CN104348394A - Method and device for estimating positions of motor rotor - Google Patents

Abstract

The invention discloses a method and a device for estimating positions of a motor rotor. The method comprises the following steps of sending a first high frequency signal into a motor at a first estimation angle; when the first high frequency signal is sent into the motor, generating a first sensing signal of the motor; sending a second high frequency signal into the motor at a second estimation angle, wherein the second estimation angle is not equal to the first estimation angle; when the second high frequency signal is sent into the motor, generating a second sensing signal of the motor; according to the first sensing signal and the second sensing signal, judging quadrants of an operation included angle; according to the first sensing signal, the second sensing signal and the quadrants of the operation included angle, obtaining the position of the rotor.

Description

The method of estimation motor rotor position and device

Technical field

The present invention has about motor technologies, and is particularly to a kind of method and the device of estimating motor rotor position.

Background technology

Along with the rapid progress of science and technology, motor is used in the middle of the life of people widely, such as hard disk, air conditioner, crane etc.

Permanent magnet synchronous motor (permanent magnet synchronous motor) can comprise multiple stator and a rotor.Stator such as available wire realizes, and is arranged at around rotor.And by controlling the electric current on stator, the rotation of rotor can be controlled.

Generally speaking, when controlling (being such as start) permanent magnet synchronous motor, the rotor-position of motor rotor must first be estimated, to provide current to stator according to rotor-position, to make rotor turns.If the rotor-position of estimation is excessive with actual rotor position error, rotor may be caused to reverse or control unsuccessfully, and cause the instability of permanent magnet synchronous motor on controlling.

Therefore the estimating and measuring method how proposing a kind of position of motor rotor is accurately current problem anxious to be resolved.

Summary of the invention

The invention provides a kind of method and the device of estimating motor rotor position.

According to one embodiment of the invention, this estimating and measuring method is in order to estimate a rotor-position of a rotor of a motor.This estimating and measuring method comprises: under one first estimation angle, inject one first high-frequency signal to this motor; When injecting this first high-frequency signal to this motor, produce one first sensing signal of this motor; Under one second estimation angle, inject one second high-frequency signal to this motor, wherein this second estimation angle is not equal to this first estimation angle; When injecting this second high-frequency signal to this motor, produce one second sensing signal of this motor; According to this first sensing signal and this second sensing signal, judge the place quadrant of an operation angle, wherein this operation angle is the twice that one between this first estimation angle and rotor-position estimates angle difference; And, according to this place quadrant of this first sensing signal, this second sensing signal and this operation angle, obtain this rotor-position.

The present invention also provides a kind of device estimating motor rotor position.According to one embodiment of the invention, the device of this estimation motor rotor position is electrically connected a motor.The device of this estimation motor rotor position is electrically connected this motor.The device of this estimation motor rotor position comprises a high frequency electrocardiography module, a sensing module and a computing module.This high frequency electrocardiography module in order to inject one first high-frequency signal to this motor under one first estimation angle, and injects one second high-frequency signal to this motor under one second estimation angle.This second estimation angle is not equal to this first estimation angle.This sensing module, in order to when injecting this first high-frequency signal to this motor, produces one first sensing signal of this motor, and when injecting this second high-frequency signal to this motor, produces one second sensing signal of this motor.This computing module in order to according to this first sensing signal and this second sensing signal, judges a place quadrant of an operation angle, and according to this place quadrant of this first sensing signal, this second sensing signal and this operation angle, obtains this rotor-position.This operation angle is the twice that one between this first estimation angle and this rotor-position estimates angle difference.

By applying an above-mentioned embodiment, the device of estimation motor rotor position can judge according to the first sensing signal and the second sensing signal the place quadrant operating angle rapidly, and the numerical value of calculating operation angle rapidly, to obtain rotor-position.Thus, the stability of motor on controlling can effectively be promoted.

Accompanying drawing explanation

For above and other object of the present invention, feature, advantage and embodiment can be become apparent, being described as follows of institute's accompanying drawings:

The schematic diagram of estimating apparatus of Fig. 1 for illustrating according to this case one embodiment;

Fig. 2 is the schematic diagram of high frequency electrocardiography module, sensing module and the computing module in the estimating apparatus that illustrates according to this case one embodiment; And

The flow chart of estimating and measuring method of Fig. 3 for illustrating according to this case one embodiment.

