CN102480260A - Position signal interference processing method in permanent magnet synchronous motor rotor angle measuring device - Google Patents
Position signal interference processing method in permanent magnet synchronous motor rotor angle measuring device Download PDFInfo
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- CN102480260A CN102480260A CN2011102840556A CN201110284055A CN102480260A CN 102480260 A CN102480260 A CN 102480260A CN 2011102840556 A CN2011102840556 A CN 2011102840556A CN 201110284055 A CN201110284055 A CN 201110284055A CN 102480260 A CN102480260 A CN 102480260A
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Abstract
The invention relates to a position signal interference processing method in a permanent magnet synchronous motor rotor angle measuring device. The angle measuring device comprises a rotary transformer, a rotary transformer decoder and a motor controller. In order to eliminate interference in a measured digital position angle signal, the position signal is processed by the motor controller by adopting median filter and a differential amplitude limiting value, so that the error or fault produced due to interference during angle measurement is effectively overcome, and the safety for engine control is improved.
Description
Technical field
The present invention relates to the control method in a kind of motor rotor position detection, especially relate to position signalling interference processing method in a kind of permanent-magnetic synchronous motor rotor angle measurement unit.
Background technology
In the present many automotive motor controller system, need to gather in real time the position signalling of rotor, calculate the current rotating speed of motor.The transducer that numeral tests the speed in the detection of rotor-position at present generally adopts resolver; Resolver is exported with analog signal; Through revolving the change decoder angle signal is converted into digital signal; Through electric machine controller digital signal is resolved then, obtain the real time position and the rotating speed of rotor.But because the existence of other external electromagnetic interference that can not prevent; Signals of rotating transformer not necessarily coincide through digital angular position signal and the real electrical machinery shaft angle that overwinding change decoder decode comes out; The resolver decoding chip possibly have the phenomenon of losing pulse, and then has influence on the accurate measurement of rotor angle, because the error of angular surveying; Can cause electric machine controller to make bad command, possibly produce serious consequence.
Like publication number is CN101363742, and name is called the angle calculation device of three phase optical encoder and the application for a patent for invention of angle computation method, and it comprises analog-digital converter, digital signal processor, phase digitization unit and digit counter.Analog-digital converter will become the three-phase digital signal from the three-phase simulation conversion of signals of optical encoder; The phase digitization unit will become the three-phase phase digital signal from the three-phase simulation conversion of signals of optical encoder; Digit counter produces count results to the three-phase phase digital count signal.Digital signal processor receives the three-phase digital signal, and the antitrigonometric function computing is carried out in the comparatively range of linearity in the three-phase digital signal, to obtain the motor rotor angle.But this device does not have the Interaction Handler structure, because the existence of external disturbance, this device possibly make the rotor-position that calculates that bigger error or even wrong data are arranged, and can cause electric machine controller to make bad command, possibly produce serious consequence.
Summary of the invention
The present invention solves in motor rotor position calculates because the existence of disturbing; The rotor-position that calculates has the technical problem of the data of bigger error or even mistake, and position signalling interference processing method in a kind of permanent-magnetic synchronous motor rotor angle measurement unit is provided.
Above-mentioned technical problem of the present invention mainly is able to solve through following technical proposals: position signalling disturbs processing method in a kind of permanent-magnetic synchronous motor rotor angle measurement unit; Angle measurement unit comprises resolver, revolve and become decoder, electric machine controller, and resolver is installed on the machine shaft and becomes decoder and link to each other with revolving, and revolves the change decoder and is connected on the electric machine controller; Resolver detects the turned position of rotor; The output analog signal is revolved the change decoder analog signal is changed into digital signal, and electric machine controller is resolved digital signal; Obtain rotor real time position and rotating speed; And rotor-position and rotary speed data stored, the interference in the digit position angle signal that measures for elimination, electric machine controller is carried out following steps:
A. read position angle N time continuously at set intervals, N is an odd number, and span 3≤N≤15 according to big minispread, are got the effective value of median as this sampling to sampled value; Electric machine controller has carried out middle position value filtering one time to adopting numerical value in this step, has effectively like this overcome the fluctuation that causes because of accidentalia and disturbs.
B. set the maximum deflection difference value that double sampling allows;
C. read this sampled value and last sampled value, calculate the absolute value of the deviation of double sampling, be designated as this sampled value deviate; The sampled value here is through the sampling effective value behind the step a middle position value filtering; Deviate is the absolute value of this sampled value and the preceding sampled value deviation of this sampled value; If deviate is deltaA (n), be formulated as deltaA (n)=ABS (A (n)-A (n-1)), wherein A (n) is this sampled value; A (n-1) is last sampled value, and n is an integer.
