POSITION SENSORLESS DRIVE SYSTEM AND METHOD FOR PERMANENT MAGNET MOTORS
A position sensorless drive systems for a permanent magnet motors are disclosed. An embodiment includes a square wave voltage source connectable to an input of a permanent magnet motor. At least one current sensor is connectable to the motor, wherein the current sensor is configured to sense the current in at least one power line to the motor in response to the square wave input to the motor. The position of the rotor relative to the stator may be determined based on the current resulting from the square wave voltage.
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This patent application claims priority to United States provisional patent application 61/819,267 filed on May 3, 2013 for INITIAL POSITION AND VELOCITY ESTIMATION ALGORITHM FOR SALIENT PERMANENT MAGNET MOTORS which is incorporated for all that is disclosed therein.
BACKGROUNDA permanent magnet motor represents a type of motor where a fixed stator causes rotation of a movable rotor. The rotor typically includes multiple magnets embedded in or connected to the rotor, and the stator typically includes multiple conductive windings. Electrical signals in the windings generate a rotating magnetic field that interacts with the magnets of the rotor, causing the rotor to rotate. Because the stator has multiple windings, the input to the stator, which is the input to the motor, is inductive.
“Sensorless” motor control refers to an approach where one or more characteristics of a motor, such as motor speed or rotor position, are mathematically derived. Sensorless motor control typically avoids the use of separate speed and position sensors that are mechanically attached to a motor, which might detrimentally affect the performance of the motor.
SUMMARYPosition sensorless drive systems for permanent magnet motors are disclosed. An embodiment includes a square wave voltage source that is connectable to an input of a permanent magnet motor. At least one current sensor is connectable to the motor, wherein the current sensor measures the current in response to the square wave input to the motor. The position of the rotor relative to the stator is determined based on the current resulting from the square wave voltage.
Sensorless drive systems and methods of driving salient motors or permanent magnet motors that overcome the above-described problems are described herein. The systems and methods that are used vary slightly depending on the speed of the motor. When the motor is stationary, or more specifically, when the rotor is stationary relative to the stator, the position of the rotor is determined by injecting a square wave voltage into the motor and measuring the location and direction of magnetic flux. When the motor is operating at low speed, the rotor position is determined by injecting or superimposing a square wave onto a driving voltage of the motor and measuring reflected current. When the motor is operating at high speed, conventional systems and methods may be used to determine the position of the rotor. The systems and methods for determining the position of a stationary rotor will be described followed by descriptions of systems and methods for determining the position of a slow moving rotor.
A cross-sectional view of an embodiment of a permanent magnet motor 100 is shown in
The maximum torque of the motor 100 is generated when the position of the input current waveform is perpendicular to the position of the flux waveform in the rotor 104. For permanent magnet motors, such as the motor 100, the flux position is equal to the rotor position. As a result, the maximum torque is achieved in the motor 100 if the instantaneous position of the rotor 104 is known so that the input current can be positioned accordingly. By using the devices and methods disclosed herein, the position of the rotor 104 is quickly determined, which enables a motor controller to maximize the torque output of the motor 100.
An embodiment of a sensorless drive system 200 for salient motors or permanent magnet (PM) motors that overcomes the above-described problems is shown in
The description commences with determining the position of the rotor 104 when it is stationary. The rotor 104 will be measured to be at an angle relative to the stator 102, however, the polarity of the motor 100 or rotor 104 must also be known. Additional reference is made to
In order to determine magnet polarity in the motor 100, the square wave voltage VINJ is injected in the d-axis, which is also referred to as the direct axis. The motor 100 has two axes, the d-axis and the q-axis. Current commands are generated for each axis to operate the motor 100. The d-axis is used to control the magnetizing flux of the motor 100 and the q-axis is used to control the torque of the motor 100.
The injected square wave voltage VINJ either augments or detracts the flux in the motor 100, which increases or decreases the reflected wave from the motor 100 that is caused by the inductance of the coils 110. Accordingly, the reflected wave that results from the injected square wave voltage VINJ contains the magnetic polarity information. By analyzing the reflected alternating waveform over a time average, the polarity is determined, which is indicative of the position of the rotor 104. The magnetic polarity is identified, as described in greater detail below, based on the flux saturation reflected current resulting from the square wave voltage injection VINJ. By using a time average method, the initial position estimation of the rotor 104 is insensitive to the current measurement offset and signal-to-noise ratio. In some embodiments, low square wave injection voltage magnitude is used, which results in reduced injection induced losses. In some embodiments, the methods described herein can accurately estimate the initial position of the motor 100 with a 1.088 (Lq/Ld) saliency ratio by utilizing 26% DC bus voltage for injection. The saliency ratio is defined as the inductance in the q-axis divided by the inductance in the d-axis. It is this difference in inductance that is used to determine the polarity.
In the embodiments of the controller 200 described herein, the power source 204 uses pulse width modulation (PWM) to drive the motor 100.
