阅读说明：本技术 永磁无刷直流电机逆风启动的方法 (Method for upwind starting of permanent magnet brushless direct current motor ) 是由 王世德 彭惠 钟其树 于 2018-07-25 设计创作，主要内容包括：本发明公开了一种永磁无刷直流电机逆风启动的方法,采用锁相环估算算法,快速跟随电机的状态；通过给定电流为0的方式,估算当前电机转速；当电机处于静止或正转情况下,启动容易处理,本发明重点解决逆风运行的情况；根据反向转动的转速,利用Iq=k1*ω,Id=0公式,产生让电机快速停机的转矩。此时直流母线电压会明显提高,需要对母线电压进行实时监控,当直流母线电压高于限定值时,适当降低电流输出或关闭输出,禁止母线电压继续上升；当电机在反向转矩的作用下,会快速停机,当电机反向转动的速度由高速降低到0时,切换到正向启动。当电机正向转速达到一定值时,结束启动过程,切入到正常的控制环路中,如速度环或其他环路控制。(The invention discloses a method for upwind starting of a permanent magnet brushless direct current motor, which adopts a phase-locked loop estimation algorithm to quickly follow the state of the motor; estimating the current motor rotating speed in a mode of setting the current to be 0; when the motor is in a static state or in a positive rotation state, the starting is easy to process, and the problem of upwind running is mainly solved; according to the rotating speed of the reverse rotation, the formula of Iq = k1 omega and Id =0 is used for generating the torque for rapidly stopping the motor. At the moment, the voltage of the direct current bus can be obviously improved, the voltage of the bus needs to be monitored in real time, when the voltage of the direct current bus is higher than a limit value, the current output is properly reduced or the output is closed, and the voltage of the bus is forbidden to continuously rise; when the speed of the motor rotating in the reverse direction is reduced from high speed to 0, the motor is switched to be started in the forward direction. When the forward rotation speed of the motor reaches a certain value, the starting process is ended, and the motor is switched into a normal control loop, such as a speed loop or other loop control.)

1. A method for upwind starting of a permanent magnet brushless direct current motor is characterized by comprising the following steps: the control steps are as follows:

the method comprises the following steps: a phase-locked loop estimation algorithm is adopted to quickly follow the state of the motor; estimating the current motor rotating speed in a mode of setting the current to be 0;

step two: when the motor is in a reverse rotation condition; generating torque for rapidly stopping the motor according to the rotating speed of the reverse rotation by using an Iq = k1 omega and an Id =0 formula; at the moment, the voltage of the direct current bus can be obviously improved, the voltage of the bus needs to be monitored in real time, when the voltage of the direct current bus is higher than a limit value, the current output is properly reduced or the output is closed, and the voltage of the bus is forbidden to continuously rise; when the motor is under the action of reverse torque, the motor can be quickly stopped; the value of k1 is determined by motor and load condition debugging;

step three: when the speed of the motor in the reverse rotation is reduced to 0 from a high speed, the motor is switched to be started in the forward direction; the motor is started by adopting a mode that forward starting current Iq = k2 | ω | and Id =0, and different starting currents are adopted at different upwind rotating speeds, so that the success rate of upwind starting of the motor is improved; the value of k2 is determined by motor and load condition debugging;

step four: when the forward rotation speed of the motor reaches a certain value, the starting process is ended, and the motor is switched into a normal control loop, such as a speed loop or other loop control.

2. The method for starting the permanent magnet brushless direct current motor against the wind according to claim 1, characterized in that: the PLL estimation following effect is good, if the motor rotates, the rotating speed and the direction of the motor can be judged well in one or two electrical cycles, and the condition that the bus voltage rises is avoided to a great extent; if the voltage rise is significant, the output can be properly turned off.

3. The method for starting the permanent magnet brushless direct current motor against the wind according to claim 1, characterized in that: the estimator works all the time, can follow the real-time angle of the motor, and provides the real-time property of the angle for upwind starting; the motor is started by adopting a mode that the starting current Iq = k2 | ω | and Id =0, and different starting currents are adopted at different upwind rotating speeds, so that the success rate of upwind starting of the motor is improved.

Technical Field

The invention relates to a upwind starting system, in particular to a method for upwind starting of a permanent magnet brushless direct current motor.

Background

In most household appliance applications, the permanent magnet brushless dc controller adopts a sensorless position estimation algorithm due to the cost, hall sensor installation, and the like. The no-position estimation algorithm requires knowledge of the model of the motor, such as resistance, inductance, back emf constants, etc. The algorithm is easy to process when the motor is static or rotates in the forward direction. In practical application, the requirement on the algorithm without position estimation is higher and higher for the condition that the fan is started against the wind.

Many sensorless algorithms solve the problem of starting the motor by collecting information related to the back electromotive force through a hardware circuit and judging the rotation direction of the motor according to the information. When the motor is in a headwind state, a common method is to adopt a mode of conducting a lower bridge arm to brake or install a brake circuit when the motor is started in the headwind state. The mode that the lower bridge arms are conducted simultaneously does not need additional circuits, and has the defects that the energy is consumed by using the internal resistance of the motor, the braking current is easy to be overlarge, and the complete braking can not be necessarily realized when external large wind power exists all the time or the magnetic field intensity of the motor is weaker. By adopting the brake circuit, the brake can be quickly stopped, but an additional device is required to be added, so that the cost is increased. After the motor is braked and stopped, the specific position of the motor cannot be known, the starting difficulty is increased, the frequent starting caused by the failed starting is easy to occur, the problems of serious motor abrasion, motor service life reduction and the like exist.