Wherein, description of reference numerals is as follows:

10: motor

20: inverter

100: estimating apparatus

110: high frequency electrocardiography module

112: Injection Signal generation unit

114: anti-Parker's converting unit

116: pulse signal generation unit

120: sensing module

122: Clarke converting unit

124: Parker's converting unit

130: computing module

132: filter unit

134: the first computing units

136: quadrant judging unit

138: the second computing units

140: judge module

300: estimating and measuring method

S1-S7: step

A1, A2: adder

M1, M2: mixer

θ: rotor-position

, : estimation angle

I _u1, i _v1, i _w1, i _u2, i _v2, i _w2: stator current

φ: operation angle

Δ θ ₁: estimation angle difference

F _{Δ θ 1}, f _{Δ θ 2}: evaluation

F _i1, f _i2: high-frequency signal

${\hat{v}}_{d,\mathrm{ref}}$ 、 ${\hat{v}}_{q,\mathrm{ref}}$ : reference signal

V _{α 1}, v _{β 1}, v _{α 2}, v _{β 2}: switching signal

V _{α 1c}, v _{β 1c}, v _{α 2c}, v _{β 2c}: pulse signal

I _{α 1}, i _{β 1}, i _{α 2}, i _{β 2}: switching signal

i _{α 2}, i _{β 2}: current response

F _c: high frequency carrier

M1, m2: smear signal

Embodiment

Below by with graphic and describe the spirit clearly demonstrating this disclosure in detail, have in any art and usually know that the knowledgeable is after the preferred embodiment understanding this disclosure, when can by the technology of this disclosure institute teaching, be changed and modify, it does not depart from spirit and the scope of this disclosure.

About " first " used herein, " second " ... Deng, the not special meaning of censuring order or cis-position, is also not used to limit this case, and it is only in order to distinguish the element or operation that describe with constructed term.

About " electric connection " used herein, can refer to two or multiple element mutually directly make entity or in electrical contact, or mutually indirectly put into effect body or in electrical contact, and " electric connection " also can refer to two or multiple elements mutual operation or action.

One execution mode of this case is a kind of device (hereinafter referred to as estimating apparatus) estimating motor rotor position.For make describe clear, below collocation Fig. 1 and Fig. 2 is described.The schematic diagram of estimating apparatus 100 of Fig. 1 for illustrating according to this case one embodiment.Fig. 2 is the schematic diagram of high frequency electrocardiography module 110, sensing module 120 and the computing module 130 in the estimating apparatus 100 that illustrates according to this case one embodiment.

In an embodiment of the present invention, estimating apparatus 100 can be electrically connected motor 10 and inverter 20, in order to estimate the rotor position (or claiming rotor angle) of the rotor of motor 10.Estimating apparatus 100 can realize with computer or other electrical combination.Motor 10 can be permanent magnet synchronous motor.Inverter 20 can be realized by multiple transistor.

In the present embodiment, estimating apparatus 100 can comprise high frequency electrocardiography module 110, sensing module 120, computing module 130 and judge module 140.High frequency electrocardiography module 110, sensing module 120, computing module 130, judge module 140, inverter 20 can be electrically connected to each other with motor 10.High frequency electrocardiography module 110, sensing module 120, computing module 130 and judge module 140 all can use software and/or hardware implementing.

This area personage works as can be clear, the implementation of above-mentioned estimating apparatus 100, motor 10, inverter 20, high frequency electrocardiography module 110, sensing module 120, computing module 130 and judge module 140 is not with being limited disclosed by above-described embodiment, and annexation is not also limited with above-described embodiment, all be enough to make estimating apparatus 100 to realize following technology contents connected mode and implementation all can apply to the present invention.

In the present embodiment, high frequency electrocardiography module 110 can in order to estimate angle first under (can refer to Fig. 2), by inverter 20, inject the first high-frequency signal f _i1to motor 10.In other words, in the first estimation angle under, high frequency electrocardiography module 110 can provide corresponding to the first high-frequency signal f _i1the first space vector pulse signal v _{α 1c}, v _{β 1c}to inverter 20, produce to make inverter 20 and transmit stator current i _u1, i _v1, i _w1to motor 20.On the other hand, high frequency electrocardiography module 110 can in order to estimate angle second under (or being called disturbance angle), by inverter 20, inject the second high-frequency signal f _i2to motor 10.In other words, in the second estimation angle under, high frequency electrocardiography module 110 can provide corresponding to the second high-frequency signal f _i2second space pulse vector signal v _{α 2c}, v _{β 2c}to inverter 20, produce to make inverter 20 and transmit stator current i _u2, i _v2, i _w2to motor 20.In the present embodiment, the second estimation angle be not equal to the first estimation angle in addition, in one embodiment, the second estimation angle angle is estimated with first between there is small disturbance measures of dispersion.

Sensing module 120 can in order to inject the first high-frequency signal f in above-mentioned high frequency electrocardiography module 110 _i1to motor 10 when, sensing motor 10 multiple stator current i _u1, i _v1, i _w1, and according to stator current i _u1, i _v1, i _w1the first sensing signal producing motor 10 (is such as the current response of motor 10 in at least one).Sensing module 120 separately can in order to inject the second high-frequency signal f in above-mentioned high frequency electrocardiography module 110 _i2to motor 10 when, sensing motor 10 stator current i _u2, i _v2, i _w2, and according to stator current i _u2, i _v2, i _w2the second sensing signal producing motor 10 (is such as the current response of motor 10 in at least one).

Computing module 130 can in order to according to the first sensing signal and the second sensing signal, obtain SIN function and the cosine function of an operation included angle, and be positive number or negative according to the operation SIN function of included angle and cosine function, judge the place quadrant of operation included angle.In the present embodiment, the corresponding first estimation angle of included angle is operated and the estimation angle difference Δ θ between rotor position ₁(such as, ).In one embodiment, operating included angle is 2 times of estimation angles and the estimation angle difference Δ θ between rotor position ₁, that is, φ=2 × Δ θ 1.

