WO2006014150A1 - Start-up method and system for permanent magnet synchronous motor drive - Google Patents
Start-up method and system for permanent magnet synchronous motor drive Download PDFInfo
- Publication number
- WO2006014150A1 WO2006014150A1 PCT/US2004/021170 US2004021170W WO2006014150A1 WO 2006014150 A1 WO2006014150 A1 WO 2006014150A1 US 2004021170 W US2004021170 W US 2004021170W WO 2006014150 A1 WO2006014150 A1 WO 2006014150A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- rotor angle
- model
- terminates
- loop mode
- Prior art date
Links
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
- H02P6/20—Arrangements for starting
-
- 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
- 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
- H02P21/32—Determining the initial rotor position
-
- 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
- H02P21/34—Arrangements for starting
Definitions
- This invention relates to controls for motor drives and more specifically relates to a technique for the estimation of rotor angle in a permanent magnet synchronous motor (PMSM) drive, particularly when starting a PMSM from a standstill.
- PMSM permanent magnet synchronous motor
- Rotor position information is in general required for the stable operation of permanent magnet AC motors having sinusoidal current excitation. Continuous rotor position has been obtained in the past from encoders mounted on the motor shaft or indirectly through estimation algorithms based on voltage and current feedback. The latter is preferred because it results in lower system and operating cost.
- Serial No. 10/294,201 describes a method wherein the rotor angle is estimated via a phase-lock loop (PLL), which locks on the motor's magnetic flux, particularly during the normal running mode.
- PLL phase-lock loop
- the invention provides a novel method of estimating rotor angle information for the control of a permanent magnet AC motor having sinusoidal back EMF.
- the rotor angle is estimated via a phase-lock loop (with phase error compensation) which receives an estimate of the rotor magnetic flux.
- the rotor magnetic flux is obtained from the stator voltage (actual voltage or command voltage), current, resistance and inductance.
- the rotor angle estimation error (stator resistance change due to temperature) is removed by using a novel angle error corrector.
- This corrector is based on reactive power compensation and is insensitive to resistance change. Furthermore, only one inductance parameter is required for the angle corrector's reference model.
- the invention makes use of the above-mentioned PLL in conjunction with a newly developed start-up logic.
- the start-up logic comprises a start ⁇ up sequencer and a mechanical model. These elements can be made very simple since they utilize the same PLL integrators that are used for estimation of rotor angle in Serial No. 10/294,201.
- the estimated flux information is used by the PLL in the closed- loop mode to track rotor angle.
- the simple mechanical model is used by the PLL in the open-loop made to predict rotor angle.
- the start-up sequencing logic is used to provide robust and smooth transition from the open-loop to the closed-loop control mode during motor start-up.
- a rotor angle estimation algorithm for sensorless control of a PM motor may comprise one or more of the following exemplary features.
- a flux estimator with feed-forward inductance compensation A vector PLL locks to the output of the flux estimator.
- a non-ideal flux estimator is used in conjunction with the flux PLL for rotor angle estimation.
- Figure 1 is a block diagram showing a PMSM control system which includes a first embodiment of the invention.
- Figure 2 is a more detailed block diagram showing the rotor angle estimator of Figure 1.
- Figure 3 is a circuit diagram of a rotor magnetic flux estimator associated with the diagram of Figure 2.
- Figure 4 is a more detailed diagram showing the rotor angle corrector of Figure 1.
- Figure 5 is a graph showing a relationship between reactive power error vs. rotor angle error, per unitized to the motor rated power.
- Figure 6 is a block diagram showing a second embodiment of a rotor angle estimator.
- Figure 7 is a block diagram showing a third embodiment of a rotor angle estimator.
- Figure 8 shows the rotor angle estimator of Figure 7 in more detail. DETAILED DESCRIPTION OF THE DRAWINGS
- the present invention is described herein as related to a motor control algorithm that is implemented in firmware.
- the scope of the invention includes implementations in any combination of hardware, firmware and software that would have been foreseeable within the ordinary level of skill in the art.
- FIG. 1 A block diagram of a first embodiment of the control method is shown in Figure 1.
- the d-axis is the orientation which aligns with the magnetic axis of the rotor (the convention used in the literature).
- the inputs Flx_A and Flx_B are rotor magnetic fluxes which are obtained by non-ideal integration of motor back emf which is formed by the stator current, voltage, resistance and inductance as shown in Figure 3.
- Tf represents the time constant of the non-ideal integrator.
- the rotor angle estimator (Fig. 2) utilizes a novel flux phase lock loop system.
- a frequency feedforward circuit F compensates for phase errors due to the non-ideal integration of stator voltages which was used in Fig. 3 to obtain the flux.
- the phase error generated by the non-ideal integration is fully compensated for in the circuit F.
- a rotor angle estimation block according to a second embodiment of the invention is shown in Fig. 6.
