CN101414800B - Calibration system and calibration method for position sensor of motor rotor - Google Patents
Calibration system and calibration method for position sensor of motor rotor Download PDFInfo
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- CN101414800B CN101414800B CN2008102177157A CN200810217715A CN101414800B CN 101414800 B CN101414800 B CN 101414800B CN 2008102177157 A CN2008102177157 A CN 2008102177157A CN 200810217715 A CN200810217715 A CN 200810217715A CN 101414800 B CN101414800 B CN 101414800B
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Abstract
The invention fully discloses a motor rotor position sensor calibration system and a calibration method thereof. Based on the existing calibration system, the system adopts zero-crossing detection equipment to detect the zero-crossing point of the counter electromotive force of a motor, and produces a DSP triggering signal, so that the A/D port of a DSP can sample and decode the rotor position at the moment, and the position is calibrated as the zero point. In the proposal, since the zero-crossing detection equipment is added based on the prior art, the equipment can output a triggering signal when the motor counter electromotive force is zero, so as to trigger the DSP to sample the sensor signal and indicate the position is a rotor zero-crossing point. The system is simple and effective, easy to implement, and can calibrate individual rotor position sensor in large scale. By adopting the method, individual calibration of rotor position sensors can be easily completed within the DSP.
Description
Technical field
The present invention relates to the calibration system and the scaling method of transducer; Be particularly related to rotation the alternating current machine especially calibration system and the scaling method of a kind of rotor-position sensor of permanent magnet synchronous AC machine, this permanent magnet synchronous AC machine is used in the hybrid vehicle.
Background technology
Permagnetic synchronous motor is widely used in fields such as electric automobile, hybrid vehicle, Digit Control Machine Tool and weaving owing to have advantages such as power density is big, efficient is high, rotor loss is little.Particularly be used as the ISG motor of hybrid vehicle.In order to obtain the better controlling performance, control system must detect motor rotor position and rate signal.
At present,, adopt transducers such as photoelectric encoder or resolver, but because there is the contradiction of performance and cost in this type transducer more, often in some need the application of low-cost and high-performance, be restricted for the detection of motor speed and position of magnetic pole.And comparative heat is in the sensorless technology of research in recent years, but it exists position probing accurately can not be provided when low speed, can not realize the level and smooth requirement that starts of motor, and the dependence to the parameter of electric machine is very strong simultaneously.Therefore a kind of needs appear becoming in the transducer of low-cost and high-performance.A kind of rotor upper position sensor device that is installed in hybrid vehicle that designs for the applicant shown in Figure 1.Figure rotor position transducer comprises detector 2 and destination disk 1; Be installed in an end of motor, destination disk 1 is an annual disk, and its outside decorative pattern is shaped as sine curve or cosine curve; Process by metal materials such as aluminium or iron; Be fixed on rotor 4 supports 7, with rotor 4 submounts axle 6 rotation that rotates, detector 2 is installed in stator terminal through mounting frame for sensor 5 (do not draw among the figure and extend part) and covers.Detector 2 outputs are the sinusoidal signal and the cosine signal at rotor magnetic pole position angle, in this two-way output signal rotor position information are arranged.At present; Such a motor rotor position sensor is also a lot, and they all only provide the information of rotor-position, and the sinusoidal signal of the angle variation of this information or the rotation of reflection rotor; Or some sawtooth signals of reflection rotor rotation etc.; Can specifically not detect the angle number of rotor in a word, moreover, do not allow to confirm for the starting point of this similar round object position of rotor yet.For utilizing such position transducer to detect motor rotor position; Sensor sensing to position signalling generally be to get into DSP through AD sampling; Utilize DSP that position sensor output signal is handled, owing to reasons such as AD sampling and position transducer alignment errors, need be in the position sensor output signal processing procedure rotor-position being compensated demarcation; Make rotor-position more accurate, realize accurate control permagnetic synchronous motor.Scaling method commonly used at present can't satisfy the demand of production in enormous quantities.
Summary of the invention
For overcoming deficiency of the prior art, the object of the present invention is to provide a kind of calibration system of motor rotor position sensor.Utilize this calibration system can satisfy the requirement that the position transducer in the solution high volume production process is demarcated.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of calibration system of motor rotor position sensor comprises rotor-position sensor, controller and the power supply demarcated.
The described rotor-position sensor of being demarcated is installed on the stator of motor of the power assembly that engine and motor form the delivery outlet with analog signal of output rotor positional information.
