CN102904506A - Permanent magnet synchronous motor rotor positioning method and device - Google Patents
Permanent magnet synchronous motor rotor positioning method and device Download PDFInfo
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- CN102904506A CN102904506A CN2012104077323A CN201210407732A CN102904506A CN 102904506 A CN102904506 A CN 102904506A CN 2012104077323 A CN2012104077323 A CN 2012104077323A CN 201210407732 A CN201210407732 A CN 201210407732A CN 102904506 A CN102904506 A CN 102904506A
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Abstract
The invention discloses a permanent magnet synchronous motor rotor positioning method. The method comprises the steps of setting a system allowable deviation value DEC and a system error value ERR, detecting position values of a rotor of a permanent magnet synchronous motor (1) under six power supply states by a rotary transformer (2), calculating to obtain a value TEMP, comparing the TEMP with the DEC and the ERR, and if the TEMP is smaller than the DEC, and calculating a fixed deviation value between the mechanical zero position where the rotor of the permanent magnet synchronous motor 1 is installed and the electrical zero position where the rotary transformer is installed. The invention also discloses a permanent magnet synchronous motor rotor positioning device using the method.
Description
Technical field
The present invention relates to the synchronous machine field, be specifically related to a kind of permanent-magnetic synchronous motor rotor localization method and device.
Background technology
In recent years, permagnetic synchronous motor is used for the manufacturing of electric automobile more and more because of the characteristics that its control precision is high, anti-seismic performance is good.The position transducer of magneto adopts resolver more, and the precision of resolver is very high, causes being difficult to guarantee when assembling the installation consistency of resolver.For the effective magnetic vector of control permanent-magnetic synchronous motor stator, need to obtain the exact value of rotor current location, and the deviate of the accurate location of rotor when to be current measurement value by resolver deduct motor with the resolver installation obtains.So permagnetic synchronous motor must position motor rotor position after finishing assembling, when being in mechanical zero to obtain rotor and the droop between the electrical null position installed of resolver.
Definite method of traditional permanent-magnetic synchronous motor rotor initial position is to utilize the saliency of magnetic-synchro motor, realizes accurately distinguishing of original position of electric motor's rotator by the motor winding being added the high frequency pumping electric current.This method is not suitable for does not have the surface-mount type of saliency permagnetic synchronous motor.The structure of the detecting device of this method is complicated.Because motor shaft can not be thrown off fully with part drive system on the car on the electric automobile, system inertia is larger, causes rotor location required time longer.And owing to system voltage on the electric automobile is higher, need apply short circuit current to motor and position, its electric current and voltage is wayward, causes easily motor or electric machine controller to damage.
Summary of the invention
One object of the present invention namely is to overcome the prior art narrow application range, and positioning time, the long and easy deficiency of damaging relevant device provided a kind of permanent-magnetic synchronous motor rotor localization method;
Another object of the present invention is to provide a kind of permanent-magnetic synchronous motor rotor positioner of simple in structure, the processing ease that uses said method.
One object of the present invention is achieved through the following technical solutions:
A kind of permanent-magnetic synchronous motor rotor localization method may further comprise the steps:
A. set an allowable deviation value DEC of system, a system mistake value ERR, ERR is greater than DEC;
B. motor is placed a kind of of following six kinds of states: the join positive pole of constant-current supply of the join negative pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join positive pole of constant-current supply of the join positive pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join positive pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join positive pole of constant-current supply of the join negative pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join negative pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join positive pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor;
C. rotor reads the current positional value of rotor by the resolver that is arranged on the motor, and records described positional value after turning to a fixed position under the driving of constant-current supply;
D. the theoretical position value under current power supply state is done the difference computing with described positional value and rotor;
E. the value that above-mentioned difference computing is obtained and the number of pole-pairs of motor and the number of pole-pairs of resolver are done normalized, obtain end value SET1;
F. respectively motor is placed the other five kinds of states described in the steps A, and repeating step B obtains end value SET2, SET3, SET4, SET5 and SET6 to step D;
G. in SET1 ~ SET6, get maximum and minimum value and do the difference computing, obtain end value TEMP.
H. with TEMP and DEC and ERR contrast;
, then SET1 ~ SET6 is averaged less than DEC such as TEMP, when the result is rotor and is in mechanical zero and the droop value between the electrical null position installed of resolver;
Greater than DEC and less than ERR, then heighten the output current of constant-current supply such as TEMP, and repeat described steps A to step F, until TEMP is less than DEC;
Greater than ERR, then rotor is located unsuccessfully such as TEMP.Whether at this moment, the staff needs the three-phase lead-out wire of check system wiring and motor correct.
