CN101369797A - Vector control circuit and control method of electric motor - Google Patents
Vector control circuit and control method of electric motor Download PDFInfo
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- CN101369797A CN101369797A CNA2007101401983A CN200710140198A CN101369797A CN 101369797 A CN101369797 A CN 101369797A CN A2007101401983 A CNA2007101401983 A CN A2007101401983A CN 200710140198 A CN200710140198 A CN 200710140198A CN 101369797 A CN101369797 A CN 101369797A
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Abstract
The present invention relates to a vector control circuit and control method for a motor, in particular relates to a method for detecting current controlled by vector frequency conversion of the motor, provides a current detection method that determining each phase current based on the current of a resistance locating between a power module and the CPU, and processing current value during sampling and transferring process nicely. The circuit includes a CPU and a power module, wherein the power module being connected to the CPU, and the power module being connected to a motor, characterized in that a resistance is connected with an earth-sharing end of the power module, and the earth-sharing end of the power module is connected to the CPU. The vector control current and method of the motor has simple structure, also can measure the current value of any time more accurately to control the motor accurately, and cancel closedown and unable drive as well as performance variation can be avoided availably.
Description
Technical field
The present invention relates to a kind of control circuit and control method of motor, specifically, relate to a kind of electric current detecting method that does not have the vector converter control of transducer permanent magnetic brushless.
Background technology
Determining owing to the permanent magnetic brushless rotor-position in the prior art, need accurately detect the electric current of motor three-phase input, except that adopting current sensor, another method commonly used is to increase by three or two resistance holding of power model commonly, by detecting ohmically voltage, calculate the electric current that flows through on the resistance, and then the three-phase input current of definite motor, the structure more complicated of sort circuit, and cost is also than higher; A sampling and transfer process are all arranged in testing process, if the current detecting in this process less than, cancel closedown will occur or can't drive or the situation of degradation.
Summary of the invention
The objective of the invention is to overcome above defective, provide a resistance is set between a kind of power model and the CPU, determine each phase current, and can handle the electric current detecting method of current value in sampling and the transfer process well by the electric current that detects this resistance.
The technical scheme of the vector control circuit of motor of the present invention is such: it comprises CPU, power model, power model is connected with CPU, power model is connected with motor, it is characterized in that: be connected with a resistance holding of power model commonly, holding with CPU of power model is connected commonly.
Power model hold commonly and CPU between current amplifier is set.
CPU comprises PARK conversion, PARK inverse transform block, voltage signal generator, current sample module, current sample processing module, current phase modular converter, they are connected to form the loop in turn, and power model is connected between voltage signal generator and the current sample module.
Between PARK inverse transform block, voltage signal generator, the burst process module is set.
The technical scheme of the vector control method of no transducer permanent magnetic brushless of the present invention is such:
Sampling is divided into two time periods, and when having only one to switch on mutually, being set at is t2 constantly; When two-phase is switched on simultaneously, set this and be t1 constantly; Because sampling and conversion need a minimum treat time, setting the minimum treat time is tmin, and the entire process sampling process comprises the following steps:
1) CPU receives the current value in t1, t2 time period, and CPU through phase transition, determines phase current values Ia, Ib according to t1, the current detection value of t2 in the time period.
2) transform vector and control module obtain potential pulse t1, the t2 that next should be exported constantly according to phase current values Ia, Ib through the vector control processing procedure.
3) the burst process module is to step 2) in the t1, the t2 pulse that obtain handle.
4) processing procedure with the t1 time period is an example: transform vector and control module are judged the size of t1 value, if t1 greater than tmin, does not then process; Otherwise storing this value into designated memory adds up;
When 5) the variable intermediate value that adds up when step 3) is greater than tmin, should be worth as the interpolation pulse and exported; Otherwise, next pulse value constantly of t1 is output as 0.
6) Shu Chu t1 value outputs to the voltage signal maker, and the voltage signal maker is exported the three-phase voltage value according to vector current location and t1, t2 value, through power driver module, and output voltage, drive motors operation.
7) the voltage signal maker outputs to the current sample processing module with voltage, find that the pulse value in the t1 time period is 0 if detect the back, close current sampling module then, then the current value in this moment need be predicted according to front current value constantly, otherwise then the starting current sampling module directly obtains the current value in this time period.
8) t1, the current value of t2 in the time period after the current sample processing module is sampled according to current time perhaps pass through the current forecasting value that obtains behind the forecasting process, determine the current value of t1, t2;
9) current conversion module is determined phase current Ia, Ib according to t1, t2 current value constantly, comes back to the processing that step 1) is carried out next circulation.
