阅读说明：本技术 一种宽转速自适应调节的永磁同步电机控制方法 (Wide-rotating-speed self-adaptive-adjustment permanent magnet synchronous motor control method ) 是由 刘瑾 江曼 赵小鹏 李孟 于 2019-10-18 设计创作，主要内容包括：本发明涉及一种宽转速自适应调节的永磁同步电机控制方法,包括确定永磁同步电机的调速范围,并结合永磁同步电机的极对数将其转换为电转速的调速范围；确定旋转变压器解码芯片可配置的解码位数及不同位数可跟踪的最高电转速；分配电转速指令区间,并为各电转速指令区间指定旋转变压器解码芯片配置的解码位数；软件实时读取电转速指令,并判断电转速指令所处的区间；将读取的旋转变压器解码数值转换为永磁同步电机的转子位置角；通过矢量控制算法实现永磁同步电机的转速闭环控制的步骤。本发明在不改变控制器硬件的前提下,通过合理的软件配置一方面保证了转速闭环任务的顺利完成,另一方面保证了角度位置分辨率的最高化。(The invention relates to a control method of a permanent magnet synchronous motor with wide rotating speed self-adaptive adjustment, which comprises the steps of determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the number of pole pairs of the permanent magnet synchronous motor; determining the configurable decoding digit of a decoding chip of the rotary transformer and the traceable highest electric rotating speed of different digits; distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval; reading the electric rotating speed instruction in real time by software, and judging the interval of the electric rotating speed instruction; converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor; and realizing the rotating speed closed-loop control of the permanent magnet synchronous motor through a vector control algorithm. On the premise of not changing the hardware of the controller, the invention ensures the smooth completion of the rotating speed closed-loop task and the maximization of the angular position resolution through reasonable software configuration.)

1. A control method of a permanent magnet synchronous motor with a wide rotating speed and self-adaptive adjustment is characterized by comprising the following specific steps: determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the pole pair number of the permanent magnet synchronous motor; determining the configurable decoding digit of a decoding chip of the rotary transformer and the traceable highest electric rotating speed of different digits; distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval; reading the electric rotating speed instruction in real time by software, and judging the interval of the electric rotating speed instruction; converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor; and the rotating speed closed-loop control of the permanent magnet synchronous motor is realized through a vector control algorithm.

2. The control method according to claim 1, characterized in that the specific control steps are as follows:

step 1: determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the pole pair number of the permanent magnet synchronous motor;

step 2: determining the configurable decoding digits of a rotary transformer decoding chip in a permanent magnet synchronous motor controller and the highest electric rotating speed which can be tracked by different decoding digits;

and step 3: distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval;

and 4, step 4: the software reads the electric rotating speed instruction in real time, judges the interval where the electric rotating speed instruction is located, and automatically configures the decoding digit of the decoding chip of the rotary transformer according to the interval value;

and 5: converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor by combining the decoding digit in the step 4;

step 6: utilizing the position angle of the rotor of the permanent magnet synchronous motor obtained in the step 5 to realize the rotating speed closed-loop control of the permanent magnet synchronous motor through a vector control algorithm;

and 7: and (5) repeating the step 4 to the step 6 until the control task of the permanent magnet synchronous motor is completed.

3. The control method according to claim 2, wherein the permanent magnet synchronous motor in step 1 employs a resolver having the same number of pole pairs as the permanent magnet synchronous motor as an angular position sensor.

4. The control method according to claim 2, wherein the electrical speed command interval in step 3 is allocated according to the highest electrical speed that can be tracked for different decoding bits, and the resolver decoding chip is configured to be capable of tracking the highest decoding bit of the interval electrical speed.

5. The control method according to claim 2, wherein in the step 5, when the read resolver decoding values are converted into rotor position angles of the permanent magnet synchronous motor, zero decoding values corresponding to different decoding bits are different, and the zero decoding values are obtained by reading resolver decoding chips when a phase winding of the permanent magnet synchronous motor a passes through a tube and when a phase winding of B, C passes through a tube.

6. The control method according to claim 1, wherein the permanent magnet synchronous motor control method is applied to a permanent magnet synchronous motor controller with a wide speed regulation range.

7. The control method of claim 1, wherein the method enables closed loop tracking of a permanent magnet synchronous motor over a wide range of speeds.

8. A wide-rotating-speed self-adaptive-adjustment permanent magnet synchronous motor is characterized in that the permanent magnet synchronous motor adopts the wide-rotating-speed self-adaptive-adjustment permanent magnet synchronous motor control method of claim 2.

