CN104494446B - Electric vehicle encoder connection-losing detection system and method - Google Patents
Electric vehicle encoder connection-losing detection system and method Download PDFInfo
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- CN104494446B CN104494446B CN201410631628.1A CN201410631628A CN104494446B CN 104494446 B CN104494446 B CN 104494446B CN 201410631628 A CN201410631628 A CN 201410631628A CN 104494446 B CN104494446 B CN 104494446B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to an electric vehicle encoder connection-losing detection system and method. The system comprises an encoder and a motor, and the encoder and the motor synchronously rotate. The system further comprises a motor controller connected to the motor and a signal acquisitionunit connected with the motor controller and the motor; the motor controller comprises a phase calculation unit and a shutdown control unit. The signal acquisition unit is used for obtaining the actual rotating speed of the motor; the phase calculation unit is used for providing the set target rotating speed and obtaining a directional phase and an observation phase according to the target rotating speed and the actual rotating speed; and the shutdown control unit is used for judging whether the encoder loses connection through comparison between the difference value of the directional phase and the observation phase and the preset difference value, and controlling the motor to stop running when the encoder loses connection. According to the system, the connection-losing failure of the encoder can be found in time, and the phenomenon that the motor is locked is avoided.
Description
Technical field
The present invention relates to encoder detection field, detecting system and method more particularly, it relates to a kind of encoder goes offline.
Background technology
Encoder is a kind of rotating detector that swing offset is converted into string number pulse signal, especially miniature
It is widely used in the low-voltage electromobile such as car and low-speed vehicle.The material of traditional photoelectric encoder code-disc is glass, metal, moulds
Material, glass code-disc is in the very thin groove of deposition on glass, and its heat stability and precision can reach typically will of common standard
Ask, but fragile.Metal code disk then directly with logical and obstructed groove although non-friable but because metal has certain thickness, essence
Degree is just restricted, and its heat stability is compared with glass code-disc difference an order of magnitude.Plastics code-disc is then more economical, low cost, but precision and
Resistance to elevated temperatures does not but reach requirement.
Therefore existing encoder adopts magneto-electric to design mostly, by magnetic induction device, is produced using the change in magnetic field
Positional information raw and that rotor is provided.Due to being that traditional code-disc is replaced using magnetic device, thus compensate for photoelectric encoder
Some defects, have antidetonation, corrosion-resistant, anti-pollution, reliability are higher, advantages of simple structure and simple.
As shown in figure 1, magnetic inductive encoder comprises two pulse signals, A phase signals and B phase signals, signal output is equal
For square wave, biphase between typically orthogonal 90 °.The real-time rotating speed of motor calculates the general encoder sometime interior by calculating
Umber of pulse obtains.
In actual use, unavoidably have and run into the situation that encoder goes offline.Once encoder goes offline, feedback
Velocity anomaly, leads to motor out of control, and vehicle enters brake hard.If this situation occurs during vehicle high-speed operation, very
May be accidents caused, directly threaten the life security of driver.The protection for this reason, encoder goes offline is necessary.Existing
Protection thought occur sporting foundation with the spot speed that goes offline, when previous clap and after one bat velocity deviation excessive, and deviation dimension
Hold a period of time and just quote the fault that goes offline, starting protection shutdown action.
Prior art scheme is crossed greatly according to carrying out the judgement that goes offline according to velocity deviations of clapping in front and back more, judges time, process
Longer, finally really can quote the fault that goes offline, but cannot be avoided vehicle encoder occurs and go offline the brake hard of moment.Therefore
Need to seek the higher protection scheme that goes offline of real-time, starting protection before brake hard in the moment that goes offline.
