Patent ID: 9143074
Filing Date: 2015-09-22
Classification: H02P

Abstract:
1. A controlling method of a synchronous motor, the synchronous motor comprising a stator, a rotor, a direct axis and a quadrant axis, the rotor having an actual rotor position and a speed, and the direct axis and the quadrant axis rotating with the rotor, the controlling method of the synchronous motor comprising: providing a position control program of the rotor, comprising steps of establishing a positive adaptive model, a position estimating model, and a reference model; providing a speed control program of the rotor and a current control program of the stator; executing either the position control program or the speed control program to produce a quadrant axis current, wherein executing the position control program comprising steps of: estimating the positive adaptive model to generate an estimated rotor position by the position estimating model; applying an algorithm to get a first error between the actual rotor position and the estimated rotor position; adjusting the positive adaptive model to make the first error gradually converging to zero; generating a smooth rotor position command by the reference model, wherein the smooth rotor position command represents a desired rotor position; calculating a second error between the actual rotor position and the smooth rotor position command by the position estimating model when the first error converging to zero; and adjusting the actual rotor position according to the second error, in order to make the second error gradually converging to zero; executing the current control program; detecting the synchronous motor to obtain a first phase current, a second phase current and a third phase current; processing a first coordinate axis transformation according the adjusted position and the first phase current, the second phase current and the third phase current; calculating a direct axis current according to the quadrant axis current and the result of the first coordinate axis transformation; converting the direct axis current and the quadrant axis current into a direct axis voltage command and a quadrant axis voltage command by processing a second coordinate axis transformation according to the adjusted position; and executing a pulse width modulation for the direct axis voltage command and the quadrant axis voltage command, so as to get a trigger signal for controlling the synchronous motor.