influences such as temperature and the like or errors of a rotor position feedback signal, the position of the rotor is inaccurate, so that the rotor positioning is deviated, and the control performance of a servo system is reduced.
The traditional rotor positioning method is long in time consumption, and the accumulated deviation of the rotor position generated in the running process of the motor is difficult to eliminate.
Through retrieval, the Chinese invention patent with the application date of 2009.07.02 and the application number of CN200910072448.3 discloses a method for determining the initial position angle of a permanent magnet synchronous motor rotor; the Chinese patent with application date of 1996.08.08 and application number of CN96106988.0 discloses a method and a device for detecting the initial position of a motor rotor in an alternating current servo system; the rotor position detection methods proposed by the two patents make the stator magnetic field approach the rotor magnetic field step by controlling the amplitude and phase of the stator current vector, and because of the processes of judging deviation and approaching step by step, the rotor positioning has the defect of long time consumption. The Chinese patent application No. CN201310339651.9, filed as 2013.08.06, discloses a method for correcting the initial position of a rotor of a permanent magnet synchronous motor, which adopts a method of applying positive and negative pulse current vectors to enable the rotor to generate high-frequency jitter, judges the deviation of the initial position of the rotor according to the jitter amount, and then modifies the current vectors to gradually reduce the deviation. The method also has a gradual approximation process, so that the time consumption of rotor positioning is long and the phenomenon of high-frequency buffeting exists.
Therefore, it is an urgent problem to provide a method for starting a permanent magnet synchronous motor and self-correcting a rotor position, which shortens time consumption for positioning a rotor, simplifies positioning steps, improves positioning accuracy of the rotor, and simultaneously can eliminate accumulated deviation of positioning the rotor generated in the operation process of the motor.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for starting a permanent magnet synchronous motor and self-correcting the position of a rotor, so that the time consumption of rotor positioning is shortened, the positioning step is simplified, the positioning precision of the rotor is improved, and the accumulated deviation of the rotor positioning generated in the running process of the motor is eliminated.
The invention is realized by the following steps: a method for starting a permanent magnet synchronous motor and self-correcting the position of a rotor comprises the following steps:
step S10, setting the given rotating speed and the rotation direction of the rotor of the permanent magnet synchronous motor, taking the current position of the rotor as the directional reference of the d axis, and starting the permanent magnet synchronous motor;
step S20, judging whether the permanent magnet synchronous motor is started successfully according to the current steering and the set steering of the permanent magnet synchronous motor rotor;
and step S30, after the permanent magnet synchronous motor is started successfully, measuring the stator current of the permanent magnet synchronous motor, calculating a current vector under a two-phase static coordinate system, calculating the active power and the reactive power consumed by the motor by combining the current voltage vector of the stator, calculating the real d-axis current and q-axis current of the motor according to a motor state equation, obtaining the angle deviation of the rotor position, and correcting the rotor position according to the angle deviation.
Further, the step S10 is specifically:
setting the rotation speed setting and the rotation direction of a rotor of the permanent magnet synchronous motor, converting a difference value obtained by subtracting the set rotation speed setting from an actually measured rotation speed into current setting of a d axis and a q axis of the motor after passing through a speed regulator and an amplitude limiter, subtracting the current setting from currents of the d axis and the q axis at the current rotor position respectively, converting the obtained current difference values into voltages of the d axis and the q axis through respective current regulators respectively, obtaining a voltage vector under a two-phase static coordinate system through coordinate transformation, modulating the voltage vector by using a frequency converter, and starting the permanent magnet synchronous motor.
Further, the given value of the d-axis current is 0.
Further, the step S20 specifically includes:
step S21, acquiring current position information of the rotor of the permanent magnet synchronous motor;
step S22, judging whether the rotor rotates, if not, entering step S23; if yes, go to step S24;
step S23, the positioning angle of the d-axis of the rotor is increased by a set angle, and the process proceeds to step S22;
step S24, judging whether the current steering of the rotor is the same as the set steering, if so, entering step S30; if not, the positioning angle of the d-axis of the rotor is increased by 180 °, and the process proceeds to step S22.
