CN104022714B - Initial position angle of rotor of permanent magnet synchronous motor acquisition methods and device - Google Patents

Abstract

The present invention provides a kind of initial position angle of rotor of permanent magnet synchronous motor acquisition methods and device, including: to the three-phase current i collected_a、i_bAnd i_cCarry out equivalents, it is thus achieved that the electric current i under biphase α β coordinate system_alfaAnd i_beta；Obtain current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, control to obtain α axle reference voltage u by PI_{alfa_ref}With β axle reference voltage u_{beta_ref}, update α axle reference current i by step-length_{alfa_ref}；According to current described α axle reference voltage u_{alfa_ref}With described β axle reference voltage u_{beta_ref}, it is thus achieved that pwm control signal, described permagnetic synchronous motor is driven；Again perform abovementioned steps, until detecting that described motor stops the rotation；Gather current position angle and motor stops the rotation the direction of rotation of previous moment, it is thus achieved that described initial position angle.By the method and device of the present invention, it is possible to obtain the initial position angle of rotor exactly, improve accuracy and reliability that motor controls.

Description

Initial position angle of rotor of permanent magnet synchronous motor acquisition methods and device

Technical field

The present invention relates to permagnetic synchronous motor system control field, particularly relate to a kind of permagnetic synchronous motor and turn Sub-initial position angle acquisition methods and device.

Background technology

In order to electric automobile can safe and reliable operation, need automobile-used motor is carried out high accuracy, high The control of dynamic property.Concrete, the accuracy of permanent-magnet synchronous motor rotor position signal is to realize forever Magnetic-synchro motor carries out the necessary factor of field-oriented vector control.If original position of electric motor's rotator is fixed Position is inaccurate, it will cause motor can not at a high speed, safe operation even cannot normally start.Therefore, The most accurately obtain the initial position angle of permanent-magnetic synchronous motor rotor, become problem demanding prompt solution.

Summary of the invention

The present invention provides a kind of initial position angle of rotor of permanent magnet synchronous motor acquisition methods and device, for standard Really obtain the initial position angle of permanent-magnetic synchronous motor rotor.

The first aspect of the invention is to provide a kind of initial position angle of rotor of permanent magnet synchronous motor acquisition side Method, including:

Gather three-phase inverter and be currently used in the three-phase current i driving permagnetic synchronous motor_a、i_bAnd i_c, to institute State three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that the electric current i under biphase α β coordinate system_alfaAnd i_beta；

Obtain current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, to described i_alfaAnd institute State i_{alfa_ref}Difference signal carry out alfa phase current PI control, it is thus achieved that current α axle reference voltage u_{alfa_ref}, To described i_betaWith described i_{beta_ref}Difference signal carry out beta phase current PI control, it is thus achieved that current β Axle reference voltage u_{beta_ref}, and by the step-length preset, update current described α axle reference current i_{alfa_ref}；

According to current described α axle reference voltage u_{alfa_ref}With described β axle reference voltage u_{beta_ref}, it is thus achieved that And sending current pulse-width modulation PWM control signal to described three-phase inverter, described PWM controls Described permagnetic synchronous motor is carried out according to described pwm control signal by signal for described three-phase inverter Drive；

Again perform described collection three-phase inverter and be currently used in the three-phase current i driving permagnetic synchronous motor_a、 i_bAnd i_cStep, until detecting that described permagnetic synchronous motor stops under the driving of described three-phase inverter Spin-ended turn；

Gather the current position angle of described permagnetic synchronous motor and described permagnetic synchronous motor stopping the rotation The direction of rotation of previous moment, and according to described position angle and described direction of rotation, determine that described permanent magnetism is same The initial position angle of step rotor.