Then, computing module 130 according to the SIN function of operation included angle and cosine function, by antitrigonometric function computing, can calculate the numerical value of operation included angle.Then, computing module 130 can according to the place quadrant of operation included angle, operation included angle and the first estimation angle calculate rotor position.

After calculating rotor position, the recycling pulse wave injection method of judge module 140, to judge the magnetic axis direction, N pole of the rotor of motor 10.Thus, the rotor position of the rotor of motor 10 can be determined.

For ease of understanding, below lift operational demonstration example and be described aforesaid operations, right this case is not as limit.

In this demonstration example, in high frequency electrocardiography module 110 in the first estimation angle under, injection numerical value is U _icos ω _it (wherein U _i, ω _ican be considered constant at this) the first high-frequency signal f _i1when to d axle (or claim d-axis) of motor 10, sensing module 120 can sense the stator current i of motor 10 _u1, i _v1, i _w1, and produce the current response of motor 10 on d axle and the current response of motor 10 on q axle (or claiming quadrature axis) current response numerical value can be expressed as follows:

$\left[\begin{array}{c}{\hat{i}}_{d1}\\ {\hat{i}}_{q1}\end{array}\right]=\left[\begin{array}{c}\frac{U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L-\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}1)\\ \frac{-U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ}1\end{array}\right]$

Wherein L, Δ L can be considered constant at this.

Computing module 130 sampling current response and be sin ω with numerical value _ithe high frequency carrier f of t _cto current response carry out smear (being multiplied), to produce the first smear signal m1.Then, computing module 130 can low-pass filtering first smear signal m1, to obtain the first evaluation f that numerical value is ksin2 Δ θ 1 _{Δ θ 1}, its formula can be expressed as follows:

$f_{\mathrm{\Δ\θ}1}=k\sin 2\mathrm{\Δ\θ}1,k=\frac{-U_i}{2{\mathrm{\ω}}_i(L^2-\mathrm{\Δ}{L}^2)}\mathrm{\ΔL}$ ----Shi (2)

By above formula, the SIN function of angle 2 Δ θ 1 can be obtained, that is, the SIN function of operation included angle.

On the other hand, in formula (2), if evaluation f _{Δ θ 1}to angle carry out differential, then can obtain the cosine function of angle 2 Δ θ 1, its formula can be expressed as follows:

$\frac{{\mathrm{df}}_{\mathrm{\Δ\θ}1}}{d{\widehat{\mathrm{\θ}}}_1}=k\cos 2\mathrm{\Δ}{\mathrm{\θ}}_1\·\frac{d\left(2\mathrm{\Δ\θ}\right)}{d{\widehat{\mathrm{\θ}}}_1}=k\cos 2\mathrm{\Δ}{\mathrm{\θ}}_1\·(-2)$ ----Shi (3)

For asking the solution of above formula, high frequency electrocardiography module 110 can in the second estimation angle under, injection numerical value is U _icos ω _ithe second high-frequency signal f of t _i2to the d axle of motor 10.Sensing module 120 can sense the stator current i of motor 10 _u2, i _v2, i _w2, and produce the current response of motor 10 on d axle and the current response of motor 10 on q axle (or claiming quadrature axis) then, computing module 130 sampling current response and be sin ω with numerical value _ithe high frequency carrier f of t _cto current response carry out smear (being multiplied), to produce the second smear signal m2.Then, computing module 130 can low-pass filtering second smear signal m2, to obtain the second evaluation f _{Δ θ 2}.In the second estimation angle angle is estimated with first only there is small measures of dispersion (such as when, according to the first estimation angle second estimation angle first evaluation f _{Δ θ 1}and the second evaluation f _{Δ θ 2}, above-mentioned formula (3) can be solved, and obtain angle 2 Δ θ ₁the cosine function of (namely operating included angle), its formula can be expressed as follows:

$\frac{f_{\mathrm{\Δ\θ}2}-f_{\mathrm{\Δ\θ}1}}{{\widehat{\mathrm{\θ}}}_2-{\widehat{\mathrm{\θ}}}_1}=\frac{{\mathrm{df}}_{\mathrm{\Δ\θ}1}}{d{\widehat{\mathrm{\θ}}}_1}=k\cos 2\mathrm{\Δ}{\mathrm{\θ}}_1\·\frac{d\left(2\mathrm{\Δ}{\mathrm{\θ}}_1\right)}{d{\widehat{\mathrm{\θ}}}_1}\·\frac{d\left(2\mathrm{\Δ}{\mathrm{\θ}}_1\right)}{d{\widehat{\mathrm{\θ}}}_1}=k\cos 2\mathrm{\Δ}{\mathrm{\θ}}_1\·(-2)$ ----Shi (4)

Then, angle 2 Δ θ is being obtained ₁sIN function and cosine function after, computing module 130 can judge angle 2 Δ θ according to this ₁quadrant.Such as, at ksin2 Δ θ ₁for positive number, kcos2 Δ θ ₁during for positive number, angle 2 Δ θ ₁belong to first quartile, at ksin2 Δ θ ₁for positive number, kcos2 Δ θ ₁during for negative, angle 2 Δ θ ₁belong to the second quadrant.

