CN103986395B - A kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor - Google Patents
A kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor Download PDFInfo
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Abstract
The invention discloses a kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor.The method is on the basis of utilizing high frequency signal injection method to realize first initial position estimation, then passes through to extractdIn shaft current response included in two times of Injection Signal frequency subharmonicdAxle positive direction information is carried outdAxle positive direction judges, the method compares the amplitude of current-responsive again without the extra positive negative pulse stuffing that injects, and shortens the estimation time, simplifies estimation procedure, reduces the requirement to current detection accuracy, and does not results in the fine motion of rotor, has widened application scenario.
Description
Technical field
The invention belongs to Motor Control Field, be specially a kind of surface-mount type permanent-magnetic synchronous motor rotor initial position detection side
Method.
Background technology
At present for initial position detection method for permanent magnet synchronous electric motor rotor, common injects with di/dt type and signal
Type is main.
Yuzawa T,Tanaka K,Moriyama R,et al.An efficient estimation method of
sensorless initial rotor position for surface PM synchronous motor[C]//
Electric Machines and Drives Conference,2001.IEMDC2001.IEEE
International.IEEE, 2001:44-49. utilize di/dt to detect rotor-position, are estimated rapidly by the method for binary search
The initial position of meter rotor, but in identification process, need the rotor of fixing motor, and identification result is affected by slot effect；
Jia Hongping, He Yikang. permanent-magnet synchronous motor rotor initial position detection based on high-frequency signal injection research [J].
Proceedings of the CSEE, 2007,27 (15): 15-20. utilize high frequency signal injection to cause the change of inductance, hinder according to high frequency
Relation between the position that anti-size and signal are injected is to obtain initial position of rotor, then compares the electricity of the positive negative direction of d axle
Stream response amplitude judges d axle positive direction；Liu Ying, cycle, Li Shuai, etc. rotor magnetic steel surface-mount type permanent-magnetic synchronous motor rotor is initial
Position detection [J]. Proceedings of the CSEE, first 2011,31 (18): 48-54. estimating rotor synchronous rotating frame
D axle injects high frequency sinusoidal voltage signal, is obtained the first estimated value of rotor-position by closed loop regulation, under recycling different magnetic poles
The different of d axle equivalent time constant judge d axle positive direction.Estimation procedure is all divided into by above-mentioned method based on high frequency electrocardiography
First location estimation and d axle positive direction judge two stages, are both needed to inject amplitude phase at d axle in d axle positive direction judge process
Deng generating positive and negative voltage pulse, utilize the diversity judgement d axle positive direction of current-responsive, the requirement to current detection accuracy of this kind of method
Relatively higher, and estimation procedure needs to take some time, if simultaneously amplitude size and the persistent period of potential pulse select
Improper may cause d axle positive direction judge make mistakes.
Summary of the invention
The present invention is on the basis of utilizing high frequency signal injection method to realize first initial position estimation, by extracting d axle electricity
In stream response, the d axle positive direction information included in two times of Injection Signal frequency subharmonic carries out the judgement of d axle positive direction, it is not necessary to volume
Outer injection positive negative pulse stuffing compares the amplitude of current-responsive again, shortens the estimation time, simplifies estimation procedure, reduces electric current
The requirement of accuracy of detection, and do not result in the fine motion of rotor, widen application scenario.
For solving above-mentioned technical problem, the present invention proposes a kind of surface-mount type permanent-magnetic synchronous motor rotor initial position detection side
Method, the method first obtains the first estimated value of rotor-position, then judges d axle positive direction, by first for rotor-position estimated value plus d axle
Offset after positive direction judges is final initial position estimation value, wherein, it is judged that the process of d axle positive direction is as follows:
The d shaft current response of rotor synchronous rotating frame is estimated in detectionFirst passed through band filter and selected d
The second harmonic component of shaft current responseBy second harmonic componentWith cosine signal cos (2 ωhT) it is multiplied and adjusts
System, obtains DC component and frequency is 4 ωhAC compounent, wherein ωhFor injecting the angular frequency of high frequency voltage at d axle；Warp again
Crossing low pass filter and filter AC compounent, extract DC component, this DC component is judgement information g (NS) of d axle positive direction,
When g (NS) is extremely reverse with magnetic pole N more than 0 expression d axle positive direction, and the offset after d axle positive direction judges is π；When g (NS) is less than
0 represents d axle positive direction with magnetic pole N pole in the same direction, and the offset after d axle positive direction judges is 0.