Another aspect of the present invention is to provide a kind of initial position angle of rotor of permanent magnet synchronous motor and obtains dress Put, including:

Sampling module, is currently used in the three-phase current of driving permagnetic synchronous motor for gathering three-phase inverter i_a、i_bAnd i_c；

Conversion module, for described three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that biphase α β Electric current i under coordinate system_alfaAnd i_beta；

Acquisition module, for obtaining current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}；

Oneth PI control module, for described i_alfaWith described i_{alfa_ref}Difference signal carry out alfa phase Electric current PI controls, it is thus achieved that current α axle reference voltage u_{alfa_ref}；

2nd PI control module, for described i_betaWith described i_{beta_ref}Difference signal carry out beta phase Electric current PI controls, it is thus achieved that current β axle reference voltage u_{beta_ref}；

More new module, for by the step-length preset, updating current described α axle reference current i_{alfa_ref}；

Processing module, for according to current described α axle reference voltage u_{alfa_ref}With described β axle with reference to electricity Pressure u_{beta_ref}, it is thus achieved that and send current pwm control signal, described PWM to described three-phase inverter Control signal is used for described three-phase inverter according to described pwm control signal to described permagnetic synchronous motor It is driven；

Described processing module, is additionally operable to indicate described sampling module again to perform described collection three-phase inverter It is currently used in the three-phase current i driving permagnetic synchronous motor_a、i_bAnd i_cStep, until described in detecting forever Magnetic-synchro motor stops the rotation under the driving of described three-phase inverter；

Described sampling module, is additionally operable to gather the current position angle of described permagnetic synchronous motor and described permanent magnetism Synchronous motor is in the direction of rotation of the previous moment stopped the rotation；

Described processing module, is additionally operable to, according to described position angle and described direction of rotation, determine described permanent magnetism The initial position angle of synchronous electric motor rotor.

The initial position angle of rotor of permanent magnet synchronous motor acquisition methods of present invention offer and device, by adopting Collect to three-phase current carry out equivalents, it is thus achieved that electric current i_alfaAnd i_beta, and based on current α axle reference Electric current i_{alfa_ref}With β axle reference current i_{beta_ref}, control to obtain current u by carrying out PI_{alfa_ref}With u_{beta_ref}, update i by the step-length preset_{alfa_ref}After, according to described u_{alfa_ref}And u_{beta_ref}, it is thus achieved that it is used for driving The pwm control signal of galvanic electricity machine, the most again abovementioned steps, until detecting described permanent magnet synchronous electric Machine stops the rotation under the driving of described three-phase inverter, and then according to the current position angle of motor and motor Direction of rotation before stopping the rotation, determines the technical side of the initial position angle of described permanent-magnetic synchronous motor rotor Case, it is possible to obtain the initial position angle of permanent-magnetic synchronous motor rotor exactly, thus improve what motor controlled Accuracy and reliability.

Accompanying drawing explanation

The initial position angle of rotor of permanent magnet synchronous motor acquisition methods that Fig. 1 provides for the embodiment of the present invention one Schematic flow sheet；

The initial position angle of rotor of permanent magnet synchronous motor acquisition device that Fig. 2 provides for the embodiment of the present invention two Structural representation.

Detailed description of the invention

For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention.

The initial position angle of rotor of permanent magnet synchronous motor acquisition methods that Fig. 1 provides for the embodiment of the present invention one Schematic flow sheet, as it is shown in figure 1, described method includes:

101, gather three-phase inverter and be currently used in the three-phase current i driving permagnetic synchronous motor_a、i_bAnd i_c, To described three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that the electric current i under biphase α β coordinate system_alfa And i_beta。

In three-phase ABC coordinate system, permanent-magnetic synchronous motor stator current expression is:

$\left\{\begin{array}{c}{i}_a=i_m\cos \mathrm{\θ}\\ i_b=i_m\cos (\mathrm{\θ}-\frac{2}{3}\mathrm{\π})\\ i_c=i_m\cos (\mathrm{\θ}+\frac{2}{3}\mathrm{\π})\end{array}\right.$

Wherein, i_mFor stator current, θ is rotation displacement angle setting.

