CN112803849A - Permanent magnet synchronous motor full speed range position-sensorless control method - Google Patents
Permanent magnet synchronous motor full speed range position-sensorless control method Download PDFInfo
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- CN112803849A CN112803849A CN202011629417.6A CN202011629417A CN112803849A CN 112803849 A CN112803849 A CN 112803849A CN 202011629417 A CN202011629417 A CN 202011629417A CN 112803849 A CN112803849 A CN 112803849A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 25
- 230000004069 differentiation Effects 0.000 claims abstract description 5
- 230000010354 integration Effects 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000004422 calculation algorithm Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/20—Estimation of torque
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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
- 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
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides a permanent magnet synchronous motor full speed range sensorless control method, which relates to the technical field of motor control and comprises the following steps: acquiring a current value at a given rotating speed and carrying out PID (proportion integration differentiation) setting regulation; when the motor is started, the reset controller controls the torque of the permanent magnet synchronous motor. The method provided by the invention can relieve the technical problems of strong limitation and poor dynamic performance of the control method in the prior art.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a control method of a permanent magnet synchronous motor in a full speed range without a position sensor.
Background
The permanent magnet synchronous motor has the advantages of small volume, high power density, high efficiency, simple structure, low noise, quick dynamic response and the like. Vector control is the most widely adopted permanent magnet synchronous motor control strategy in the current practical application field, can meet the requirement of accurate control on speed and current, but needs to obtain accurate rotor position and speed information. The general method for obtaining the position information of the rotor is to directly measure through a photoelectric encoder, a rotary transformer, a tachogenerator, a Hall sensor and the like. The installation of the sensor increases the cost and complexity of the system, reduces the mechanical strength, and also reduces the anti-interference capability to electromagnetic noise, mechanical vibration and temperature, thereby reducing the overall reliability of the system. In order to improve the operation efficiency, reduce the operation cost and enhance the reliability under special working conditions, a permanent magnet synchronous motor driving system adopting a position sensor-free control mode is the main trend of the development of the permanent magnet motor control technology.
A position-sensorless algorithm based on a motor back electromotive force electromagnetic relation and a position-sensorless algorithm based on a motor body salient pole effect are combined with advanced control theories such as a Kalman filtering method, a model self-adaption method and a sliding-mode observer, so that the algorithm has high reliability and practicability. However, the algorithm without position sensor has more or less practical limitation and is easily interfered by other signals. For example, the algorithm based on the counter electromotive force electromagnetic relation of the motor has poor precision at zero speed and low speed, and cannot be used; the algorithm based on the salient pole effect of the motor body is easily influenced by the bandwidth of a speed/current loop and the bandwidth of a filter in a high-speed section, and the dynamic performance is poor.
At present, no perfect position sensor-free algorithm can thoroughly overcome the defects, and the measuring effect same as that of a mechanical position sensor can be achieved at high and low speed sections of motor operation. Therefore, a proper control strategy combination scheme is selected according to the working condition of an application object, so that the permanent magnet synchronous motor can run in a full speed range without a position sensor.
Disclosure of Invention
In view of the above, the present invention provides a method for controlling a permanent magnet synchronous motor in a full speed range without a position sensor, so as to alleviate the technical problems of strong limitation and poor dynamic performance of the control method in the prior art.
In a first aspect, an embodiment of the present invention provides a method for controlling a full-speed range of a permanent magnet synchronous motor without a position sensor, where the method includes:
acquiring a current value at a given rotating speed and carrying out PID (proportion integration differentiation) setting regulation;
when the motor is started, the reset controller controls the torque of the permanent magnet synchronous motor.
Preferably, the step of controlling the torque of the permanent magnet synchronous motor by the reset controller when the motor is started includes:
the method comprises the steps of obtaining three-phase current and three-phase voltage to carry out torque calculation, comparing the three-phase current and the three-phase voltage with a given torque, carrying out PI (proportional integral) error setting on the three-phase current and the given torque based on the torque calculation, obtaining the three-phase voltage, carrying out error comparison on the three-phase voltage after amplitude calculation, and carrying out PI setting.
The embodiment of the invention has the following beneficial effects: the invention provides a permanent magnet synchronous motor full speed range sensorless control method, which relates to the technical field of motor control and comprises the following steps: acquiring a current value at a given rotating speed and carrying out PID (proportion integration differentiation) setting regulation; when the motor is started, the reset controller controls the torque of the permanent magnet synchronous motor. The method provided by the invention can relieve the technical problems of strong limitation and poor dynamic performance of the control method in the prior art.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a block diagram of a system for sensing a position of a permanent magnet synchronous motor at a full speed range according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the algorithm without the position sensor has more or less practical limitation and is easily interfered by other signals. For example, the algorithm based on the counter electromotive force electromagnetic relation of the motor has poor precision at zero speed and low speed, and cannot be used; the algorithm based on the salient pole effect of the motor body is easily influenced by the bandwidth of a speed/current loop and the bandwidth of a filter in a high-speed section, and the dynamic performance is poor. Based on the above, the control method for the permanent magnet synchronous motor without the position sensor in the full speed range provided by the embodiment of the invention can solve the technical problems of strong limitation and poor dynamic performance of the control method in the prior art.
For the convenience of understanding the present embodiment, a full speed range position sensorless control method of a permanent magnet synchronous motor disclosed in the embodiments of the present invention is first described in detail.