Further priority scheme, in surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor of the present invention, obtains
The step of the first estimated value of rotor-position is as follows:
Step 1, estimate rotor synchronous rotating frame d axle inject high-frequency cosine voltage Uhmcos(ωhT), wherein,
UhmFor injecting the amplitude of high frequency voltage at d axle, t represents current time；
Step 2, to estimating that the voltage signal injected on rotor synchronous rotating frame carries out Parker inverse transformation, obtain biphase
Voltage signal u under static α β coordinate systemαAnd uβ, then use space vector pulse width modulation SVPWM to obtain six tunnels of three-phase inverter
Switching signal, drives surface-mount type permagnetic synchronous motor SPMSM；
Any biphase current in step 3, detection motor three-phase windings A/B/C, first carries out Clarke transform and obtains biphase
Current signal i under static α β coordinate systemαAnd iβ, then obtain estimating the d axle under rotor synchronous rotating frame through Park Transformation
Current responsing signalSignal is responded with q shaft current
Step 4, will estimate rotor synchronous rotating frame q shaft current response signalSelect through band filter
Frequency is ωhAC compounent be q shaft current response first harmonic component, then with sinusoidal signal sin (ωhT) it is multiplied and carries out
Modulation, obtains DC component and frequency is 2 ωhAC compounent, eventually pass low pass filter and filter AC compounent, extract straight
Flow component, obtains estimating position error signal；
Step 5, structure position deviation closed loop, will estimate the position error signal input as pi regulator, estimate rotor
Angular velocityFor the output of actuator, to estimating rotor velocityIntegration obtains the rotor-position estimated, repeats step 1-5,
Until the rotor-position estimated converges to a steady state value, it is the first estimated value of initial position of rotor.
The present invention compared with prior art has following significant advantage: judge d axle positive direction process in (1) present invention
In, the voltage of injection is always cosine high-frequency signal, it is not necessary to injects positive negative pulse stuffing voltage, simplifies estimation procedure；(2) by carrying
The d axle positive direction information included in two times of Injection Signal frequency subharmonic that takes in the response of d shaft current judges, it is not necessary to extra
Inject positive negative pulse stuffing and compare the amplitude of current-responsive again, shorten the estimation time, reduce the requirement to current detection accuracy；
(3) the small inertia machinery jitter problem that may cause during avoiding generating positive and negative voltage impulses injection, can be used on electric machine rotation and is used to
Measure little, rotor-position shake during initial position estimation is had the occasion of strict demand.
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings；
Accompanying drawing explanation
Fig. 1 is the theory diagram of surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process；
Fig. 2 is biphase rest frame, actual biphase synchronous rotating frame and estimates biphase synchronous rotating frame
Relativeness schematic diagram；
Fig. 3 is the signal extraction theory diagram with modulated process of first initial position estimation；
Fig. 4 is the signal extraction theory diagram with modulated process of d axle positive direction judgement；
Fig. 5 (a) be motor actual rotor position be the oscillogram of corresponding g (NS) in the case of 1rad；
Fig. 5 (b) be motor actual rotor position be 1rad, surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process
Simulation waveform；
Fig. 5 (c) be motor actual rotor position be the oscillogram of corresponding g (NS) in the case of 3rad；
Fig. 5 (d) be motor actual rotor position be 3rad, surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process
Simulation waveform；
Fig. 6 (a) is that motor actual rotor position isRad, surface-mount type permanent-magnetic synchronous motor rotor initial position estimation mistake
The experimental waveform of journey；
Fig. 6 (b) be motor actual rotor position be π rad, surface-mount type permanent-magnetic synchronous motor rotor initial position estimation process
Experimental waveform.