Concrete, can be by carrying out equivalents (CLARKE conversion), by motor three-phase ABC The current transformation of coordinate system is the electric current under biphase α β coordinate system, thus obtains i_alfaAnd i_beta.The most corresponding , to described three-phase current i described in 101_a、i_bAnd i_cCarry out equivalents, it is thus achieved that biphase α β coordinate Electric current i under Xi_alfaAnd i_beta, specifically may include that described three-phase current i_a、i_bAnd i_cCarry out CLARKE Conversion, it is thus achieved that the described electric current i under biphase α β coordinate system_alfaAnd i_beta。

In actual applications, concrete alternative approach can be realized by following transformation for mula:

$\left[\begin{array}{c}{i}_{\mathrm{alfa}}\\ i_{\mathrm{beta}}\end{array}\right]=\frac{2}{3}\left[\begin{array}{ccc}1& -\frac{1}{2}& -\frac{1}{2}\\ 0& \frac{\sqrt{3}}{2}& -\frac{\sqrt{3}}{2}\end{array}\right]\left[\begin{array}{c}{i}_a\\ i_b\\ i_c\end{array}\right]$

102, current α axle reference current i is obtained_{alfa_ref}With β axle reference current i_{beta_ref}, to described i_alfa With described i_{alfa_ref}Difference signal carry out alfa phase current PI control, it is thus achieved that current α axle reference voltage u_{alfa_ref}, to described i_betaWith described i_{beta_ref}Difference signal carry out beta phase current PI control, it is thus achieved that when Front β axle reference voltage u_{beta_ref}, and by the step-length preset, update current described α axle reference current i_{alfa_ref}。

Wherein, described step-length can determine according to actual needs.Described by the step-length preset, update current Described α axle reference current i_{alfa_ref}, specifically can include, by default step-length, increasing current described α Axle reference current i_{alfa_ref}, for example, it is assumed that described α axle reference current i_{alfa_ref}Being 1, described step-length is 2, Current described α axle reference current i after then updating_{alfa_ref}It is 3.The most concrete, can be by increasing Open out signal, increases described α axle reference current i_{alfa_ref}。

Optionally, 102 exist two kinds implements scene, and a kind of scene of implementing is to obtain current α for the first time Axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, say, that in this enforcement scene, also do not have Have and determined α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}.Another kind of scene of implementing is to obtain Take the α axle reference current i being currently updated_{alfa_ref}With described β axle reference current i_{beta_ref}。

Implementing scene according to above two, under former implements scene, 102 specifically may include that

Determine initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}；

By described initial alpha axle reference current i_{alfa_ref0}As current α axle reference current i_{alfa_ref}, by described Initial β axle reference current i_{beta_ref0}As current β axle reference current i_{beta_ref}。

Under former implements scene, optionally, described initial alpha axle reference current i_{alfa_ref0}With initial β Axle reference current i_{beta_ref0}Can be set in advance, the most accordingly, described determine initial alpha axle with reference to electricity Stream i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}, specifically include:

Using default current value as described initial alpha axle reference current i_{alfa_ref0}With initial β axle reference Electric current i_{beta_ref0}。

Wherein, described initial β axle reference current i_{beta_ref0}0 can be set to.

Concrete, in actual applications, as a example by the initial position angle obtaining single motor, can pass through Host computer or other modes give control signal, realize initial alpha axle reference current i_{alfa_ref0}Initially β axle reference current i_{beta_ref0}Initial setting.

Equally under former implements scene, more optionally, if using on real vehicle, then can also pass through Response car load throttle signal, determines described initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}.Then corresponding, described determine initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}, specifically may include that

By response car load throttle signal, it is thus achieved that driving current signal；

According to described driving current signal, determine described initial alpha axle reference current i_{alfa_ref0}With described initially β axle reference current i_{beta_ref0}。

Concrete, in above-mentioned the second implements scene, obtain the α axle being currently updated with reference to electricity Stream i_{alfa_ref}With β axle reference current i_{beta_ref}, it will be appreciated that for, obtain in the step process of previous execution, root After carrying out updating according to described step-length, current α axle reference current i_{alfa_ref}, and due at said process In, not to β axle reference current i_{beta_ref}It is updated, then can be understood as directly obtaining originally determined After described β axle reference current i_{beta_ref}。

103, according to current described α axle reference voltage u_{alfa_ref}With described β axle reference voltage u_{beta_ref}, Obtaining and send current pulse-width modulation PWM control signal to described three-phase inverter, described PWM is controlled Described permagnetic synchronous motor is entered according to described pwm control signal by signal processed for described three-phase inverter Row cutting.