- the system is simplified by eliminating the upper one of the Mod-2 ⁇ blocks in the system of Fig. 2.
- FIG. 7 A third embodiment is shown in Fig. 7.
- the system of Fig. 6 is again modified.
- the two inputs of the PI (proportional integral) regulator are tied together and both receive the Pll_Err output from Demod-Flux.
- the two inputs of the PI regulator receive separate respective outputs of the start-up block, whose two inputs both receive PH Err from Demod-Flux.
- Fig. 6 shows the same PLL (Fig. 2) with Block F being moved to the feedback path of the PLL. This is done to provide convenience of interfacing to a start-up module.
- the moving of Block F will not affect the function of the PLL since the primary function of block F is phase shifting of the estimated rotor angle (Rtr_Ang).
- the PI block in Fig. 2 is expanded in Fig. 8 in order to show the P and I path for interfacing to a start-up module.
- Fig. 8 shows the interface between the start-up module and the
- Flx_A and Flx_B (computed from estimated or measured motor voltages) deteriorates, causing an incorrect error correction signal (PUJErr).
- Pll_Err is generated by a simple motor model (the Load Model in Fig. 8) during initial start-up. The load model is only used for a short duration of time during start-up. When motor frequency (We) reaches a certain threshold, the fidelity of Flx_A and Flx_B improves and the Pll_Err calculation is then generated from the Flx_A and Flx_B quantities.
- switches SwI and Sw2 are in their upper position.
- the start-up sequencer is in its parking state and the inputs to the PI regulator are zero.
- the initial motor angle is captured (by means of any common technique such as dc current injection) and initialized.
- Sw2 is closed while SwI is still in its upper position (open-loop mode).
- the integrator input of the PI regulator is fed by a simple load model which consists of two gain multipliers (Kt and Kf).
- Kt path which models the motor acceleration torque
- iq load torque current feedback
- the Kf path which models the friction torque, is fed by frequency (We).
- the acceleration torque is much larger than friction torque during motor starting, so that the use of Kf path can be eliminated in those cases.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04756502A EP1769410A1 (en) | 2004-07-01 | 2004-07-01 | Start-up method and system for permanent magnet synchronous motor drive |
CNA2004800435008A CN101014956A (en) | 2004-07-01 | 2004-07-01 | Start-up method and system for permanent magnet synchronous motor driver |
JP2007519179A JP2008505596A (en) | 2004-07-01 | 2004-07-01 | Method and system for starting permanent magnet synchronous motor drive |
PCT/US2004/021170 WO2006014150A1 (en) | 2004-07-01 | 2004-07-01 | Start-up method and system for permanent magnet synchronous motor drive |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/US2004/021170 WO2006014150A1 (en) | 2004-07-01 | 2004-07-01 | Start-up method and system for permanent magnet synchronous motor drive |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006014150A1 true WO2006014150A1 (en) | 2006-02-09 |
Family
ID=35787379
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2004/021170 WO2006014150A1 (en) | 2004-07-01 | 2004-07-01 | Start-up method and system for permanent magnet synchronous motor drive |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP1769410A1 (en) |
JP (1) | JP2008505596A (en) |
CN (1) | CN101014956A (en) |
WO (1) | WO2006014150A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2435356A (en) * | 2006-02-20 | 2007-08-22 | Hamilton Sundstrand Corp | Improved angular position and velocity estimation for synchronous machines based on determination of extended rotor flux |
EP1843462A1 (en) | 2006-03-23 | 2007-10-10 | JTEKT Corporation | Controller for brushless motor |
EP2592748A3 (en) * | 2011-11-10 | 2014-05-14 | Whirlpool Corporation | Determination of magnetic flux and temperature of permanent magnets in a washing machine motor |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008052933A1 (en) * | 2008-10-23 | 2010-04-29 | Hella Kgaa Hueck & Co. | Method for operating an electric motor |
CN102208891B (en) * | 2010-11-18 | 2013-04-24 | 东南大学 | Method for controlling PMSM (permanent magnet synchronous motor) servo system based on friction and disturbance compensation |
CN101984554B (en) * | 2010-12-01 | 2013-01-02 | 东元总合科技(杭州)有限公司 | Method for starting motor without sensor |
GB2506877A (en) * | 2012-10-10 | 2014-04-16 | Control Tech Ltd | Rotor control of motor at low speed |
JP6003924B2 (en) * | 2014-02-25 | 2016-10-05 | 株式会社安川電機 | Rotating electrical machine control device and rotating electrical machine control method |
