CN103684172A - Motor coordinate transformation control method and system - Google Patents

Motor coordinate transformation control method and system Download PDF

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Publication number
CN103684172A
CN103684172A CN201310639670.3A CN201310639670A CN103684172A CN 103684172 A CN103684172 A CN 103684172A CN 201310639670 A CN201310639670 A CN 201310639670A CN 103684172 A CN103684172 A CN 103684172A
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value
less
sin
judged result
equal
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钟明
陈跃
涂小平
刘启武
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Sichuan Changhong Electric Co Ltd
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Sichuan Changhong Electric Co Ltd
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Abstract

The invention discloses a motor coordinate transformation control method and system. The method includes: when k and a function value corresponding to each other are stored in a single-chip microcomputer of the control system, a current phase angle theta1 of a motor rotor is determined, k is a number of corresponding parts of the phase angle theta of the motor rotor, and a 360-degree angle is divided into 2n equal parts; when accuracy of each part is radian, the function value is equal to sin theta increased by 2m times, k is a consecutive integer larger than or equal to 0, n and m are both integers larger than 1; the number k1 of corresponding parts of the theta1 is calculated; according to the k1, a first function value corresponding to the k1 in the single-chip microcomputer is queried; the first function value is diminished by 2m times to obtain the value of sin theta1, and motor control parameters are calculated.

Description

A kind of control method of motor coordinate transform and control system
Technical field
The present invention relates to electron controls technology field, relate in particular to a kind of control method and control system of coordinate transform of motor.
Background technology
Motor is a kind of electric rotary machine, and it changes electric energy into mechanical energy, and it mainly comprises that one in order to produce the electromagnet winding in magnetic field or the stator winding of distribution and rotating armature or rotor.Under the effect of stator winding rotating magnetic field, its in armature squirrel-cage aluminium frame, have electric current by and be subject to the effect in magnetic field that it is rotated.
Magnetic-synchro brushless direct current motor sensorless vector control method, one of key technology is wherein d/q phase and α/β coordinate transform each other, also has other control programs all to relate to sin θ and cos θ computing technique as Fourier (Fourier) conversion etc.Due to 0≤sin θ≤1,0≤cos θ≤1, is decimal.But; in order to improve the arithmetic speed of single-chip microcomputer; we do not adopt floating-point operation conventionally; and adopt integer value computing to carry out deal with data, and so just relate to data processing technique and processing accuracy problem, cause the precision of data inadequate; during motor operation, there is concussion; unstable, even there is report disorderly closedown, cause the problem out of control of controlling.
Summary of the invention
The application provides a kind of control method and control system of coordinate transform of motor; solved in prior art the precision due to data inadequate; while causing motor operation, there is concussion; unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
The application provides a kind of control method of motor coordinate transform, comprising:
While storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system, determine the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be during radian, described in
Figure BDA0000428444130000022
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
According to
Figure BDA0000428444130000023
calculate described θ 1corresponding umber k 1value;
According to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
Preferably, at described k, be less than 2 ntime, in described basis
Figure BDA0000428444130000024
calculate described θ 1corresponding umber k 1before value, described method comprises:
Judge described angle theta 1whether be more than or equal to 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, carry out described basis
Figure BDA0000428444130000025
calculate described θ 1corresponding umber k 1value step.
Preferably, described method comprises:
In described the first judged result, show described angle theta 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Judge described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described basis
Figure BDA0000428444130000026
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure BDA0000428444130000027
calculate described θ 2corresponding umber k 2value.
Preferably, at described k, be less than or equal to 2 n-2, described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described basis
Figure BDA0000428444130000028
calculate described θ 1corresponding umber k 1value, is specially: according to calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described basis
Figure BDA0000428444130000031
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure BDA0000428444130000032
calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described basis
Figure BDA0000428444130000033
calculate described θ 1corresponding umber k 1value, is specially: according to calculate described 360 °-θ 1corresponding umber k 5value.
Preferably, when cos θ equals sin (θ+90 °), described method comprises:
According to
Figure BDA0000428444130000035
calculate described θ 1+ 90 ° of corresponding umber k 6value;
According to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
Described the second functional value is dwindled to 2 mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
Preferably, at described k, be less than 2 ntime, in described basis
Figure BDA0000428444130000036
calculate described (θ 1+ 90 °) corresponding umber k 6before value, described method also comprises:
Judge described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being less than 360 °, carry out described basis
Figure BDA0000428444130000037
calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
Preferably, described method also comprises:
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Judge described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described basis calculate described θ 1+ 90 ° of corresponding umber k 6value, is specially, according to
Figure BDA0000428444130000041
calculate described θ 3corresponding umber k 7value.
