CN105553347B - Method for determining a mechanical rotation angle of a rotor on the basis of an electrical rotation angle - Google Patents
Method for determining a mechanical rotation angle of a rotor on the basis of an electrical rotation angle Download PDFInfo
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- CN105553347B CN105553347B CN201510682582.0A CN201510682582A CN105553347B CN 105553347 B CN105553347 B CN 105553347B CN 201510682582 A CN201510682582 A CN 201510682582A CN 105553347 B CN105553347 B CN 105553347B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000005259 measurement Methods 0.000 claims abstract description 27
- 238000011156 evaluation Methods 0.000 claims description 23
- 230000003595 spectral effect Effects 0.000 claims description 9
- 238000004804 winding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a method for determining a mechanical angle of rotation of a rotor on the basis of an electrical angle of rotation, in particular a method for determining a real-time mechanical angle of rotation of a rotor of an electrical motor having at least one pole pair, wherein the electrical angle of rotation of the electrical rotation of the rotor is detected by means of a sensor device during the rotation of the rotor, wherein a further measurement signal is detected, wherein the further measurement signal has a phase determined with respect to the mechanical rotation of the rotor, wherein an initial angle of rotation of the machine of the rotor is determined by means of the further measurement signal, and wherein the real-time mechanical angle of rotation of the rotor is calculated on the basis of the measured electrical angle of rotation starting from the initial angle of rotation of the machine.
Description
Technical Field
The invention relates to a method for determining a rotation angle, to an evaluation circuit and to an electric motor.
Background
Different types of angle sensing principles are known from the prior art, which in most cases are matched to the main function of the system and optimized. In electric drives, the main function is the electrical commutation of the electric motor. Thus, many drive systems have several angle sensing principles that detect only the angular range of a single electrical rotation. For this purpose, for example, hall sensors are used.
Disclosure of Invention
The object of the present invention is to provide an evaluation circuit and a method in which the mechanical angle of rotation of the rotor can be determined by measuring the electrical angle of rotation.
The method and the evaluation circuit have the advantage that the mechanical angle of rotation of the rotor is calculated from the electrical angle of rotation using simple means. In particular, a variation curve of the mechanical rotation angle of the rotor can be determined. In this case, a specific mechanical angle of rotation of the rotor is determined by means of a further measurement signal having a phase determined with respect to the rotation of the rotor and by means of the electrical angle of rotation.
An extended and synchronized measuring range is thus obtained, wherein other functions can be switched. Other functions may be used to optimize the drive system. For example, the error level can be compensated for in order to reduce torque fluctuations or noise generation. In addition, additional or new functions can be provided, in particular within the scope of the position adjustment.
In one embodiment, the spectral content of the direct current of the inverter unit or a value of the α - β current of the electric motor is used as the further measurement signal. The measurement signal can therefore be determined in a simple manner.
In a further embodiment, at least two pole pairs are provided and a number of electrical revolutions of the rotor is counted, and the real-time mechanical angle of rotation of the rotor is calculated from the number of electrical revolutions and the initial angle of rotation of the machine. The angle of rotation of the machine can thus be determined with simple means.
In a further embodiment, at least two pole pairs are provided, wherein at least two electrical revolutions of the rotor occur during one mechanical revolution of the rotor, wherein a counter is used to count the number of electrical revolutions, wherein the counter is set to a predetermined value, in particular a zero value, after one complete mechanical revolution of the rotor and subsequently the counter restarts the counting of the number of electrical revolutions. The mechanical angle of rotation of the rotor can thus be determined in a simple manner by means of a counter.
In another embodiment, the motor is controlled using the real-time machine rotation angle.
In a further embodiment, a disturbance signal is used as the further measurement signal, which disturbance signal has a fixed phase with respect to the mechanical rotation of the rotor. In particular, a component of the interference signal can be used which has a fixed phase with respect to the mechanical rotation of the rotor.
In a further embodiment, the electric motor is controlled as a function of the real-time rotational angle of the machine by reducing interference signals, in particular components of the interference signals.
Drawings
The invention is explained in detail below with the aid of the figures. In the drawings:
FIG. 1 schematically illustrates an electric motor with control circuitry;
fig. 2 is two superimposed graphs, wherein the upper graph shows the mechanical rotation angle of the rotor and the lower graph shows the electrical rotation angle of the motor;
fig. 3 schematically shows a partial cross section of the calculation unit.
