CN106998163A - The method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters - Google Patents

Abstract

The invention discloses a method for adjusting the PI control parameters of the rotor position of a permanent magnet synchronous motor. The adjustment system used in the adjustment method includes a controller, a power drive unit, a permanent magnet synchronous motor, and a rotor position sensor. The controller consists of a comparator, Composed of proportional and integrator. The adjustment method of the present invention is as follows: the rotor position sensor is used to detect the actual rotor position signal, the comparator receives the actual rotor position signal and the given rotor position command signal and outputs an error signal; signal, integral control signal; the power drive unit receives each control signal and outputs the excitation voltage; the permanent magnet synchronous motor receives the excitation voltage to generate the rotor position. The adjustment method of the present invention is scientific and easy to implement, convenient to adjust, saves time and labor, has strong purpose and high accuracy, and can provide accurate basis for the design and debugging of the permanent magnet synchronous motor rotor position control, thereby obtaining good static performance and dynamic performance.

Description

Adjustment Method of PI Control Parameters of Rotor Position of Permanent Magnet Synchronous Motor

technical field

The invention belongs to the field of permanent magnet synchronous motor control, and relates to a permanent magnet synchronous motor rotor position system and a control method. More specifically, the invention relates to a method for adjusting PI control parameters of the permanent magnet synchronous motor rotor position.

Background technique

The rotor position control of permanent magnet synchronous motor must adopt closed-loop control to obtain excellent rotor position control performance. Only by qualitatively understanding the controlled object can we decide what kind of controller to design, and only by quantitatively identifying the parameters of the controlled object can the controller The parameters are adjusted accurately. At present, the known controllers in the prior art, such as the widely used PI (proportional-integral) controller, do not firstly determine the parameters of the controlled object, but directly adjust the controller proportional control parameters and Integral control parameters. Therefore, the adjustment of the controller parameters is relatively blind, the debugging of the rotor position control system of the permanent magnet synchronous motor is time-consuming and laborious, the performance of the rotor position control is difficult to meet the requirements, and some even cannot control the rotor position at all. Therefore, how to adjust the parameters of the PI controller when controlling the rotor position of the permanent magnet synchronous motor is a problem to be solved in the prior art.

Previously, preliminary exploration and research were done in relevant patent applications. The previous patents were: the publication number is CN103427747B, and the patent name is an adjustment method for a parameter adjustment system controlled by DC motor current PI; the publication number is CN103414418B, and the patent name is a DC The control method of the motor current PI control system; the publication number is CN103427758B, and the patent name is a method for adjusting the excitation current PI control parameters of a single-phase induction motor; the publication is CN103427748B, and the patent name is a method for controlling the excitation current PI of a single-phase induction motor; It is CN101499755A, and the patent name is a PID control method for DC motor speed. However, the above-mentioned existing research does not involve the permanent magnet synchronous motor and the closed-loop control of the rotor position. On the other hand, as the temperature of the stator winding increases, the parameters of the motor will change, resulting in deviations in control accuracy. Therefore, It is urgent to invent a method for adjusting the PI control parameters of the permanent magnet synchronous motor rotor position.

Contents of the invention

It is an object of the present invention to solve at least the above-mentioned problems and to provide at least the advantages which will be described later.

Another purpose of the present invention is to solve the problem that the parameters of the PI controller are difficult to adjust according to the parameters of the controlled object when the closed-loop control of the rotor position of the permanent magnet synchronous motor adopts a PI controller, and propose a permanent magnet synchronous motor rotor position PI Adjustment method of control parameters.

In order to achieve these objects and other advantages according to the present invention, a method for adjusting the rotor position PI control parameters of a permanent magnet synchronous motor is provided. The system used in the adjustment method includes: a controller, a power drive unit, a permanent magnet synchronous motor and a rotor A position sensor, wherein the controller is composed of a comparator, a proportioner and an integrator, the first input terminal of the comparator receives the rotor position command signal, and the output terminal of the comparator is respectively connected with the input terminal of the proportioner It is connected with the input terminal of the integrator, the output terminal of the said scaler and the output terminal of the integrator are respectively connected with the input terminal of the power drive unit, and the output terminal of the power drive unit is connected with the permanent magnet The power input terminal of the synchronous motor is connected, and the rotor position sensor is arranged on the rotor of the permanent magnet synchronous motor to collect the actual position signal of the rotor and feed back the actual rotor position signal to the first comparator Two input terminals; the adjustment method of the rotor position PI control parameter comprises the following steps:

