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WO2009057841A1 - Réduction des effets de calage sur courant nul dans des entraînements de moteurs à aimants permanents sans détecteurs avec commutation sur axe d'injection de signal haute fréquence pulsatoire - Google Patents

Réduction des effets de calage sur courant nul dans des entraînements de moteurs à aimants permanents sans détecteurs avec commutation sur axe d'injection de signal haute fréquence pulsatoire Download PDF

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Publication number
WO2009057841A1
WO2009057841A1 PCT/KR2007/005635 KR2007005635W WO2009057841A1 WO 2009057841 A1 WO2009057841 A1 WO 2009057841A1 KR 2007005635 W KR2007005635 W KR 2007005635W WO 2009057841 A1 WO2009057841 A1 WO 2009057841A1
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WO
WIPO (PCT)
Prior art keywords
current
axis
high frequency
pulsating
zero
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2007/005635
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English (en)
Inventor
Jul-Ki Seok
Chan-Hee Choi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Academic Cooperation Foundation of Yeungnam University
Original Assignee
Industry Academic Cooperation Foundation of Yeungnam University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Industry Academic Cooperation Foundation of Yeungnam University filed Critical Industry Academic Cooperation Foundation of Yeungnam University
Publication of WO2009057841A1 publication Critical patent/WO2009057841A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
    • 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
    • H02P21/22—Current control, e.g. using a current control loop
    • 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
    • H02P21/18—Estimation of position or speed
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • 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