Detailed Description
Fig. 1 shows a schematic diagram of an arrangement with an electric motor 1, a control circuit 2, a commutator circuit 3, a first sensor device 5, a second sensor device 4 and an evaluation circuit 6. The electric motor 1 can be used as a drive motor in an electric vehicle, for example. The electric motor 1 is configured, for example, as a three-phase or three-wire EC motor. In the electric motor 1, only one stator is shown with three winding phases which are electrically offset by 120 ° each. An associated permanent magnet rotor is not shown. In the example shown, the winding phases are connected in a star circuit, but a delta circuit of winding phases is also possible. The winding phases are connected via phase connections to a commutator line 3 in the form of a semiconductor bridge. The commutator circuit 3 is formed by six power semiconductors, which provide control signals from the control circuit 2, specifically as a function of the rotational position, i.e., as a function of the mechanical or electrical rotational angle of the rotor. Furthermore, a torque signal 7 is supplied to the control circuit 2, which takes into account the control circuit 2 for influencing the motor torque.
In order to generate a magnetic stator rotating field, the power semiconductors of the commutator line 3 are controlled via the control line 2 in cyclically alternating combinations, i.e. the winding connections are connected to the positive or negative connection of the dc power supply 8 or are separated from the dc power supply 8 with high impedance. A first sensor device 5 is provided for determining the electrical angle of rotation of the rotor. The first sensor device 5 determines an electrical angle of rotation as shown in the lower diagram of fig. 2. Furthermore, a connection of the dc power supply 8 is connected to the second sensor device via a sensor line 17. The second sensor device 4 detects the dc component I of the commutator line 3 via a second sensor line 17Bat。
In the upper diagram of fig. 2, a mechanical angle of rotation of the rotor from 0 ° to 360 ° is shown.In the lower diagram of fig. 2, the electrical angle of rotation of the electric motor 1 is plotted in time synchronism with the mechanical angle of rotation of the rotor. This example applies to the pole pair number 20. This means that the motor 1 has twenty pole pairs. The number of electrical rotations produced and measured during a single mechanical rotation of the rotor is therefore 20. The first sensor device 5 is now provided for detecting the angle of rotation of the electricity and thus the rotation of the electricity. In the example described, the number of electrical revolutions is thus determined from the mechanical revolutions, i.e. the number of revolutions of the rotor is multiplied by the number of pole pairs. The following relationship can thus be established between the electrical angle of rotation and the angle of rotation of the rotor:
wherein the number of pole pairs of the motor 1 is represented by Z and
representing the mechanical rotation angle of the rotor. In addition, use
Representing the electrical rotation angle. Only the electrical angle of rotation is measured by means of the first sensor device 5. However, the mechanical angle of rotation of the rotor cannot be directly inferred here.
The remedy is to try to obtain an extended angle detection by means of the evaluation circuit 6. In the evaluation circuit 6, a counter is implemented which detects the electrical rotation or the electrical rotation angle of the first sensor device 5 and counts the number of electrical rotations. Thus, an extended angle value can be generated:
For further considerations, it is assumed for easier understanding that the angle value is expanded
There is just a periodicity of the mechanical rotation of the rotor. However, systems are also conceivable in which the angle value is extended
With a periodicity of several times the rotation of the machine of the rotor. If, in another consideration, one starts from a special case in which the zero point of the rotor is not known, the extended angle determined by means of the first sensor device 5 and the evaluation circuit 6 is used
The only difference from the absolute angle of rotation of the rotor is the constant angular offset. The angular offset is achieved in that the connection of the electric motor 1 and thus of the counter in the evaluation line 6 occurs in any engine position. When a counter is switched in, this counter is normally initialized with a value of zero by the evaluation circuit 6. This means that the counter level does not reflect information about the true absolute mechanical angle of rotation of the rotor, but an auxiliary variable in the form of the mechanical angle of rotation relative to the phase of the measurement signal.
If not only the course of the rotational angle of the rotor changes, but also the absolute rotational angle of the rotor is to be of importance, the electrical rotational angle can be converted into the absolute rotational angle of the rotor by means of a suitable synchronization. For this purpose, the evaluation circuit 6 has a circuit which is shown in FIG. 3Schematically illustrated structure. The evaluation circuit has an extended angle measuring device 10. The angle measuring device 10 comprises a revolution counter 14 and a calculation block 15. An electrical angle of rotation is detected by the first sensor device 5
To the angle measuring device 10. The number of zero crossings of the electrical angle of rotation is detected by means of the revolution counter 14 and passed on as the value k to the calculation block 15. The calculation block 15 calculates the extended rotation angle according to the above formula taking into account the value k and the real-time electrical rotation angle
. In parallel to this, a further measurement signal 9 is supplied to the evaluation circuit 6.