D. judge the size of deviate and maximum deflection difference value; If deviate is smaller or equal to maximum deflection difference value, then this sampled value is effective, if deviate is greater than maximum deflection difference value; Then this sampled value is invalid, this adopted value be set at last sampled value and last sampled value deviate with.When this sampled value was invalid, this sampled value was formulated as A (n)=A (n-1)+deltaA (n-1), and deltaA (n-1) is last sampled value deviate.On the basis behind the middle position value filtering, further adopted differential amplitude limit benefit value that this sampled value is handled in this step; Eliminated interference fully; Make digital angular position signal and real electrical machinery shaft angle match, and then guaranteed the accurate measurement of rotor angle.
As last a kind of preferred version, electric machine controller is whenever once sampled at a distance from 100 μ s.This employing process is for read position angle N time continuously.
As last a kind of preferred version, each sampling is read position angle 7 times continuously.This number of times is preferable number of times.
As last a kind of preferred version, said maximum deviation is set at the twice of current motor given speed angle changing value in one-period.
Therefore, adopt middle position value filtering and differential amplitude limit benefit value that position signalling is handled among the present invention, effectively overcome the error or the mistake that produce owing to interference in the angular surveying, improved the fail safe of engine control.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of rotor angle measurement unit;
Accompanying drawing 2 is a kind of schematic flow sheets of the present invention;
Accompanying drawing 3 is a kind of oscillograms of motor digital angular position signal when just changeing.
1-motor 2-resolver 3-revolves and becomes decoder 4-electric machine controller 5-inverter.
Embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically technical scheme of the present invention.
Embodiment:
As shown in Figure 1, the rotor angle measurement unit by resolver 2, revolve become decoder 3, electric machine controller 4 constitutes, resolver 2 is installed in motor 1 rotating shaft and becomes decoder 3 and link to each other with revolving; Revolving change decoder 3 is connected on the electric machine controller 4; Resolver 4 detects the turned position of rotor, and the output analog signal, revolves change decoder 3 and is the AU6802N1 decoding chip; Revolve and become decoder 3 analog signal is changed into digital signal; After overwinding change decoder resolves, obtain one 12 digital quantity, represent the residing position of rotor, revolve the change decoder signal is sent to electric machine controller.Electric machine controller 4 is resolved digital signal, and obtain rotor real time position and rotating speed, and rotor-position and rotary speed data are stored,
Electric machine controller 4 produces 6 road PWM drive signals through the special algorithm of inside; Electric machine controller is exported to inverter 5 with drive signal; It is three-phase alternating current that inverter is used for dc inverter, and to be correct time with scheduled timing be supplied to each phase of this nail winding to predetermined alternating current with inverter, like this; The nail winding produces rotating magnetic field, and rotor is rotated by the rotating magnetic field that stator winding produces.
Because the existence of disturbing; Revolving varying signal not necessarily coincide through digital angular position signal and the real electrical machinery shaft angle that AU6802N1 decodes out; The resolver decoding chip has the phenomenon of losing pulse; In order to overcome the error of angular surveying, in electric machine controller, adopted middle position value filtering and differential amplitude limit benefit value that position signalling is handled.As shown in Figure 2, processed steps is following: in step 21, electric machine controller 4 is got in touch at set intervals and is read position angle information 7 times, in step 22, arranges according to big young pathbreaker's position angle information, gets the effective value of median as this employing; Rule of thumb preestablish the maximum deflection difference value that double sampling allows, be designated as deltaM; In step 23, read this sampled value and last sampled value, calculate the absolute value of the deviation of double sampling, be designated as this sampled value deviate deltaA (n), deltaA (n)=ABS (A (n)-A (n-1)), n is an integer; Whether judge deviate then smaller or equal to maximum deflection difference value, if then this sampled value is effective, EP (end of program); If not, promptly deviate is greater than maximum deflection difference value, and then this sampled value is invalid, gets into step 24; In step 24, with this sampled value with last sampled value and last sampled value deviate and replace i.e. A (n)=A (n-1)+deltaA (n-1), EP (end of program).
Motor angle sampling is being carried out at a distance from the PWM cycle every, and sampling time interval is 100 μ s, and in addition, motor has the rotating hair transplant, becomes digital quantity and increases progressively when motor is just changeing then to revolve, and after digital quantity is incremented to 4095, becomes 0 again, and its oscillogram is as shown in Figure 3; If reversing then revolve the parameter word, motor successively decreases.In Fig. 3, if fluctuate in the A position, in once sampling, the fluctuation that A is ordered just can be eliminated through middle position value filtering.If repeatedly fluctuation in this time sampling, occurs; Adopted value through behind the middle position value filtering still is a undulating value; Then in differential amplitude limit benefit value process; The absolute value of the bias of this sampled value and last sampled value can be greater than maximum deflection difference value, then this moment sampled value with last sampled value and last sampled value deviate and replacement.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used resolver, revolved terms such as becoming decoder, electric machine controller, inverter, motor morely, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; It all is contrary with spirit of the present invention being construed to any additional restriction to them.