Predicting according to front current value constantly of step 6) is divided into (1): t is by t〉tmin is reduced to t=0 gradually and (2): t is increased to t gradually by t=0〉two processes of tmin.
Wherein t is by t〉tmin is reduced to t=0 gradually and comprises the following steps: in the time period
1, detect ohmically electric current, get t the current value I (n) and the I (n-1) in two moment in the adjacent time interval in the tmin time period;
2, calculation procedure 1) record two the poor f (n) of current values constantly, f (n)=(I (n)-I (n-1));
3, the situation of change of supposing the follow-up moment still continue n-1 constantly, n variation constantly carries out linear change, and predicted value Ie (n+1)=I (n)+f (n) is then arranged;
4, same step 3), Ie (n+2)=Ie (n+1)+f (n);
Wherein process t is increased to t gradually by t=0〉tmin adopted in the time period according to the data of previous electric current period of change and carried out forecast method, adopts according to the data in previous cycle and carries out forecast method, comprise the following steps:
1, according to the method for claim 7 and 8 and 9, carry out back forecast, utilize the current sampling data in the follow-up moment that front value is constantly predicted that the value of establishing the last cycle has 6 values to be respectively 1n1,1n2,1n3,1n4,1n5,1n6, and is measurable as follows:
f(1n6)＝I(1n6)-I(1n7)
Ie(1n5)＝I(1n6)+f(1n6)
f(1n4)＝I(1n4)-I(1n6)
Ie(1n3)＝I(1n4)+f(1n4)
Ie(1n2)＝I(1n4)+2*f(1n4)
Ie(1n1)＝I(1n4)+3*f(1n4)
2,, make the current value in this cycle be approximately equal to the current value in last cycle according to the current value predicted value in previous cycle;
Ie(2n5)＝Ie(1n5)
Ie(2n3)＝Ie(1n3)
Ie(2n2)＝Ie(1n2)
Ie(2n1)＝Ie(1n1)
The size of the pulse value of the described insertion of step 4), determine by the pulse value that reality is adjacent, the setting sampling instant is n1, n2 ..., if t (n1)+t (n2)〉and tmin, can insert pulse value tr (n2)=t (n1)+t (n2), tr (n1)=0, by that analogy and tr (n5)=t (n3)+t (n4)+t (n5) tmin, tr (n3)=0, tr (n4)=0.
After the interpolation pulse occurring, the current forecasting value of succeeding impulse then depends on the current value of interpolation pulse and the current value of last effective impulse, f (n2)=((I (n2)-I (n0))/2; Ie (n3)=I (n2)+f (n2); Ie (n4)=I (n2)+2*f (n2); F (n5)=((I (n5)-I (n2)/3; Ie (n6)=I (n5)+f (n5).
The vector control electric current and the method for motor of the present invention, not only circuit structure is simple, and can calculate the current value in any moment of motor more exactly, has simplified hardware circuit effectively, and has realized the accurate control to motor.
Description of drawings
Fig. 1 is the block diagram of motor vector control circuit;
Fig. 2 is a sample circuit schematic diagram of the present invention;
Fig. 3 is a current sample of the present invention schematic diagram constantly;
Fig. 4 is the wave form varies situation schematic diagram of t1 of the present invention, t2;
Fig. 5 is of the present invention near the pulse duration schematic diagram of t=0 in the time period;
Fig. 6 is of the present invention and t value time waveform figure Fig. 5 correspondence;
Fig. 7 is that t of the present invention is increased to t gradually by t=0〉burst process and the electric circuit inspection schematic diagram of tmin in the time period;
Fig. 8 is the schematic diagram that the present invention inserts the interpolation pulse.
Embodiment
As Fig. 1, it comprises CPU the vector control circuit of motor of the present invention shown in 2, power model, power model is connected with CPU, power model is connected with motor M, be connected with a resistance R holding of power model commonly, holding with CPU of power model is connected commonly, power model hold commonly and CPU between current amplifier is set, CPU comprises the PARK conversion, the PARK inverse transform block, the voltage signal generator, the current sample module, the current sample processing module, the current phase modular converter, they are connected to form the loop in turn, power model is connected between voltage signal generator and the current sample module, in the PARK inverse transform block, the burst process module is set between the voltage signal generator.
Current detection circuit of the present invention is analyzed then motor M is controlled by the electric current on the resistance R is sampled, and its sampling process is such, and as shown in figure 23, sampling is divided into two time periods, and when having only one to switch on mutually, being set at is t2 constantly; When two-phase is switched on simultaneously, set this and be t1 constantly; As shown in Figure 4, because sampling and conversion need a minimum treat time, setting the minimum treat time is tmin, and the entire process sampling process comprises the following steps:
1, CPU receives the current value in t1, t2 time period, and CPU through phase transition, determines phase current values Ia, Ib according to t1, the current detection value of t2 in the time period.