The further measuring signal 9 is detected by the second sensor device 4. The further measurement signal 9 has a defined phase with respect to the mechanical rotation of the rotor. By means of the further measurement signal, an initial angle of rotation of the machine can be determined, which has a fixed, constant phase relationship to the mechanical rotation of the rotor. The occurrence of the further measurement signal or the occurrence of at least one component of the further measurement signal thus determines the initial rotation angle of the rotor. The further measurement signal may for example be an interference signal component. The disturbance signal may be a first-stage disturbance signal, i.e. the disturbance signal has a periodicity 1 with respect to each mechanical rotation of the rotor. The disturbance signal component can thus be used in order to set the rotation of the machine with respect to the initial rotation angle and thus with respect to the rotation of the rotor and thus to achieve a real-time rotation angle with respect to the phase of the disturbance signal component. The disturbance signal can also be a second-stage disturbance signal, that is to say a disturbance signal having a periodicity 2 with respect to each rotation of the rotor. The further measurement signal can in principle be detected acoustically, optically, mechanically or electrically.
For example, the electrical signal of the electric motor 1 is used as a measurement signal. The electrical signal may have at least one spectral component, which corresponds to the periodicity of the mechanical rotation of the rotor.For example, the current component of the inverter unit, in particular the current component of the commutator line 3 or the value of the α - β current of the electric motor, for example the phase current in a two-axis leg-fixed coordinate system, may have, for example, spectral components with the periodicity of the mechanical rotation of the rotor, so that the further measurement signal 9 can be used to determine the phase of the rotor relative to the further measurement signal 9 and thus the initial angle of rotation and thus the real-time mechanical angle of rotation with respect to the rotation of the rotor
Is fed to the synchronization block 11. The mechanical rotation of the rotor has for example 360 °. The detected component of the interference signal occurs, for example, with a phase of 90 °. Thus, the extended rotation angle can be used
The mechanical rotation angle is determined relative to the phase of the interference signal by 90 °.
Based on the further measurement signal 9, an angle offset value 16 is calculated in the synchronization block 11. The angle offset value 16 is supplied by the synchronization block 11 to the summing block 12. Furthermore, the angle of rotation of the expanded electricity is detected by the angle detection device 10
Also to the summing block 12. The addition block 12 adds the extended electrical rotation angle
And the angle offset value 16. Thus obtaining a corrected extended angleThe value 13, which is the real-time mechanical angle of rotation of the rotor. In this case, the corrected spread angle value 13 is unambiguously and fixedly linked to the mechanical angle of rotation of the rotor under the above-mentioned assumptions. The real-time mechanical angle of rotation of the rotor can therefore be unambiguously resolved with respect to the phase of the interference signal. The mechanical rotation angle of the rotor can thus be determined with respect to one or more mechanical rotations of the rotor.
Contrary to the described embodiments, systems are also conceivable in which the spread angle value can take the form of a multiple of the periodicity of the mechanical rotation of the rotor. In this case, a complete mechanical rotation of the rotor can no longer be unambiguously solved. This is the case when the further measurement signal 9 has only spectral components which correspond to a periodicity of several times the mechanical rotation of the rotor. Even in these systems, however, it is possible to use an estimate of the angle of rotation or the course of the angle of rotation change to optimize the drive system, for example with respect to torque fluctuations or noise.
In one embodiment, the quality of the drive regulation can also be derived from an analysis of the current component (I Bat) of the converter line 3. It appears that spectral components in the current or in the value of the alpha-beta current are also stages that can be ideally compensated for. If, for example, only the second stage (periodicity of the mechanical half-revolutions of the rotor) is attractive, then only the periodicity of the mechanical half-revolutions of the rotor can be used to unambiguously determine an extended angle value in the above-described manner. However, this is sufficient if the target setting for the optimum electric drive is reached, since only the second stage can be compensated.
The system described can be used on an electric motor having at least one pole pair. Furthermore, the real-time rotation angle can be used by the control circuit to control the electric motor in such a way that the interference signals are reduced. This can be done, for example, by adjusting the motor in such a way that the commutation is controlled, in particular by minimizing interference signals.
Instead of the current signal, a voltage signal of the electric motor can also be used as a further measuring signal. Furthermore, an acoustic signal of the electric motor can also be used as a further measuring signal.
Claims (12)
1. Method for determining a real-time mechanical angle of rotation of a rotor of an electric motor having at least one pole pair, wherein the electrical angle of rotation of the electrical rotation of the rotor is detected during the rotation of the rotor by means of a sensor device, wherein a further measurement signal is detected, wherein the further measurement signal has a phase determined with respect to the mechanical rotation of the rotor, wherein an initial angle of rotation of the machine of the rotor is determined by means of the further measurement signal, and wherein the real-time mechanical angle of rotation of the rotor is determined from the initial angle of rotation of the machine by means of the measured electrical angle of rotation, wherein spectral components of a current of an inverter unit or spectral components of values of an α - β current of the electric motor are used as the further measurement signal.
