CN104767451A - Detection method for elevator door motor unposition sensor motor rotor initial position - Google Patents

Abstract

The invention discloses a detection method for an elevator door motor unposition sensor motor rotor initial position. Through current closed-loop control, a high-frequency current pulsation signal is taken as a preset of a straight shaft current regulator, namely, the high-frequency current pulsation signal is taken as an excitation signal of a motor, through the detection of the output voltage of the quadrature shaft current regulator, information related to position errors is extracted to estimate an initial rotor position of a surface mounted permanent magnet synchronous motor, and therefore the estimation of the initial rotor position is achieved. The detection method for the elevator door motor unposition sensor motor rotor initial position enables a door motor to perform unposition sensor motor magnetic pole position self-learning under the condition of loading, the installation and the debugging are convenient, the detection method for the elevator door motor unposition sensor motor rotor initial position is a primary condition for achieving unposition sensor operation of a door motor system within a full-speed range, the cost and the technology installation difficulty of the door motor system are reduced, and the interference resistance capacity is improved.

Description

The detection method of elevator door-motor motor without position sensor initial position of rotor

Technical field

The present invention relates to motor control technology field, relate to a kind of detection method of elevator door-motor motor without position sensor initial position of rotor specifically.

Background technology

Now, permagnetic synchronous motor applies to elevator door-motor system has become the main flow of door mechanism system development, and it has that structure is simple, volume is little, efficiency is high and the advantage such as control performance is good.The high performance control realizing permagnetic synchronous motor needs accurately to detect rotor-position, and in the method for conventional door machine systems axiol-ogy motor rotor position, adopt mechanical pick-up device more, as absolute type encoder, UVW encoder, resolver etc., it considerably increases the cost of door mechanism system and the difficulty of process Installation, and antijamming capability is weak;

Electric machine without sensor control technology is used on door mechanism system has obvious advantage than the system with mechanical pick-up device, and initial position of rotor detection is the matter of utmost importance realizing electric machine without sensor operation.Current existing position-sensor-free initial position detection major part is for saliency permagnetic synchronous motor, cardinal principle carries out initial position detection according to the saliency of himself, and the mounted permagnetic synchronous motor in face itself does not possess saliency, so initial position of rotor detection difficulty is larger;

Have for the method that the mounted position-sensor-free permagnetic synchronous motor in face is conventional at present: potential pulse injection method (patent publication No. CN1808052A CN101764556A) and high frequency pulsating Voltage signal injection (patent publication No. CN102427322ACN104158462A), potential pulse injection method applies amplitude when motor is static identical, a series of pulse voltages that phase place is different, the stator current detecting each voltage applying vector corresponding comes estimated rotor position, but its testing process does not form closed-loop control, and detection time is long, noise is large, add the impact of detection position error by the structure of motor whether symmetrical and current sampling circuit precision own, error can not control in ideal range.High frequency pulsating voltage injection method fastens injection sine voltage signal in estimated coordinates, initial position of rotor is obtained by detecting the quadrature axis current extraction information relevant to rotor error, but there is following problem in it: 1, extract current responsing signal by current sampling circuit Accuracy, extracting rotor position information from less current response has certain difficulty; 2, detection system generally needs multiple filter just can extract control information accurately, complex structure.

Summary of the invention

The object of the invention is the deficiency detecting initial position of rotor for above position-sensor-free will be overcome, a kind of detection method of elevator door-motor motor without position sensor initial position of rotor is provided, the present invention adopts closed-loop current control, high frequency pulsating electric current is injected to direct-axis current adjuster, namely using high frequency pulsating current signal as the pumping signal of motor, the mounted permagnetic synchronous motor initial position of rotor in face is estimated by the output voltage amount detecting quadrature axis current adjuster.The method is closed-loop control, and detection time is short, simultaneously the output voltage amount of extracting directly current regulator, the response of amplitude Opposed Current is comparatively large, is easy to extract rotor position error signal, does not affect by current sampling circuit, and testing process only needs a wave digital lowpass filter, structure is simple;

