CN104065319B - The scaling method of permanent magnet synchronous motor zero-bit initial angle - Google Patents

The scaling method of permanent magnet synchronous motor zero-bit initial angle Download PDF

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Publication number
CN104065319B
CN104065319B CN201310742040.9A CN201310742040A CN104065319B CN 104065319 B CN104065319 B CN 104065319B CN 201310742040 A CN201310742040 A CN 201310742040A CN 104065319 B CN104065319 B CN 104065319B
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China
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motor
zero
bias
moment values
initial angle
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CN201310742040.9A
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Chinese (zh)
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CN104065319A (en
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赵洪涛
万茂文
赵翔
徐性怡
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上海大郡动力控制技术有限公司
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Abstract

The present invention relates to motors.A kind of scaling method of permanent magnet synchronous motor zero-bit initial angle, it includes being fixed on tested motor and steady speed motor on rack by fixing card, and two motor coaxle installations are connected by torque sensor;By steady speed motor by the dragging tested motor rotation of defined positive direction, 0 first is set by motor zero bias, applies weak magnetoelectricity stream to tested motor, current amplitude is about 2/3 rated current;Detect the size of the torque;It adjusts motor bias and is gradually added to maximum value from zero, record all moment values during this, wherein there are two zero crossings for moment values;One in two zero crossings is set by motor zero bias, applies positive torque current to motor, detect moment values;If moment values are positive, motor zero initial angle i.e. bias thus;If moment values are negative, this bias corresponds to angle of torsion β=180 °, and motor zero initial angle is another bias.The present invention can accurately obtain the initial angle value of motor zero.

Description

The scaling method of permanent magnet synchronous motor zero-bit initial angle

Technical field

The present invention relates to motor more particularly to permanent-magnetic synchronous motor rotors.

Background technique

The location information of permanent-magnetic synchronous motor rotor directly affects the precision and dynamic of motor torque, speed control Can, installation site sensor is needed to obtain the accurate location of rotor, is usually realized with rotary transformer, and rotate transformation Usually there is deviation, i.e. the zero-bit initial angle of motor in the zero-bit angle and permanent magnet synchronous motor zero-bit angle of device, permanent magnet synchronous motor and The production of rotary transformer and location tolerance are not fixed the deviation, it is therefore desirable to using certain method to the angle It measures.

Common zero testing method is pre-determined bit method, i.e., the DC current less than rated current is passed to the winding of motor Or applying the voltage vector of fixed-direction, the rotor-position obtained after motor stabilizing is null positions.This method is in motor Biggish detection error is had when bringing onto load or larger motor friction torque, in addition, this method is to obtain the accuracy of orientation, Practical directional current applying method is that U phase enters, and V phase goes out, i.e., U phase is connected in series with V, increases the complexity of operation.

Another method is to be rotated by speed stabilizing turntable by defined positive direction drive motor, measures rotor-position signal The zero crossing of zero crossing and motor U phase winding counter potential waveform makes two zero crossings by adjusting position sensor bias It is overlapped, position sensor bias at this time is null positions.This method generallys use artificial check and correction, takes a long time and examines Measurement equipment is expensive.

Summary of the invention

The present invention is directed to overcome the deficiencies of existing technologies, a kind of calibration side of permanent magnet synchronous motor zero-bit initial angle is provided Method.The present invention utilizes the relationship of permanent magnet synchronous motor electric current and torque, obtains the exact value of motor zero initial angle.

In order to solve the above-mentioned technical problem, a kind of scaling method of permanent magnet synchronous motor zero-bit initial angle, it includes:

Tested motor and steady speed motor are fixed on rack by fixing card, two motor coaxle installations pass through torque Sensor connection;

By steady speed motor by the dragging tested motor rotation of defined positive direction, 0 first is set by motor zero bias, is given Tested motor applies weak magnetoelectricity stream, current amplitude is about 2/3 rated current;Certain torque is generated at this time, is passed by torque Sensor detects the size of the torque;

It adjusts motor bias and is gradually added to maximum value from zero, record all moment values during this, one can be obtained The M curve of near sinusoidal, wherein there are two zero crossings for moment values;

Any one in two zero crossings is set by motor zero bias, applies positive torque electricity to tested motor Stream, while detecting moment values;If moment values are positive, motor zero initial angle i.e. bias thus;If moment values are Negative, then this bias corresponds to angle of torsion β=180 °, and motor zero initial angle is another bias.