Concrete, 103 specifically may include that according to described u_{alfa_ref}With described u_{beta_ref}, by carrying out sky Between Vector Pulse Width Modulation (Space Vector Pulse Width Modulation, be called for short SVPWM) computing, Obtain described pwm control signal.

Wherein, SVPWM is space vector width pulse modulation method, and it can be by by three phase power inversion The pulse width modulated wave that the particular switch pattern of six power cell part compositions of device produces, makes the electricity of output Stream waveform is as closely as possible to preferable sinusoidal wave form.Concrete, according to the fundamental formular of SVPWM, With output frequency set in advance, output line voltage, DC bus-bar voltage, through and carrying out SVPWM Computing, can generate the pwm pulse for controlling three phase inverter bridge, thus in the output of inverter bridge End obtains the sinusoidal voltage waveform of three-phase symmetrical, and then realizes described three-phase inverter according to PWM control Signal processed, is driven described permagnetic synchronous motor, makes described motor rotate.

104, again perform described collection three-phase inverter and be currently used in the three-phase electricity driving permagnetic synchronous motor Stream i_a、i_bAnd i_cStep, until the driving at described three-phase inverter of the described permagnetic synchronous motor being detected Under stop the rotation.

105, gather the current position angle of described permagnetic synchronous motor and described permagnetic synchronous motor and stop rotation The direction of rotation of previous moment turned, and according to described position angle and described direction of rotation, determine described in forever The initial position angle of magnetic-synchro rotor.

Concrete, its concrete principle can be along with α axle reference current i_{alfa_ref}Be stepped up, motor Certain rotation will occur, and as α axle reference current i_{alfa_ref}After increasing to certain value, motor will stop Rotate.Now, the magnetic field of permagnetic synchronous motor is the most aligned, thus can obtain permagnetic synchronous motor and turn The initial position angle of son.

In actual applications, it is possible to use on motor install rotation become, gather motor rotary course with Present bit angle setting when described motor stops the rotation detected.Concrete, if described permagnetic synchronous motor exists The direction of rotation of the previous moment stopped the rotation is for rotating forward, then when detecting that described motor stops, The current described position angle that sampling obtains, is the initial position angle of described permanent-magnetic synchronous motor rotor； If described motor is reverse rotation in the direction of rotation of the previous moment stopped the rotation, then described when detecting When motor stops, the current described position angle of sampling acquisition and the initial position angle phase of described rotor Differ from 180 °.It should be noted that difference 180 ° herein can include many 180 ° or few 180 °.Namely Say, if described motor is reverse rotation, the most described motor in the direction of rotation of the previous moment stopped the rotation The initial position angle of rotor can be, current described position angle sampling obtained increases by 180 °, or The current described position angle that sampling obtains is deducted the result of calculation of 180 °.

Additionally, in actual applications, it is only necessary to electric rotating machine can realize what the present embodiment provided by a small margin Obtain the scheme of initial position angle, therefore, in order to improve efficiency, reduce the cost expended, can be upper During stating, motor max. output torque and peak power are carried out certain threshold restriction.

The initial position angle of rotor of permanent magnet synchronous motor acquisition methods that the present embodiment provides, by collecting Three-phase current carry out equivalents, it is thus achieved that electric current i_alfaAnd i_beta, and based on current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, control to obtain current u by carrying out PI_{alfa_ref}And u_{beta_ref}, I is updated by the step-length preset_{alfa_ref}After, according to described u_{alfa_ref}And u_{beta_ref}, it is thus achieved that for driving motor Pwm control signal, the most again abovementioned steps, until detecting that described permagnetic synchronous motor is described three Stop the rotation under the driving of phase inverter, and then before stopping the rotation according to the current position angle of motor and motor Direction of rotation, determine the technical scheme of the initial position angle of described permanent-magnetic synchronous motor rotor, it is possible to accurate Really obtain the initial position angle of permanent-magnetic synchronous motor rotor, thus improve accuracy that motor controls and can By property.