In order to realize foregoing invention object, the present invention program is realized by following steps:

(1) estimation synchronous rotating frame, is set up actual synchronization rotating coordinate system d-q and actual two-phase rest frame alpha-beta, definition Estimated Position Error be wherein physical location, for estimated position, initial value is 0;

(2), given d shaft current adjuster q shaft current adjuster is given adopt the rotor position angle estimated dynamo-electric machine A, B phase current of current sensor detecting gate obtains d shaft current value of feedback through Clark and Park coordinate transform again with q shaft current value of feedback with respectively with make difference and obtain d q shaft current adjuster input value, regulation output d, q shaft voltage set-point is followed the tracks of through current regulator, modulating output six road PWM by SVPWM after carrying out Park inverse transformation, for controlling three-phase inverter, thus completing the injection of opposite house dynamo-electric machine high frequency pulsating electric current;

(3), high frequency pulsating current excitation is injected by closed-loop current control, conventional current adjuster requires design according to DC control system, but native system needs to regulate the high frequency pulsating electric current of current of electric and injection simultaneously, therefore design current adjuster, its structure is proportional integral-resonant regulator, and transfer function is ω _ofor resonance frequency, K _rfor resonance coefficient, ξ is damping coefficient, and current regulator realizes adjustment and the tracking of DC component and high-frequency AC components;

(4), system extracts the output voltage signal of current regulator be multiplied by the cos ω of same frequency _ht signal modulate after through low-pass filtering treatment, obtain the coherent signal f with rotor position error _{Δ θ}, through derivation f _{Δ θ}≈ k Δ θ, works as f _{Δ θ}when → 0, Δ θ → 0, then last to error signal f _{Δ θ}just first estimated rotor initial position value is obtained after integration;

(5) the positive and negative both direction, along first estimated rotor initial position angle under estimation synchronous rotating frame injects identical width voltage pulse, detect corresponding d-axis peak current, if the peak response current ratio electric current in reverse direction that potential pulse injects along first estimated rotor initial position angle positive direction is large, then final initial position of rotor is identical with first estimated rotor initial position, otherwise, first estimated rotor initial position value is compensated and adds 180 °, be final initial position of rotor value;

The present invention adopts above technical scheme compared with prior art, has following technique effect:

1. the present invention can realize the detection of a machine side mounted permagnetic synchronous motor position-sensor-free initial position of rotor, creates condition for realizing position-sensor-free operation in door machine full speed range;

2. detection rotor initial position process realizes with closed-loop control, more reliable and more stable compared with opened loop control, can for the mounted permagnetic synchronous motor of door machine side of different capacity structure;

3. the whole testing process time is short, and noise is little, initial position of rotor error by motor body construction and current sampling circuit Accuracy little, accuracy of detection is high;

4. the output voltage amount responsively signal of extracting directly current regulator, more easily extracts the signal about rotor position error, and testing process only needs a wave digital lowpass filter, and structure is simple.

Accompanying drawing illustrates:

Fig. 1 is the schematic diagram of estimation synchronous rotating frame and actual synchronization rotating coordinate system.

Fig. 2 is initial position of rotor testing process control block diagram.

Fig. 3 is estimating system block diagram.