In a first aspect, an embodiment of the present invention provides a method for controlling a full-speed range of a permanent magnet synchronous motor without a position sensor, where the method includes:
acquiring a current value at a given rotating speed and carrying out PID (proportion integration differentiation) setting regulation;
further, during the low-speed starting stage, the back-emf-based position-sensorless control cannot obtain accurate and stable position and speed signals, only current closed-loop control can be performed on the system, and the speed loop can be replaced by an open-loop position angle generator. The I/F current-frequency ratio is adopted to control the starting motor and increase the rotating speed of the motor to a certain rotating speed, the current-frequency ratio control is based on the torque-rotating speed characteristic of the motor load, and in order to improve the operation efficiency, a proper current-frequency ratio input converter is arranged, so that the output torque and the load torque under different rotating speeds are matched. The current frequency ratio control operates in a speed open loop and current closed loop state, and the current deviation after the expected value of the current is compared with the feedback value is input into the PI regulator to form a current closed loop.
When the motor is started, the reset controller controls the torque of the permanent magnet synchronous motor.
Preferably, the step of controlling the torque of the permanent magnet synchronous motor by the reset controller when the motor is started includes:
the method comprises the steps of obtaining three-phase current and three-phase voltage to carry out torque calculation, comparing the three-phase current and the three-phase voltage with a given torque, carrying out PI (proportional integral) error setting on the three-phase current and the given torque based on the torque calculation, obtaining the three-phase voltage, carrying out error comparison on the three-phase voltage after amplitude calculation, and carrying out PI setting.
When the permanent magnet synchronous motor is started, the acceleration running state of the speed open loop-current closed loop is switched to the vector running state of the speed-current double closed loop, and the state switching process is needed. The transition scheme of controller parameter resetting is adopted, and the rotating speed closed-loop control of the permanent magnet synchronous motor is realized by enabling the rotating speed closed-loop controller and taking the controller output as a control signal.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A permanent magnet synchronous motor full speed range position sensorless control method is characterized by comprising the following steps:
acquiring a current value at a given rotating speed and carrying out PID (proportion integration differentiation) setting regulation;
when the motor is started, the reset controller controls the torque of the permanent magnet synchronous motor.
2. The method of claim 1, wherein the step of the reset controller controlling the PMSM torque at start-up of the motor comprises:
the method comprises the steps of obtaining three-phase current and three-phase voltage to carry out torque calculation, comparing the three-phase current and the three-phase voltage with a given torque, carrying out PI (proportional integral) error setting on the three-phase current and the given torque based on the torque calculation, obtaining the three-phase voltage, carrying out error comparison on the three-phase voltage after amplitude calculation, and carrying out PI setting.
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| CN202011629417.6A CN112803849A (en) | 2020-12-31 | 2020-12-31 | Permanent magnet synchronous motor full speed range position-sensorless control method |
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| CN202011629417.6A CN112803849A (en) | 2020-12-31 | 2020-12-31 | Permanent magnet synchronous motor full speed range position-sensorless control method |
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|---|---|---|---|---|
| US20060066275A1 (en) * | 2004-09-29 | 2006-03-30 | Thunes Jerry D | Method and apparatus to regulate torque provided to loads |
| CN105356808A (en) * | 2015-11-18 | 2016-02-24 | 珠海格力电器股份有限公司 | Torque control method and system |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| CN108551287A (en) * | 2018-03-21 | 2018-09-18 | 中国人民解放军海军工程大学 | Built-in automotive PMSM Drive System torque closed loop control method |
| CN109039193A (en) * | 2018-07-27 | 2018-12-18 | 华中科技大学 | A kind of method and system based on I/f starting strategy restriction motor speed fluctuation |
| CN111245328A (en) * | 2019-12-17 | 2020-06-05 | 中国人民解放军海军工程大学 | Permanent magnet synchronous motor control method combining table look-up method with regulator |
-
2020
- 2020-12-31 CN CN202011629417.6A patent/CN112803849A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060066275A1 (en) * | 2004-09-29 | 2006-03-30 | Thunes Jerry D | Method and apparatus to regulate torque provided to loads |
| CN105356808A (en) * | 2015-11-18 | 2016-02-24 | 珠海格力电器股份有限公司 | Torque control method and system |
| CN108551287A (en) * | 2018-03-21 | 2018-09-18 | 中国人民解放军海军工程大学 | Built-in automotive PMSM Drive System torque closed loop control method |
| CN108377116A (en) * | 2018-04-11 | 2018-08-07 | 东软集团股份有限公司 | A kind of the current work point given system and method for permanent magnet AC motor |
| CN109039193A (en) * | 2018-07-27 | 2018-12-18 | 华中科技大学 | A kind of method and system based on I/f starting strategy restriction motor speed fluctuation |
| CN111245328A (en) * | 2019-12-17 | 2020-06-05 | 中国人民解放军海军工程大学 | Permanent magnet synchronous motor control method combining table look-up method with regulator |
Non-Patent Citations (1)
| Title |
|---|
| 王生捷等: "《发射控制技术》", 30 June 2015 * |
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Effective date of registration: 20210927 Address after: 300308 100 Hangtian Road, Airport Economic Zone, Binhai New Area, Tianjin Applicant after: TIANJIN RUIYUAN ELECTRICAL Co.,Ltd. Address before: No.1 Xinghua No.7 Branch Road, economic development zone, Xiqing District, Tianjin Applicant before: Tianjin Ruineng electric Co.,LTD. |
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Application publication date: 20210514 |