The initial position angle of rotor of permanent magnet synchronous motor acquisition device that Fig. 2 provides for the embodiment of the present invention two Structural representation, as in figure 2 it is shown, described device includes:

Sampling module 21, is currently used in the three-phase electricity of driving permagnetic synchronous motor for gathering three-phase inverter Stream i_a、i_bAnd i_c；

Conversion module 22, for described three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that biphase α β Electric current i under coordinate system_alfaAnd i_beta；

Acquisition module 23, for obtaining current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}；

Oneth PI control module 24, for described i_alfaWith described i_{alfa_ref}Difference signal carry out alfa Phase current PI controls, it is thus achieved that current α axle reference voltage u_{alfa_ref}；

2nd PI control module 25, for described i_betaWith described i_{beta_ref}Difference signal carry out beta Phase current PI controls, it is thus achieved that current β axle reference voltage u_{beta_ref}；

More new module 26, for by the step-length preset, updating current described α axle reference current i_{alfa_ref}；

Processing module 27, for according to current described α axle reference voltage u_{alfa_ref}With described β axle reference Voltage u_{beta_ref}, it is thus achieved that and send current pwm control signal, described PWM to described three-phase inverter Control signal is used for described three-phase inverter according to described pwm control signal to described permagnetic synchronous motor It is driven；

Processing module 27, is additionally operable to indicate described sampling module again to perform described collection three-phase inverter and works as Front for driving the three-phase current i of permagnetic synchronous motor_a、i_bAnd i_cStep, until described permanent magnetism being detected Synchronous motor stops the rotation under the driving of described three-phase inverter；

Sampling module 21, is additionally operable to gather the current position angle of described permagnetic synchronous motor and described permanent magnetism is same Step motor is in the direction of rotation of the previous moment stopped the rotation；

Processing module 27, is additionally operable to according to described position angle and described direction of rotation, determines that described permanent magnetism is same The initial position angle of step rotor.

Concrete, can be by carrying out equivalents (CLARKE conversion), by motor three-phase ABC The current transformation of coordinate system is the electric current under biphase α β coordinate system, thus obtains i_alfaAnd i_beta.The most corresponding , conversion module 22, specifically may be used for described three-phase current i_a、i_bAnd i_cCarry out CLARKE change Change, it is thus achieved that the described electric current i under biphase α β coordinate system_alfaAnd i_beta。

Wherein, described step-length can determine according to actual needs.More new module 26 specifically may be used for by institute State step-length, increase current described α axle reference current i_{alfa_ref}。

Optionally, acquisition module 23 exists two kinds and implements scene, and a kind of scene of implementing is, acquisition module 23 obtain current α axle reference current i for the first time_{alfa_ref}With β axle reference current i_{beta_ref}, say, that In this enforcement scene, the most do not determined α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}.Separately A kind of scene of implementing is that acquisition module 23 obtains and has currently been updated the α axle reference that module 26 is updated Electric current i_{alfa_ref}With current described β axle reference current i_{beta_ref}。

Scene is implemented according to above two, under former implements scene, acquisition module 23, specifically for Determine initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}；Acquisition module 23, also Specifically for by described initial alpha axle reference current i_{alfa_ref0}As current α axle reference current i_{alfa_ref}, will Described initial β axle reference current i_{beta_ref0}As current β axle reference current i_{beta_ref}。

Under this enforcement scene, optionally, described initial alpha axle reference current i_{alfa_ref0}Join with initial β axle Examine electric current i_{beta_ref0}Can be set in advance, the most accordingly, acquisition module 23, specifically for presetting Current value respectively as described initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}。 Wherein, described initial β axle reference current i_{beta_ref0}0 can be set to.