On the other hand, angle 2 Δ θ is being obtained ₁sIN function and cosine function after, computing module 130 calculates estimation angle by antitrigonometric function and the estimation angle difference Δ θ between rotor position ₁numerical value.Its formula can be expressed as follows:

$2\mathrm{\Δ}{\mathrm{\θ}}_1={\tan }^{-1}(f_{\mathrm{\Δ\θ}1}\÷\left(\frac{{\mathrm{df}}_{\mathrm{\Δ}{\mathrm{\θ}}_1}}{d{\widehat{\mathrm{\θ}}}_1}\right)\×(-2))$ ----Shi (5)

Thus, according to estimation angle and the estimation angle difference Δ θ between rotor position ₁numerical value, computing module 130 can calculate rotor position (due to ).

When noticing, although in above-mentioned demonstration example, first, second high-frequency signal f _i1, f _i2for injecting the d axle of motor 10, and computing module 130 is the current response of the q axle of sampling motor 10 carry out smear to obtain first, second evaluation f _{Δ θ 1}, f _{Δ θ 2}, but this case is not as limit.

For example, in estimation angle be time, be U at numerical value _icos ω _iwhen the q axle of the high frequency electrocardiography motor 10 of t, the current response of motor 10 on d axle, q axle numerical value can be expressed as follows:

$\left[\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right]\left[\begin{array}{c}\frac{-U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-\mathrm{\Δ}{L}^2)}\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ}\\ \frac{U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L+\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ})\end{array}\right]$ ----Shi (6)

Wherein $\mathrm{\Δ\θ}=\mathrm{\θ}-\widehat{\mathrm{\θ}}.$

In this instance, the current response of the d axle of computing module 130 sampling motor 10 with with numerical value for sin ω _ithe high frequency carrier f of t _ccarry out smear, to obtain smear signal, and low-pass filtering smear signal is to obtain evaluation f _{Δ θ}=ksin2 Δ θ.Obviously, in this instance, still angle 2 Δ θ is obtained by the method same with above-mentioned demonstration example ₁sIN function and cosine function, and calculate rotor position with this.That repeats describes, in this not superfluous words.

Again for example, be U at numerical value _icos ω _iwhen the high-frequency signal of t injects d axle and the q axle of motor 10 simultaneously, the current response of motor 10 on d axle, q axle numerical value can be expressed as follows:

$\left[\begin{array}{c}{\hat{i}}_d\\ {\hat{i}}_q\end{array}\right]=\left[\begin{array}{c}\frac{U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L-\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}\sin 2\mathrm{\Δ\θ})\\ \frac{U_i\sin {\mathrm{\ω}}_{i}t}{{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L+\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}-\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ})\end{array}\right]$ ----Shi (7)

In this instance, the current response of the d axle of computing module 130 sampling motor 10 with with numerical value for sin ω _ithe high frequency carrier f of t _ccarry out smear, to obtain smear signal, and this smear signal of low-pass filtering is to obtain evaluation f _{Δ θ-d}.On the other hand, the current response of the q axle of computing module 130 sampling motor 10 with with numerical value for sin ω _ithe high frequency carrier f of t _ccarry out smear, to obtain another smear signal, and this another smear signal of low-pass filtering is to obtain another evaluation f _{Δ θ-q}.Evaluation f _{Δ θ-d}, f _{Δ θ-q}can be expressed as follows:

$\left[\begin{array}{c}{f}_{\mathrm{\Δ\θ}-d}\\ f_{\mathrm{\Δ\θ}-q}\end{array}\right]=\left[\begin{array}{c}\frac{U_i}{2{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L-\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}-\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ})\\ \frac{U_i}{2{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}(L+\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}-\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ})\end{array}\right]$ ----Shi (8)

According to above-mentioned formula (8), can derive with following formula (9):

$\left[\begin{array}{c}{f}_{\mathrm{\Δ\θ}-q-f_{\mathrm{\Δ\θ}-d}}\\ \frac{{\mathrm{df}}_{\mathrm{\Δ\θ}-d}}{d\widehat{\mathrm{\θ}}}-\frac{{\mathrm{df}}_{\mathrm{\Δ\θ}-q}}{d\widehat{\mathrm{\θ}}}\end{array}\right]=\left[\begin{array}{c}\frac{U_i}{2{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}\left(2\mathrm{\Δ}L\cos 2\mathrm{\Δ\θ}\right)\\ \frac{U_i}{2{\mathrm{\ω}}_i(L^2-{\mathrm{\ΔL}}^2)}\left(2\mathrm{\Δ}L\sin 2\mathrm{\Δ\θ}\right)\·(-2)\end{array}\right]$ ----Shi (9)

Obviously, according to above-mentioned formula (9), in this instance, still angle 2 Δ θ is obtained by same method ₁sIN function and cosine function, and calculate rotor position with this.That repeats describes, in this not superfluous words.