Technical Field

The invention belongs to the field of permanent magnet synchronous motor control, particularly relates to the field of permanent magnet synchronous motor control adopting a classical vector control algorithm, and particularly relates to a control method of a permanent magnet synchronous motor with wide rotating speed and self-adaptive adjustment.

Background

In recent years, permanent magnet synchronous motors have gradually replaced brushless dc motors in many applications, including control systems in aerospace and military equipment, industrial automation systems, information processing and computer systems, medical devices, etc., due to their advantages of good speed regulation performance, small torque ripple, etc. With the continuous widening of the speed regulation range, the contradiction between the decoding precision and the high rotating speed of the angle position sensor of the permanent magnet synchronous motor gradually appears. Therefore, research on a control method of the permanent magnet synchronous motor with the self-adaptive adjustment of the wide rotating speed is urgently needed to meet the tracking requirement of the permanent magnet synchronous motor on the premise of ensuring the decoding precision as much as possible.

Disclosure of Invention

The purpose of the invention is: a control method of a permanent magnet synchronous motor with wide rotation speed self-adaptive adjustment is provided to adapt to the wide speed adjustment range of the permanent magnet synchronous motor.

The invention adopts the technical scheme that a permanent magnet synchronous motor control method with wide rotating speed self-adaptive adjustment comprises the following specific steps: determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the pole pair number of the permanent magnet synchronous motor; determining the configurable decoding digit of a decoding chip of the rotary transformer and the traceable highest electric rotating speed of different digits; distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval; reading the electric rotating speed instruction in real time by software, and judging the interval of the electric rotating speed instruction; converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor; and realizing the rotating speed closed-loop control of the permanent magnet synchronous motor through a vector control algorithm.

The specific control steps are as follows:

step 1: determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the pole pair number of the permanent magnet synchronous motor;

step 2: determining the configurable decoding digits of a rotary transformer decoding chip in a permanent magnet synchronous motor controller and the highest electric rotating speed which can be tracked by different decoding digits;

and step 3: distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval;

and 4, step 4: the software reads the electric rotating speed instruction in real time, judges the interval where the electric rotating speed instruction is located, and automatically configures the decoding digit of the decoding chip of the rotary transformer according to the interval value;

and 5: converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor by combining the decoding digit in the step 4;

step 6: utilizing the position angle of the rotor of the permanent magnet synchronous motor obtained in the step 5 to realize the rotating speed closed-loop control of the permanent magnet synchronous motor through a vector control algorithm;

and 7: and (5) repeating the step 4 to the step 6 until the control task of the permanent magnet synchronous motor is completed.

Preferably, the permanent magnet synchronous motor in step 1 adopts a rotary transformer with the same number of pole pairs as the permanent magnet synchronous motor as an angle position sensor.

Preferably, the distribution of the electrical rotating speed instruction interval in step 3 is based on the highest electrical rotating speed that can be tracked by different decoding digits, and the resolver decoding chip is configured to be the highest decoding digit that can track the electrical rotating speed of the interval.

Preferably, when the read resolver decoding numerical value is converted into a rotor position angle of the permanent magnet synchronous motor in step 5, zero position decoding numerical values corresponding to different decoding numerical values are different, and the zero position decoding numerical value is obtained by reading a resolver decoding chip when a phase winding a of the permanent magnet synchronous motor is connected to an upper tube and a phase winding B, C is connected to a lower tube.

Preferably, the permanent magnet synchronous motor control method is suitable for a permanent magnet synchronous motor controller with a wide speed regulation range. The method realizes the closed-loop tracking of the permanent magnet synchronous motor in a wide rotating speed range.

A permanent magnet synchronous motor with a wide rotating speed self-adaptive adjustment adopts the permanent magnet synchronous motor control method with the wide rotating speed self-adaptive adjustment.

The invention has the advantages and beneficial effects that: the invention relates to a control method of a permanent magnet synchronous motor with wide rotating speed self-adaptive adjustment, which realizes the closed loop tracking purpose of the permanent magnet synchronous motor in a wide rotating speed range. On the premise of not changing the hardware of the controller, the invention ensures the smooth completion of the rotating speed closed-loop task and the maximization of the angular position resolution through reasonable software configuration.