Permanent magnet synchronous motor electromagnetic torque is indicated with dq shafting:

(1)

By Fig. 1 and Fig. 2

(2)

(3)

Above formula is substituted into torque equation, then is had

(4)

In formula,For motor number of pole-pairs, first item is by stator current in bracketWith permanent magnet excitation magnetic field phase interaction With the electromagnetic torque of generation, β is angle of torsion, and Section 2 is the reluctance torque as caused by rotor with salient pole effect.

If applying weak magnetoelectricity stream to tested motor, angle of torsion β=0 can be obtained, then torque Te=0.Become due to being rotated in installation There are deviation (motor zero initial angle), β will be equal to 0 at the zero-bit angle and permanent magnet synchronous motor zero-bit angle of depressor, can by formula (4) Know, corresponding torque can be generated.When motor bias zero to when changing between maximum value, β value can between 0 ° to 360 ° phase It should change, for face mounted rotor structure, Ld=Lq, therefore the torque curve of sinusoidal variations will be obtained, two mistakes of torque curve Zero point respectively corresponds motor bias when angle of torsion β=0 ° and β=180 °.

The present invention utilizes the relationship of permanent magnet synchronous motor electric current and torque, obtains the exact value of motor zero initial angle, has Have the advantages that detection device is simple, cheap, it can be achieved that engineering.In addition, this method is easy to operate, automation mark may be implemented It is fixed.Change zero to maximum value for example, bias can be automatically given by program, the power obtained under more each bias Square size, and bias corresponding to zero moment is selected, save handling time.

Detailed description of the invention

The present invention will be further described below with reference to the drawings:

Fig. 1 is the schematic diagram of invention;

Fig. 2 is the three dimensional vector diagram of PMSM;

Fig. 3 is rotary transformer deviation schematic diagram.

Specific embodiment

As shown in Figure 1, tested motor 1 and steady speed motor 5 are fixed on rack by fixing card 2 and 6, two motors are same Axis 3 is installed, and is connected by torque sensor 4.

It is rotated by steady speed motor 5 by defined positive direction dragging tested motor 1, first sets 0 for motor zero bias, Apply weak magnetoelectricity stream to tested motor 1, current amplitude is about 2/3 rated current.By previously described formula (1) it is found that generating one at this time Fixed torque detects the size of the torque by torque sensor.At this point, adjustment motor bias is gradually added to maximum from zero Value, records all moment values during this, can obtain the M curve of a near sinusoidal, and wherein there are two mistakes for moment values Zero point.Any one in two zero crossings is set by motor zero bias, applies positive torque current to tested motor, while detecting moment values.If moment values are positive, motor zero initial angle i.e. bias thus;If moment values are negative, Then this bias corresponds to angle of torsion β=180 °, and motor zero initial angle is another bias.

Claims (1)

1. a kind of scaling method of permanent magnet synchronous motor zero-bit initial angle, which is characterized in that it includes
Tested motor and steady speed motor are fixed on rack by fixing card, two motor coaxle installations pass through moment sensing Device connection;
By steady speed motor by the dragging tested motor rotation of defined positive direction, 0 first is set by motor zero bias, to tested Motor applies weak magnetoelectricity stream, current amplitude is about 2/3 rated current;Certain torque is generated at this time, passes through torque sensor Detect the size of the torque;
It adjusts motor zero bias and is gradually added to maximum value from zero, record all moment values during this, one can be obtained The M curve of near sinusoidal, wherein there are two zero crossings for moment values;
The corresponding motor zero of point that moment values are 0 on the M curve of the near sinusoidal is set by motor zero bias Any one in bias, applies positive torque current to tested motor, while detecting moment values;If moment values are Just, then motor zero initial angle i.e. zero offset value thus;If moment values are negative, this zero offset value correspond to angle of torsion β= 180 °, motor zero initial angle is another zero offset value.
CN201310742040.9A 2013-12-30 2013-12-30 The scaling method of permanent magnet synchronous motor zero-bit initial angle CN104065319B (en)

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CN108429493A (en) * 2018-03-21 2018-08-21 深圳派赛科技有限公司 A kind of caliberating device and its method of three-phase permanent magnet synchronous motor initial zero position
CN109189048B (en) * 2018-09-28 2020-05-15 中国科学院长春光学精密机械与物理研究所 Initial calibration method for arc-shaped segmented motor control system of telescope

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