System and method for starting synchronous motors
To avoid control failure resulting from startup of a PMSM that is windmilling, initial speed and position are determined before startup. A controller uses a FOC routine having a speed PI control loop, field-weaken control, a current PI control loop, and a speed observer. When the controller receives an instruction to start the PMSM, it delays startup and executes an “estimation” stage, in which the controller executes the FOC routine but with the speed PI control loop and the field-weaken control disabled. The estimation stage is repeated multiple times, with estimates converging to actual speed and position through successive iterations. When estimated speed and position values have stabilized, the motor is started using the estimates as initial speed and position for driving the PMSM. The FOC routine, with the speed PI control loop and the field-weaken control enabled, is used to drive the PMSM.
1. A motor controller configured to drive a permanent magnet synchronous motor (PMSM), the motor controller including a processor and a non-transitive machine-readable medium, the medium including instructions, the instructions, when loaded and executed by the processor, configure the motor controller to:
receive a command to start the PMSM;
before starting the PMSM, estimate position and speed of the PMSM by using a field-oriented control (FOC) vector control routine;
during the FOC vector control routine, disable a speed proportional-integral (PI) control loop, wherein a current value output from the PI control loop is set to substantially zero to disable the speed PI control loop until an initial value for position and speed is estimated;
start the PMSM using the estimated position and speed as initial speed and position of the rotor; and
use the FOC vector control routine, with the speed PI control loop enabled, to drive the PMSM.
2. The motor controller of claim 1 , wherein the motor controller is further configured to:
during the FOC vector control routine, perform a flux-weaken routine; and
disable the flux-weaken routine to estimate position and speed of the PMSM.
3. The motor controller of claim 1 , wherein the motor controller is further configured to drive the PMSM without received sensor readings for speed and position.
4. The motor controller of claim 1 , wherein the motor controller is further configured to:
during the FOC vector control routine, perform speed observation wherein motor current and voltage are received as inputs and position and speed are determined as outputs;
repeat the FOC vector control routine multiple times when estimating position and speed before starting the PMSM; and
converge estimated position and speed to actual position and speed through successive iterations of the FOC vector control routine.
5. The motor controller of claim 4 , wherein the motor controller is further configured to loop the FOC vector control routine until the estimated position and speed have stabilized such that there is substantially no variability in estimated position and speed between successive loops.
6. The motor controller of claim 1 , wherein the motor controller is further configured to perform, during the FOC vector control routine, a current proportional-integral (PI) control loop configured to output voltages used to drive the PMSM.
7. The motor controller of claim 1 , further comprising a current sensor configured to:
measure a motor current of the PMSM; and
to provide the motor current to the motor controller.
8. The motor controller of claim 7 , wherein the motor controller is further configured to, during the FOC vector control routine, perform speed observation to determine speed and position based upon motor current input.
9. The motor controller of claim 8 , wherein the motor controller is further configured to, during the FOC vector control routine, perform a proportional-integral (PI) control loop configured to output voltages for speed observation.
10. The motor controller of claim 1 , wherein
a delay until an initial value for position and speed is estimated ranges from tens of milliseconds to hundreds of seconds.
11. The motor controller of claim 1 , wherein the motor controller is further configured to:
during the FOC vector control routine, perform a flux-weaken routine;
disable the flux-weaken routine when using the FOC vector control routine when estimating position and speed of the PMSM before startup.
12. The motor controller of claim 11 , wherein the motor controller is further configured to:
during the flux-weaken routine, identify a current value; and
set the current value to substantially zero to disable the flux-weaken routine to estimate position and speed of the PMSM before startup.
13. The motor controller of claim 1 , wherein the motor controller is further configured to drive the PMSM through a motor drive circuit having a multiphase bridge configured to provide the PMSM with a voltage vector.
14. A system, comprising:
a permanent magnet synchronous motor (PMSM) via field-oriented control (FOC), the PMSM including a rotor that is rotatable;
a motor controller including a processor and a non-transitive machine-readable medium, the medium including instructions, the instructions, when loaded and executed by the processor, configure the motor controller to:
receive a command to start the PMSM;
before starting the PMSM, estimate position and speed of the PMSM by using a field-oriented control (FOC) vector control routine in which both a speed proportional-integral (PI) control loop and a flux-weaken routine are disabled, wherein a current value output from the PI control loop is set to substantially zero to disable the speed PI control loop until an initial value for position and speed is estimated;
start the PMSM using the estimated position and speed as initial speed and position of the rotor; and
use the FOC vector control routine, with the speed PI control loop enabled, to drive the PMSM.
15. A method of controlling a permanent magnet synchronous motor (PMSM) with a rotor, comprising:
receiving a command to start the PMSM;
before starting the PMSM, estimating position and speed of the PMSM by using a field-oriented control (FOC) vector control routine in which a speed proportional-integral (PI) control loop is disabled, wherein a current value output from the PI control loop is set to substantially zero to disable the speed PI control loop until an initial value for position and speed is estimated;
starting the PMSM using the estimated position and speed as initial speed and position; and
using the FOC vector control routine, with the speed PI control loop enabled, to drive the PMSM.
16. The method of claim 15 , wherein when position and speed are being estimated, a flux-weaken routine of the FOC vector control routine is disabled.
17. The method of claim 15 , further comprising:
during the FOC vector control routine, performing a speed observation using a motor current as input and to identify position and speed as outputs;
repeating the FOC vector control routine multiple times when estimating position and speed before PMSM startup; and
converging the estimated position and speed values towards actual position and speed through successive iterations of the FOC vector control routine.
18. The method of claim 17 further comprising:
using a current sensor to measure a motor current of the PMSM; and
inputting the motor current into a speed observer and receiving speed and position as outputs.
19. The method of claim 18 , wherein the FOC vector control routine further includes a current proportional-integral (PI) control loop that outputs voltages, the method further comprising providing the voltages output by the current PI control loop to the speed observer.
20. The method of claim 15 , performed without receiving position and speed measurements from sensors.