Preferably, described n is for being more than or equal to 10 and be less than or equal to 16.
Preferably, described n is specially 13.
Preferably, described m is more than or equal to 12.
Preferably, described m is specially 15.
A control system for motor coordinate transform, comprising:
Determining unit, while storing the k of mutual correspondence and functional value for the single-chip microcomputer in control system, determines the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, by 360 ° to being divided into 2 nequal portions, make every part of precision be
Figure BDA0000428444130000042
during radian, described in
Figure BDA0000428444130000043
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
Computing unit, for basis
Figure BDA0000428444130000044
calculate described θ 1corresponding umber k 1value;
Query unit, for according to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Dwindle unit, for described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
Preferably, at described k, be less than 2 ntime, described system also comprises:
Judging unit, for judging described angle theta 1whether be more than or equal to 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, described computing unit basis
Figure BDA0000428444130000045
calculate described θ 1corresponding umber k 1value step.
Preferably, described system also comprises:
Performance element, for showing described angle theta in described the first judged result 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Described judging unit is also for judging described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described computing unit basis
Figure BDA0000428444130000051
calculate described θ 2corresponding umber k 2value.
Preferably, at described k, be less than or equal to (2 n-2), described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described computing unit basis calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described computing unit basis
Figure BDA0000428444130000053
calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described computing unit basis
Figure BDA0000428444130000054
calculate described (360 °-θ 1) corresponding umber k 5value.
Preferably, when cos θ equals sin (θ+90 °),
Described computing unit basis
Figure BDA0000428444130000055
calculate described θ 1+ 90 ° of corresponding umber k 6value;
Described query unit is according to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
The described unit that dwindles dwindles 2 by described the second functional value mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
Preferably, at described k, be less than 2 ntime, described judging unit is also for judging described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle theta 1+ 90 ° while being less than 360 °, described computing unit basis
Figure BDA0000428444130000056
calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
Preferably, described performance element is also for showing described angle (θ in described the 3rd judged result 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Described judging unit is also for judging described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described computing unit basis
Figure BDA0000428444130000061
calculate described θ 3corresponding umber k 7value.
The application's beneficial effect is as follows:
The control method of the coordinate transform of above-mentioned motor and system, while storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system by using, wherein, k value is for to be divided into 2 at 360 ° nthe umber value that during equal portions, phase angle θ is corresponding, functional value is sin θ 1expand 2 mvalue doubly; having solved in prior art is the arithmetic speed that improves single-chip microcomputer, does not adopt floating-point operation, and adopts integer value computing to carry out deal with data; affect the problem of data processing precision; the precision of data is inadequate, during motor operation, occurs concussion, unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 1size, and by the phase angle θ that is more than or equal to 360 ° 1functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 2value, thus sin θ obtained 1value.
By described k is defined as and is less than or equal to 2 n-2, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 2the interval at place, will be greater than 90 ° of phase angle θ that are less than 360 ° 2functional value correspond to and be more than or equal to the functional value that 0 degree is less than or equal to the angle of 90 °, thereby obtain sin θ 1value.
Value by the sin θ that stores in single-chip microcomputer, equals sin (θ+90 °) according to cos θ, can accurate Calculation cos θ 1value, thereby improve the data processing precision of single-chip microcomputer, improve the stability of motor.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle (θ 1+ 90 °) size, and by the phase angle (θ that is more than or equal to 360 ° 1+ 90 °) functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 3value, thus cos θ obtained 1value.
Accompanying drawing explanation
Fig. 1 is the flow chart of control method of the coordinate transform of the application's the first better embodiment motor;
Fig. 2 is the structural representation of control system of the coordinate transform of another better embodiment motor of the application.