Further, the step S30 is specifically:
in the running process of the permanent magnet synchronous motor, measuring the stator current of the permanent magnet synchronous motor, calculating a current vector under a two-phase static coordinate system, calculating active power and reactive power consumed by the motor by combining the current voltage vector of the stator, calculating the real d-axis current and q-axis current of the motor according to a motor state equation, obtaining the angle deviation of the position of the rotor, and correcting the position of the rotor according to the angle deviation.
Further, linear or nonlinear smooth compensation is performed on the angular deviation in the process of self-correcting the rotor position.
The invention has the advantages that:
1. the positioning accuracy of the rotor is improved. 2. The rotor positioning step is simplified. 3. The rotor positioning time is shortened. 4. The positioning accumulated deviation of the rotor in the running process of the motor can be eliminated. 5. The permanent magnet synchronous motor can be started at zero rotating speed and constant torque on the basis of not increasing hardware cost.
Drawings
The invention will be further described with reference to the following examples with reference to the accompanying drawings.
Fig. 1 is a flow chart of a method for starting a permanent magnet synchronous motor and self-correcting a rotor position according to the invention.
Fig. 2 is a system architecture diagram of a method for starting a permanent magnet synchronous motor and self-correcting a rotor position according to the present invention.
Detailed Description
The technical scheme in the embodiment of the application has the following general idea:
when the permanent magnet synchronous motor is started, the current position of a rotor is used as the directional reference of a d axis, the rotating speed or the torque of the motor is directly controlled, the stator current of the permanent magnet synchronous motor is measured, the current vector under a two-phase static coordinate system is calculated, and the active power and the reactive power consumed by the motor are calculated by combining the voltage vector of the current stator; judging whether the motor is started successfully according to the current steering of the rotor and the set steering; and calculating the real d-axis current and q-axis current of the motor according to a motor state equation, obtaining the angular deviation of the rotor position, and performing linear or nonlinear smooth compensation on the rotor position according to the angular deviation.
Referring to fig. 1 to 2, a preferred embodiment of a method for starting a permanent magnet synchronous motor and self-correcting a rotor position according to the present invention includes the following steps:
step S10, setting the rotating speed of the permanent magnet synchronous motor rotor to be given to omega*Turning, taking the current position of the rotor as the directional reference of the d axis, and starting the permanent magnet synchronous motor;
step S20, judging whether the permanent magnet synchronous motor is started successfully according to the current steering and the set steering of the permanent magnet synchronous motor rotor;
step S30, after the permanent magnet synchronous motor is started successfully, measuring the stator current of the permanent magnet synchronous motor and calculating the current vector (i) under the two-phase static coordinate systemα,iβ) Combined with the current stator voltage vector (u)α,uβ) Calculating active power and reactive power consumed by the motor, calculating real d-axis and q-axis currents of the motor according to a motor state equation, obtaining an angle deviation delta theta of the position of the rotor, and correcting the position of the rotor according to the angle deviation delta theta.
The step S10 specifically includes:
setting the given omega of the rotating speed of the rotor of the permanent magnet synchronous motor*And steering, set rotation speed given omega*The difference value subtracted from the actually measured rotating speed omega is converted into the current given i of the d axis and the q axis of the motor after passing through a speed regulator and a limiterd *、iq *And d-axis and q-axis currents i respectively corresponding to the current rotor positiond、iqSubtracting, respectively converting the obtained current difference values through respective current regulatorsVoltage u converted to d-axis and q-axisd、uqAnd obtaining a voltage vector (u) under a two-phase static coordinate system through coordinate transformationα,uβ) And modulating the voltage vector by using a frequency converter, and starting the permanent magnet synchronous motor.
Given i of the d-axis currentd *The value is 0.
The d axis is a straight axis of the permanent magnet synchronous motor, and the q axis is a quadrature axis of the permanent magnet synchronous motor. A Limiter (Limiter) is a circuit that can level the amplitude of a signal within a limited range, and is also called a clipper. The limiter functions to limit the amplitude of the output signal within a certain range, i.e. when the input signal exceeds or falls below a certain reference value, the output signal is limited and no longer varies with the input signal.
The step S20 specifically includes:
step S21, acquiring current position information of the rotor of the permanent magnet synchronous motor;
step S22, judging whether the rotor rotates, if not, entering step S23; if yes, go to step S24;
step S23, the positioning angle of the d-axis of the rotor is increased by a set angle, and the process proceeds to step S22; the set angle is a small angle, such as 30 degrees, 10 degrees and the like, and if the motor is started under the condition of heavy load, the increased angle can be properly reduced;
step S24, judging whether the current steering of the rotor is the same as the set steering, if so, entering step S30; if not, the steering of the motor can be changed by increasing the positioning angle of the d-axis of the rotor by 180 ° or by an increased angle value, and the process proceeds to step S22.