Step A, giving a rotor position command signal to the first input end of the comparator to excite the permanent magnet synchronous motor to run, and using a rotor position sensor to detect the rotor position of the permanent magnet synchronous motor to obtain an actual rotor position signal;

Step B, using the second input terminal of the comparator to receive the actual rotor position signal and compare it with the given rotor position command signal, and output an error signal;

Step C, using a proportional device to receive the error signal, adjusting the proportional control parameter Kp of the proportional device according to the error signal, Kp=Ue/π, and outputting a proportional control signal, wherein Ue is the rated voltage of the permanent magnet synchronous motor;

Step D, use the integrator to receive the error signal, adjust the integral control parameter Ki of the integrator according to the error signal, Ki=Kp/Ax, and output the integral control signal, where Ax is the temperature of the stator winding of the permanent magnet synchronous motor at the first Equivalent servo inertia parameters of j temperature intervals, j=1, 2, 3..., x=1, 2...j;

Step E, using a power drive unit to receive the proportional control signal and the integral control signal, and output an excitation voltage of a corresponding magnitude;

Step F, the permanent magnet synchronous motor receives the excitation voltage, controls the operation of the rotor, and regulates the position of the rotor.

Preferably, in the step D, the equivalent servo inertia parameter Ax is identified by a permanent magnet synchronous motor equivalent servo inertia parameter identification system, and the identification system includes:

a first stator voltage control unit for generating a first control signal for the stator voltage;

The input end of the first power drive unit is connected to the output end of the first stator voltage control unit, the first power drive unit receives the first control signal of the stator voltage, and outputs the first drive of the corresponding magnitude Voltage;

a second stator voltage control unit for generating a second control signal for the stator voltage;

The second power drive unit, the input end of which is connected to the output end of the second stator voltage control unit, the second power drive unit receives the second control signal of the stator voltage, and outputs a second drive voltage of corresponding magnitude ;

Permanent magnet synchronous motor, its power input terminal is connected with the output terminal of the first power drive unit through the first switch, and connected with the output terminal of the second power drive unit through the second switch, and the permanent magnet synchronous The stator of the motor receives the first driving voltage or the second driving voltage;

Debug the rotor position sensor, which is used to measure the rotor position information of the permanent magnet synchronous motor;

a temperature measuring device for measuring the temperature of the stator winding of the permanent magnet synchronous motor; and

A recording instrument, the input end of which is respectively connected to the first stator voltage control unit, the debugging rotor position sensor and the output end of the temperature measuring device, and the recording instrument is used to record the change process of the measured data over time;

The identification method of the identification system includes the following steps:

Step 1. Position the rotor of the permanent magnet synchronous motor at the axial position of the A-phase winding of the permanent magnet synchronous motor; the temperature measuring device collects the temperature data of the stator winding in real time, and transmits the temperature data to the recording instrument, and records the temperature data Divided into several temperature ranges from small to large;

Step 2: Turn off the first switch, close the second switch, and use the stator voltage control unit to output the second control signal whose amplitude of the three-phase stator voltage is a normal constant L;

Step 3: After receiving the second control signal, the second power drive unit outputs the second driving voltage whose three-phase voltage amplitude is the normal constant L, and the stator winding of the permanent magnet synchronous motor receives the first Two drive voltages to raise the temperature of the stator windings;

Step 4: When the temperature of the stator winding exceeds the middle value of the jth temperature range, turn off the second switch, close the first switch, and use the first stator voltage control unit to output the stator voltage. The α-axis voltage is 0, and the stator β-axis voltage is a first control signal of a negative constant -|M|, where j is 1, 2, 3...;

Step 5: After receiving the first control signal, the first power drive unit outputs the first drive voltage with the stator α-axis voltage being 0 and the stator β-axis voltage being a negative constant -|M|, and the permanent magnet synchronous motor The stator winding of the stator receives the first driving voltage, drives the rotor to move, and generates rotor position information;

Step 6, using the debugging rotor position sensor to measure the rotor position information of the permanent magnet synchronous motor in real time;