Embodiment
The embodiment of the present application is by providing a kind of control method and control system of coordinate transform of motor; solved in prior art the precision due to data inadequate; while causing motor operation, there is concussion; unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
Technical scheme in the embodiment of the present application is for addressing the above problem, and general thought is as follows:
A control method for motor coordinate transform, comprising:
While storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system, determine the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be
Figure BDA0000428444130000071
during radian, described in
Figure BDA0000428444130000072
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
According to
Figure BDA0000428444130000073
calculate described θ 1corresponding umber k 1value;
According to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
A control system for motor coordinate transform, comprising:
Determining unit, while storing the k of mutual correspondence and functional value for the single-chip microcomputer in control system, determines the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be during radian, described in
Figure BDA0000428444130000082
described functional value is that sin θ expands 2 mvalue doubly, described k is greater than 0 continuous integral number, and n and m are greater than 1 integer;
Computing unit, for basis
Figure BDA0000428444130000083
calculate described θ 1corresponding umber k 1value;
Query unit, for according to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Dwindle unit, for described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
The control method of the coordinate transform of above-mentioned motor and system, while storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system by using, wherein, k value is for to be divided into 2 at 360 ° nthe umber value that during equal portions, phase angle θ is corresponding, functional value is sin θ 1expand 2 mvalue doubly; having solved in prior art is the arithmetic speed that improves single-chip microcomputer, does not adopt floating-point operation, and adopts integer value computing to carry out deal with data; affect the problem of data processing precision; the precision of data is inadequate, during motor operation, occurs concussion, unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
In order better to understand technique scheme, below in conjunction with Figure of description and concrete execution mode, technique scheme is described in detail.
As shown in Figure 1, be the flow chart of the control method 100 of the coordinate transform of the application's the first better embodiment motor.The control control method 100 of this motor coordinate transform can be applied in a permanent magnet motor, and described permanent magnet motor is for example: permagnetic synchronous motor of permanent-magnet synchronous brushless DC motor, sinusoidal back-emf etc.
The control method 100 of motor coordinate transform comprises the following steps:
Step 110, while storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system, determines the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be
Figure BDA0000428444130000084
during radian, described in
Figure BDA0000428444130000085
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer.
Step 120, according to
Figure BDA0000428444130000091
calculate described θ 1corresponding umber k 1value.
Step 130, according to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value.
Step 140, dwindles 2 by described the first functional value mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
Particularly, in step 110, at definite current phase angle θ 1before, by 360 °, be divided into 2 nequal portions, make every part of precision be
Figure BDA0000428444130000092
radian, thus make the umber value of corresponding arbitrary phase angle θ
Figure BDA0000428444130000093
as: when phase angle θ is 270 °, corresponding umber value k is 32 n-2, when phase angle θ is 180 °, corresponding umber value k is 2 n-1, when phase angle θ is 90 °, corresponding umber value k is 2 n-2.Then, sin θ is expanded to 2 mvalue and k value corresponding to phase angle θ is doubly stored in the single-chip microcomputer of control system, for follow-up use.
Wherein, the concrete numerical value of n and m can arrange as required, when as higher in the precision of needs, can n and m be set to bigger numerical, and for example, if need computational speed very fast, consider the computational speed of single-chip microcomputer, can n and m be set to compared with fractional value.In the present embodiment, meeting under the requirement that precision controls, reduce the space that calculated data takies, make rational use of resources, described n is for being more than or equal to 10 and be less than or equal to 16, and described m is more than or equal to 12.Preferably, described n is specially 13, and described m is specially 15.
Described phase angle θ is for example: the mechanical phase angle of rotor, electrical degree of rotor etc.; Wherein, generally, between described mechanical phase angle and electrical degree, can there is a reduction formula, for example: electrical degree=mechanical phase angle * number of pole-pairs.In follow-up introduction, for convenience's sake, the described phase angle θ of take is introduced as mechanical phase angle as example, if electrical degree so, directly converts by above-mentioned formula.
Before use, first, determine current phase angle θ 1, i.e. step 110, at definite current phase angle θ 1after enter step 120, suppose current phase angle θ 1be 90 while spending, described θ 1corresponding umber k 1value is 2 n-2.Then enter step 130, according to described 2 n-2, search correspondence described 2 in described single-chip microcomputer n-2the first functional value, this first functional value is sin θ 1expand 2 mfunctional value doubly, therefore, need to enter step 140, and described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.Control parameter as I di q, v d, v qdeng, by coordinating of these parameters and other control programs and control circuit, control the running of motor.
The control method of the coordinate transform of above-mentioned motor, while storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system by using, wherein, k value is for to be divided into 2 at 360 ° nthe umber value that during equal portions, phase angle θ is corresponding, functional value is sin θ 1expand 2 mvalue doubly; having solved in prior art is the arithmetic speed that improves single-chip microcomputer, does not adopt floating-point operation, and adopts integer value computing to carry out deal with data; affect the problem of data processing precision; the precision of data is inadequate, during motor operation, occurs concussion, unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
Particularly, at described k, be less than 2 ntime, in described basis
Figure BDA0000428444130000101
calculate described θ 1corresponding umber k 1before value, described method also comprises:
Judge described angle theta 1whether be less than 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, carry out described basis
Figure BDA0000428444130000102
calculate described θ 1corresponding umber k 1value step.