Claims (4)
1. position signalling disturbs processing method in the permanent-magnetic synchronous motor rotor angle measurement unit; Angle measurement unit comprises resolver, revolve and become decoder, electric machine controller, and resolver is installed on the machine shaft and becomes decoder and link to each other with revolving, and revolves the change decoder and is connected on the electric machine controller; Resolver detects the turned position of rotor; The output analog signal is revolved the change decoder analog signal is changed into digital signal, and electric machine controller is resolved digital signal; Obtain rotor real time position and rotating speed; And rotor-position and rotary speed data stored, it is characterized in that: the interference in the digit position angle signal that measures for elimination, electric machine controller is carried out following steps:
A. read position angle N time continuously at set intervals, N is an odd number, and span 3≤N≤15 according to big minispread, are got the effective value of median as this sampling to sampled value;
B. set the maximum deflection difference value that double sampling allows;
C. read this sampled value and last sampled value, calculate the absolute value of the deviation of double sampling, be designated as this sampled value deviate;
D. judge the size of deviate and maximum deflection difference value; If deviate is smaller or equal to maximum deflection difference value, then this sampled value is effective, if deviate is greater than maximum deflection difference value; Then this sampled value is invalid, this adopted value be set at last sampled value and last sampled value deviate with.
2. position signalling disturbs processing method in the permanent-magnetic synchronous motor rotor angle measurement unit according to claim 1, it is characterized in that electric machine controller whenever once samples at a distance from 100 μ s.
3. position signalling disturbs processing method in the permanent-magnetic synchronous motor rotor angle measurement unit according to claim 1, it is characterized in that each sampling reads position angle 7 times continuously.
4. position signalling disturbs processing method in the permanent-magnetic synchronous motor rotor angle measurement unit according to claim 1, it is characterized in that said maximum deviation is set at the twice of current motor given speed angle changing value in one-period.
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| CN103543741A (en) * | 2013-09-25 | 2014-01-29 | 浙江吉利控股集团有限公司 | Motor controller test box |
| CN104283468A (en) * | 2014-10-30 | 2015-01-14 | 南车株洲电力机车研究所有限公司 | Method and system for processing signals of rotary transformer of permanent magnet synchronous motor |
| CN109100933A (en) * | 2018-07-11 | 2018-12-28 | 华北电力大学（保定） | A kind of clipping plusderivative control method |
| CN109428455A (en) * | 2017-09-01 | 2019-03-05 | 丁金龙 | Switched reluctance machines and its control method |
| CN110601630A (en) * | 2019-11-05 | 2019-12-20 | 深圳市海浦蒙特科技有限公司 | Flux linkage angle amplitude limiting processing and velocity sensorless vector control method and system |
| CN112087170A (en) * | 2020-09-02 | 2020-12-15 | 无锡赛盈动力科技有限公司 | Tricycle actuating system of low fault rate |
| CN114114103A (en) * | 2021-11-10 | 2022-03-01 | 国家石油天然气管网集团有限公司 | Material force magnetic characteristic parameter determination method for strong and weak magnetic detection |
| CN114812378A (en) * | 2022-04-24 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
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| CN109428455A (en) * | 2017-09-01 | 2019-03-05 | 丁金龙 | Switched reluctance machines and its control method |
| CN109100933B (en) * | 2018-07-11 | 2021-12-24 | 华北电力大学（保定） | Amplitude limiting differential control method |
| CN109100933A (en) * | 2018-07-11 | 2018-12-28 | 华北电力大学（保定） | A kind of clipping plusderivative control method |
| CN110601630A (en) * | 2019-11-05 | 2019-12-20 | 深圳市海浦蒙特科技有限公司 | Flux linkage angle amplitude limiting processing and velocity sensorless vector control method and system |
| CN112087170A (en) * | 2020-09-02 | 2020-12-15 | 无锡赛盈动力科技有限公司 | Tricycle actuating system of low fault rate |
| CN112087170B (en) * | 2020-09-02 | 2022-11-29 | 无锡赛盈动力科技有限公司 | Tricycle actuating system of low fault rate |
| CN114114103A (en) * | 2021-11-10 | 2022-03-01 | 国家石油天然气管网集团有限公司 | Material force magnetic characteristic parameter determination method for strong and weak magnetic detection |
| CN114812378A (en) * | 2022-04-24 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
| CN114812378B (en) * | 2022-04-24 | 2023-09-05 | 深蓝汽车科技有限公司 | Motor angle sensor mounting position and fault testing system and method |
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