Embodiment:

The technological means realized for making the present invention, creation characteristic, reaching object and be easy to understand, below in conjunction with concrete diagram, set forth the present invention further;

See Fig. 1, for estimation synchronous rotating frame, d-q is actual synchronization rotating coordinate system, and alpha-beta is actual two-phase rest frame, definition Estimated Position Error be wherein physical location, for estimated position, initial value is 0, and under estimating coordinate system and actual rotating coordinate system, ac-dc axis voltage and current has following relation:

$\left(\begin{array}{c}{i}_d\\ i_q\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\Δ\θ}& \sin \mathrm{\Δ\θ}\\ -\sin \mathrm{\Δ\θ}& \cos \mathrm{\Δ\θ}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right)$ Formula 1 He $\left(\begin{array}{c}{u}_d\\ u_q\end{array}\right)=\left(\begin{array}{cc}\cos \mathrm{\Δ\θ}& \sin \mathrm{\Δ\θ}\\ -\sin \mathrm{\Δ\θ}& \cos \mathrm{\Δ\θ}\end{array}\right)\left(\begin{array}{c}{\hat{u}}_d\\ {\hat{u}}_q\end{array}\right)$ Formula 2

When detecting initial position of rotor, motor keeps inactive state, then under d-q coordinate, electric moter voltage equation can be reduced to

$\left(\begin{array}{c}{u}_d\\ u_q\end{array}\right)=\left(\begin{array}{cc}{R}_s& 0\\ 0& R_s\end{array}\right)\left(\begin{array}{c}{i}_d\\ i_q\end{array}\right)+\left(\begin{array}{cc}{L}_d& 0\\ 0& L_q\end{array}\right)p\left(\begin{array}{c}{i}_d\\ i_q\end{array}\right)=\left(\begin{array}{cc}{Z}_d& 0\\ 0& Z_q\end{array}\right)\left(\begin{array}{c}{i}_d\\ i_q\end{array}\right)$ Formula 3

In formula: u _d, u _q, i _d, i _qbe respectively d, q shaft voltage and electric current; L _d, L _qbe respectively d, q axle inductance; R _sfor stator resistance; Z _dand Z _qbe respectively the impedance of d, q axle, p is differential operator;

According to formula 1, formula 2, formula 3 can push over out voltage-current relationship under estimation coordinate system, as shown in the formula:

$\left(\begin{array}{c}{\hat{u}}_d\\ {\hat{u}}_q\end{array}\right)=\left(\begin{array}{cc}\mathrm{\ΔZ}\cos 2\mathrm{\Δ\θ}+Z& \mathrm{\Δ}Z\sin 2\mathrm{\Δ\θ}\\ \mathrm{\Δ}Z\sin 2\mathrm{\Δ\θ}& Z-\mathrm{\Δ}Z\cos 2\mathrm{\Δ\θ}\end{array}\right)\left(\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right)$ Formula 4

In formula: be respectively d, q shaft voltage and electric current under estimation frame, Z=(Z _d+ Z _q)/2, Δ Z=(Z _d-Z _q)/2

System exists high frequency pulsating current signal is injected in axle system $\left(\begin{array}{c}{\hat{i}}_{\mathrm{dg}}\\ {\hat{i}}_{\mathrm{qg}}\end{array}\right)=\left(\begin{array}{c}{I}_h\sin {\mathrm{\ω}}_{h}t\\ 0\end{array}\right)$ Formula 5

Corresponding the high frequency voltage response of axle system is $\left(\begin{array}{c}{\hat{u}}_{\mathrm{dg}}\\ {\hat{u}}_{\mathrm{qg}}\end{array}\right)=\left(\begin{array}{c}(\mathrm{\Δ}Z\cos 2\mathrm{\Δ\θ}+Z)I_h\sin {\mathrm{\ω}}_{h}t\\ I_h\mathrm{\ΔL}{\mathrm{\ω}}_{h}2\mathrm{\Δ\θ}\cos {\mathrm{\ω}}_{h}t\end{array}\right)$ Formula 6, Δ L=(L in formula _d+ L _q)/2

Given d shaft current adjuster q shaft current adjuster is given adopt the rotor position angle estimated dynamo-electric machine A, B phase current of current sensor detecting gate obtains d shaft current value of feedback through Clark and Park coordinate transform again with q shaft current value of feedback with respectively with make difference and obtain d and q shaft current adjuster input value, regulation output d, q shaft voltage set-point is followed the tracks of through current regulator, modulating output six road PWM by SVPWM after carrying out Park inverse transformation, for controlling three-phase inverter, thus completing the injection of opposite house dynamo-electric machine high frequency pulsating electric current;