Described method also comprises:
In described the first judged result, show described angle theta 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Judge described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described basis
Figure BDA0000428444130000103
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure BDA0000428444130000104
calculate described θ 2corresponding umber k 2value.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 1size, and by the phase angle θ that is more than or equal to 360 ° 1functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 2value, thus sin θ obtained 1value.
Particularly, at described k, be less than or equal to 2 n-2, described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described basis calculate described θ 1corresponding umber k 1value, is specially: according to calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described basis
Figure BDA0000428444130000113
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure BDA0000428444130000114
calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described basis
Figure BDA0000428444130000115
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure BDA0000428444130000116
calculate described 360 °-θ 1corresponding umber k 5value.
By described k is defined as and is less than or equal to 2 n-2, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 2the interval at place, will be greater than 90 ° and be less than the phase angle θ of 360 ° 2functional value correspond to and be more than or equal to the functional value that 0 degree is less than or equal to the angle of 90 °, thereby obtain sin θ 1value.
Particularly, when cos θ equals sin (θ+90 °), described method also comprises:
According to
Figure BDA0000428444130000117
calculate described θ 1+ 90 ° of corresponding umber k 6value;
According to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
Described the second functional value is dwindled to 2 mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
Value by the sin θ that stores in single-chip microcomputer, equals sin (θ+90 °) according to cos θ, can accurate Calculation cos θ 1value, thereby improve the data processing precision of single-chip microcomputer, improve the stability of motor.
Particularly, at described k, be less than 2 ntime, in described basis
Figure BDA0000428444130000121
calculate described (θ 1+ 90 °) corresponding umber k 6before value, described method also comprises:
Judge described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being less than 360 °, carry out described basis
Figure BDA0000428444130000122
calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
Particularly, described method also comprises:
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Judge described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described basis
Figure BDA0000428444130000123
calculate described θ 1+ 90 ° of corresponding umber k 6value, is specially, according to
Figure BDA0000428444130000124
calculate described θ 3corresponding umber k 7value.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle (θ 1+ 90 °) size, and by the phase angle (θ that is more than or equal to 360 ° 1+ 90 °) functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 3value, thus cos θ obtained 1value.
On the other hand, based on same inventive concept, the present invention provides a kind of control system 200 of implementing motor coordinate transform in the embodiment of the present application by another embodiment of the present invention,
As shown in Figure 2, be the structural representation of the control system 200 of the coordinate transform of another better embodiment motor of the application.The control system 200 of motor coordinate transform, comprising:
Determining unit 210, while storing the k of mutual correspondence and functional value for the single-chip microcomputer in control system, determines the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, by 360 ° to being divided into 2 nequal portions, make every part of precision be during radian, described in
Figure BDA0000428444130000132
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
Computing unit 220, for basis
Figure BDA0000428444130000133
calculate described θ 1corresponding umber k 1value;
Query unit 230, for according to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Dwindle unit 240, for described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
Particularly, at described k, be less than 2 ntime, described system 200 also comprises:
Judging unit 260, for judging described angle theta 1whether be less than 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, described computing unit 220 bases
Figure BDA0000428444130000134
calculate described θ 1corresponding umber k 1value step.
Particularly, described system 200 also comprises:
Performance element 250, for showing described angle theta in described the first judged result 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Described judging unit 260 is also for judging described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described computing unit 220 bases calculate described θ 2corresponding umber k 2value.
Particularly, at described k, be less than or equal to (2 n-2), described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described computing unit basis
Figure BDA0000428444130000141
calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described computing unit basis
Figure BDA0000428444130000142
calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described computing unit basis calculate described (360 °-θ 1) corresponding umber k 5value.
Particularly, when cos θ equals sin (θ+90 °),
Described computing unit 220 bases
Figure BDA0000428444130000146
calculate described θ 1+ 90 ° of corresponding umber k 6value;
Described query unit 230 is according to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
The described unit 240 that dwindles dwindles 2 by described the second functional value mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
Particularly, at described k, be less than 2 ntime, described judging unit 260 is also for judging described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle theta 1+ 90 ° while being less than 360 °, described computing unit 220 bases calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
Particularly, described performance element 250 is also for showing described angle (θ in described the 3rd judged result 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Described judging unit 260 is also for judging described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described computing unit 220 bases
Figure BDA0000428444130000145
calculate described θ 3corresponding umber k 7value.