The step S30 specifically includes:
during active current minimization control, the d-axis current is maintained at 0 and the q-axis current is used to generate the electric field torque, which will increase when the rotor position deviates.
In the running process of the permanent magnet synchronous motor, measuring the stator current of the permanent magnet synchronous motor and calculating a current vector (i) under a two-phase static coordinate systemα,iβ) Combined with current statorPressure vector (u)α,uβ) Calculating active power and reactive power consumed by the motor, calculating real d-axis and q-axis currents of the motor according to a motor state equation, obtaining an angle deviation delta theta of the position of the rotor, and correcting the position of the rotor according to the angle deviation delta theta.
And linear or nonlinear smooth compensation is carried out on the angular deviation in the process of carrying out self-correction on the rotor position, so that the large-amplitude fluctuation of the rotating speed or the torque is avoided.
Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (4)

1. The utility model provides a PMSM starts and rotor position self-correction method which characterized in that: the method comprises the following steps:
step S10, setting the given rotating speed and the rotation direction of the rotor of the permanent magnet synchronous motor, taking the current position of the rotor as the directional reference of the d axis, and starting the permanent magnet synchronous motor;
step S20, judging whether the permanent magnet synchronous motor is started successfully according to the current steering and the set steering of the permanent magnet synchronous motor rotor;
step S30, in the running process of the permanent magnet synchronous motor, measuring the stator current of the permanent magnet synchronous motor, calculating a current vector under a two-phase static coordinate system, calculating the active power and the reactive power consumed by the motor by combining the current voltage vector of the stator, calculating the real d-axis current and q-axis current of the motor according to a motor state equation, obtaining the angle deviation of the rotor position, and correcting the rotor position according to the angle deviation;
the step S10 specifically includes:
setting the rotation speed setting and the rotation direction of a rotor of the permanent magnet synchronous motor, converting a difference value obtained by subtracting the set rotation speed setting from an actually measured rotation speed into current setting of a d axis and a q axis of the motor after passing through a speed regulator and an amplitude limiter, subtracting the current setting from currents of the d axis and the q axis at the current rotor position respectively, converting the obtained current difference values into voltages of the d axis and the q axis through respective current regulators respectively, obtaining a voltage vector under a two-phase static coordinate system through coordinate transformation, modulating the voltage vector by using a frequency converter, and starting the permanent magnet synchronous motor.
2. The method for self-correcting the starting and rotor position of a permanent magnet synchronous motor according to claim 1, wherein: the given value of the d-axis current is 0.
3. The method for self-correcting the starting and rotor position of a permanent magnet synchronous motor according to claim 1, wherein: the step S20 specifically includes:
step S21, acquiring current position information of the rotor of the permanent magnet synchronous motor;
step S22, judging whether the rotor rotates, if not, entering step S23; if yes, go to step S24;
step S23, the positioning angle of the d-axis of the rotor is increased by a set angle, and the process proceeds to step S22;
step S24, judging whether the current steering of the rotor is the same as the set steering, if so, entering step S30; if not, the positioning angle of the d-axis of the rotor is increased by 180 °, and the process proceeds to step S22.
4. The method for self-correcting the starting and rotor position of a permanent magnet synchronous motor according to claim 1, wherein:
and performing linear or nonlinear smooth compensation on the angle deviation in the process of self-correcting the rotor position.
CN201911164817.1A 2019-11-25 2019-11-25 Method for starting permanent magnet synchronous motor and self-correcting rotor position Active CN110912486B (en)

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US20210367546A1 (en) * 2020-05-20 2021-11-25 Kabushiki Kaisha Yaskawa Denki Polarity detection for power conversion
CN113030724B (en) * 2021-03-17 2023-11-21 东莞市鸿盈电子科技有限公司 Method and device for testing starting dead angle of multipole motor
CN112865641B (en) * 2021-04-13 2023-06-02 中国第一汽车股份有限公司 Method and device for reducing motor torque fluctuation, vehicle and storage medium

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