Content of the invention
The technical problem to be solved in the present invention is, judges time length and can not for the existing encoder detection method that goes offline
Avoid vehicle occur encoder go offline moment brake hard defect, provide one kind can accurately detect that magnetic inductive encoder falls
The encoder detecting system of line and method.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of electric motor car encoder go offline detection system
System, including encoder and motor, described encoder is rotated with described motor in synchrony, and described system also includes：It is connected to described electricity
The electric machine controller of machine and the respectively signal gathering unit with described electric machine controller and described motor connection, and described motor control
Device processed includes phase calculation unit and shuts down control unit；Wherein,
Described signal gathering unit, for obtaining the actual speed of described motor；
Described phase calculation unit, for providing the rotating speed of target setting；According to described rotating speed of target and described actual turn
Speed obtains orientation phase place and observation phase place；
Described shutdown control unit, for passing through the difference between described orientation phase place and described observation phase place and presetting
Difference is compared and judges whether described encoder goes offline；Control described motor to shut down when described encoder goes offline；
Described system includes the three-phase inverter being connected between described electric machine controller and described motor, described shutdown control
Unit processed includes output voltage control signal to the feedback output unit of described three-phase inverter, and described three-phase inverter is according to institute
State voltage control signal and generate current controling signal to described motor；
Described feedback output unit is used for obtaining exciting current respectively according to the rotating speed of target of described actual speed and setting
Set-point and torque current set-point；The exciting current that the described current controling signal of the input according to described motor obtains is anti-
Feedback value and torque current value of feedback carry out feedback with described exciting current set-point and described torque current set-point and adjust to motor
Section：
Carried out after closed loop regulation according to the value of feedback that described exciting current set-point combines actual exciting current, generate excitation
Voltage signal；Set-point according to described torque current carries out closed loop regulation with the value of feedback of actual torque electric current, generates moment
Voltage signal；Described moment voltage signal and described excitation voltage signal are carried out generation voltage control signal after coordinate transform defeated
Go out to three-phase inverter to control described motor rotation.
Electric motor car encoder of the present invention goes offline in detecting system, and described phase calculation unit includes orientation phase place and obtains
Take unit, for calculating the orientation phase place obtaining described motor by slip：According to described exciting current set-point and described
Torque current set-point generates slippage, to described slippage and described actual speed and be integrated to obtain described orientation phase
Position.
Electric motor car encoder of the present invention goes offline in detecting system, and described phase calculation unit includes observation phase place and obtains
Take unit, for observation phase place is generated according to described voltage control signal and described current controling signal.
Electric motor car encoder of the present invention goes offline in detecting system, and described shutdown control unit also includes phase bit comparison
Unit, setting predetermined deviation phase place in described phase comparison unit, the difference between described observation phase place and described orientation phase place
When value is more than described predetermined deviation phase place, judge that described encoder goes offline.
Further, the detection method of detecting system present invention also offers a kind of above-mentioned electric motor car encoder goes offline,
The method comprising the steps of：
Acquisition step：Detect the actual speed of described encoder；
Phase calculation step：The rotating speed of target setting is provided, and according to described rotating speed of target and described actual speed difference
Obtain orientation phase place and observation phase place；
Shut down rate-determining steps：By the difference between described orientation phase place and described observation phase place is carried out with preset difference value
Whether encoder described in multilevel iudge goes offline；Control described motor to shut down when described encoder goes offline；
Described shutdown rate-determining steps include feedback output sub-step：
Rotating speed of target according to described actual speed and setting obtains exciting current set-point respectively and torque current gives
Value；Exciting current feedback value and torque current value of feedback and institute that the current controling signal of the input according to described motor obtains
State exciting current set-point and described torque current set-point carries out feedback regulation to motor：
Carried out after closed loop regulation according to the value of feedback that described exciting current set-point combines actual exciting current, generate excitation
Voltage signal；Set-point according to described torque current carries out closed loop regulation with the value of feedback of actual torque electric current, generates moment
Voltage signal；Described moment voltage signal and described excitation voltage signal are carried out generation voltage control signal after coordinate transform defeated
Go out to three-phase inverter to control described motor rotation.