By above-mentioned setting, high-frequency signal is injected to motor 10 under estimating angle with second respectively under the first estimation angle, estimating apparatus 100 can judge according to the first sensing signal and the second sensing signal the place quadrant operating included angle rapidly, and with the numerical value of this calculating operation included angle rapidly, to obtain rotor position.Thus, the stability of motor 10 on controlling can effectively be promoted.

The explanation of the more specifically structure of high frequency electrocardiography module 110, sensing module 120 and computing module 130 that following paragraph will provide in this case one embodiment in estimating apparatus 100, but high frequency electrocardiography module 110, sensing module 120 and the computing module 130 in this case estimating apparatus 100 is not limited with embodiment shown in Fig. 2.

As previously mentioned, high frequency electrocardiography module 110 is in order to estimate angle first under, by inverter 20, inject the first high-frequency signal f _i1to motor 10, and in the second estimation angle under, by inverter 20, inject the second high-frequency signal f _i2to motor 10.

In the present embodiment, high frequency electrocardiography module 110 can comprise Injection Signal generation unit 112, adder A1, anti-Parker change (Inverse Park Transformation) unit 114 and pulse signal generation unit (being such as space vector pulse signal generation unit (space vector pulse width modulation, SVPWM)) 116.Injection Signal generation unit 112 can be electrically connected q axle input and the adder A1 of anti-Parker's converting unit 114.Adder A1 can be electrically connected the d axle input of anti-Parker's converting unit 114.Anti-Parker's converting unit 114 can be electrically connected pulse signal generation unit 116.Pulse signal generation unit 116 can be electrically connected inverter 20.

Injection Signal generation unit 112 can in order to produce first, second high-frequency signal f respectively _i1, f _i2(its numerical example is as being all U _icos ω _it), d axle reference signal (its numerical example as be 0), q axle reference signal (its numerical example as be 0), the first estimation angle (its numerical example as be 0) estimates angle with second (its numerical example as ).First, second high-frequency signal f _i1, f _i2it is such as voltage signal.

Adder A1 can in order to receive and to be added first, second high-frequency signal f _i1, f _i2with d axle reference signal and the signal after addition is provided to the d axle of anti-Parker's converting unit 114.

Anti-Parker's converting unit 114 can in order to receive the first estimation angle when, according to the first estimation angle first high-frequency signal f _i1, d axle reference signal and q axle reference signal produce the first switching signal v _{α 1}, v _{β 1}.On the other hand, anti-Parker's converting unit 114 also can in order to receive the second estimation angle when, according to the second estimation angle second high-frequency signal f _i2, d axle reference signal and q axle reference signal produce the second switching signal v _{α 2}, v _{β 2}.

Pulse signal generation unit 116 can in order to receive the first switching signal v _{α 1}, v _{β 1}when (namely first estimation angle when), provide corresponding to the first high-frequency signal f _i1the first space vector pulse signal v _{α 1c}, v _{β 1c}to inverter 20, and in order to receive the second switching signal v _{α 2}, v _{β 2}when (namely second estimation angle when), provide corresponding to the second high-frequency signal f _i2second space pulse vector signal v _{α 2c}, v _{β 2c}to inverter 20.

By above-mentioned setting, high frequency electrocardiography module 110 can in the first estimation angle under, by inverter 20, inject the first high-frequency signal f _i1to motor 10, and in the second estimation angle under, by inverter 20, inject the second high-frequency signal f _i2to motor 10.

When noticing, in the above-described embodiments, because adder A1 is the d axle input being electrically connected anti-Parker's converting unit 114, therefore the first high-frequency signal f _i1with the second high-frequency signal f _i2for injecting the d axle of motor 10.But, as previously mentioned, the first high-frequency signal f _i1with the second high-frequency signal f _i2for injecting the q axle of motor 10 or d axle and q axle, this case is not limited with above-described embodiment.

On the other hand, as previously mentioned, sensing module 120 is in order to sense the stator current i of motor 10 _u1, i _v1, i _w1, i _u2, i _v2, i _w2, and produce the current response of motor 10 on d axle respectively according to this with current response and the current response of motor 10 on q axle with current response wherein the first sensing signal can be current response with current response in at least one, the second sensing signal can be current response with current response in at least one.

In the present embodiment, sensing module 120 can comprise Clarke conversion (Clarke Transformation) unit 122 and Parker's conversion (Park Transformation) unit 124.Clarke converting unit 122 and Parker's converting unit 124 are electrically connected to each other.

Clarke converting unit 122 can in order to receive the stator current i of motor 10 _u1, i _v1, i _w1, and produce switching signal i according to this _{α 1}, i _{β 1}.On the other hand, Clarke converting unit 122 is also in order to receive the stator current i of motor 10 _u2, i _v2, i _w2, and produce switching signal i according to this _{α 2}, i _{β 2}.