2, transform vector and control module obtain potential pulse t1, the t2 that next should be exported constantly according to phase current values Ia, Ib through the vector control processing procedure.
3, the burst process module is to step 2) in the t1, the t2 pulse that obtain handle.
4, the processing procedure with the t1 time period is an example: transform vector and control module are judged the size of t1 value, if t1 greater than tmin, does not then process; Otherwise storing this value into designated memory adds up;
When 5, the variable intermediate value that adds up when step 4) is greater than tmin, should be worth as the interpolation pulse and exported; Otherwise, next pulse value constantly of t1 is output as 0.
6, Shu Chu t1 value outputs to the voltage signal maker, and the voltage signal maker is exported the three-phase voltage value according to vector current location and t1, t2 value, through power driver module, and output voltage, drive motors operation.
7, the voltage signal maker outputs to the current sample processing module with voltage, find that the pulse value in the t1 time period is 0 if detect the back, close current sampling module then, then the current value in this moment need be predicted according to front current value constantly, otherwise then the starting current sampling module directly obtains the current value in this time period.
8, t1, the current value of t2 in the time period after the current sample processing module is sampled according to current time perhaps pass through the current forecasting value that obtains behind the forecasting process, determine the current value of t1, t2.
9, current conversion module is determined phase current Ia, Ib according to t1, t2 current value constantly, comes back to the processing that step 1) is carried out next circulation.
Predicting according to front current value constantly of step 6) is divided into (1): t is by t〉tmin is reduced to t=0 gradually and (2): t is increased to t gradually by t=0〉two processes of tmin, shown in Fig. 5,6, wherein t is by t〉tmin is reduced to t=0 gradually and comprises the following steps: in the time period
1, detect ohmically electric current, get t the current value I (n) and the I (n-1) in two moment in the adjacent time interval in the tmin time period;
2, calculation procedure 1) record two the poor f (n) of current values constantly, f (n)=(I (n)-I (n-1));
3, the situation of change of supposing the follow-up moment still continue n-1 constantly, n variation constantly carries out linear change, and predicted value Ie (n+1)=I (n)+f (n) is then arranged;
4, same step 3), Ie (n+2)=Ie (n+1)+f (n)
Wherein t is increased to t gradually by t=0〉tmin is in the time period, and employing is carried out forecast method according to the data in previous cycle, as shown in Figure 7, comprises the following steps:
1, according to the method for claim 7 and 8 and 9, carry out back forecast, utilize the current sampling data in the follow-up moment that front value is constantly predicted that the value of establishing the last cycle has 6 values to be respectively 1n1,1n2,1n3,1n4,1n5,1n6, and is measurable as follows:
f(1n6)＝I(1n6)-I(1n7)
Ie(1n5)＝I(1n6)+f(1n6)
f(1n4)＝I(1n4)-I(1n6)
Ie(1n3)＝I(1n4)+f(1n4)
Ie(1n2)＝I(1n4)+2*f(1n4)
Ie(1n1)＝I(1n4)+3*f(1n4)
2,, make the current value in this cycle be approximately equal to the current value in last cycle according to the current value predicted value in previous cycle;
Ie(2n5)＝Ie(1n5)
Ie(2n3)＝Ie(1n3)
Ie(2n2)＝Ie(1n2)
Ie(2n1)＝Ie(1n1)
The size of the pulse value of the described insertion of step 4), determine by the pulse value that reality is adjacent, as shown in Figure 8, the setting sampling instant is n1, n2 ... if t (n1)+t (n2)〉tmin, can insert pulse value tr (n2)=t (n1)+t (n2), tr (n1)=0, by that analogy and tr (n5)=t (n3)+t (n4)+t (n5) tmin, tr (n3)=0, tr (n4)=0.
After the interpolation pulse occurring, the current forecasting value of succeeding impulse then depends on the interpolation pulse and current value last effective impulse, f (n2)=((I (n2)-I (n0))/2; Ie (n3)=I (n2)+f (n2); Ie (n4)=I (n2)+2*f (n2); F (n5)=((I (n5)-I (n2)/3; Ie (n6)=I (n5)+f (n5).
Claims (10)
1. the current detection circuit of a motor vector control, it comprises CPU, power model, and power model is connected with CPU, and power model is connected with motor, it is characterized in that: be connected with a resistance holding of power model commonly, holding with CPU of power model is connected commonly.