Step 7. The recording instrument respectively records the process of the first control signal and the rotor position information changing with time, and respectively establishes the graphs of the rotor position information, stator β-axis voltage and time relationship in the coordinate system, wherein, Time is the abscissa, rotor position information and stator β-axis voltage are the ordinate;

Step 8, read the steady-state amplitude C of the rotor position information curve in the coordinate system, and draw a straight line parallel to the time axis through the steady-state amplitude C;

Step 9. Divide the amplitude |M| of the stator β-axis voltage by the amplitude C to obtain the electromechanical response parameter K of the permanent magnet synchronous motor;

Step 10. Make a tangent line to the rotor position information curve through the origin and intersect the straight line described in step 8 at the intersection point S. Cross the intersection point S and make a vertical line to intersect the time axis. The coordinates of the intersection point of the vertical line and the time axis The value is T;

Step 11. Multiply the electromechanical response parameter K and the coordinate value T to obtain the equivalent servo inertia parameter Ax of the permanent magnet synchronous motor when the stator winding temperature is in the jth temperature interval, x=1, 2...j ;

Step 12, return to step 2, measure the equivalent servo inertia parameter Ax in the j+1th temperature interval until all the equivalent servo inertia parameters Ax corresponding to each of the temperature intervals are measured.

Preferably, the rated voltage of the power drive unit is greater than the rated voltage of the permanent magnet synchronous motor.

Preferably, the rated current of the power drive unit is greater than the rated current of the permanent magnet synchronous motor.

Preferably, in the step D, the initial value of the integral control signal is 0.

Preferably, in step B, the three-phase stator voltage amplitude L output by the second stator voltage control unit is equal to the rated voltage amplitude of the permanent magnet synchronous motor.

Preferably, in step D, the amplitude |M| of the stator β-axis voltage output by the stator voltage control unit is equal to the rated voltage amplitude of the permanent magnet synchronous motor.

Preferably, according to the temperature range of the stator winding of the permanent magnet synchronous motor, the corresponding equivalent servo inertia parameter Ax is selected at the temperature, and the parameter Ax for controlling the permanent magnet is determined according to the equivalent servo inertia parameter Ax. The control parameters of the controller of the running state of the synchronous motor.

Preferably, the rated voltage of the first power drive unit and the second power drive unit is greater than the rated voltage of the permanent magnet synchronous motor, and the rated current of the first power drive unit and the second power drive unit is greater than the permanent magnet synchronous motor. The rated current of the magnetic synchronous motor.

Preferably, the first switch and the second switch are interlocked, and the first switch and the second switch cannot be closed at the same time.

The present invention at least includes the following beneficial effects:

1. Through the quantitative identification of the parameters of the permanent magnet synchronous motor under different stator winding temperatures, the electromechanical response parameter K and the equivalent servo inertia parameter Ai of the motor rotor position control are obtained, which is the control design of the permanent magnet synchronous motor And debugging saves energy and time, improves the control performance of the permanent magnet synchronous motor at different stator winding temperatures, and makes the permanent magnet synchronous motor obtain good static performance and dynamic performance, and realizes the precise control of the permanent magnet synchronous motor control;

2. The present invention realizes the automatic adjustment of the rotor position, and when adjusting the rotor position, since the parameters of the PI controller are adjusted according to the parameters of the permanent magnet synchronous motor, the method is scientific and easy to implement, convenient to adjust, and saves time and effort , strong purpose, high accuracy, can provide accurate basis for the design and debugging of permanent magnet synchronous motor rotor position control, curb the blindness of PI controller parameter adjustment, and can achieve good rotor position control effect.

Other advantages, objectives and features of the present invention will partly be embodied through the following descriptions, and partly will be understood by those skilled in the art through the study and practice of the present invention.

Description of drawings

Fig. 1 is the structural block diagram of the adjustment system of the PI control parameter of the rotor position of the permanent magnet synchronous motor;

Fig. 2 is a block diagram of a method for adjusting rotor position PI control parameters;

Fig. 3 is a block diagram of an identification system for equivalent servo inertia parameters of permanent magnet synchronous motors.

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.

It should be understood that terms such as "having", "comprising" and "including" as used herein do not entail the presence or addition of one or more other elements or combinations thereof.