Another object of the present invention is achieved through the following technical solutions:
A kind of permanent-magnetic synchronous motor rotor positioner, it comprises motor, resolver, constant-current supply, relay, master controller and computer, the quantity of relay is 3, the movable end of 3 relays is connected with W with U phase, the V phase of motor respectively, two stiff ends of relay are connected with negative pole with the positive pole of constant-current supply respectively, and resolver is arranged on the motor, and resolver is connected with master controller, master controller is connected with computer, and master controller is connected with 3 relays respectively.
Particularly, described master controller comprises Master control chip, resolver decoding chip, RS232 serial interface and I/O buffer circuit, Master control chip is connected with described computer by the RS232 serial interface, the resolver decoding chip is connected with described resolver by the RS232 serial interface, Master control chip is connected with described relay by the I/O buffer circuit, and the resolver decoding chip is connected on the Master control chip.
The invention has the advantages that:
1. permagnetic synchronous motor applied widely, as to can be used for having saliency also can be used for the surface-mount type permagnetic synchronous motor;
2. this positioner is simple in structure, and is easy and simple to handle;
3. the location required time is short;
4. position fixing process safety is controlled, can not damage motor or electric machine controller;
5. when but the Measurement accuracy rotor is in mechanical zero and the droop value between the electrical null position installed of resolver;
6. can whether correct at the lead-out wire of location simultaneous verification motor U, V, W three-phase.
Description of drawings
In order to be illustrated more clearly in embodiments of the invention, the below will make simple explanation to the required accompanying drawing of using in the description embodiment of the invention.Apparent, the accompanying drawing in the following describes only is some embodiment that put down in writing among the present invention, to those skilled in the art, in the situation of not paying creative work, can also according to following accompanying drawing, obtain other accompanying drawing.
Fig. 1 is the structural representation that installs among the present invention;
Wherein, the corresponding parts name of Reference numeral is called:
The 1-permagnetic synchronous motor, 2-resolver, 3-constant-current supply, 41-the first relay, 42-the second relay, 43-the 3rd relay, the 5-master controller, 51-Master control chip, 52-resolver decoding chip, the excuse of 53-the one RS232 serial ports, the excuse of 54-the 2nd RS232 serial ports, 55-the one I/O buffer circuit, 56-the 2nd I/O buffer circuit, 57-the 3rd I/O buffer circuit, the 6-computer.
Embodiment
In order to make those skilled in the art understand better the present invention, below in conjunction with the accompanying drawing in the embodiment of the invention technical scheme in the embodiment of the invention is carried out clear, complete description.Apparent, embodiment described below only is the part in the embodiment of the invention, rather than all.Based on the embodiment of the present invention's record, other all embodiment that those skilled in the art obtain in the situation of not paying creative work are all in the scope of protection of the invention.
Embodiment:
As shown in Figure 1, a kind of permanent-magnetic synchronous motor rotor positioner, it comprises permagnetic synchronous motor 1, resolver 2, constant-current supply 3, the first relay 41, the second relay 42, the 3rd relay 43, master controller 5 and computer 6.Resolver 2 is installed on the motor 1.Computer 6 is the X86 type computer of standard.Master controller 5 comprises Master control chip 51 and is connected to resolver decoding chip 52, a RS232 serial interface 53, the 2nd RS232 serial interface 54, an I/O buffer circuit 55, the 2nd I/O buffer circuit 56 and the 3rd I/O buffer circuit 57 on the Master control chip 51.Master controller 5 is connected with computer 6 by a RS232 serial interface 53.Resolver decoding chip 52 is connected with resolver 2 by the 2nd RS232 serial interface 54.The one I/O buffer circuit 55, the 2nd I/O buffer circuit 56 and the 3rd I/O buffer circuit 57 are connected with the first relay 41, the second relay 42 and the 3rd relay 43 respectively.The movable end of the first relay 41, the second relay 42 and the 3rd relay 43 is connected with W with U phase, the V phase of permagnetic synchronous motor 1 respectively, and two each and every one stiff ends of the first relay 41, the second relay 42 and the 3rd relay 43 are connected with negative pole with the positive pole of constant-current supply 3 respectively.
The model of Master control chip 51 is STM32F103VE, and the model of resolver decoding chip 52 is AD2S1205.
The number of pole-pairs of permagnetic synchronous motor 1 is 4, and the number of pole-pairs of resolver 2 is 1.