In order to determine the position of the rotor 104, the injected voltage VINJ is injected in the direction of an estimated d-axis. Depending on the position of the rotor 104, the injected voltage VINJ will either augment or detract the magnetic flux λ of the motor 100 as described in greater detail below. As described above,
The polarity is identified based on the different saturation conditions between the north and south poles of the rotor 104 relative to the stator 102.
As shown by the graphs in
The opposite occurs when the injected current IINJ is injected in the direction of the south pole as shown by the motor configuration of
At this point, the polarity of the rotor 104 relative to the stator 102 is known. The following description focuses on the rotational position of the rotor 104 relative to the stator 102. Additional reference is made to
The controller 700 receives a command speed signal ωe* that is input to an adder 704. The adder 704 also receives an estimated speed signal {circumflex over (ω)}e that represents feedback identifying an estimate of the actual speed of the rotor 104 relative to the stator 102, which is referred to as the speed of the motor 100. The adder 704 outputs a difference between these signals, which identifies the error between the commanded speed signal ωe* and the estimated speed signal {circumflex over (ω)}e. The adder 704 includes any suitable circuit for combining signals.
A speed controller 706 receives the output of the adder 704 and uses the error identified by the adder 704 to generate the current command iqe* to control the torque of motor 100. The current command is proportional to the output of the adder 704 and a speed setting set by the speed controller 706. The speed controller 706 includes any suitable circuit or device for converting a speed error into a current command. Another adder 708 combines the current command iqe* with a feedback signal iq
A current regulator 710 receives the output of the adder 708 and uses the output of the adder 708 to generate the voltage command vqe* for the motor 100. The current regulator 710 includes any suitable circuit for converting a current into a voltage command. An adder 712 combines a current command ide* with a feedback signal id
As shown in
A dq/abc device 720 receives the mixed voltage command v and the voltage command vqe* that collectively define the voltage vector for the motor 100. The dq/abc device 720 converts the voltage vector into three-phase voltage signals Va, Vb, and Vc for field oriented control of the motor 100. In some embodiments, the dq/abc device 720 uses direct-quadrature transformations to generate the three-phase voltage signals. In field oriented control, the dq/abc device 720 holds the current vector perpendicular to the rotor flux vector in order to maximize torque. In order to achieve the field oriented control, the rotor position must be known to control the direction of the current vector. The three-phase voltage signals define the voltages to be applied to the coils 110 of the stator 102 in the motor 100. Although not shown, the three-phase voltage signals Va, Vb, and Vc can be converted into PWM signals for driving the motor 100. The dq/abc device 720 includes any suitable circuit or device, including a microprocessor or microprocessor-controlled device, for converting a voltage vector into three-phase voltage signals.
Two current sensors 724 and 726 measure the currents in two of the three-phase current signals. In the embodiment of
An abc/dq device 728 receives the current measurements from the sensors 724 and 726 and converts the measurements into the dq domain. In some embodiments, the abc/dq device 728 performs direct-quadrature transforms. In doing the transforms, the abc/dq device 728 generates signals iqeand ide, which represent the measurements of the actual currents in the d and q axes. The abc/dq device 728 includes any suitable circuit or device, including a microprocessor or microprocessor-controlled device, for converting current measurements associated with three-phase voltage signals into currents associated with the dq axes.
The signals iqe and ide are input to a band-pass filter 730. The band-pass filter 730 outputs the low-pass filtered current signals id
The band-pass filter 730 also outputs high-pass filtered current signals iq
The iq
The operation of the controller 700 with respect to determining the position and speed of the rotor 104 at low speed operation will now be described. An embodiment of the injected voltage VINJ as shown in
where LS is the saliency-reflected inductance that contains the position information, IRIPPLE is the resulting current ripple, and T is the sampling period of a microprocessor as shown by the arrows in
ΔIRIPPLE=±ΔTLS−1(θ)VSQ Equation (2)
The following algorithms describe the extraction of position and speed from the voltage induced current ripple IRIPPLE. As shown in
where e* is the estimated dq frame, e is the real dq frame, and θERR is the corresponding position error of the rotor 104.
where ΣL and ΔL are the average inductance and differential inductance of the rotor 104. An embodiment of ΣL and ΔL in Lde* is shown by the graph of
By further substitution, IRIPPLE is related to the error θERR as shown by equation (7) as follows:
when θERR≈0, sin(2 θERR) and where
By superimposing the square wave voltage VINJ on the estimated d-axis voltage Vde* as shown in
The position observer 216 of
The position information is input to the dq/abc device 720,
The controller 700 of
In some embodiments, a single current sensor is used to determine the current. Reference is made to
The methods described above can be summarized by the flow chart 300 of
As described above, a square wave is injected into the motor 100,
While illustrative and presently preferred embodiments of integrated circuits have been described in detail herein, it is to be understood that the inventive concepts may be otherwise variously embodied and employed and that the appended claims are intended to be construed to include such variations except insofar as limited by the prior art.