2. The method of claim 1, wherein the number of electrical rotations of the rotor is counted, and wherein the real-time mechanical rotation angle of the rotor is calculated from the number of electrical rotations and the initial rotation angle of the machine.
3. The method of claim 2, wherein at least two pole pairs are provided, wherein at least two electrical revolutions of the rotor occur during one mechanical revolution of the rotor, wherein the number of electrical revolutions is counted using a counter, wherein the counter is set to a predetermined value after one complete revolution of the rotor, and wherein subsequently the counter restarts the counting of the number of electrical revolutions.
4. The method of claim 1, wherein the motor is controlled using the real-time mechanical rotation angle.
5. The method according to claim 1, wherein the further measurement signal is an interference signal.
6. The method of claim 5, wherein the motor is controlled in a manner that reduces interference signals.
7. An evaluation circuit (6) for determining the angle of rotation of the rotor of an electric motor (1) having at least one pole pair, wherein at least one electrical rotation takes place during a mechanical rotation of the rotor, wherein the evaluation circuit (6) is designed to detect the electrical angle of rotation of the electrical rotation of the rotor by means of a sensor device (5) during a mechanical rotation of the rotor, wherein a synchronization block (11) is provided, which is designed to determine a determined mechanical initial angle of rotation of the rotor by means of a further measurement signal (9) having a phase determined with respect to the mechanical rotation of the rotor, and wherein the evaluation circuit (6) is designed to determine the real-time mechanical angle of rotation of the rotor from the mechanical initial angle of rotation and the measured electrical angle of rotation, wherein the synchronization block is designed to use a spectral component of a current component of an inverter unit or a spectral component of one value of an α - β current of the electric motor as a further component The measured signal of (2).
8. The evaluation circuit according to claim 7, wherein a counter (14) is provided for counting the number of electrical revolutions.
9. The evaluation circuit according to claim 7, wherein the evaluation circuit (6) is connected to a control circuit (2) of the electric motor (1), wherein the real-time mechanical rotation angle is provided to the control circuit (2) by the evaluation circuit (6).
10. The evaluation circuit of claim 7, wherein the further measurement signal is an interference signal.
11. The evaluation circuit according to claim 10, wherein the control circuit (2) is designed to control the electric motor in such a way that interference signals are reduced.
12. Electric motor (1) with an evaluation circuit according to one of claims 7 to 11.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014221406.8A DE102014221406A1 (en) | 2014-10-22 | 2014-10-22 | Method for determining a mechanical angle of rotation of a rotor due to an electrical angle of rotation |
| DE102014221406.8 | 2014-10-22 |
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| Publication Number | Publication Date |
|---|---|
| CN105553347A CN105553347A (en) | 2016-05-04 |
| CN105553347B true CN105553347B (en) | 2020-09-08 |
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| CN201510682582.0A Active CN105553347B (en) | 2014-10-22 | 2015-10-21 | Method for determining a mechanical rotation angle of a rotor on the basis of an electrical rotation angle |
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| DE (1) | DE102014221406A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110463020A (en) * | 2018-07-02 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The acquisition methods and system of the initial mechanical angle of motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003023791A (en) * | 2001-07-05 | 2003-01-24 | Hitachi Zosen Fukui Corp | Method and apparatus for phase matching of brushless motor |
| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN102208895A (en) * | 2011-06-14 | 2011-10-05 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| CN102843091A (en) * | 2012-09-07 | 2012-12-26 | 南京航空航天大学 | Judgment method for initial position of permanent magnet synchronous motor rotor |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324879B (en) * | 2011-09-26 | 2013-11-13 | 东华大学 | Position detection method for hub of hub motor of computed tomography (CT) machine |
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- 2014-10-22 DE DE102014221406.8A patent/DE102014221406A1/en active Pending
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003023791A (en) * | 2001-07-05 | 2003-01-24 | Hitachi Zosen Fukui Corp | Method and apparatus for phase matching of brushless motor |
| CN1571266A (en) * | 2003-11-24 | 2005-01-26 | 杭州英迈克电子有限公司 | Method for starting incremental encoder employed permanent-magnet AC servo motor and brushless DC motor |
| CN102208895A (en) * | 2011-06-14 | 2011-10-05 | 中国矿业大学 | Method and device for detecting initial position angle of electro-excitation synchronous machine rotor |
| CN102843091A (en) * | 2012-09-07 | 2012-12-26 | 南京航空航天大学 | Judgment method for initial position of permanent magnet synchronous motor rotor |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
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| Publication number | Publication date |
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| DE102014221406A1 (en) | 2016-04-28 |
| CN105553347A (en) | 2016-05-04 |
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