Electric motor car encoder of the present invention go offline detecting system detection method in, described phase calculation step is also wrapped
Include orientation phase place and obtain sub-step：Calculate the orientation phase place obtaining described motor by slip：Given according to described exciting current
Value and described torque current set-point generate slippage, to described slippage and described actual speed and be integrated to obtain
State orientation phase place.
Electric motor car encoder of the present invention go offline detecting system detection method in, described phase calculation step is also wrapped
Include observation phase place and obtain sub-step：Observation phase place is generated according to described voltage control signal and described current controling signal.
Electric motor car encoder of the present invention go offline detecting system detection method in, described shutdown rate-determining steps also wrap
Include phase bit comparison sub-step：Setting predetermined deviation phase place, the difference between described observation phase place and described orientation phase place is more than
During described predetermined deviation phase place, judge that described encoder goes offline.
The electric motor car encoder implementing the present invention goes offline the detection method of detecting system, has the advantages that：This
Bright by electric machine controller it will be observed that phase place enter line phase with given orientation phase place and compare, once encoder appearance
Go offline fault, and the deviation between observation phase place and orientation phase place can increase rapidly, therefore passes through phase deviation is inclined with default
Difference compares, once exceeding predetermined deviation value, then reports encoder to go offline fault, motor stops, it is to avoid motor locking
Phenomenon.
Brief description
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the schematic diagram of existing electric motor car magnetic inductive encoder；
Fig. 2 be according to the electric motor car encoder of the present invention go offline detecting system first embodiment module frame chart；
Fig. 3 be according to the electric motor car encoder of the present invention go offline detecting system electric machine controller schematic diagram；
Fig. 4 is to go offline the part control principle drawing of detecting system according to the electric motor car encoder of the present invention；
Fig. 5 is to go offline the observation phase operation schematic diagram of detecting system according to the electric motor car encoder of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.
Refer to Fig. 2, be according to the electric motor car encoder of the present invention go offline detecting system first embodiment module frame
Figure.The electric motor car encoder of the present invention goes offline detecting system, the encoder 20 including synchronous axial system and motor 40, also includes connecting
Electric machine controller 10 and the signals collecting being connected with described electric machine controller 10 and described motor 40 respectively to described motor 40
Unit 30.Signal gathering unit 30, for obtaining actual speed ω of motor 40reAnd by acquired actual speed ωreTransmission
To electric machine controller 10.Three-phase inverter 50 is connected between electric machine controller 10 and motor 40.
Electric machine controller 10 provides the rotating speed of target settingAccording to described rotating speed of targetAnd described actual speed
ωreObtain orientation phase theta and observation phase place respectivelyBy phase theta and observation phase place will be orientedBetween difference poor with default
Value is compared and judges whether encoder 20 goes offline, and exports three phase controls when encoder 20 goes offline by three-phase inverter 50
Current control motor 40 shuts down.
Further, with reference to Fig. 3, electric machine controller 10 includes phase calculation unit 10b and shuts down control unit 10a.Its
In, shut down control unit 10a and include feeding back output unit 11 and phase comparison unit 14, phase calculation unit 10b includes orienting
Phase place acquiring unit 12 and observation phase place acquiring unit 13.Wherein, feedback output unit 11 is used for output voltage control signal extremely
Three-phase inverter 50, orientation phase place acquiring unit 12 is used for detection orientation phase theta, and observation phase place acquiring unit 13 is used for detection and sees
Survey phase placePhase comparison unit 14 is then used for orientation phase theta and observation phase placeIt is compared judgement.Three-phase inverter 50
Generate current controling signal and be transferred to motor 40 according to by the voltage control signal that feedback output unit 11 exports.
Specifically, with reference to Fig. 4, orientation phase place acquiring unit 12 is used for calculating, by slip, the orientation phase obtaining described motor
Position θ.Orientation phase place acquiring unit 12 obtains current controling signal i at three-phase inverter 50a、ib, according to feedback output unit 11
Middle generationAnd torque current set-pointGenerate slippage ωf, to slippage ωfWith actual speed ωreAnd be integrated obtaining
Obtain described orientation phase theta.Specifically, slippage ωfObtained according to below equation：
Wherein, TrFor rotor time constant.