Claims
1. A position sensorless drive system for a permanent magnet motor, the motor comprising a rotor and a stator, the drive system comprising:
- a square wave voltage source connectable to an input of a permanent magnet motor;
- at least one current sensor connectable to the motor, wherein the current sensor is configured to sense the current in at least one power line to the motor in response to the square wave input to the motor;
- wherein the position of the rotor relative to the stator may be determined based on the current resulting from the square wave voltage.
2. The drive system of claim 1, wherein the system is adapted to determine the position of the rotor when the rotor is stationary relative to the stator, and further comprising a position observer, wherein the position observer is adapted to determine the position of the rotor relative to the stator based on the current input resulting from the injected square wave.
3. The drive system of claim 1, wherein the position observer is adapted to determine that the rotor is in a first orientation when the current input resulting from the square wave voltage is greater than an average current, and wherein the position observer is adapted to determine that the rotor is in a second orientation when the current input resulting from the square wave voltage is less than the average current.
4. The drive system of claim 1, wherein the position of the rotor relative to the stator may be determined when the rotor is moving relative to the stator by analyzing reflected current ripples resulting from the square wave voltage.
5. The drive system of claim 4, wherein the square wave voltage is adapted to be injected into the d-axis of the motor.
6. The drive system of claim 4, wherein the position of the rotor relative to the stator may be determined by analyzing the current ripples in the q-axis of the motor.
7. A position sensorless drive system for a permanent magnet motor, the motor comprising a rotor and a stator, the drive system comprising:
- a voltage input for the q-axis of the motor;
- a voltage input for the d-axis of the motor;
- a square wave voltage source adapted to generate an injected voltage, to be added to the voltage input for the d-axis of the motor;
- at least one current sensor adapted to measure the current in at least one power line to the motor, the current being generated in response to the injected voltage;
- an extraction device coupled to the at least one current sensor that is adapted to generate an error signal based on current in the d-axis and current in the q-axis; and
- a position observer coupled to the extraction device, wherein the position observer is adapted to determine the position of the rotor based on the error signal.
8. The drive system of claim 7 further comprising a dq/abc device coupled between the first and second inputs and the motor, wherein the dq/abc device is adapted to transform the voltage inputs for the q-axis and the d-axis into a three phase input signal to drive the motor.
9. The drive system of claim 8, wherein the at least one current sensor is adapted to measure the current on at least one of the three phases of the three phase input signal.
10. The drive system of claim 8, wherein the position of the rotor as determined by the position sensor is adapted to be input to the dq/abc device.
11. The drive system of claim 7 further comprising an abc/dq device coupled between the motor and the extraction device, wherein the abc/dq device monitors the current measured by the at least one current sensor and generates currents representative of the current in the d-axis and current in the q-axis.
12. The drive system of claim 11 further comprising a filter coupled between the abc/dq device and the extraction device, wherein the filter is adapted to pass high frequency components of the currents representative of the current in the d-axis and the current in the q-axis to the extraction device.
13. The drive system of claim 13 wherein the filter is adapted to pass low frequency representations of the current in the d-axis and the current in the q-axis, wherein the representation of the current in the d-axis is at least partially adapted to generate the voltage input for the d-axis and wherein the representation of the current in the q-axis is at least partially adapted to generate the voltage input for the q-axis.
14. The drive system of claim 11 wherein the position of the rotor as determined by the position observer is adapted to be input to the abc/dq device.
15. The drive system of claim 7, wherein the currents representative of the current in the d-axis and the current in the q-axis are reflected ripple currents generated in response to the injected voltage.
16. The drive system of claim 15, wherein the currents representative of the current in the d-axis and the current in the q-axis are second harmonics of reflected ripple currents generated in response to the injected voltage.
17. The drive system of claim 7, wherein the error signal is proportional to the amplitude of the injected voltage multiplied by the ratio of the difference in inductance in the q-axis and the d-axis over the difference between the average inductance squared and the difference in inductance in the q-axis and the d-axis squared.
18. The drive system of claim 7, wherein the position observer is adapted to generate a first signal of the error signal multiplied by the proportional constant of the motor and second signal of the error signal multiplied by the integral constant of the motor and integrated, and wherein the first signal and the second signal are added together.
19. A method of determining the position of a rotor in a permanent magnet motor, the method comprising:
- injecting a square wave voltage into the motor;
- monitoring the input current in response to the injected square wave when the rotor is not moving, wherein the average current is greater than the differential current when the rotor has a first orientation and wherein the average current is less than the differential current when the rotor has a second orientation.
20. The method of claim 19 further comprising:
- measuring current reflected from the motor in response to the square wave when the rotor is rotating at a low speed; and
- determining the position of a rotor based on the reflected current.
Type: Application
Filed: Mar 14, 2014
Publication Date: Nov 6, 2014
Applicant: Texas Instruments Incorporated (Dallas, TX)
Inventors: Shih-Chin Yang (Dallas, TX), David P. Magee (Allen, TX)
Application Number: 14/211,208
International Classification: H02P 21/00 (20060101); H02P 6/18 (20060101);