2. the current detection circuit of motor vector control according to claim 1 is characterized in that: power model hold commonly and CPU between current amplifier is set.
3. the current detection circuit of motor vector control according to claim 1, it is characterized in that: CPU comprises PARK conversion, PARK inverse transform block, voltage signal generator, current sample module, current sample processing module, current phase modular converter, they are connected to form the loop in turn, and power model is connected between voltage signal generator and the current sample module.
4. the current detection circuit of motor vector control according to claim 3 is characterized in that: between PARK inverse transform block, voltage signal generator the burst process module is set.
5. detection method that adopts the described current detection circuit of claim 1 is characterized in that: sampling is divided into two time periods, when having only one to switch on mutually, is set at and is t2 constantly; When two-phase is switched on simultaneously, set this and be t1 constantly; Because sampling and conversion need a minimum treat time, setting the minimum treat time is tmin, and the entire process sampling process comprises the following steps:
1) CPU receives the current value in t1, t2 time period, and CPU through phase transition, determines phase current values Ia, Ib according to t1, the current detection value of t2 in the time period.
2) transform vector and control module obtain potential pulse t1, the t2 that next should be exported constantly according to phase current values Ia, Ib through the vector control processing procedure.
3) the burst process module is to step 2) in the t1, the t2 pulse that obtain handle.
4) processing procedure with the t1 time period is an example: transform vector and control module are judged the size of t1 value, if t1 greater than tmin, does not then process; Otherwise storing this value into designated memory adds up;
When 5) the variable intermediate value that adds up when step 4) is greater than tmin, should be worth as the interpolation pulse and exported; Otherwise, next pulse value constantly of t1 is output as 0.
6) Shu Chu t1 value outputs to the voltage signal maker, and the voltage signal maker is exported the three-phase voltage value according to vector current location and t1, t2 value, through power driver module, and output voltage, drive motors operation.
7) the voltage signal maker outputs to the current sample processing module with voltage, find that the pulse value in the t1 time period is 0 if detect the back, close current sampling module then, then the current value in this moment need be predicted according to front current value constantly, otherwise then the starting current sampling module directly obtains the current value in this time period.
8) t1, the current value of t2 in the time period after the current sample processing module is sampled according to current time perhaps pass through the current forecasting value that obtains behind the forecasting process, determine the current value of t1, t2;
9) current conversion module is determined phase current Ia, Ib according to t1, t2 current value constantly, comes back to the processing that step 1) is carried out next circulation.
6. the detection method of current detection circuit according to claim 5 is characterized in that: predicting according to front current value constantly of step 6) is divided into (1): t is by t〉tmin is reduced to t=0 gradually and (2): t is increased to t gradually by t=0〉two processes of tmin.
7. the detection method of current detection circuit according to claim 6, wherein process comprised the following steps: in (1) time period
1) detect ohmically electric current, get t the current value I (n) and the I (n-1) in two moment in the adjacent time interval in the tmin time period;
2) calculation procedure 1) record two the poor f (n) of current values constantly, f (n)=(I (n)-I (n-1));
3) situation of change of supposing the follow-up moment still continue n-1 constantly, n variation constantly carries out linear change, and predicted value Ie (n+1)=I (n)+f (n) is then arranged;
4) same step 3), Ie (n+2)=Ie (n+1)+f (n)
8. the detection method of current detection circuit according to claim 6, it is characterized in that: process (2) wherein: t is increased to t gradually by t=0〉tmin adopted in the time period according to the data of previous electric current period of change and carried out forecast method, comprised the following steps:
1) according to the method for claim 7 and 8 and 9, carry out back forecast, utilize the current sampling data in the follow-up moment that front value is constantly predicted that the value of establishing the last cycle has 6 values to be respectively 1n1, n2,1n3,1n4,1n5,1n6, and is measurable as follows:
f(1n6)＝I(1n6)-I(1n7)
Ie(1n5)＝I(1n6)+f(1n6)
f(1n4)＝(I(1n4)-I(1n6))/2
Ie(1n3)＝I(1n4)+f(1n4)
Ie(1n2)＝I(1n4)+2*f(1n4)
Ie(1n1)＝I(1n4)+3*f(1n4)
2), make the current value in this cycle be approximately equal to the current value in last cycle according to the current value predicted value in previous cycle;
Ie(2n5)＝Ie(1n5)
Ie(2n3)＝Ie(1n3)
Ie(2n2)＝Ie(1n2)
Ie(2n1)＝Ie(1n1)。
9. the detection method of current detection circuit according to claim 5, it is characterized in that: the size of the pulse value of the described insertion of step 5), determine that by the pulse value that reality is adjacent the setting sampling instant is n1, n2 ... if t (n1)+t (n2)〉tmin, can insert pulse value tr (n2)=t (n1)+t (n2), tr (n1)=0, by that analogy and tr (n5)=t (n3)+t (n4)+t (n5) tmin, tr (n3)=0, tr (n4)=0.