The present invention provides a method for adjusting the PI control parameters of the rotor position of a permanent magnet synchronous motor. The sensor 4, wherein the controller 1 is composed of a comparator 111, a proportioner 112, and an integrator 113. The first input terminal of the comparator 111 receives the rotor position command signal, and the output terminal of the comparator 111 is respectively connected to the The input end of the said scaler 112 is connected with the input end of the said integrator 113, the output end of said scaler 112 and the output end of said integrator 113 are respectively connected with the input end of said power drive unit 2, said The output end of the power drive unit 2 is connected to the power input end of the permanent magnet synchronous motor 3, and the rotor position sensor 4 is arranged on the rotor of the permanent magnet synchronous motor 3 for collecting the actual position signal of the rotor , and feed back the actual rotor position signal to the second input end of the comparator 111 .

Wherein, the rated voltage of the power drive unit 120 is greater than the rated voltage of the permanent magnet synchronous motor 130 . The rated current of the power drive unit 120 is greater than the rated current of the permanent magnet synchronous motor 130 .

As shown in Figure 2, the method for adjusting the rotor position PI control parameters includes the following steps:

Step A, giving a rotor position command signal to the first input terminal of the comparator 111, the rotor position command signal is converted by the controller 1, and then input into the power drive unit 2 to generate an excitation voltage of a corresponding magnitude, and input to the voltage input terminal of the permanent magnet synchronous motor to excite the permanent magnet synchronous motor 3 to run, and use the rotor position sensor 4 to detect the rotor position of the permanent magnet synchronous motor 3 to obtain an actual rotor position signal;

Step B, using the second input terminal of the comparator 111 to receive the actual rotor position signal and compare it with the given rotor position command signal, and output an error signal;

Step C, using the proportional device 112 to receive the error signal, adjusting the proportional control parameter Kp of the proportional device 112 according to the error signal, Kp=Ue/π, outputting a proportional control signal, wherein Ue is the rated voltage of the permanent magnet synchronous motor;

Step D, adopt the integrator 113 to receive the error signal, adjust the integral control parameter Ki of the integrator 113 according to the error signal, Ki=Kp/Ax, output the integral control signal, the initial value of the integral control signal is 0, Wherein, Ax is the equivalent servo inertia parameter of the stator winding temperature of the permanent magnet synchronous motor in the jth temperature interval, j=1, 2, 3..., x=1, 2...j;

Step E, the power drive unit 2 receives the proportional control signal and the integral control signal, outputs an excitation voltage of a corresponding magnitude, and adjusts the input voltage of the permanent magnet synchronous motor 3;

Step F, the permanent magnet synchronous motor 3 receives the excitation voltage, controls the operation of the rotor to regulate the rotor position, realizes the closed-loop control of the rotor position of the permanent magnet synchronous motor 3, and improves the control accuracy.

In the above technical solution, the rated voltage of the power drive unit is greater than the rated voltage of the permanent magnet synchronous motor, and the rated current of the power drive unit is greater than the rated current of the permanent magnet synchronous motor.

In order to identify the equivalent servo inertia parameter Ax, the present invention provides a permanent magnet synchronous motor equivalent servo inertia parameter identification system, as shown in Figure 3, including: a first stator voltage control unit 100, a first power drive unit 200 , the first switch 810, the permanent magnet synchronous motor 3, the debugging rotor position sensor 400, the recording instrument 500, the second stator voltage control unit 600, the second power drive unit 700, the second switch 820, and the temperature measuring device 900.

Wherein, the first stator voltage control unit 100 is used to generate the first control signal of the stator winding voltage, the input terminal of the first power drive unit 200 is connected to the output terminal of the first stator voltage control unit 100, and the first The power drive unit 200 receives the first control signal of the stator voltage, and outputs the first drive voltage of corresponding magnitude; the second stator voltage control unit 600 is used to generate the second control signal of the stator winding voltage, and the second power drive unit 700 The input terminal is connected to the output terminal of the second stator voltage control unit 600, and the second power drive unit 700 receives the second control signal of the stator voltage and outputs a second drive voltage of a corresponding magnitude.

The power input end of the permanent magnet synchronous motor 3 is connected to the output end of the first power drive unit 200 through the first switch 810, and connected to the output end of the second power drive unit 700 through the second switch 820. The stator of the permanent magnet synchronous motor 3 receives the first driving voltage or the second driving voltage to excite the stator winding, and drives the rotor to generate rotor position information, wherein the first switch 810 and the second switch 820 are interlocked and set That is, the first switch 810 and the second switch 820 cannot be closed at the same time, so that only one of the first power drive unit 200 and the second power drive unit 700 can excite the stator winding.