Same under this enforcement scene, more optionally, institute can be determined by response car load throttle signal State initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}.Then corresponding, obtain mould Block 23 may include that

Response unit, for by response car load throttle signal, it is thus achieved that driving current signal；

Processing unit, for according to described driving current signal, determines described initial alpha axle reference current i_{alfa_ref0}With described initial β axle reference current i_{beta_ref0}。

Concrete, in above-mentioned the second implements scene, acquisition module 23 obtains and has currently been updated α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, it will be appreciated that for, acquisition module 23 obtains previous In the step process performed, after carrying out updating according to described step-length, current α axle reference current i_{alfa_ref} With described β axle reference current i_{beta_ref}。

Concrete, described processing module 27, specifically may be used for according to described u_{alfa_ref}With described u_{beta_ref}, By carrying out the computing of space vector pulse width modulation SVPWM, it is thus achieved that described pwm control signal.

Wherein, SVPWM is space vector width pulse modulation method, and it can be by by three phase power inversion The pulse width modulated wave that the particular switch pattern of six power cell part compositions of device produces, makes the electricity of output Stream waveform is as closely as possible to preferable sinusoidal wave form.Concrete, according to the fundamental formular of SVPWM, With output frequency set in advance, output line voltage, DC bus-bar voltage, through and carrying out SVPWM Computing, can generate the pwm pulse for controlling three phase inverter bridge, thus in the output of inverter bridge End obtains the sinusoidal voltage waveform of three-phase symmetrical, and then realizes described three-phase inverter according to PWM control Signal processed, is driven described permagnetic synchronous motor, makes described motor rotate.

In actual applications, it is possible to use on motor install rotation become, gather motor rotary course with Present bit angle setting when described motor stops the rotation detected.Concrete, if described permagnetic synchronous motor exists The direction of rotation of the previous moment stopped the rotation is for rotating forward, then when detecting that described motor stops, The current described position angle that sampling obtains, is the initial position angle of described permanent-magnetic synchronous motor rotor； If described motor is reverse rotation in the direction of rotation of the previous moment stopped the rotation, then described when detecting When motor stops, the current described position angle of sampling acquisition and the initial position angle phase of described rotor Differ from 180 °.It should be noted that difference 180 ° herein can include many 180 ° or few 180 °.Namely Say, if described motor is reverse rotation, then processing module in the direction of rotation of the previous moment stopped the rotation 27 specifically may be used for, and current described position angle sampling obtained increases by 180 °, or sampling is obtained The current described position angle obtained deducts the result of calculation of 180 °, as the initial position of described rotor Angle.

The initial position angle of rotor of permanent magnet synchronous motor acquisition device that the present embodiment provides, by collecting Three-phase current carry out equivalents, it is thus achieved that electric current i_alfaAnd i_beta, and based on current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, control to obtain current u by carrying out PI_{alfa_ref}And u_{beta_ref}, I is updated by the step-length preset_{alfa_ref}After, according to described u_{alfa_ref}And u_{beta_ref}, it is thus achieved that for driving motor Pwm control signal, the most again abovementioned steps, until detecting that described permagnetic synchronous motor is described three Stop the rotation under the driving of phase inverter, and then before stopping the rotation according to the current position angle of motor and motor Direction of rotation, determine the technical scheme of the initial position angle of described permanent-magnetic synchronous motor rotor, it is possible to accurate Really obtain the initial position angle of permanent-magnetic synchronous motor rotor, thus improve accuracy that motor controls and can By property.

Those skilled in the art is it can be understood that arrive, and for convenience and simplicity of description, above-mentioned retouches The specific works process of the device stated, is referred to the corresponding process in preceding method embodiment, at this not Repeat again.

One of ordinary skill in the art will appreciate that: realize all or part of step of above-mentioned each method embodiment Suddenly can be completed by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer can Read in storage medium.This program upon execution, performs to include the step of above-mentioned each method embodiment；And Aforesaid storage medium includes: ROM, RAM, magnetic disc or CD etc. are various can store program code Medium.