In the present embodiment, in connection with said apparatus a kind of permanent-magnetic synchronous motor rotor localization method is described.
May further comprise the steps:
S001: input system allowable deviation value DEC and system mistake value ERR in the computer 6, DEC=100, ERR=200, computer 6 is sent to Master control chip 51 in the master controller 5 with DEC and ERR, and sends test starting command to Master control chip 51;
S002: Master control chip 51 controls the one I/O buffer circuit 55 is in low level state, the 2nd I/O buffer circuit 56 is in low level state, the 3rd I/O buffer circuit 57 is in high level state, at this moment, the first relay 41 be connected the negative pole of relay 42 with constant-current supply 3 and be connected, the 3rd relay 43 is connected with the positive pole of constant-current supply 3, causes the U phase of permagnetic synchronous motor 1 to be connected with the negative pole of constant-current supply 3 mutually with V, and the W phase of permagnetic synchronous motor 1 is connected with the positive pole of constant-current supply 3;
S003: the rotor of permagnetic synchronous motor 1 is after turning to a fixed position under the driving of constant-current supply 3, resolver decoding chip 52 reads the current positional value of rotor of permagnetic synchronous motor 1 by resolver 2, and this value transferred to Master control chip 51, Master control chip 51 this positional value stablize constant after, record this positional value NO1=10352;
S004: the theoretical position value MC1=-1366 under current power supply state does the difference computing to Master control chip 51 with above-mentioned positional value NO1 and rotor, the value of obtaining EC1=11718, and processing procedure is as follows:
EC1=NO1-MC1=10352+1366=11718
S005: the value EC1 that Master control chip 51 obtains above-mentioned difference computing and the number of pole-pairs of permagnetic synchronous motor 1 and the number of pole-pairs of resolver 2 are done normalized, obtain end value SET1=11718, and computational process is as follows:
If EC1 〉=49125, then SET1=EC1-49125;
If EC1 〉=32768, then SET1=EC1-32768;
If EC1 〉=16384, then SET1=EC1-16384;
If EC1＜16384, then SET1=EC1;
S006: Master control chip 51 places permagnetic synchronous motor 1 respectively following five kinds of states, repeating step S003 ~ S005, in the engineering process, NO2=24016, NO3=54032, NO4=45872, NO5=15824, NO6=18560, EC2=28112, EC3=60859, EC4=44506, EC5=11728, EC6=11733, MC2=-4096, MC3=-6827, MC4=1366, MC5=4096, MC6=6827, the end value SET2=11728 that finally obtains, SET3=11707, SET4=11738, SET5=11728, SET6=11733; Five kinds of states are as follows:
The join positive pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the join negative pole of constant-current supply 3 of the U of permagnetic synchronous motor 1, the V of permagnetic synchronous motor 1, the W of permagnetic synchronous motor 1; The join negative pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the join negative pole of constant-current supply 3 of the U of permagnetic synchronous motor 1, the V of permagnetic synchronous motor 1, the W of permagnetic synchronous motor 1; The join positive pole of constant-current supply 3 of the join negative pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the U of permagnetic synchronous motor 1, the V of permagnetic synchronous motor 1, the W of permagnetic synchronous motor 1; The join negative pole of constant-current supply 3 of the join negative pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the U of permagnetic synchronous motor 1, the V of permagnetic synchronous motor 1, the W of permagnetic synchronous motor 1; The join negative pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the join positive pole of constant-current supply 3 of the U of permagnetic synchronous motor 1, the V of permagnetic synchronous motor 1, the W of permagnetic synchronous motor 1;
S007: Master control chip 51 gets maximum in SET1 ~ SET6 and minimum value is done the difference computing, obtains end value TEMP=31, and computational process is as follows:
TEMP=Max[SET1,SET6]-Min[SET1,SET6]=11738-11707=31
S008: Master control chip 51 is with TEMP and DEC and ERR contrast, find that TEMP is less than DEC, SET1 ~ SET6 is averaged, the result is 11725, when the rotor of permagnetic synchronous motor 1 is in mechanical zero and the droop value between the electrical null position installed of resolver 2 be this mean value, Master control chip 51 is sent to computer 6 with this mean value and shows.
In other embodiments, if contrast is found in step S008, TEMP is greater than DEC and less than ERR, then heighten the output current of constant-current supply 3, and repeating said steps S002 ~ S007, until TEMP less than DEC, then averages to SET1 ~ SET6, when the rotor of permagnetic synchronous motor 1 is in mechanical zero and the droop value between the electrical null position installed of resolver 2 be this mean value, Master control chip 51 is sent to computer 6 with this mean value and shows.