Disclosure of Invention

In order to solve the above problems, the present invention provides a method for upwind starting of a permanent magnet brushless dc motor, wherein the method for upwind starting of a permanent magnet brushless dc motor comprises the following steps:

the method comprises the following steps: a phase-locked loop estimation algorithm is adopted to quickly follow the state of the motor; estimating the current motor rotating speed in a mode of setting the current to be 0;

step two: when the motor is in the reverse rotation condition, the torque for rapidly stopping the motor is generated by using the formula of Iq = k1 ω and Id =0 according to the rotation speed of the reverse rotation. At the moment, the voltage of the direct current bus can be obviously improved, the voltage of the bus needs to be monitored in real time, when the voltage of the direct current bus is higher than a limit value, the current output is properly reduced or the output is closed, and the voltage of the bus is forbidden to continuously rise; when the motor is under the action of reverse torque, the motor can be quickly stopped,

step three: when the speed of the motor in the reverse rotation is reduced to 0 from a high speed, the estimator works all the time, can follow the real-time angle of the motor, and provides the real-time property of the angle for the upwind starting; when the rotating speed approaches 0, the motor is started by adopting a mode of starting current Iq = k2 | ω | and Id =0, different starting currents are adopted at different upwind rotating speeds, and the success rate of upwind starting of the motor is improved.

Step four: when the forward rotation speed of the motor reaches a certain value, the starting process is ended, and the motor is switched into a normal control loop, such as a speed loop or other loop control.

The invention has the beneficial effects that:

1. the method solves the problems that a hardware circuit is needed to detect the counter electromotive force of the motor, and the direction and the rotating speed of the motor are judged according to the comparison or the zero crossing point of the counter electromotive force.

2. The invention sets different braking torques according to different rotating speeds, has quick braking time and good effect, and can solve the problem that the brake cannot be carried out or stopped under the braking mode of lower bridge arm conduction when the external wind power is large and the rotating speed is high against the wind.

3. The motor is started by adopting a mode that the starting current Iq = k2 | ω | and Id =0, and different starting currents are adopted at different upwind rotating speeds, so that the success rate of upwind starting of the motor is improved.

Drawings

Fig. 1 is a block diagram of the method for starting a permanent magnet brushless dc motor in the upwind direction according to the present invention.

Detailed Description

The following detailed description of specific embodiments of the present invention is provided in connection with the accompanying drawings and examples, which are set forth merely to illustrate the invention and are not intended to limit the scope of the invention.

Referring to fig. 1: the method comprises the following steps: the phase-locked loop (PLL) estimation algorithm is used to quickly follow the state of the motor. The current motor rotating speed is estimated in a mode of setting the current to be 0, and the braking effect on the motor cannot be brought. Because the PLL estimation following effect is good, if the motor rotates, the rotating speed and the direction of the motor can be judged well in one or two electrical periods, and the condition that the bus voltage rises is avoided to a great extent. If the voltage rise is significant, the output can be properly turned off.

The method solves the problems that a hardware circuit is needed to detect the counter electromotive force of the motor, and the direction and the rotating speed of the motor are judged according to the comparison or the zero crossing point of the counter electromotive force.

Step two: when the motor is in a static state or in a positive rotation state, the motor is relatively simple to start, and the problem of upwind operation is mainly solved. According to the rotation speed of the reverse rotation, the formula of Iq = k1 × ω and Id =0 (ω indicates the rotation speed of the motor) is used to generate the torque for rapidly stopping the motor. At the moment, the voltage of the direct current bus can be obviously improved, the voltage of the bus needs to be monitored in real time, and when the voltage of the direct current bus is higher than a limit value, the current output is properly reduced or the output is closed, and the voltage of the bus is forbidden to be continuously increased. When the motor is under the action of reverse torque, the motor can be quickly stopped,

different braking torques are set according to different rotating speeds, the braking time is short, the effect is good, and the problem that braking cannot be carried out or cannot be carried out under the braking mode that the lower bridge arm is conducted when the external wind power is large and the high rotating speed is against the wind can be solved.

Step three: when the speed of the motor in the reverse rotation is reduced to 0 from high speed, the motor is switched to be started in the forward direction. The advantage here is that the estimator is working all the time, can follow out the real-time angle of motor, provides the real-time nature of angle for the upwind starts. Meanwhile, the motor is started by adopting a mode that the starting current Iq = k2 | ω | and Id =0, and different starting currents are adopted at different upwind rotating speeds, so that the success rate of upwind starting of the motor is improved.

Step four: when the forward rotation speed of the motor reaches a certain value, the starting process is ended, and the motor is switched into a normal control loop, such as a speed loop or other loop control.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, modifications and variations can be made without departing from the technical principle of the present invention, and the protection scope of the present invention should be considered.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.