Parker's converting unit 124 can in order to receive switching signal i _{α 1}, i _{β 1}, and generation current response according to this on the other hand, Parker's converting unit 124 is also in order to receive switching signal i _{α 2}, i _{β 2}, and generation current response according to this

By above-mentioned setting, sensing module 120 can inject the first high-frequency signal f in high frequency electrocardiography module 110 _i1to motor 10 when, correspondingly produce the current response of motor 10 on d axle with the current response of motor 10 on q axle and inject the second high-frequency signal f in high frequency electrocardiography module 110 _i2to motor 10 when, correspondingly produce the current response of motor 10 on d axle with the current response of motor 10 on q axle

As previously mentioned, computing module 130 is in order to according to the first sensing signal (current response with current response in at least one) with the second sensing signal (current response with current response in at least one), calculate operation included angle and rotor position.

In the present embodiment, computing module 130 can comprise mixer M1, filter unit 132, first computing unit 134, quadrant judging unit 136, second computing unit 138, mixer M2 and adder A2.Mixer M1 can be electrically connected q axle output and the filter unit 132 of Parker's converting unit 124.Filter unit 132 can be electrically connected the first computing unit 134 and quadrant judging unit 136.First computing unit 134 can be electrically connected quadrant judging unit 136.Quadrant judging unit 136 can be electrically connected the second computing unit 138.Second computing unit 138 can be electrically connected mixer M2.Mixer M2 can be electrically connected adder A2.

In the present embodiment, mixer M1 can in order to receive the current response from the q axle output of Parker's converting unit 124 (in the present embodiment, being the first sensing signal) and current response (in the present embodiment, being the second sensing signal).On the other hand, mixer M1 can in order to receive high frequency carrier f _c(its numerical example is as being sin ω _it).Mixer M1 can in order to smear first sensing signal with high frequency carrier f _c, to obtain the first smear signal m1, and in order to smear second sensing signal with high frequency carrier f _c, to obtain the second smear signal m2.

Filter unit 132 can in order to received in sequence first smear signal m1 and the second smear signal m2, and sequentially low-pass filtering first smear signal m1 and the second smear signal m2, to obtain the first evaluation f _{Δ θ 1}with the second evaluation f _{Δ θ 2}.Now, according to the first evaluation f _{Δ θ 1}, the SIN function operating included angle can be obtained.

First computing unit 134 can according to the first evaluation f _{Δ θ 1}, the second evaluation f _{Δ θ 2}, first estimation angle and second estimates angle obtain the cosine function operating included angle.

Then, quadrant judging unit 136 according to the cosine function of the SIN function of operation included angle with operation included angle, can judge the place quadrant of operation included angle.

Second computing unit 138 according to the SIN function of operation included angle and the cosine function of operation included angle, by antitrigonometric function, can calculate operation included angle.

Then, mixer M2 can produce the first estimation angle according to operation included angle and the estimation angle difference Δ θ between rotor position ₁.

Then, adder A2 can according to the first estimation angle and the estimation angle difference Δ θ between rotor position ₁, produce rotor position.

When noticing, the concrete operations of each element in the present embodiment, can refer to previous exemplary example, therefore in this not superfluous words.

By above-mentioned setting, computing module 130 can according to the first sensing signal (current response with the second sensing signal (current response ), calculate operation included angle and rotor position.

In addition, in the above-described embodiments, due to the current response of the q axle output of mixer M1 system sampling Parker converting unit 124 therefore in the above-described embodiments, the first sensing signal is the current response on the q axle of motor 10 second sensing signal is the current response on the q axle of motor 10 and computing module 130 is according to the current response on the q axle of motor 10 with current response calculate operation included angle and rotor position, but, described in previously, the current response of the computing module 130 also q axle output of sampling Parker converting unit 124 or sample the d axle of Parker's converting unit 124 and the current response of q axle output simultaneously therefore first, second sensing signal also can be the current response on the d axle of motor 10 respectively or be current response on the d axle of motor 10 and q axle this case is not limited with above-described embodiment.

Another execution mode of this case is a kind of method (hereinafter referred to as estimating and measuring method) estimating motor rotor position.

Estimating and measuring method can be applicable to same or similar estimating apparatus 100 in Fig. 1,2, and for making to describe simply, below will according to one embodiment of the invention, the estimating apparatus 100 for the 1st, in 2 figure carries out describing method of operation, and right the present invention does not apply with this and is limited.

In addition, should be appreciated that, the step of method of operation mentioned in the present embodiment, except chatting its order person bright especially, all can adjust its tandem according to actual needs, even can perform simultaneously or partly simultaneously.

The flow chart of estimating and measuring method 300 of Fig. 3 for illustrating according to this case one embodiment.Estimating and measuring method 300 comprises the following steps.

In step sl, by high frequency electrocardiography module 110 and inverter 20, in the first estimation angle lower injection first high-frequency signal f _i1to motor 10.

In step s 2, by sensing module 120, at injection first high-frequency signal f _i1to motor 10 when, sense multiple stator current i of now motor 10 _u1, i _v1, i _w1, and according to stator current i _u1, i _v1, i _w1produce the first sensing signal of motor 10.

