Permanent magnet synchronous motor rotor position detection method based on MEMS inertial components
A permanent magnet synchronous motor and rotor position detection technology, which is applied in the direction of navigation through speed/acceleration measurement, can solve the problems of high cost, complex algorithm, cost reduction, etc. Effect
Active Publication Date: 2017-08-11
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
At present, the existing technologies are mainly divided into two categories. The first category is to use sensors such as Hall sensors, photoelectric encoders, and resolvers to detect the position of the motor rotor. However, this method is expensive and bulky. See the literature "Lu Wenqi , Hu Yuwen, Du Xuyang, et al. A new sliding mode observer sensorless vector control speed control system for permanent magnet synchronous motors[J]. Chinese Journal of Electrical Engineering, 2010,30(33):78-83."
The second category is sensorless control technology, which has complex algorithms and is difficult to apply in practice. See the literature "Wang Limei, Zheng Jianfen, Guo Qingding. Sensorless control of permanent magnet synchronous motor based on high-frequency signal injection method [J]. Journal of Shenyang University of Technology ,2004,26(6):648-650."
[0003] In summary, the existing literature and patents cannot meet the requirements of reducing cost, reducing volume and simplifying the algorithm in the method of rotor position detection of permanent magnet synchronous motor
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[0023] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:
[0024] A MEMS inertial device integrating a three-axis accelerometer and a three-axis gyroscope (such as figure 1 shown) installed on the rotor shaft of the motor so that the x-axis coincides with the pumping axis of the motor rotor, such as figure 2 shown. At time k, the y-axis acceleration of the MEMS inertial device is aacy(k), the z-axis acceleration is aacz(k), and the measured angular velocity of the MEMS inertial device rotating around the x-axis is gyrox(k), which is the angular velocity of the motor rotation. Set the sampling period of aacy, aacz, and gyrox to T.
[0025] When the motor is in a certain initial position, such as image 3 As shown, the initial position θ of the motor rotor 1 It can be obtained by the following formula:
[0026]
[0027] When the motor is running, within a sampling period T, the motor rotor turns from one position ...
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The invention relates to a permanent magnet synchronous motor rotor position detection method based on MEMS inertial components. According to the invention, the MEMS inertial components of a triaxial accelerometer and a triaxial gyroscope are arranged on a rotating shaft of the permanent magnet synchronous motor rotor, so that the axle center of a x shaft of the and the accelerometer of a MEMS inertia device and the rotating shaft of the rotor are superposed; the y shaft accelerated speed and z shaft accelerated speed of the MEMS inertia device can be measured at the time k, the angular velocity of the MEMS inertia device by winding the x shaft to rotate is measured, anticlockwise is assigned to positive, the rotor position increment delta theta (k), and the position angle theta of the motor during an operation process can be obtained. The position detection method has the advantages of low cost and small volume, at the same time, the rotor position can be obtained by using arc tangent operation and integration operation, so that the calculating amount in the invention is small, and the method is benefit for engineering realization.
Description
technical field [0001] The invention belongs to the field of permanent magnet synchronous motor control, and relates to a method for detecting the rotor position of a permanent magnet synchronous motor based on MEMS inertial devices. Background technique [0002] In recent years, permanent magnet synchronous motors have been widely used in industrial fields such as high-performance speed control systems and servo control systems due to their simple structure and high power density. See the literature: "Lu Wanquan, Lin Heyun, Han Junlin. Permanent magnet synchronous Disturbance observer position sensorless control of electric motor[J]. Chinese Journal of Electrical Engineering, 2016, 36(5): 1387-1394." and "Gu Shanmao, He Fengyou, Tan Guojun, et al. Sensorless control technology of permanent magnet synchronous motor Current situation and development [J]. Journal of Electrotechnical Society, 2009,24(11):14-20.". In the permanent magnet synchronous motor vector control system,...
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IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 付朝阳张晓康常国勇
Owner NORTHWESTERN POLYTECHNICAL UNIV