Described controller comprises the digital signal processor of the position signalling that is used to handle described rotor-position sensor output of being demarcated; Its analog signal input port connects the delivery outlet of the analog signal of the described rotor-position sensor of being demarcated; Also comprise inverter; The described power supply of its input termination, the control output end connects the power input of described motor.
Said power supply connects with described motor through described controller; In addition: also comprise the zero crossing checkout equipment, described zero crossing checkout equipment input connects with the power end of described motor, detects the back electromotive force output at zero point of motor, the described digital signal processor of output termination.
In this programme; Owing to increased a zero crossing checkout equipment on the basis of existing technology; Can be through this equipment in triggering signal of counter electromotive force of motor zero crossing time output, triggered digital signal processor (DSP) is sampled to the signal of transducer, shows it is a rotor zero crossing here.This system is simply effective, realizes easily, can carry out on a large scale rotor-position sensor being carried out single demarcation.
Another object of the present invention provides the method that a calibration system above the use is demarcated transducer.
The scaling method of the calibration system of motor rotor position sensor may further comprise the steps:
When A, zero crossing checkout equipment detect back electromotive force and be zero, send a triggering signal to digital signal processor; At this moment, zero crossing checkout equipment (15) is to produce triggering signal as follows:
The B of the filter difference circuit input in A1, the zero crossing checkout equipment (15), the C phase voltage;
The position that A2, B phase and C intersect, B is the position that B has the trend that surmounts the C phase mutually with the position that C intersects mutually, triggering signal of difference channel output;
The signal that has rotor position information of B, the output of triggering signal triggered digital signal processor pick-up transducers;
C, digital signal processor are handled the physical location that obtains position transducer to the signal of gathering.
Utilize this method, be easy to accomplish single demarcation in the DSP rotor-position sensor.
Below will combine accompanying drawing, comparatively detailed explanation will be carried out in each preferred embodiment of the present invention.
Description of drawings
Fig. 1 hybrid power permanent-magnet synchronous motor rotor position sensing device scheme of installation;
Fig. 2 position transducer calibration system embodiment one connection side's block diagram;
Fig. 3 zero crossing checkout equipment functional block diagram;
Fig. 4 position transducer calibration system scaling method flow chart.
The software flow pattern of DSP among Fig. 5 embodiment one.
Among the figure: 1 signal panels, 2 detectors, 3 stators, 4 rotors, 5 position transducer supports; 6 rotating shafts, 7 rotor field spiders, 11 engines, 12 connecting axles, 13 motors; 14 controllers, 15 zero crossing checkout equipments, 16 power supplys, 17 motor three-phase interconnecting devices; 18 host computers, 19, safe microcontroller switch, 20 safety return circuits, 27, the CAN bus.
Embodiment
Embodiment one, and is as shown in Figure 2: a kind of calibration system of motor rotor position sensor comprises rotor-position sensor, controller 14 and the power supply 16 demarcated;
The rotor-position sensor of being demarcated is as shown in Figure 1, comprises detector 2 and destination disk 1, is installed in an end of motor 13; Destination disk 1 is an annual disk; Be fixed on the described rotor, its outside decorative pattern is shaped as sine curve or cosine curve, is processed by metal material; Detector 2 is installed in stator terminal and covers;
The described rotor-position sensor of being demarcated is installed on the stator 3 of the engine 11 and the motor 13 of the power assembly of motor 13 compositions the delivery outlet with analog signal of output rotor positional information; Engine 11 and motor 13 connect to form the power assembly of hybrid vehicle through connecting axle 12.
Described controller 14 comprises the DSP of the position signalling that is used to handle described rotor-position sensor output of being demarcated; DSP is TMS320F2802; Its analog signal input port connects the delivery outlet of the analog signal of the described rotor-position sensor of being demarcated; The A/D converter of the analog input mouth of DSP becomes digital signal with the analog signal conversion of transducer.In controller, also comprise inverter Invert, its input is exactly the dc bus end, connects described power supply 16, and output is three phase mains output, is respectively A phase, B phase and C mutually, through motor three-phase interconnecting device 17 three phase mains is added on the motor 13.
Said power supply 16 is the high voltage source of 150V60A, connects with described motor 13 through the Invert in the described controller 14.For motor 13 provides DC power supply.