Definitions

  • the present invention relates to an improvement of performance and productivity of a senseless control device from which position and speed sensors are removed in a precision driving permanent magnet motor drive. More particularly, the present invention relates to a pulsating high frequency signal injection axis switching senseless control method and device for minimizing the zero-current-clamping effect of a motor, which can improve an error of an estimated position angle or a speed acceleration/ deceleration performance by minimizing the zero-current-clamping effect in a method of injecting a pulsating high frequency signal so as to estimate the position and speed.
  • an example of a representative high frequency injection senseless control method includes a pulsating (or alternating) injection method of injecting a high frequency voltage in an estimated synchronous coordinate system as shown in FIG. 1.
  • This method is a method in which a pulsating high frequency voltage is injected in the estimated synchronous coordinate system and the position is estimated by analyzing a current according to a d-q axis rotor saliency difference within a motor through a signal processing method.
  • This method is advantageous in that it enables a zero-speed full-load operation, which was impossible in an existing voltage integration type senseless control method, and does not require a motor constant
  • the zero-current-clamping effect occurs at every time point when a phase current passes the zero point due to the dead time of a Pulse-Width Modulation (PWM) inverter for driving the motor and the parasitic capacitance of a switching element.
  • PWM Pulse-Width Modulation
  • This effect has a property that a distortion voltage value (nonlineally inverse proportion to an Equivalent transient time) varies depending on the amount of current, as shown in FIG. 3, and the Equivalent transient time has a maximum value near the zero current and is gradually reduced as a current increases.
  • This zero-current-clamping effect distorts the high frequency current including rotor position information to thereby cause distortion of a position signal that is synchronized at every zero point of the current as shown in FIG. 4.
  • This position error causes degradation of the performance of the motor as well as induction of system diffusion.
  • an estimated speed necessary for speed control is obtained through differentiation of an estimated position.
  • the position error as shown in FIG. 4, causes a ripple of the estimated speed to thereby bring about a trip of the drive system due to an overcurrent .
  • the present invention has been made in view of the above- mentioned problems occurring in the prior art, and it is an object of the present invention to provide a pulsating high frequency signal injection axis switching senseless control method and system for minimizing the zero- current-clamping effect of a motor, in which it can minimize the zero- current-clamping effect very effectively with no need for additional devices or off-line tests.
  • a pulsating signal is injected into a d axis, wherein the d-axis current is controlled to be a specific constant.
  • the injected signal is switched and injected into a q axis, wherein the d-axis current is controlled to be 0. Accordingly, a minimum high frequency appears near the zero current, minimizing the zero- current-clamping effect.
  • FIG. 1 is a block diagram illustrating a pulsating injection method of a senseless AC motor
  • FIG. 2 is a graph showing the zero-current-clamping effect
  • FIG. 3 is a graph showing distorted voltage values according to the amounts of phase current
  • FIG. 4 is a graph showing the relationship between time and current/rotor position according to the zero-current-clamping effect I ⁇ i9>
  • FIGS. 5 and 6 are block diagrams of a control device for compensating for the zero-current ⁇ clamping effect of the present invention
  • FIG. 7 is a graph showing the phase current under no-load condition
  • FIG. 8 is a graph showing the phase current when the phase angle is ⁇
  • FIG. 9 is a graph showing the phase current when the phase angle ranges between 0 and ⁇ /2; and ⁇ 23>
  • FIG. 10 is a view illustrating the phase current according to the phase angle.
  • FIGS. 5 and 6 are block diagrams of a control device for compensating for the zero-current-clamping effect of the present invention.
  • a pulsating high frequency voltage injection senseless control device of a Permanent Magnet Synchronous Motor (PMSM) according to the present invention largely includes a speed controller 10, an injection axis selector
  • the speed controller 10 outputs a q-axis current command (i q ) according to an input speed command.
  • the speed command input to the speed controller 10 is the result of subtracting an input
  • the injection axis selector 11 includes switching circuits 11a, lib therein, as shown in FIG. 6, and when there is no load, inputs a d-axis pulsating signal voltage (V dh ) as a pulsating high frequency voltage command e* e* e*
  • Vh controls a d-axis current (i ds ) to be a specific constant (i d o ), and when load is applied, switches to a q axis and inputs a q-axis pulsating signal voltage (V qh ) as the pulsating high frequency voltage command (Vh ),
  • axis selector 11 is subtracted from a basic wave current (i dqf ), which is the
  • the current controller 18 outputs a voltage command (V dq ) in response to an input current command.
  • ⁇ is, a magnetic flux angle ( r ) output from the signal processor 34 is input to the coordinate converter 12 and is used for coordinate conversion.
  • a maximum value of the high frequency current is decided by the current phase angle ⁇ .
  • phase current is illustrated in FIG. 7.
  • Phase angle ⁇ 59> Thi s i s a case where both the d and q-axi s currents are not 0 and corresponds to a load-induced induct ion motor .
  • the d-axis injection when the phase angle is 0 degree and the q-axis injection when the phase angle is 90 degrees as described above can minimize the zero-current-clamping effect.
  • the d-axis current is generally controlled to be 0 for efficiency, but in the present invention, the d ⁇ axis current is controlled to have a specific value when there is no load, so that the phase angle becomes 0 degree.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de commande sans détection avec commutation sur axe d'injection de signal haute fréquence pulsatoire, destinés à réduire l'effet de calage sur courant nul d'un moteur et permettant d'atténuer une erreur d'estimation d'angle de position ou d'améliorer l'efficacité d'accélération/décélération par réduction de l'effet de calage sur courant nul dans un procédé d'injection d'un signal haute fréquence pulsatoire en vue d'une estimation de position et de vitesse. Le dispositif de commande sans détection comprend un circuit de commutation destiné à sélectionner une tension parmi les tensions de signaux pulsatoires sur l'axe d et l'axe q en tant que commande de tension de signal pulsatoire, et à produire en sortie une tension de sélection en réponse à une commande de courant sur l'axe q produite en sortie à partir du dispositif de commande de vitesse. Il comprend en outre un circuit de commutation permettant de sélectionner et de produire en sortie une commande de courant sur l'axe d sous forme de constante ou de zéro en réponse à la commande de courant sur l'axe q produite en sortie à partir du dispositif de commande de vitesse.
PCT/KR2007/005635 2007-11-02 2007-11-09 Réduction des effets de calage sur courant nul dans des entraînements de moteurs à aimants permanents sans détecteurs avec commutation sur axe d'injection de signal haute fréquence pulsatoire Ceased WO2009057841A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020070111756A KR100915303B1 (ko) 2007-11-02 2007-11-02 전동기의 영전류 클램핑 현상 최소화를 위한 맥동 고주파전압 주입축 변환 센서리스 제어 방법 및 장치
KR10-2007-0111756 2007-11-02

Publications (1)