Last it is noted that various embodiments above is only in order to illustrate technical scheme, rather than right It limits；Although the present invention being described in detail with reference to foregoing embodiments, this area common Skilled artisans appreciate that the technical scheme described in foregoing embodiments still can be modified by it, Or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, and The essence not making appropriate technical solution departs from the scope of various embodiments of the present invention technical scheme.

Claims (10)

1. an initial position angle of rotor of permanent magnet synchronous motor acquisition methods, it is characterised in that including:

Gather three-phase inverter and be currently used in the three-phase current i driving permagnetic synchronous motor_a、i_bAnd i_c, to institute State three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that the electric current i under biphase α β coordinate system_alfaAnd i_beta；

Obtain current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, to described i_alfaAnd institute State i_{alfa_ref}Difference signal carry out alfa phase current PI control, it is thus achieved that current α axle reference voltage u_{alfa_ref}, To described i_betaWith described i_{beta_ref}Difference signal carry out beta phase current PI control, it is thus achieved that current β Axle reference voltage u_{beta_ref}, and by the step-length preset, update current described α axle reference current i_{alfa_ref}；

According to current described α axle reference voltage u_{alfa_ref}With described β axle reference voltage u_{beta_ref}, it is thus achieved that And sending current pulse-width modulation PWM control signal to described three-phase inverter, described PWM controls Described permagnetic synchronous motor is carried out according to described pwm control signal by signal for described three-phase inverter Drive；

Again perform described collection three-phase inverter and be currently used in the three-phase current i driving permagnetic synchronous motor_a、 i_bAnd i_cStep, until detecting that described permagnetic synchronous motor stops under the driving of described three-phase inverter Spin-ended turn；

Gather the current position angle of described permagnetic synchronous motor and described permagnetic synchronous motor stopping the rotation The direction of rotation of previous moment, and according to described position angle and described direction of rotation, determine that described permanent magnetism is same The initial position angle of step rotor；

Wherein, described to described three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that biphase α β coordinate Electric current i under Xi_alfaAnd i_beta, specifically include:

To described three-phase current i_a、i_bAnd i_cCarry out CLARKE conversion, it is thus achieved that under biphase α β coordinate system Described electric current i_alfaAnd i_beta；

Described according to described position angle with described direction of rotation, determine at the beginning of described permanent-magnetic synchronous motor rotor Beginning position angle specifically includes:

When described permagnetic synchronous motor is when the direction of rotation of the previous moment stopped the rotation is for rotating forward, The initial position angle of the most described permanent-magnetic synchronous motor rotor is the present bit angle setting of described permagnetic synchronous motor； When described permagnetic synchronous motor is when the direction of rotation of the previous moment stopped the rotation is for reversely rotating, then institute The initial position angle stating permanent-magnetic synchronous motor rotor is the present bit angle setting of described permagnetic synchronous motor to be rotated 180°。

Method the most according to claim 1, it is characterised in that the described α axle that described basis is current Reference voltage u_{alfa_ref}With described β axle reference voltage u_{beta_ref}, it is thus achieved that current pwm control signal, tool Body includes:

According to described u_{alfa_ref}With described u_{beta_ref}, by carrying out space vector pulse width modulation SVPWM fortune Calculate, it is thus achieved that described pwm control signal.

3. according to the method according to any one of claim 1 and 2, it is characterised in that described acquisition is worked as Front α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}, specifically include:

Determine initial alpha axle reference current i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}；

By described initial alpha axle reference current i_{alfa_ref0}As current α axle reference current i_{alfa_ref}, by described Initial β axle reference current i_{beta_ref0}As current β axle reference current i_{beta_ref}。

Method the most according to claim 3, it is characterised in that described determine initial alpha axle with reference to electricity Stream i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}, specifically include:

Using default current value as described initial alpha axle reference current i_{alfa_ref0}With initial β axle reference Electric current i_{beta_ref0}。

Method the most according to claim 3, it is characterised in that described determine initial alpha axle with reference to electricity Stream i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}, specifically include:

By response car load throttle signal, it is thus achieved that driving current signal；