Zero crossing checkout equipment 15 is the zero crossings that are used for detecting the back electromotive force of motor, and its input connects with the power end of described motor 13 in motor three-phase interconnecting device 17, and A phase, B be connected in the zero crossing checkout equipment 15 with C mutually mutually.Detect the back electromotive force output at zero point of motor 13, the described DSP of output termination.The filter difference of comprising circuit is arranged in the zero crossing checkout equipment 15; The B that the input of filter difference circuit connects motor 13 power ends respectively mutually with C mutually; In order to guarantee that output safety filter difference circuit output end also has the high pressure buffer circuit, meets described DSP through the high pressure buffer circuit.As shown in Figure 3, in the present embodiment, the high voltage input terminal of zero-crossing detection circuit be motor B mutually with C mutually, the voltage effective value maximum reaches 150V----170V, frequency range is 0---200Hz, size of current is-3mA-3mA.The power supply input of zero-crossing detection circuit is from the 12V battery, and voltage range is 9-18V.Output voltage requires: high level is 4-5V, and low level is 0-0.5V.The B of input, the C phase voltage is exported square-wave signal through behind the difference comparison circuit, in the moment of moment of BC back electromotive force zero-crossing, also be B mutually with the crossing position (B has the trend that surmounts the C phase mutually) of C.The digital quantity signal of a high level of difference channel output.
For easy to operate, present embodiment also has been equipped with a host computer 18, and this machine is a PC, has network interface card, communicates by letter with controller through the CAN bus 27 of automobile, and controller 14 is monitored.
In order to guarantee calibration process safety, also have safety return circuit 20, connect another termination power 16 with motor three-phase interconnecting device 17 through the safe microcontroller switch 19 on the motor three-phase interconnecting device 17.Its effect is when changing power assembly system next to be calibrated, to break off high-voltage suppling power, prevents security incident.
As shown in Figure 4: the scaling method of the calibration system of motor rotor position sensor may further comprise the steps:
When A, zero crossing checkout equipment (15) detect back electromotive force and be zero, send a triggering signal to digital signal processor;
The signal that has rotor position information of B, the output of triggering signal triggered digital signal processor pick-up transducers;
C, digital signal processor are handled the physical location that obtains position transducer to the signal of gathering.
Wherein, zero crossing checkout equipment 15 is to produce triggering signal as follows in the steps A:
The B of the filter difference circuit input in A1, the zero crossing checkout equipment 15, the C phase voltage;
The position that A2, B phase and C intersect, triggering signal of difference channel output.The position that B phase and C intersect is that B has the position of the trend that surmounts the C phase mutually.
Embodiment one calibration system is specifically demarcated flow process:
Install by completion as shown in Figure 1 system, demarcate controller and power on the back cashier's office in a shop through PC control high voltage supply electricity; According to the flow process like Fig. 5, host computer 18 sends diagnostic command and starts calibration process; Demarcate controller and utilize the running of position transducer empirical value drive motors, drive engine start; Engine operates near the idling speed 800RPM; Treat engine stable operation after 800RPM, every 100ms sends request command to obtain calibration result through host computer to demarcating controller; After demarcating controller completion calibration process, host computer can receive and demarcate successful response message that can read the scalar quantity that need demarcate this moment through diagnostic command; Host computer need judge whether scalar quantity exceeds the scope of permission, if go beyond the scope, host computer need send information; When scalar quantity met the requirements, host computer write scalar quantity in the controller that power assembly is corresponding therewith through diagnostic command; Parameter calibration is accomplished, and kills engine, breaks off high-voltage suppling power.
Claims (5)
1. the calibration system of a motor rotor position sensor comprises rotor-position sensor, controller (14) and the power supply (16) demarcated;
The described rotor-position sensor of being demarcated is installed on the stator (3) of motor (13) of the power assembly that engine (11) and motor (13) form the delivery outlet with analog signal of output rotor positional information;
Described controller (14) comprises the digital signal processor of the position signalling that is used to handle described rotor-position sensor output of being demarcated; Its analog signal input port connects the delivery outlet of the analog signal of the described rotor-position sensor of being demarcated; Also comprise inverter; It imports the described power supply of termination (16), and the control output end connects the power input of described motor (13);
Said power supply (16) connects with described motor (13) through described controller (14); It is characterized in that: also comprise zero crossing checkout equipment (15), described zero crossing checkout equipment (15) input connects with the power end of described motor (13), the described digital signal processor of output termination; Described zero crossing checkout equipment (15) comprises the filter difference circuit; The B that the input of described filter difference circuit connects motor (13) power end respectively mutually with C mutually; The B of input, the C phase voltage is exported square-wave signal through behind the difference comparison circuit, in the moment of moment of BC back electromotive force zero-crossing; Also be the position that B phase and C intersect, the digital quantity signal of a high level of filter difference circuit output is to described digital signal processor.