In step s3, by high frequency electrocardiography module 110 and inverter 20, in the second estimation angle lower injection second high-frequency signal f _i2to motor 10.Wherein the second estimation angle be not equal to the first estimation angle

In step s 4 which, by sensing module 120, at injection second high-frequency signal f _i2to motor 10 when, sense multiple stator current i of now motor 10 _u2, i _v2, i _w2, and according to stator current i _u2, i _v2, i _w2produce the second sensing signal of motor 10.

In step s 5, by computing module 130, according to the first sensing signal and the second sensing signal, obtain SIN function and the cosine function of an operation included angle, and be positive number or negative according to the operation SIN function of included angle and cosine function, judge the place quadrant of operation included angle.Wherein operate included angle and may correspond to the first estimation angle and the estimation angle difference Δ θ between rotor position ₁(such as, ).In one embodiment, operating included angle is 2 times of estimation angles and the estimation angle difference Δ θ between rotor position ₁, that is, φ=2 × Δ θ ₁.

In step s 6, by computing module 130, according to SIN function and the cosine function of operation included angle, by antitrigonometric function computing, calculate the numerical value of operation included angle.Then, computing module 130 can according to the place quadrant of operation included angle, operation included angle and the first estimation angle calculate rotor position.

In the step s 7, by judge module 140, utilize pulse wave injection method, to judge the magnetic axis direction, N pole of the rotor of motor 10.Thus, the rotor position of the rotor of motor 10 can be determined.

By above-mentioned setting, by estimating angle first respectively angle is estimated down with second lower first, second high-frequency signal of injection f _i1, f _i2to motor 10, estimating apparatus 100 can judge according to the first sensing signal and the second sensing signal the place quadrant operating included angle rapidly, and the numerical value of calculating operation included angle rapidly, to obtain rotor position.Thus, the stability of motor 10 on controlling can effectively be promoted.

According to an embodiment, the first sensing signal can be the current response on the d axle of motor 10 and the current response on the q axle of motor 10 in at least one.Second sensing signal can be the current response on the d axle of motor 10 and the current response on the q axle of motor 10 in at least one.

According to an embodiment, in step sl, high frequency electrocardiography module 110 can in the first estimation angle lower injection first high-frequency signal f _i1at least one to the q axle and d axle of motor 10.

According to an embodiment, in step s3, high frequency electrocardiography module 110 can in the second estimation angle lower injection second high-frequency signal f _i2at least one to the q axle and d axle of motor 10.Wherein the first high-frequency signal f _i1with the second high-frequency signal f _i2be injected into the q axle of identical motor 10, d axle or q axle and d axle.

According to an embodiment, in step s 5, computing module 130 can smear first sensing signal and high frequency carrier f _c, to produce the first smear signal m1, and low-pass filtering first smear signal m1, to obtain the first evaluation f _{Δ θ 1}.Computing module 130 can according to the first evaluation f _{Δ θ 1}obtain the SIN function operating included angle.

In addition, according to an embodiment, in step s 5, computing module 130 can smear second sensing signal and high frequency carrier f _c, to produce the second smear signal m2, and low-pass filtering second smear signal m2, to obtain the second evaluation f _{Δ θ 2}.Then, computing module 130 can according to the first evaluation f _{Δ θ 1}, the second evaluation f _{Δ θ 2}, first estimation angle and second estimates angle to obtain the cosine function operating included angle.

Moreover, according to an embodiment, in step s 5, computing module 130 can according to operation included angle SIN function and operation included angle cosine function, by antitrigonometric function, calculating operation included angle.Further, computing module 130 can according to the place quadrant of operation included angle, operation included angle and the first estimation angle calculate rotor position.

In addition, about concrete operations example and the detail of above-mentioned steps S1-S7, can refer to last enforcement aspect, be not repeated herein.

Although this case discloses as above with embodiment; so itself and be not used to limit this case, anyly have the knack of this those skilled in the art, not departing from the spirit and scope of this case; when being used for a variety of modifications and variations, the protection range of therefore this case is when being as the criterion depending on the accompanying claim person of defining.

Claims (15)

1. estimate a method for motor rotor position, comprising:

One first high-frequency signal is injected to this motor under one first estimation angle;

When injecting this first high-frequency signal to this motor, produce one first sensing signal of this motor;

Under one second estimation angle, inject one second high-frequency signal to this motor, wherein this second estimation angle is not equal to this first estimation angle;

When injecting this second high-frequency signal to this motor, produce one second sensing signal of this motor;

According to this first sensing signal and this second sensing signal, judge the place quadrant of an operation angle, wherein this operation angle is the twice that one between this first estimation angle and rotor-position estimates angle difference; And

According to this place quadrant of this first sensing signal, this second sensing signal and this operation angle, obtain this rotor-position.