The debugging rotor position sensor 400 is used to measure the rotor position information of the permanent magnet synchronous motor 3, and the temperature measuring device 900 is arranged on the casing of the permanent magnet synchronous motor 3 for measuring the stator winding of the permanent magnet synchronous motor 3 temperature; in this embodiment, the temperature measuring device 900 is an infrared temperature sensor, and in other embodiments, a suitable temperature sensor can be selected according to specific conditions, and the light outlet of the infrared temperature sensor faces the stator winding to improve Accuracy of measuring stator winding temperature.

The input end of the recording instrument 500 is respectively connected with the output end of the first stator voltage control unit 100, the debugging rotor position sensor 400 and the temperature measuring device 900, and the recording instrument 500 is used to record the change process of the measured data over time, In this embodiment, the recording instrument 500 receives the rotor position information, the first control signal of the stator winding voltage, the second control signal of the stator winding voltage and the temperature of the stator winding, and records the rotor position information, the stator winding voltage The first control signal of the stator winding voltage, the second control signal of the stator winding voltage, and the graph of the relationship between the temperature of the stator winding and time.

In the above technical solution, the rated voltage of the first power drive unit 200 and the second power drive unit 700 is greater than the rated voltage of the permanent magnet synchronous motor 3; the first power drive unit 200 and the second power drive unit 700 The rated current is greater than the rated current of the permanent magnet synchronous motor 3 .

The method for identifying the equivalent servo inertia parameters of the permanent magnet synchronous motor includes the following steps:

Step 1. Position the rotor of the permanent magnet synchronous motor 3 at the axial position of the phase A winding of the permanent magnet synchronous motor. The temperature measuring device 900 collects the temperature data of the stator winding in real time, and transmits the temperature data to the recording instrument 500. The temperature data is divided into several temperature intervals from small to large. The smaller the divided temperature intervals, the more accurate the equivalent servo inertia parameter Ax corresponding to each temperature interval. The temperature intervals can be divided according to specific conditions. In this embodiment, Divide the stator winding temperature from -30°C to 110°C into a temperature range every 5°C, a total of 22 temperature ranges;

Step 2: Turn off the first switch 810, close the second switch 820, and use the second stator voltage control unit 600 to output the second control signal whose amplitude of the three-phase stator voltage is a normal constant L. In this embodiment, The three-phase stator voltage amplitude L output by the second stator voltage control unit 600 is equal to the rated voltage amplitude of the permanent magnet synchronous motor 3;

Step 3: After receiving the second control signal, the second power drive unit 700 outputs the second drive voltage whose three-phase voltage amplitude is the normal constant L, and the stator winding of the permanent magnet synchronous motor 3 receives the The second driving voltage is used to raise the temperature of the stator winding, and the temperature measuring device 900 measures the temperature of the stator winding in real time, and feeds back the temperature data to the recording instrument 500;

Step 4. As the temperature of the positioning winding increases, when the temperature of the stator winding exceeds the middle value of the jth temperature interval, wherein j is 1, 2, 3...22, for example, the temperature of the stator winding exceeds When the middle value of the eighth temperature range is exceeded, that is, when it exceeds 7.5°C, the second switch 820 is turned off, the first switch 810 is closed, and the first stator voltage control unit 100 is used to output The first control signal that the stator α-axis voltage is 0 and the stator β-axis voltage is a negative constant -|M|;

Step 5: After receiving the first control signal, the first power drive unit 200 outputs the first drive voltage with the stator α-axis voltage being 0 and the stator β-axis voltage being a negative constant -|M|. In this embodiment, The amplitude |M| of the stator β-axis voltage output by the first stator voltage control unit 100 is equal to the rated voltage amplitude of the permanent magnet synchronous motor 3, and the stator winding of the permanent magnet synchronous motor 3 receives The first driving voltage generates rotor position information;

Step 6, use the debugging rotor position sensor 400 to measure the rotor position information of the permanent magnet synchronous motor 3 in real time, and transmit it to the recording instrument 500;