2. the calibration system of motor rotor position sensor according to claim 1, it is characterized in that: the output at described filter difference circuit also has the high pressure buffer circuit.
3. the calibration system of motor rotor position sensor according to claim 1 and 2, it is characterized in that: the model of described digital signal processor is TMS320F2802.
4. the calibration system of motor rotor position sensor according to claim 1 and 2 is characterized in that: comprise that also computer (18) connects through automotive interior local area network (LAN) (27) with described controller (14).
5. the scaling method of the calibration system of motor rotor position sensor according to claim 1 may further comprise the steps:
A, zero crossing checkout equipment (15) input connect with the power end of described motor (13), the described digital signal processor of output termination; Described zero crossing checkout equipment (15) comprises the filter difference circuit; The B that the input of described filter difference circuit connects motor (13) power end respectively mutually with C mutually; Export square-wave signal behind the B of input, the C phase voltage process difference comparison circuit; In the moment of moment of B, C back electromotive force zero-crossing, also be the position that B intersects with C mutually, the digital quantity signal of a high level of filter difference circuit output arrives described digital signal processor;
The signal that has rotor position information of the digital quantity signal triggered digital signal processor pick-up transducers output of the high level of B, the output of filter difference circuit;
C, digital signal processor are handled the physical location that obtains position transducer to the signal of gathering.
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| CN2008102177157A CN101414800B (en) | 2008-11-27 | 2008-11-27 | Calibration system and calibration method for position sensor of motor rotor |
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| CN2008102177157A CN101414800B (en) | 2008-11-27 | 2008-11-27 | Calibration system and calibration method for position sensor of motor rotor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014140489A1 (en) * | 2013-03-14 | 2014-09-18 | Renault S.A.S. | Method for calibrating a position sensor in a synchronous electrical machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101556308B (en) * | 2009-05-22 | 2012-07-11 | 奇瑞汽车股份有限公司 | Testing system of hybrid power motor and testing method thereof |
| CN101594107B (en) * | 2009-07-01 | 2011-05-11 | 奇瑞汽车股份有限公司 | Motor rotor positioning system for hybrid vehicle and positioning method thereof |
| CN102608438B (en) * | 2009-12-09 | 2014-09-10 | 电子科技大学 | Method for determining corresponding relation of phase sequence of stator winding and encoder |
| CN102507189B (en) * | 2011-09-23 | 2014-04-02 | 奇瑞汽车股份有限公司 | Testing method and testing system of position of mixed power motor rotor |
| CN104931788A (en) * | 2015-06-12 | 2015-09-23 | 陕西宝成航空仪表有限责任公司 | Automobile throttle sensor test apparatus |
| CN105553366B (en) * | 2015-12-23 | 2018-06-29 | 奇瑞汽车股份有限公司 | Rotor scaling method and device |
| CN110868113B (en) * | 2019-11-15 | 2021-08-03 | 杭州九阳小家电有限公司 | Counter potential zero-crossing detection method and device of brushless direct current motor and dust collector |
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| US6834244B2 (en) * | 2002-07-23 | 2004-12-21 | Hyundai Motor Company | Resolver phase calibration system and method |
| WO2005016217A2 (en) * | 2003-08-04 | 2005-02-24 | Pulmonetic Systems, Inc. | Compressor control system for a portable ventilator |
| CN1980045A (en) * | 2005-12-08 | 2007-06-13 | 三菱电机株式会社 | Field winding synchronous generator-motor |
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2008
- 2008-11-27 CN CN2008102177157A patent/CN101414800B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6834244B2 (en) * | 2002-07-23 | 2004-12-21 | Hyundai Motor Company | Resolver phase calibration system and method |
| WO2005016217A2 (en) * | 2003-08-04 | 2005-02-24 | Pulmonetic Systems, Inc. | Compressor control system for a portable ventilator |
| CN1980045A (en) * | 2005-12-08 | 2007-06-13 | 三菱电机株式会社 | Field winding synchronous generator-motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014140489A1 (en) * | 2013-03-14 | 2014-09-18 | Renault S.A.S. | Method for calibrating a position sensor in a synchronous electrical machine |
| FR3003414A1 (en) * | 2013-03-14 | 2014-09-19 | Renault Sa | METHOD OF CALIBRATING A POSITION SENSOR IN A SYNCHRONOUS ELECTRIC MACHINE |
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