CN106385208A (en) | 2016-11-29 | 2017-02-08 | 深圳市道通智能航空技术有限公司 | Permanent magnet synchronous motor (PMSM) starting method and device and unmanned aerial vehicle |
CN111752222B (en) * | 2020-06-20 | 2022-02-08 | 珠海格力电器股份有限公司 | Multi-specification adjustable servo driver and control method thereof |
Citations (6)
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US4777422A (en) * | 1986-11-07 | 1988-10-11 | Eaton Corporation | Induction motor flux estimator/controller |
US5339012A (en) * | 1990-07-13 | 1994-08-16 | Elin Energieanwendung Gmbh | Method and circuit arrangement for sensor-less detection of the rotational angle of a damper-less synchronous machine, preferably excited by a permanent magnet, and supplied by a rectifier |
US5437025A (en) * | 1993-01-26 | 1995-07-25 | International Business Machines Corporation | System and method for run time configuration of objects in an object oriented computing environment |
US6327524B1 (en) * | 2000-04-28 | 2001-12-04 | Ford Global Technologies, Inc. | System for high efficiency motor control |
US6377019B1 (en) * | 2000-02-10 | 2002-04-23 | Ford Global Technologies, Inc. | Peak torque per ampere method for induction motor vector control |
US6396236B1 (en) * | 1998-06-11 | 2002-05-28 | Abb Oy. | Method of minimizing errors in rotor angle estimate in synchronous machine |
Family Cites Families (4)
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---|---|---|---|---|
EP0667993A1 (en) * | 1992-11-06 | 1995-08-23 | Georgia Tech Research Corporation | Method of observer-based control of permanent-magnet synchronous motors |
CN100362737C (en) * | 2001-11-12 | 2008-01-16 | 国际整流器公司 | Rotor angle estimation for permanent magnet synchronous motor drive |
JP4370754B2 (en) * | 2002-04-02 | 2009-11-25 | 株式会社安川電機 | Sensorless control device and control method for AC motor |
US6763622B2 (en) * | 2002-10-10 | 2004-07-20 | General Motors Corporation | Amplitude detection method and apparatus for high frequency impedance tracking sensorless algorithm |
-
2004
- 2004-07-01 CN CNA2004800435008A patent/CN101014956A/en active Pending
- 2004-07-01 JP JP2007519179A patent/JP2008505596A/en active Pending
- 2004-07-01 WO PCT/US2004/021170 patent/WO2006014150A1/en active Application Filing
- 2004-07-01 EP EP04756502A patent/EP1769410A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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US4777422A (en) * | 1986-11-07 | 1988-10-11 | Eaton Corporation | Induction motor flux estimator/controller |
US5339012A (en) * | 1990-07-13 | 1994-08-16 | Elin Energieanwendung Gmbh | Method and circuit arrangement for sensor-less detection of the rotational angle of a damper-less synchronous machine, preferably excited by a permanent magnet, and supplied by a rectifier |
US5437025A (en) * | 1993-01-26 | 1995-07-25 | International Business Machines Corporation | System and method for run time configuration of objects in an object oriented computing environment |
US6396236B1 (en) * | 1998-06-11 | 2002-05-28 | Abb Oy. | Method of minimizing errors in rotor angle estimate in synchronous machine |
US6377019B1 (en) * | 2000-02-10 | 2002-04-23 | Ford Global Technologies, Inc. | Peak torque per ampere method for induction motor vector control |
US6327524B1 (en) * | 2000-04-28 | 2001-12-04 | Ford Global Technologies, Inc. | System for high efficiency motor control |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2435356A (en) * | 2006-02-20 | 2007-08-22 | Hamilton Sundstrand Corp | Improved angular position and velocity estimation for synchronous machines based on determination of extended rotor flux |
FR2897729A1 (en) * | 2006-02-20 | 2007-08-24 | Hamilton Sundstrand Corp | ENHANCED ESTIMATION OF ANGULAR POSITION AND SPEED FOR SYNCHRONOUS MACHINES BASED ON EXTENDED ROTOR FLOW. |
GB2435356B (en) * | 2006-02-20 | 2008-03-12 | Hamilton Sundstrand Corp | Improved angular position and velocity estimation for synchronous machines based on extended rotor flux |
EP1843462A1 (en) | 2006-03-23 | 2007-10-10 | JTEKT Corporation | Controller for brushless motor |
US7567055B2 (en) | 2006-03-23 | 2009-07-28 | Jtekt Corporation | Controller for brushless motor |
EP2592748A3 (en) * | 2011-11-10 | 2014-05-14 | Whirlpool Corporation | Determination of magnetic flux and temperature of permanent magnets in a washing machine motor |
US9000699B2 (en) | 2011-11-10 | 2015-04-07 | Whirlpool Corporation | Determination of magnetic flux and temperature of permanent magnets in washing machine motor |
Also Published As
Publication number | Publication date |
---|---|
CN101014956A (en) | 2007-08-08 |
JP2008505596A (en) | 2008-02-21 |
EP1769410A1 (en) | 2007-04-04 |
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