Step 7: The recording instrument 500 respectively records the process of the first control signal and the rotor position information changing with time, and establishes the graphs of the relationship between the rotor position information, the stator β-axis voltage and time in the coordinate system, wherein , time is the abscissa, rotor position information and stator β-axis voltage are the ordinates;

Step 8, read the steady-state amplitude C of the rotor position information curve in the coordinate system, and draw a straight line parallel to the time axis through the steady-state amplitude C;

Step 9: Divide the amplitude |M| of the stator β-axis voltage by the amplitude C to obtain the electromechanical response parameter K of the permanent magnet synchronous motor 3;

Step 10. Make a tangent line to the rotor position information curve through the origin and intersect the straight line described in step 8 at the intersection point S. Cross the intersection point S and make a vertical line to intersect the time axis. The coordinates of the intersection point of the vertical line and the time axis The value is T;

Step 11: Multiply the stator impedance parameter K and the coordinate value T to obtain the equivalent servo inertia parameter Ax of the permanent magnet synchronous motor 3 when the stator winding temperature is in the jth temperature interval, x=1, 2...j, In this embodiment, the equivalent servo inertia parameter Ax of the eighth temperature interval is measured, and x=8;

Step 12, return to step 2, continue to raise the temperature of the stator winding until the temperature of the stator winding exceeds the middle value of the j+1th temperature interval, and carry out the calculation of the equivalent servo inertia parameter Ax in the j+1th temperature interval Measurement, that is, measuring the equivalent servo inertia parameter Ax in the ninth temperature interval, x=9, until all the equivalent servo inertia parameters Ax corresponding to each of the temperature intervals are measured, and the equivalent servo inertia parameter Ax corresponding to each temperature interval is obtained. Effective servo inertia parameter Ax.

Subsequently, according to the corresponding equivalent servo inertia parameter Ax at each temperature, steps A-F are used to determine the control parameters of the controller 1 for controlling the operating state of the permanent magnet synchronous motor, that is, to determine the ratio of the controller 1 The control signal and the integral control signal, according to the commonly used temperature range of the stator winding of the permanent magnet synchronous motor 3, correspondingly set several controllers 1 for controlling the rotor position, one controller 1 corresponds to each temperature range, and the temperature The proportional control signal and integral control signal of the controller 1 corresponding to the interval are set according to the equivalent servo inertia parameter Ax corresponding to the temperature interval. When the permanent magnet synchronous motor is in operation, the temperature measuring device 900 measures the temperature of the stator winding in real time. According to the temperature interval where the stator winding is located, select and switch the corresponding controller 1, use the power drive unit 2 to receive the proportional control signal and integral control signal corresponding to the temperature interval, output the corresponding excitation voltage, and adjust the permanent magnet synchronization The input voltage of the motor 3, the permanent magnet synchronous motor 3 receives the excitation voltage, controls the operation of the rotor to regulate the rotor position, realizes the closed-loop control of the rotor position of the permanent magnet synchronous motor 3, and improves the control accuracy.

The working process of the adjustment system used in the adjustment method of the permanent magnet synchronous motor rotor position PI control parameter of the present invention is: the comparator 111 compares the input rotor position command signal with the rotor position feedback signal sent from the rotor position sensor 4, A rotor position error signal is generated; the scaler 112 multiplies the rotor position error signal by a proportional control parameter; the integrator 113 integrates the rotor position error signal and multiplies the integral control parameter; the power drive unit 2 outputs the control signal according to the controller 1, Provide appropriate energy to the permanent magnet synchronous motor 3 in time, so that the permanent magnet synchronous motor 3 reaches the required rotor position according to the rotor position command signal; the permanent magnet synchronous motor 3 controls the object to be controlled and outputs the rotor position output signal and the rotor position sensor 4; the rotor position sensor 4 detects the rotor position of the permanent magnet synchronous motor 3 and sends it to the comparator 111 as a rotor position feedback signal.

The present invention quantitatively identifies the parameters of the permanent magnet synchronous motor under different stator winding temperatures, and obtains the electromechanical response parameter K and the equivalent servo inertia parameter Ai when controlling the rotor position of the motor, which is the control design of the permanent magnet synchronous motor And debugging saves energy and time, improves the control performance of the permanent magnet synchronous motor at different stator winding temperatures, and makes the permanent magnet synchronous motor obtain good static performance and dynamic performance, and realizes the precise control of the permanent magnet synchronous motor control.