The control method of the coordinate transform of above-mentioned motor and system, while storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system by using, wherein, k value is for to be divided into 2 at 360 ° nthe umber value that during equal portions, phase angle θ is corresponding, functional value is sin θ 1expand 2 mvalue doubly; having solved in prior art is the arithmetic speed that improves single-chip microcomputer, does not adopt floating-point operation, and adopts integer value computing to carry out deal with data; affect the problem of data processing precision; the precision of data is inadequate, during motor operation, occurs concussion, unstable; even there is report disorderly closedown; cause and control technical problem out of control, reach the precision of the deal with data that improves single-chip microcomputer, improve the stability of motor operation.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 1size, and by the phase angle θ that is more than or equal to 360 ° 1functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 2value, thus sin θ obtained 1value.
By described k is defined as and is less than or equal to 2 n-2, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle θ 2the interval at place, will be greater than 90 ° and be less than the phase angle θ of 360 ° 2functional value correspond to and be more than or equal to the functional value that 0 degree is less than or equal to the angle of 90 °, thereby obtain sin θ 1value.
Value by the sin θ that stores in single-chip microcomputer, equals sin (θ+90 °) according to cos θ, can accurate Calculation cos θ 1value, thereby improve the data processing precision of single-chip microcomputer, improve the stability of motor.
By described k is defined as and is less than 2 n, the data space taking to reduce k and the first corresponding functional value thereof, rationally utilizes the memory source of single-chip microcomputer, by judgement phase angle (θ 1+ 90 °) size, and by the phase angle (θ that is more than or equal to 360 ° 1+ 90 °) functional value correspond to and be more than or equal to the θ that 0 degree is less than 360 ° 3value, thus cos θ obtained 1value.
Although described the preferred embodiments of the present invention, once those skilled in the art obtain the basic creative concept of cicada, can make other change and modification to these embodiment.So claims are intended to all changes and the modification that are interpreted as comprising preferred embodiment and fall into the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.

Claims (18)

1. a control method for motor coordinate transform, is characterized in that, described method comprises:
While storing the k of mutual correspondence and functional value in the single-chip microcomputer of control system, determine the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be
Figure FDA0000428444120000016
during radian, described in
Figure FDA0000428444120000017
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
According to calculate described θ 1corresponding umber k 1value;
According to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
2. the method for claim 1, is characterized in that, at described k, is less than 2 ntime, in described basis
Figure FDA0000428444120000012
calculate described θ 1corresponding umber k 1before value, described method also comprises:
Judge described angle theta 1whether be less than 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, carry out described basis
Figure FDA0000428444120000013
calculate described θ 1corresponding umber k 1value step.
3. method as claimed in claim 2, is characterized in that, described method also comprises:
In described the first judged result, show described angle theta 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Judge described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described basis
Figure FDA0000428444120000014
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure FDA0000428444120000015
calculate described θ 2corresponding umber k 2value.
4. method as claimed in claim 2, is characterized in that, at described k, is less than or equal to 2 n-2, described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described basis
Figure FDA0000428444120000021
calculate described θ 1corresponding umber k 1value, is specially: according to calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described basis
Figure FDA0000428444120000023
calculate described θ 1corresponding umber k 1value, is specially: according to
Figure FDA0000428444120000024
calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described basis
Figure FDA0000428444120000025
calculate described θ 1corresponding umber k 1value, is specially: according to calculate described 360 °-θ 1corresponding umber k 5value.
5. the method for claim 1, is characterized in that, when cos θ equals sin (θ+90 °), described method also comprises:
According to calculate described θ 1+ 90 ° of corresponding umber k 6value;
According to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
Described the second functional value is dwindled to 2 mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
6. method as claimed in claim 5, is characterized in that, at described k, is less than 2 ntime, in described basis
Figure FDA0000428444120000028
calculate described (θ 1+ 90 °) corresponding umber k 6before value, described method also comprises:
Judge described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being less than 360 °, carry out described basis calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
7. method as claimed in claim 6, is characterized in that, described method also comprises:
In described the 3rd judged result, show described angle (θ 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Judge described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described basis
Figure FDA0000428444120000031
calculate described θ 1+ 90 ° of corresponding umber k 6value, is specially, according to
Figure FDA0000428444120000032
calculate described θ 3corresponding umber k 7value.