2. the method for estimation motor rotor position as claimed in claim 1, wherein according to this first sensing signal and this second sensing signal, judges that the step of this place quadrant of this operation angle comprises:

According to this first sensing signal and this second sensing signal, obtain a SIN function of this operation angle and a cosine function of this operation angle; And

This place quadrant of this operation angle is judged according to this SIN function of this operation angle and this cosine function of this operation angle.

3. the method for estimation motor rotor position as claimed in claim 2, the step wherein obtaining this SIN function of this operation angle and this cosine function of this operation angle comprises:

This first sensing signal of smear and a high frequency carrier, to produce one first smear signal;

This first smear signal of low-pass filtering, to obtain one first evaluation;

According to this first evaluation, obtain this SIN function of this operation angle;

This second sensing signal of smear and this high frequency carrier, to produce one second smear signal;

This second smear signal of low-pass filtering, to obtain one second evaluation; And

According to this first evaluation, this second evaluation, this first estimation angle and this second estimation angle, to obtain this cosine function of this operation angle.

4. the method for estimation motor rotor position as claimed in claim 2, the step wherein obtaining this rotor-position comprises:

According to this SIN function of this operation angle and this cosine function of this operation angle, by antitrigonometric function, calculate this operation angle; And

According to this place quadrant and this first estimation angle of this operation angle, this operation angle, calculate this rotor-position.

5. the method for estimation motor rotor position as claimed in claim 1, also comprises and utilizes pulse wave injection method, judge a magnetic axis direction, N pole of this rotor.

6. the method for estimation motor rotor position as claimed in claim 1, wherein

Under this first estimation angle, inject this first high-frequency signal to the step of this motor comprise:

The q axle of this first high-frequency signal to this motor and at least one of a d axle is injected under this first estimation angle; And

Under this second estimation angle, inject this second high-frequency signal to the step of this motor comprise:

This second high-frequency signal this q axle to this motor and this at least one of this d axle is injected under this second estimation angle.

7. the method for estimation motor rotor position as claimed in claim 1, wherein this first sensing signal is at least one in one first current response on a d axle of this motor and one second current response on a q axle of this motor, and this second sensing signal is at least one in one the 3rd current response on this d axle of this motor and one the 4th current response on this q axle of this motor.

8. estimate a device for motor rotor position, it is electrically connected a motor, and the device of this estimation motor rotor position comprises:

One high frequency electrocardiography module, in order to inject one first high-frequency signal to this motor under one first estimation angle, and injects one second high-frequency signal to this motor under one second estimation angle, and wherein this second estimation angle is not equal to this first estimation angle;

One sensing module, in order to when injecting this first high-frequency signal to this motor, produces one first sensing signal of this motor, and when injecting this second high-frequency signal to this motor, produces one second sensing signal of this motor; And

One computing module, in order to according to this first sensing signal and this second sensing signal, judge the place quadrant of an operation angle, and according to this place quadrant of this first sensing signal, this second sensing signal and this operation angle, obtain rotor-position, wherein this operation angle is the twice that one between this first estimation angle and this rotor-position estimates angle difference.

9. the device of estimation motor rotor position as claimed in claim 8, wherein this computing module is also in order to according to this first sensing signal and this second sensing signal, obtain a SIN function of this operation angle and a cosine function of this operation angle, and judge this place quadrant of this operation angle according to this SIN function of this operation angle and this cosine function of this operation angle.

10. the device of estimation motor rotor position as claimed in claim 9, wherein this computing module is also in order to this first sensing signal of smear and a high frequency carrier, to produce one first smear signal, and in order to this first smear signal of low-pass filtering, to obtain one first evaluation, and in order to according to this first evaluation, obtain this SIN function of this operation angle.

The device of 11. estimation motor rotor positions as claimed in claim 10, wherein this computing module is also in order to this second sensing signal of smear and this high frequency carrier, to produce one second smear signal, in order to this second smear signal of low-pass filtering, to obtain one second evaluation, and in order to according to this first evaluation, this second evaluation, this first estimation angle and this second estimation angle, to obtain this cosine function of this operation angle.

The device of 12. estimation motor rotor positions as claimed in claim 9, wherein this computing module is also in order to according to this SIN function of this operation angle and this cosine function of this operation angle, in order to pass through antitrigonometric function, calculate this operation angle, and in order to according to this place quadrant of this operation angle, this operation angle and this first estimation angle, calculate this rotor-position.

The device of 13. estimation motor rotor positions as claimed in claim 8, also comprises:

One judge module, in order to utilize pulse wave injection method, judges a magnetic axis direction, N pole of this rotor.

The device of 14. estimation motor rotor positions as claimed in claim 8, wherein this high frequency electrocardiography module also in order to inject the q axle of this first high-frequency signal to this motor and at least one of a d axle under this first estimation angle, and in order to inject this second high-frequency signal this q axle to this motor and this at least one of this d axle under this second estimation angle.

The device of 15. estimation motor rotor positions as claimed in claim 8, wherein this first sensing signal is at least one in one first current response on a d axle of this motor and one second current response on a q axle of this motor, and this second sensing signal is at least one in one the 3rd current response on this d axle of this motor and one the 4th current response on this q axle of this motor.