At the same time, the present invention realizes the automatic adjustment of the rotor position, and when the rotor position is regulated, since the parameters of the PI controller are adjusted according to the parameters of the permanent magnet synchronous motor, the method is scientific and easy to implement, convenient to adjust, and saves time and effort , strong purpose, high accuracy, can provide accurate basis for the design and debugging of permanent magnet synchronous motor rotor position control, curb the blindness of PI controller parameter adjustment, and can achieve good rotor position control effect.

The invention realizes the rotor position control of the motor according to the motor parameters at different temperatures, and improves the control performance.

Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.

Claims (10)

1. a kind of method of adjustment of permanent-magnet synchronous motor rotor position PI control parameters, the system that the method for adjustment is used includes： Controller (1), power drive unit (2), permagnetic synchronous motor (3) and rotor-position sensor (4), wherein the controller (1) it is made up of comparator (111), proportioner (112), integrator (113), the first input end of the comparator (111) is received Rotor-position command signal, the input and the product of the output end of the comparator (111) respectively with the proportioner (112) The input connection of point device (113), the output end of the proportioner (112) and the output end of the integrator (113) respectively with The input connection of the power drive unit (2), output end and the permagnetic synchronous motor of the power drive unit (2) (3) power input connection, the rotor-position sensor (4) is arranged on the rotor of the permagnetic synchronous motor (3), used In the actual position signal of the collection rotor, and actual rotor position signalling is fed back to the second of the comparator (111) Input；Characterized in that, the method for adjustment of rotor-position PI control parameters comprises the following steps：

Step A, the given rotor-position command signal of first input end to the comparator (111), encourage permanent magnet synchronous electric Machine (3) is operated, and the rotor-position of permagnetic synchronous motor (3) is detected using rotor-position sensor (4), actual rotor position is obtained Signal；

Step B, received using the second input of comparator (111) the actual rotor position signalling and with it is given described in turn Sub- position command signal is compared, output error signal；

Step C, adoption rate device (112) receive the error signal, and the ratio of proportioner (112) is adjusted according to the error signal Control parameter Kp, Kp=Ue/ π, export ratio control signal, wherein, Ue is the rated voltage of permagnetic synchronous motor；

Step D, the error signal received using integrator (113), the integration of integrator (113) is adjusted according to the error signal Control parameter Ki, Ki=Kp/Ax, export integral control signal, wherein, Ax is in for the stator winding temperature of permagnetic synchronous motor The equivalent servo inertia parameter of j-th of temperature range, j=1,2,3 ..., x=1,2 ... j；

Step E, the ratio control signal, integral control signal received using power drive unit (2), exported correspondingly sized Driving voltage；

Step F, permagnetic synchronous motor (3) receive the driving voltage, the operation of rotor are controlled, to be adjusted to rotor-position Control.

2. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 1, it is characterised in that institute State in step D, the equivalent servo inertia parameter Ax is known by the equivalent servo inertia parameter identifying system of permagnetic synchronous motor Not, the identifying system includes：

First stator voltage control unit, it is used for the first control signal for generating stator voltage；

First power drive unit, its input is connected with the output end of the first stator voltage control unit, and described first Power drive unit receives the first control signal of the stator voltage, and exports the first correspondingly sized driving voltage；

Second stator voltage control unit, it is used for the second control signal for generating stator voltage；

Second power drive unit, its input is connected with the output end of the second stator voltage control unit, and described second Power drive unit receives the second control signal of the stator voltage, and exports the second correspondingly sized driving voltage；

Permagnetic synchronous motor, its power input is connected by the output end of the first switching switch and first power drive unit Connect, be connected by the second switching switch with the output end of second power drive unit, the stator of the permagnetic synchronous motor Receive first driving voltage or the second driving voltage；

Rotor-position sensor is debugged, it is used for the rotor position information for measuring permagnetic synchronous motor；

Temperature measuring equipment, it is used for the temperature for measuring the permanent-magnetic synchronous motor stator winding；And

Register instrument, its input respectively with the first stator voltage control unit, debugging rotor-position sensor and survey The output end connection of warm device, the register instrument is used to recording measured data and changed with time process；