Publication Number Publication Date
WO2009057841A1 true WO2009057841A1 (fr) 2009-05-07

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PCT/KR2007/005635 Ceased WO2009057841A1 (fr) 2007-11-02 2007-11-09 Réduction des effets de calage sur courant nul dans des entraînements de moteurs à aimants permanents sans détecteurs avec commutation sur axe d'injection de signal haute fréquence pulsatoire

Country Status (2)

Country Link
KR (1) KR100915303B1 (fr)
WO (1) WO2009057841A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130049655A1 (en) * 2011-08-25 2013-02-28 Kazumasa Takai Drive signal generating circuit
CN103427746A (zh) * 2013-07-25 2013-12-04 西安交通大学 一种面贴式永磁同步电机全速范围无位置传感器控制方法
CN103501151A (zh) * 2013-10-15 2014-01-08 东南大学 一种永磁直线电机用无位置传感器
CN105245151A (zh) * 2015-11-04 2016-01-13 南京航空航天大学 表贴式永磁同步电机转子位置的检测方法
EP3038248A1 (fr) * 2014-12-22 2016-06-29 LG Electronics Inc. Dispositif d'entraînement de moteur et machine de traitement du linge comprenant celui-ci

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102176579B1 (ko) 2013-06-24 2020-11-09 삼성전자주식회사 영구자석 동기 전동기의 토크를 제어하는 방법 및 제어 장치.
CN110048654B (zh) * 2019-03-21 2021-11-23 上海淞宸动力科技有限公司 永磁同步电动机转子位置估计方法

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JPH0956194A (ja) * 1995-06-08 1997-02-25 Sony Corp 回転位置検出装置及びモータ装置
US7015664B2 (en) * 2002-09-03 2006-03-21 Trw Limited Motor drive control
JP2007110837A (ja) * 2005-10-13 2007-04-26 Denso Corp 磁極位置推定方法及びモータ制御装置

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JP2003018900A (ja) * 2001-06-29 2003-01-17 Nissan Motor Co Ltd モーター制御装置
JP4881635B2 (ja) * 2006-03-15 2012-02-22 株式会社日立製作所 永久磁石モータのベクトル制御装置

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Publication number Priority date Publication date Assignee Title
JPH0956194A (ja) * 1995-06-08 1997-02-25 Sony Corp 回転位置検出装置及びモータ装置
US7015664B2 (en) * 2002-09-03 2006-03-21 Trw Limited Motor drive control
JP2007110837A (ja) * 2005-10-13 2007-04-26 Denso Corp 磁極位置推定方法及びモータ制御装置

Non-Patent Citations (2)

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Title
"Sensorless Speed Control of Nonsalient Permanent-Magnet Synchronous Motor Using Rotor- Position-Tracking PI Controller.", IEEE TRANS. ON INDUSTRIAL ELECTRONICS., vol. 53, no. 2, April 2006 (2006-04-01), pages 399 - 405 *
YOUNG-SU KWON ET AL.: "Minimization of Rotro Position Detection Error Due to Zero-Current- Clamping Effect in Pulsating Carrier-Signal Injection-Based Sensorless Drives", PROCEEDINGS OF APEC'07, 1 March 2007 (2007-03-01), pages 838 - 844 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130049655A1 (en) * 2011-08-25 2013-02-28 Kazumasa Takai Drive signal generating circuit
US9130496B2 (en) * 2011-08-25 2015-09-08 Semiconductor Components Industries, Llc Drive signal generating circuit
CN103427746A (zh) * 2013-07-25 2013-12-04 西安交通大学 一种面贴式永磁同步电机全速范围无位置传感器控制方法
CN103501151A (zh) * 2013-10-15 2014-01-08 东南大学 一种永磁直线电机用无位置传感器
EP3038248A1 (fr) * 2014-12-22 2016-06-29 LG Electronics Inc. Dispositif d'entraînement de moteur et machine de traitement du linge comprenant celui-ci
CN105245151A (zh) * 2015-11-04 2016-01-13 南京航空航天大学 表贴式永磁同步电机转子位置的检测方法

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Publication number Publication date
KR20090045771A (ko) 2009-05-08
KR100915303B1 (ko) 2009-09-03

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