As shown in Fig. 2 initial position of rotor testing process control block diagram, the present invention injects high frequency pulsating current excitation by closed-loop current control, and design current controller structure is proportional integral-resonant regulator, and transfer function is for ω _ofor resonance frequency, K _rfor resonance coefficient, ξ is damping coefficient, and current regulator realizes adjustment and the tracking of DC component and high-frequency AC components;

The present invention is by extracting current regulator output voltage signal be multiplied by the cos ω of same frequency _ht signal modulate after through low pass filter process.According to the filter effect of response signal performance and requirement, filter design method is Hamming window, and exponent number is 49 rank, and sample frequency is 10khz, and cut-off frequency is 100hz;

Can obtain after filtering process comprising site error coherent signal f _{Δ θ}=ω _hΔ LI _msin (2 Δ θ)/2, when Δ θ is very little, sin (2 Δ θ) ≈ 2 Δ θ, then f _{Δ θ}≈ k Δ θ, works as f _{Δ θ}when → 0, Δ θ → 0;

Build estimating system according to foregoing description, as shown in Figure 3, make f by integral controller _{Δ θ}→ 0, then integral controller stable state exports and is first estimated rotor initial position value;

Due to the positive direction of actual d-axis cannot be judged, under estimation synchronous rotating frame, inject the identical width voltage pulse of positive and negative both direction along first estimated rotor initial position angle, detect corresponding d-axis peak current;

If the peak response current ratio electric current in reverse direction that potential pulse injects along first estimated rotor initial position angle positive direction is large, then final initial position of rotor is identical with first estimated rotor initial position, otherwise, first estimated rotor initial position value is compensated and adds 180 °, obtain final initial position of rotor value.

Claims (1)

1. the detection method of elevator door-motor motor without position sensor initial position of rotor, the motor of described elevator door-motor is the mounted permagnetic synchronous motor in face, and it is characterized in that, it comprises the following steps:

(1) estimation synchronous rotating frame, is set up actual synchronization rotating coordinate system d-q and actual two-phase rest frame alpha-beta, definition Estimated Position Error wherein θ be physical location, for estimated position, initial value is 0;

(2), given d shaft current adjuster q shaft current adjuster is given adopt the rotor position angle estimated dynamo-electric machine A, B phase current of current sensor detecting gate obtains d shaft current value of feedback through Clark and Park coordinate transform again with q shaft current value of feedback with respectively with make difference and obtain d, q shaft current adjuster input value, follow the tracks of regulation output d, q shaft voltage set-point through current regulator, after carrying out Park inverse transformation, modulate output six road PWM by SVPWM;

(3), by closed-loop current control inject high frequency pulsating current excitation, design current adjuster, its structure is proportional integral-resonant regulator, and transfer function is ω _ofor resonance frequency, K _rfor resonance coefficient, ξ is damping coefficient;

(4), system extracts the output voltage signal of current regulator be multiplied by the cos ω of same frequency _ht signal modulate after through low-pass filtering treatment, obtain the coherent signal f with rotor position error _{Δ θ}, through derivation f _{Δ θ}≈ k Δ θ, works as f _{Δ θ}when → 0, Δ θ → 0, then last to error signal f _{Δ θ}just first estimated rotor initial position value is obtained after integration;

(5) the positive and negative both direction, along first estimated rotor initial position angle under estimation synchronous rotating frame injects identical width voltage pulse, detect corresponding d-axis peak current, if electric current is large in reverse direction for the peak response current ratio that potential pulse injects along first estimated rotor initial position angle positive direction, then final initial position of rotor value is identical with first estimated rotor initial position value, otherwise, first estimated rotor initial position value is compensated and adds 180 °, be final initial position of rotor value.