According to described driving current signal, determine described initial alpha axle reference current i_{alfa_ref0}With described initially β axle reference current i_{beta_ref0}。

6. an initial position angle of rotor of permanent magnet synchronous motor acquisition device, it is characterised in that including:

Sampling module, is currently used in the three-phase current of driving permagnetic synchronous motor for gathering three-phase inverter i_a、i_bAnd i_c；

Conversion module, for described three-phase current i_a、i_bAnd i_cCarry out equivalents, it is thus achieved that biphase α β Electric current i under coordinate system_alfaAnd i_beta；

Acquisition module, for obtaining current α axle reference current i_{alfa_ref}With β axle reference current i_{beta_ref}；

Oneth PI control module, for described i_alfaWith described i_{alfa_ref}Difference signal carry out alfa phase Electric current PI controls, it is thus achieved that current α axle reference voltage u_{alfa_ref}；

2nd PI control module, for described i_betaWith described i_{beta_ref}Difference signal carry out beta phase Electric current PI controls, it is thus achieved that current β axle reference voltage u_{beta_ref}；

More new module, for by the step-length preset, updating current described α axle reference current i_{alfa_ref}；

Processing module, for according to current described α axle reference voltage u_{alfa_ref}With described β axle with reference to electricity Pressure u_{beta_ref}, it is thus achieved that and send current pwm control signal, described PWM to described three-phase inverter Control signal is used for described three-phase inverter according to described pwm control signal to described permagnetic synchronous motor It is driven；

Described processing module, is additionally operable to indicate described sampling module again to perform described collection three-phase inverter It is currently used in the three-phase current i driving permagnetic synchronous motor_a、i_bAnd i_cStep, until described in detecting forever Magnetic-synchro motor stops the rotation under the driving of described three-phase inverter；

Described sampling module, is additionally operable to gather the current position angle of described permagnetic synchronous motor and described permanent magnetism Synchronous motor is in the direction of rotation of the previous moment stopped the rotation；

Described processing module, is additionally operable to, according to described position angle and described direction of rotation, determine described permanent magnetism The initial position angle of synchronous electric motor rotor；

Wherein, described conversion module, specifically for described three-phase current i_a、i_bAnd i_cCarry out CLARKE Conversion, it is thus achieved that the described electric current i under biphase α β coordinate system_alfaAnd i_beta；

Described processing module, specifically for when described permagnetic synchronous motor is in the previous moment stopped the rotation When direction of rotation is for rotating forward, the initial position angle of the most described permanent-magnetic synchronous motor rotor is described permanent magnetism The present bit angle setting of synchronous motor；When described permagnetic synchronous motor is in the rotation of the previous moment stopped the rotation When direction is for reversely rotating, the initial position angle of the most described permanent-magnetic synchronous motor rotor is that described permanent magnetism is same The present bit angle setting of step motor rotates 180 °.

Device the most according to claim 6, it is characterised in that

Described processing module, specifically for according to described u_{alfa_ref}With described u_{beta_ref}, by carrying out space Vector Pulse Width Modulation SVPWM computing, it is thus achieved that described pwm control signal.

8. according to the device according to any one of claim 6 and 7, it is characterised in that

Described acquisition module, specifically for determining initial alpha axle reference current i_{alfa_ref0}With initial β axle reference Electric current i_{beta_ref0}；

Described acquisition module, also particularly useful for by described initial alpha axle reference current i_{alfa_ref0}As current α axle reference current i_{alfa_ref}, by described initial β axle reference current i_{beta_ref0}As current β axle with reference to electricity Stream i_{beta_ref}。

Device the most according to claim 8, it is characterised in that

Described acquisition module, specifically for using default current value as described initial alpha axle reference electricity Stream i_{alfa_ref0}With initial β axle reference current i_{beta_ref0}。

Device the most according to claim 9, it is characterised in that described acquisition module includes:

Response unit, for by response car load throttle signal, it is thus achieved that driving current signal；

Processing unit, for according to described driving current signal, determines described initial alpha axle reference current i_{alfa_ref0}With described initial β axle reference current i_{beta_ref0}。