8. the method for claim 1, is characterized in that, described n is for being more than or equal to 10 and be less than or equal to 16.
9. method as claimed in claim 8, is characterized in that, described n is specially 13.
10. the method for claim 1, is characterized in that, described m is more than or equal to 12.
11. methods as claimed in claim 10, is characterized in that, described m is specially 15.
The control system of 12. 1 kinds of motor coordinate transforms, is characterized in that, described system comprises:
Determining unit, while storing the k of mutual correspondence and functional value for the single-chip microcomputer in control system, determines the current phase angle θ of rotor 1, wherein, umber corresponding to phase angle θ that described k is described rotor, is being divided into 2 by 360 ° nequal portions, make every part of precision be
Figure FDA0000428444120000033
during radian, described in
Figure FDA0000428444120000034
described functional value is that sin θ expands 2 mvalue doubly, described k is more than or equal to 0 continuous integral number, and n and m are greater than 1 integer;
Computing unit, for basis
Figure FDA0000428444120000035
calculate described θ 1corresponding umber k 1value;
Query unit, for according to described k 1value, inquires about corresponding described k in described single-chip microcomputer 1the first functional value of value;
Dwindle unit, for described the first functional value is dwindled to 2 mdoubly, obtain sin θ 1value, to calculate the control parameter of motor.
13. systems as claimed in claim 12, is characterized in that, at described k, are less than 2 ntime, described system also comprises:
Judging unit, for judging described angle theta 1whether be less than 360 °, obtain the first judged result;
In described the first judged result, show described angle theta 1while being less than 360 °, described computing unit basis
Figure FDA0000428444120000041
calculate described θ 1corresponding umber k 1value step.
14. systems as claimed in claim 13, is characterized in that, described system also comprises:
Performance element, for showing described angle theta in described the first judged result 1while being more than or equal to 360 °, carry out θ 1-360 °, obtain θ 2;
Described judging unit is also for judging described θ 2whether be less than 360 °, obtain the second judged result;
In described the second judged result, show described θ 2while being less than 360 °, described computing unit basis calculate described θ 2corresponding umber k 2value.
15. systems as claimed in claim 13, is characterized in that, at described k, are less than or equal to (2 n-2), described the first judged result shows described angle theta 1while being less than 360 °,
As described θ 1be greater than 90 ° while being less than or equal to 180 °, sin θ=sin (180 °-θ), described computing unit basis calculate described (180 °-θ 1) corresponding umber k 3value;
As described θ 1be greater than 180 ° while being less than or equal to 270 °, sin θ=-sin (θ-180), described computing unit basis calculate described (θ 1-180 °) corresponding umber k 4value;
As described θ 1be greater than 270 ° while being less than 360 °, sin θ=-sin (360 °-θ), described computing unit basis
Figure FDA0000428444120000045
calculate described (360 °-θ 1) corresponding umber k 5value.
16. systems as claimed in claim 12, is characterized in that, when cos θ equals sin (θ+90 °),
Described computing unit basis
Figure FDA0000428444120000046
calculate described θ 1+ 90 ° of corresponding umber k 6value;
Described query unit is according to described k 6value, inquires about corresponding described k in described single-chip microcomputer 6the second functional value of value;
The described unit that dwindles dwindles 2 by described the second functional value mdoubly, obtain cos θ 1value, to calculate the control parameter of motor.
17. systems as claimed in claim 16, is characterized in that, at described k, are less than 2 ntime, described judging unit is also for judging described angle (θ 1+ 90 °) whether be less than 360 °, obtain the 3rd judged result;
In described the 3rd judged result, show described angle theta 1+ 90 ° while being less than 360 °, described computing unit basis
Figure FDA0000428444120000051
calculate described (θ 1+ 90 °) corresponding umber k 6the step of value.
18. systems as claimed in claim 17, is characterized in that, described performance element is also for showing described angle (θ in described the 3rd judged result 1+ 90 °) while being more than or equal to 360 °, carry out θ 1+ 90 °-360 °, obtain θ 3;
Described judging unit is also for judging described θ 3whether be less than 360 °, obtain the 4th judged result;
In described the 4th judged result, show described θ 3while being less than 360 °, described computing unit basis
Figure FDA0000428444120000052
calculate described θ 3corresponding umber k 7value.
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