The recognition methods of the identifying system comprises the following steps：

Step 1: permanent-magnetic synchronous motor rotor is positioned at into permagnetic synchronous motor A phase winding axial locations；Temperature measuring equipment is adopted in real time Collect the temperature data of the stator winding, and the temperature data be sent in register instrument, by the temperature data from it is small to Several temperature ranges are divided into greatly；

Step 2: disconnecting the first switching switch, the switching switch of closure second exports threephase stator using stator voltage control unit Voltage magnitude is respectively the second control signal of a normal number L；

Step 3: it is respectively described that second power drive unit, which receives output three-phase voltage amplitude after second control signal, Normal number L the second driving voltage, the stator winding of the permagnetic synchronous motor receives second driving voltage, will be described fixed Sub- winding heating；

Step 4: when the stator winding temperature more than temperature range described in j-th median when, disconnect and described second cutting Switch is changed, the first switching switch is closed, uses the first stator voltage control unit output stator α shaft voltages for 0, stator β Shaft voltage be a negative constant-| M | the first control signal, wherein, j be 1,2,3 ...；

Step 5: it is 0, stator β that first power drive unit, which receives output stator α shaft voltages after first control signal, Shaft voltage be a negative constant-| M | the first driving voltage, the stator winding of the permagnetic synchronous motor receives first driving Voltage, driving rotor action, produces rotor position information；

Step 6: measuring the rotor position information of permagnetic synchronous motor in real time using debugging rotor-position sensor；

Step 7: register instrument records the mistake that first control signal and the rotor position information are changed over time respectively Journey, and the curve map of the rotor position information, stator β shaft voltages and time relationship is set up respectively in coordinate system, wherein, the time For abscissa, rotor position information and stator β shaft voltages are ordinate；

Step 8: read the stable state amplitude C of rotor position information curve in a coordinate system, cross stable state amplitude C make parallel to when The straight line of countershaft；

Step 9: by the amplitude of stator β shaft voltages | M | divided by amplitude C, obtain the electomechanical response parameter of the permagnetic synchronous motor K；

Step 10: crossing origin makees tangent line to rotor position information curve and with the straight line intersection described in the step 8 in intersection point S, excessively point of intersection S make downwards vertical line and intersected with time shaft, and the coordinate value of the intersection point of vertical line and time shaft is T；

Step 11: the electomechanical response parameter K and the coordinate value T-phase are multiplied, permagnetic synchronous motor is obtained in stator winding Temperature is in equivalent servo inertia parameter Ax, x=1,2 ... the j of j-th of temperature range；

Step 12: returning to step 2, equivalent servo inertia parameter Ax measurement is carried out in+1 temperature range of jth, directly To by the corresponding equivalent servo inertia parameter Ax of each described temperature range, all measurement is finished.

3. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 2, it is characterised in that institute The rated voltage for stating power drive unit is more than the rated voltage of the permagnetic synchronous motor.

4. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 3, it is characterised in that institute The rated current for stating power drive unit is more than the rated current of the permagnetic synchronous motor.

5. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 4, it is characterised in that institute State in step D, the initial value of described integral control signal is 0.

6. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 5, it is characterised in that step The threephase stator voltage magnitude L of second stator voltage control unit output described in rapid B is specified with the permagnetic synchronous motor Voltage magnitude is equal.

7. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 6, it is characterised in that step The amplitude of the stator β shaft voltages of stator voltage control unit output described in rapid D | M | the specified electricity with the permagnetic synchronous motor Pressure amplitude value is equal.

8. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 7, it is characterised in that root According to the temperature range residing for the stator winding of permagnetic synchronous motor, the corresponding equivalent servo inertia is joined at such a temperature for selection Number Ax, the control for controlling the permagnetic synchronous motor running status is determined according to the equivalent servo inertia parameter Ax The control parameter of device (1).

9. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters as claimed in claim 2, it is characterised in that institute Rated voltage of the rated voltage more than the permagnetic synchronous motor of the first power drive unit and the second power drive unit is stated, The rated current of first power drive unit and the second power drive unit is more than the specified electricity of the permagnetic synchronous motor Stream.

10. the method for adjustment of permanent-magnet synchronous motor rotor position PI control parameters according to claim 2, its feature exists In the first switching switch and the second switching switch interlock are set, and the first switching switch and the second switching switch are same One moment can not be closed at.