Drawings

FIG. 1 is a flow chart of a control method of a permanent magnet synchronous motor with wide rotation speed self-adaptive adjustment;

fig. 2 is a block diagram of a classical vector control strategy of a permanent magnet synchronous motor.

Detailed Description

The invention is described in detail below with reference to the accompanying drawings of the specification, and a control method of a permanent magnet synchronous motor with a wide rotating speed and self-adaptive adjustment is designed.

The method comprises the following specific control steps:

step 1: determining the speed regulation range of the permanent magnet synchronous motor, and converting the speed regulation range into the speed regulation range of the electric rotating speed by combining the pole pair number of the permanent magnet synchronous motor;

step 2: determining the configurable decoding digit of a resolver decoding chip selected from a permanent magnet synchronous motor controller and the highest electric rotating speed which can be tracked by different digits;

and step 3: distributing electric rotating speed instruction intervals, and appointing decoding digits configured by a rotary transformer decoding chip for each electric rotating speed instruction interval;

and 4, step 4: the software reads the electric rotating speed instruction in real time, judges the interval where the electric rotating speed instruction is located, and automatically configures the decoding digit of the decoding chip of the rotary transformer according to the interval value;

and 5: converting the read resolver decoding numerical value into a rotor position angle of the permanent magnet synchronous motor by combining the decoding digit in the step 4;

step 6: utilizing the position angle of the rotor of the permanent magnet synchronous motor obtained in the step 5 to realize the rotating speed closed-loop control of the permanent magnet synchronous motor through a vector control algorithm;

and 7: and (5) repeating the step 4 to the step 6 until the control task of the permanent magnet synchronous motor is completed.

Preferably, the permanent magnet synchronous motor in step 1 adopts a rotary transformer with the same number of pole pairs as the permanent magnet synchronous motor as an angle position sensor.

Preferably, the distribution of the electrical rotating speed instruction interval in step 3 is based on the highest electrical rotating speed that can be tracked by different decoding digits, and the resolver decoding chip is configured to be the highest decoding digit that can track the electrical rotating speed of the interval.

Preferably, when the read resolver decoding values are converted into rotor position angles of the permanent magnet synchronous motor in step 5, it should be noted that zero decoding values corresponding to different decoding digits are different, and the zero decoding values are obtained by reading resolver decoding chips when a phase winding of the permanent magnet synchronous motor a passes through a tube and a phase winding of B, C passes through a tube.

Examples

1. As shown in fig. 1, the speed regulation range of the permanent magnet synchronous motor is determined to be 0-18000 rpm, and the speed regulation range is converted into the speed regulation range of 0-54000 rpm of the electric rotating speed by combining the pole pair number 3 of the permanent magnet synchronous motor;

2. as shown in fig. 1, the resolver decoding chip selected in the permanent magnet synchronous motor controller is determined to be AD2S1210, the configurable decoding bits include 10 bits, 12 bits, 14 bits and 16 bits, and the corresponding trackable maximum electric rotation speeds are 150000rpm, 60000rpm, 30000rpm and 7500rpm, respectively;

3. as shown in fig. 1, the electrical rotation speed command intervals [0,7500 ], [7500,30000 ], [30000,60000 ], and [60000,150000) are allocated, and the decoding bit numbers allocated corresponding to the AD2S1210 are 16 bits, 14 bits, 12 bits, and 10 bits, respectively;

4. as shown in fig. 1, the software reads that the electric rotating speed instruction is 40000rpm, judges that the interval where the electric rotating speed instruction is located is [30000,60000 ], and configures the decoding digit of the resolver decoding chip to be 12 digits;

5. as shown in fig. 1, the resolver decoded value read at this time is 2500, and the zero decoded value in combination with the resolution of 12 bits is 1000, and the value 2500 is converted into a rotor position angle of 132 ° of the permanent magnet synchronous motor;

6. as shown in fig. 1 and fig. 2, the rotation speed closed-loop control of the permanent magnet synchronous motor is realized by a vector control algorithm by using the rotor position angle 132 ° of the permanent magnet synchronous motor;

7. and (5) repeating the step 4 to the step 6 until the control task of the permanent magnet synchronous motor is completed.

The invention provides a control method of a permanent magnet synchronous motor with a wide rotating speed self-adaptive adjustment function, which achieves the purpose of closed-loop tracking of the permanent magnet synchronous motor in a wide rotating speed range. On the premise of not changing the hardware of the controller, the invention ensures the smooth completion of the rotating speed closed-loop task and the maximization of the angular position resolution through reasonable software configuration.