Detailed description of the invention
As it is shown in figure 1, the present invention provides a kind of surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor, specifically wrap
Include following steps:
Step 1, set up coordinate system graph of a relation, as in figure 2 it is shown, d-q is actual synchronization rotating coordinate system,For estimating
Rotor synchronous rotating frame, alpha-beta is actual biphase rest frame, and defines Estimated Position ErrorWherein,
θ is actual rotor initial position,For location estimation value,Initial value be 0；
Step 2, estimate rotor synchronous rotaryThe d axle of coordinate system injects high-frequency cosine voltage
Q axle to determining voltage signal,Wherein, UhmFor injecting the amplitude of high frequency voltage at d axle, t represents current time；
Step 3, to estimating that the voltage signal injected on rotor synchronous rotating frame carries out Parker inverse transformation, obtain reality
Voltage signal u under biphase static alpha-beta coordinate systemαAnd uβ, then use space vector pulse width modulation SVPWM to obtain six way switch letters
Number, control three-phase full-bridge inverter, injecting voltage signal in permanent-magnetic synchronous motor stator winding；
Any biphase current in step 4, detection motor three-phase windings A/B/C, first carries out Clarke transform and obtains reality
Current signal i under biphase static alpha-beta coordinate systemαAnd iβ, then obtain estimating rotor synchronous rotary through Park TransformationSit
D shaft current response signal under mark systemSignal is responded with q shaft current
Step 5 will be as it is shown on figure 3, rotor synchronous rotary will be estimatedThe q shaft current response signal of coordinate systemPass through
Frequency selected by band filter is ωhAC compounent be q shaft current response first harmonic componentBelieve with sine again
Number sin (ωhT) it is multiplied and is modulated, obtain DC component and frequency is 2 ωhAC compounent, eventually pass low pass filter
Filter AC compounent, extract DC component, obtain estimating position error signal f (Δ θ)；
Step 6 is as it is shown on figure 3, PI is proportional and integral controller, and I is integral controller, builds position deviation closed loop, will
Estimate the position error signal f (Δ θ) input as pi regulator, estimate rotor velocityFor the output of actuator, to estimating
Meter rotor velocityIntegration obtains the rotor-position estimated, repeats step 2-6, until the rotor-position estimated converges to a perseverance
Definite value, is the first estimated value of initial position of rotor
Step 7, as shown in Figure 4, it is judged that d axle positive direction, the d shaft current response of rotor synchronous rotating frame is estimated in detectionFirst passed through band filter and selected the second harmonic component of d shaft current responseBy second harmonic componentWith
Cosine signal cos (2 ωhT) it is multiplied and is modulated, obtain DC component and frequency is 4 ωhAC compounent, wherein ωhFor at d
Axle injects the angular frequency of high frequency voltage；Filtering AC compounent through low pass filter again, extract DC component, this DC component is i.e.
For judgement information g (NS) of d axle positive direction, representing that d axle positive direction and magnetic pole N are extremely reverse when g (NS) is more than 0, d axle positive direction is sentenced
The offset θ having no progenyc=π, i.e.For final initial position estimation value；When g (NS) is less than 0 expression d axle positive direction
With magnetic pole N pole in the same direction, the offset after d axle positive direction judges is θc=0, i.e.