10. the detection method of current detection circuit according to claim 9, it is characterized in that: after the interpolation pulse occurring, the current forecasting value of succeeding impulse then depends on the current value of interpolation pulse and the current value of last effective impulse, f (n2)=((I (n2)-I (n0))/2; Ie (n3)=I (n2)+f (n2); Ie (n4)=I (n2)+2*f (n2); F (n5)=((I (n5)-I (n2)/3; Ie (n6)=I (n5)+f (n5).
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| CNA2007101401983A CN101369797A (en) | 2007-08-13 | 2007-08-13 | Vector control circuit and control method of electric motor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102045012A (en) * | 2010-09-15 | 2011-05-04 | 苏州凌创电子系统有限公司 | Controller for permanent magnet synchronous brushless motor |
| CN102223134A (en) * | 2011-06-10 | 2011-10-19 | 李庆松 | Device and method for online distinguishing parameters of servo system of permanent-magnet synchronous motor |
| CN102564369A (en) * | 2010-10-28 | 2012-07-11 | 大金工业株式会社 | Rotor position detection method, electric motor control method and control device and program |
| CN102792580A (en) * | 2010-03-08 | 2012-11-21 | 江森自控科技公司 | Method and system for controlling a permanent magnet synchronous motor |
| CN104242774A (en) * | 2014-09-17 | 2014-12-24 | 中国第一汽车股份有限公司 | Motor phase current prediction and diagnosis method |
| CN104579082A (en) * | 2013-10-12 | 2015-04-29 | 珠海格力电器股份有限公司 | Single-resistor sampling time compensation method and system |
| CN104793041A (en) * | 2015-03-20 | 2015-07-22 | 四川长虹电器股份有限公司 | Phase-current single-resistance sampling control method for variable-frequency air conditioner |
| CN107656133A (en) * | 2017-09-15 | 2018-02-02 | 许继电源有限公司 | A kind of wireless charging system transmitting terminal resonance current detection method and device |
| CN109061271A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of current of electric method of sampling, motor control method and device |
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2007
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102792580A (en) * | 2010-03-08 | 2012-11-21 | 江森自控科技公司 | Method and system for controlling a permanent magnet synchronous motor |
| CN102792580B (en) * | 2010-03-08 | 2016-01-13 | 江森自控科技公司 | Method and system for controlling a permanent magnet synchronous motor |
| CN102045012A (en) * | 2010-09-15 | 2011-05-04 | 苏州凌创电子系统有限公司 | Controller for permanent magnet synchronous brushless motor |
| CN102564369A (en) * | 2010-10-28 | 2012-07-11 | 大金工业株式会社 | Rotor position detection method, electric motor control method and control device and program |
| CN102564369B (en) * | 2010-10-28 | 2015-01-21 | 大金工业株式会社 | Rotor position detection method, electric motor control method and control device |
| CN102223134A (en) * | 2011-06-10 | 2011-10-19 | 李庆松 | Device and method for online distinguishing parameters of servo system of permanent-magnet synchronous motor |
| CN104579082A (en) * | 2013-10-12 | 2015-04-29 | 珠海格力电器股份有限公司 | Single-resistor sampling time compensation method and system |
| CN104579082B (en) * | 2013-10-12 | 2017-04-12 | 珠海格力电器股份有限公司 | Single-resistor sampling time compensation method and system |
| CN104242774A (en) * | 2014-09-17 | 2014-12-24 | 中国第一汽车股份有限公司 | Motor phase current prediction and diagnosis method |
| CN104242774B (en) * | 2014-09-17 | 2016-11-30 | 中国第一汽车股份有限公司 | A kind of electric machine phase current prediction and diagnostic method |
| CN104793041A (en) * | 2015-03-20 | 2015-07-22 | 四川长虹电器股份有限公司 | Phase-current single-resistance sampling control method for variable-frequency air conditioner |
| CN107656133A (en) * | 2017-09-15 | 2018-02-02 | 许继电源有限公司 | A kind of wireless charging system transmitting terminal resonance current detection method and device |
| CN109061271A (en) * | 2018-08-15 | 2018-12-21 | 江门市蒙德电气股份有限公司 | A kind of current of electric method of sampling, motor control method and device |
| CN109061271B (en) * | 2018-08-15 | 2020-12-01 | 江门市蒙德电气股份有限公司 | Motor current sampling method, motor control method and device |
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