In other embodiments, if contrast is found in step S008, TEMP is greater than ERR, then permagnetic synchronous motor 1 rotor is located unsuccessfully, whether Master control chip 51 is sent to computer 6 with failure information and shows, remind the lead-out wire of staff's check system wiring and permagnetic synchronous motor 1U, V, W three-phase correct.
As mentioned above, just can realize preferably the present invention.
Claims (3)
1. a permanent-magnetic synchronous motor rotor localization method is characterized in that, may further comprise the steps:
A. set an allowable deviation value DEC of system, a system mistake value ERR, ERR is greater than DEC;
B. motor is placed a kind of of following six kinds of states: the join positive pole of constant-current supply of the join negative pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join positive pole of constant-current supply of the join positive pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join positive pole of constant-current supply of the join negative pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join positive pole of constant-current supply of the join negative pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join negative pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor; The join negative pole of constant-current supply of the join positive pole of constant-current supply of the join positive pole of constant-current supply of the U of motor, the V of motor, the W of motor;
C. rotor reads the current positional value of rotor by the resolver that is arranged on the motor, and records described positional value after turning to a fixed position under the driving of constant-current supply;
D. the theoretical position value under current power supply state is done the difference computing with described positional value and rotor;
E. the value that above-mentioned difference computing is obtained and the number of pole-pairs of motor and the number of pole-pairs of resolver are done normalized, obtain end value SET1;
F. respectively motor is placed the other five kinds of states described in the steps A, and repeating step B obtains end value SET2, SET3, SET4, SET5 and SET6 to step D;
G. in SET1 ~ SET6, get maximum and minimum value and do the difference computing, obtain end value TEMP;
H. with TEMP and DEC and ERR contrast;
, then SET1 ~ SET6 is averaged less than DEC such as TEMP, when the result is rotor and is in mechanical zero and the droop value between the electrical null position installed of resolver;
Greater than DEC and less than ERR, then heighten the output current of constant-current supply such as TEMP, and repeat described steps A to step F, until TEMP is less than DEC;
Greater than ERR, then rotor is located unsuccessfully such as TEMP, checks whether the UVW three-phase definition of motor correctly re-starts the rotor location again.
2. right to use requires a kind of permanent-magnetic synchronous motor rotor positioner of 1 described method, it is characterized in that: it comprises motor, resolver, constant-current supply, relay, master controller and computer, the quantity of relay is 3, the movable end of 3 relays is connected with W with U phase, the V phase of motor respectively, two stiff ends of relay are connected with negative pole with the positive pole of constant-current supply respectively, resolver is arranged on the motor, resolver is connected with master controller, master controller is connected with computer, and master controller is connected with 3 relays respectively.
3. a kind of permanent-magnetic synchronous motor rotor positioner according to claim 2, it is characterized in that: described master controller comprises Master control chip, resolver decoding chip, RS232 serial interface and I/O buffer circuit, Master control chip is connected with described computer by the RS232 serial interface, the resolver decoding chip is connected with described resolver by the RS232 serial interface, Master control chip is connected with described relay by the I/O buffer circuit, and the resolver decoding chip is connected on the Master control chip.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104767467A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Method for calibrating mechanical zero of motor |
| CN107784335A (en) * | 2016-08-30 | 2018-03-09 | 长城汽车股份有限公司 | The online method and system for writing with a brush dipped in Chinese ink vehicular electric machine zero-bit |
| CN110112982A (en) * | 2019-06-27 | 2019-08-09 | 阳光电源股份有限公司 | A kind of initial position angle of rotor of permanent magnet synchronous motor detection method and device |
-
2012
- 2012-10-24 CN CN2012104077323A patent/CN102904506A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104767467A (en) * | 2014-01-02 | 2015-07-08 | 深圳乐行天下科技有限公司 | Method for calibrating mechanical zero of motor |
| CN104767467B (en) * | 2014-01-02 | 2017-06-30 | 深圳乐行天下科技有限公司 | A kind of calibration method of electromechanics zero point |
| CN107784335A (en) * | 2016-08-30 | 2018-03-09 | 长城汽车股份有限公司 | The online method and system for writing with a brush dipped in Chinese ink vehicular electric machine zero-bit |
| CN110112982A (en) * | 2019-06-27 | 2019-08-09 | 阳光电源股份有限公司 | A kind of initial position angle of rotor of permanent magnet synchronous motor detection method and device |
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Application publication date: 20130130 |