As follows to the theory analysis judging d axle positive direction, when injecting pulsating high frequency voltage at the d direction of principal axis estimated, by
Can produce saturated under the effect of current-responsive in d axle magnetic field, when d axial flow crosses forward current, inductance reduces, and d axial flow crosses negative sense electricity
During stream, inductance increases；Q axle magnetic field is in linear zone all the time, and q axle inductance remains unchanged.Definition d axle inductance is Ld, q axle inductance is
Lq, then LdSize with d shaft current idT () changes, and LqConstant magnitude.Defined function h (t)=Lq/Ld(id(t)), h (t)
Cycle T=2 π/ωh, it can use Fourier space to be expressed as In formula:
The rule met according to h (t), and ignore three times and the harmonic component of more than three times, h (t) can be the most whole
Manage intoIn formula:
Although d axle inductance is with curent change, but its value approximation is equal with q axle inductance, and therefore their ratio h (t) is attached 1
Nearly fluctuation, thus obtain λ0>0；
Under the effect of high frequency voltage, if ignoring stator resistance, d axle impedance is pure perception, current-responsive idT () is with frequency
The composition of rate is main, thusI in formuladmIt is the amplitude of d shaft current, owing to d axle is made at forward current
Saturated with lower generation, inductance reduces, and therefore hands over, ratio h (t) of d axle inductance is with d shaft current idThe increase of (t) and increase, thus
λ can be obtained1>0。
It is an angle relevant to pole orientation, when judging that d axle positive direction and magnetic pole N pole are in the same direction,When
When judging that d axle positive direction and magnetic pole N are extremely reversely,
According to correlation analysis and theoretical derivation, it is considered to the saturated characteristic of d axle inductance, the d shaft current response of estimation is:
After first initial position estimation terminates, Δ θ=0 or Δ θ=π, therefore cos (2 Δ θ)=1, thus obtain:
If can judge by the way of certainSymbol, just can judge d axle positive direction, select the d estimated here
The second harmonic component of shaft current responseIt is modulated judging d axle positive direction, secondary is humorous
Wave component and cosine signal cos (2 ωhT) it is multiplied and is modulated, it may be assumed that
The signal packet obtained is 4 ω containing DC component and frequencyhAC compounent, eventually pass low pass filter (LPF)
Filter AC compounent, extract DC component, obtain d axle positive direction and judge information g (NS):
It follows that utilize the symbol of g (NS) i.e. to can determine whether d axle positive direction, when g (NS) is more than 0,It is negative,G (NS) is less than 0 expressionFor just,
As shown in Fig. 5 (a) and Fig. 5 (b), corresponding actual rotor initial position is 1rad, and d axle positive direction judges information g
(NS) less than 0, represent that d axle positive direction is with magnetic pole N pole in the same direction, it is not necessary to estimating position for the first timeCarry out angle compensation, θc=0,
Final initial position estimation value isAs shown in Fig. 5 (c), Fig. 5 (d), corresponding actual rotor initial position is 3rad, d axle
Positive direction judges that information g (NS), more than 0, represents that d axle positive direction and magnetic pole N are extremely reverse, need to be to estimating position for the first timeCompensate π arc
Degree, θc=π, final initial position estimation value is
As shown in Fig. 6 (a), corresponding actual rotor initial position isRad, d axle positive direction judges that information g (NS) is less than 0,
Represent that d axle positive direction is with magnetic pole N pole in the same direction, it is not necessary to estimating position for the first timeCarry out angle compensation, θc=0, final initial bit
Putting estimated value isActual rotor initial position as corresponding in Fig. 6 (b) is π rad, and d axle positive direction judges that information g (NS) is more than
0, represent that d axle positive direction and magnetic pole N are extremely reverse, need to be to estimating position for the first timeCompensate π radian, θc=π, final initial position is estimated
Evaluation is
Claims (1)
1. a surface-mount type initial position detection method for permanent magnet synchronous electric motor rotor, the method first obtains rotor-position and estimates for the first time
Value, then judge d axle positive direction, at the beginning of the offset after being judged plus d axle positive direction by first for rotor-position estimated value is finally
Beginning location estimation value, it is characterised in that the step obtaining the first estimated value of rotor-position is as follows:
Step 1, estimate rotor synchronous rotating frame d axle inject high-frequency cosine voltage Uhm cos(ωhT), wherein, UhmFor
Inject the amplitude of high frequency voltage at d axle, t represents current time；
Step 2, to estimating that the voltage signal injected on rotor synchronous rotating frame carries out Parker inverse transformation, obtain biphase static
Voltage signal u under alpha-beta coordinate systemαAnd uβ, then six tunnels using space vector pulse width modulation SVPWM to obtain three-phase inverter open
OFF signal, drives surface-mount type permagnetic synchronous motor SPMSM；
Any biphase current in step 3, detection motor three-phase windings A/B/C, first carries out Clarke transform and obtains biphase static
Current signal i under alpha-beta coordinate systemαAnd iβ, then the d axle electricity estimating under rotor synchronous rotating frame is obtained through Park Transformation
Stream response signalSignal is responded with q shaft current
Step 4, will estimate rotor synchronous rotating frame q shaft current response signalSelecting frequency through band filter is
ωhAC compounent be q shaft current response first harmonic component, then with sinusoidal signal sin (ωhT) it is multiplied and is modulated,
Obtain DC component and frequency is 2 ωhAC compounent, eventually pass low pass filter and filter AC compounent, extract direct current and divide
Amount, obtains estimating position error signal；
Step 5, structure position deviation closed loop, will estimate the position error signal input as pi regulator, estimate rotor angle speed
DegreeFor the output of pi regulator, to estimating rotor velocityIntegration obtains the rotor-position estimated, repeats step 1-5, until
The rotor-position estimated converges to a steady state value, is the first estimated value of initial position of rotor；
Judge that the process of d axle positive direction is as follows:
The d shaft current response of rotor synchronous rotating frame is estimated in detectionFirst passed through band filter and selected d shaft current
The second harmonic component of responseBy second harmonic componentWith cosine signal cos (2 ωhT) it is multiplied and is modulated, obtain
DC component and frequency are 4 ωhAC compounent, wherein ωhFor injecting the angular frequency of high frequency voltage at d axle；Again through low pass filtered
Ripple device filters AC compounent, extracts DC component, and this DC component is judgement information g (NS) of d axle positive direction, as g (NS)
Representing that more than 0 d axle positive direction and magnetic pole N are extremely reverse, the offset after d axle positive direction judges is π；When g (NS) is less than 0 expression d
With magnetic pole N pole in the same direction, the offset after d axle positive direction judges is 0 to axle positive direction.
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| CN104660140A (en) * | 2015-01-16 | 2015-05-27 | 南京航空航天大学 | Permanent magnet synchronous motor initial position detection method based on high-frequency current signal injection |
| CN106911283B (en) * | 2015-12-23 | 2023-08-04 | 罗伯特·博世有限公司 | Method and device for online estimation of the initial position of a surface permanent magnet machine |
| KR102579496B1 (en) * | 2015-12-23 | 2023-09-19 | 로베르트 보쉬 게엠베하 | Method and apparatus for online estimation of initial position of a surface permanent magnet electric machine |
| CN106655942B (en) * | 2017-03-01 | 2019-08-02 | 合肥工业大学 | Permanent magnet synchronous motor method for controlling position-less sensor |
| CN106655952B (en) * | 2017-03-08 | 2018-12-18 | 北京工业大学 | A kind of current envelops collimation method detecting permanent-magnetic synchronous motor rotor initial position |
| DE102018106837A1 (en) * | 2017-03-22 | 2018-09-27 | Steering Solutions Ip Holding Corporation | VIBRATION-INDUCED DESIGNATION FOR SYNCHRONOUS PERMANENT MAGNETIC MACHINES |
| CN107046384B (en) * | 2017-06-10 | 2018-06-29 | 北京航空航天大学 | A kind of durface mounted permanent magnet synchronous motor rotor position detection method |
| CN110798102A (en) * | 2018-07-31 | 2020-02-14 | 广东威灵电机制造有限公司 | Position detection method, position detection device, permanent magnet synchronous motor and storage medium |
| CN111510042B (en) * | 2019-01-30 | 2021-07-27 | 广东美的白色家电技术创新中心有限公司 | Rotor position estimation method and device of motor and motor control system |
| JP7188169B2 (en) * | 2019-02-18 | 2022-12-13 | コニカミノルタ株式会社 | MOTOR CONTROL DEVICE, METHOD FOR ESTIMATING INITIAL POSITION OF ROTOR'S POLES, AND IMAGE FORMING DEVICE |
| CN110460283B (en) * | 2019-08-14 | 2021-07-23 | 苏州汇川技术有限公司 | Motor magnetic pole position identification method, system, equipment and storage medium |
| CN111817636B (en) * | 2020-06-03 | 2022-04-08 | 浙江工业大学 | Permanent magnet synchronous motor position estimation method adopting high-frequency sinusoidal voltage injection with continuously-changing frequency |
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