Feedback output unit 11 is according to actual speed ωreAnd the rotating speed of target settingObtain exciting current respectively to give
ValueAnd torque current set-pointThis current controling signal being exported by three-phase inverter 50 of input according to motor 40
Exciting current feedback value i obtainingMAnd torque current value of feedback iTWith exciting current set-pointAnd torque current set-pointRight
Motor 40 carries out feedback regulation.Wherein, torque current set-pointBy the rotating speed of target settingWith actual speed ωreDifference
Obtain after carrying out linear operation, exciting current set-pointIt is then to be judged according to below equation：
Work as ωre>ωNWhen,
Or, work as ωre<ωNWhen,
Wherein, I0For the no-load current in rated frequency no-load running for the motor 40, ωNFor Rated motor rotating speed.
Exciting current feedback value iMAnd torque current value of feedback iTIt is then the current control letter according to three-phase inverter 50 output
Number ia、ibObtain after carrying out the coordinate transform relevant with above-mentioned orientation phase theta.
According to described exciting current set-pointValue of feedback i in conjunction with actual exciting currentMAfter carrying out closed loop regulation, generate
Excitation voltage signal uM；Set-point according to described torque currentWith actual torque electric current iTValue of feedback carry out closed loop regulation,
Generate moment voltage signal uT；By described moment voltage signal uTAnd described excitation voltage signal uMCarrying out above-mentioned orientation phase theta has
Voltage control signal u is generated after the coordinate transform closedα、uβExport to three-phase inverter 50, and then produce above-mentioned current control letter
Number ia、ibTo control described motor 40 to operate.
With reference to Fig. 5, it is the operation control figure of currently preferred observation phase place acquiring unit 13.Specifically include：According to electricity
Flow control signals ia、ibGenerate the current component i of α and β axle under rest frame respectivelyα、iβ, by voltage control signal uα、uβPoint
Not with above-mentioned current component iα、iβThe difference that respective and motor stator winding resistance Rs product obtains after subtracting each other integrates fortune respectively
The α axle component of stator magnetic linkage is obtained after calculationAnd the beta -axis component of stator magnetic linkageIn conjunction with current component iα、iβAnd stator magnetic linkage
α beta -axis component Observation phase place can be obtained according to below equation
Wherein, LrFor the self-induction of rotor winding, LsFor the self-induction of motor stator winding, LmFor motor stator winding with
Mutual inductance between rotor windings,For the α axle component of rotor flux,Beta -axis component for rotor flux.
Phase comparison unit 14 shown in Fig. 3 receives above-mentioned observation phase placeAnd orient phase theta and calculate the difference of the two
Value, setting predetermined deviation phase place in phase comparison unit 14, in observation phase placeDifference and orientation phase theta between is more than described
During predetermined deviation phase place, judge that described encoder goes offline.In the case that encoder goes offline, output signal to feedback output unit
11, voltage control signal u is adjusted by feedback output unit 11α、uβAnd then controlled motor 40 shuts down.
Further, the preferred embodiment of the present invention the inspection that a kind of above-mentioned electric motor car encoder goes offline detecting system is also provided
Survey method, this electric motor car encoder detecting system that goes offline has any technical characteristic of system shown in figure 1 above -5, and here is not made
Repeat.The method comprising the steps of：
Acquisition step：Actual speed ω of detection encoder 20re；
Phase calculation step：The rotating speed of target setting is providedAccording to described rotating speed of targetAnd described actual speed
ωreObtain orientation phase theta and observation phase place respectively
Shut down rate-determining steps：By phase theta and observation phase place will be orientedBetween difference be compared with preset difference value and sentence
Whether the described encoder 20 that breaks goes offline；When encoder 20 goes offline, three-phase control electric current is exported by three-phase inverter 50 and control electricity
Machine 40 shuts down.
Further, described phase calculation step includes orienting phase place acquisition sub-step and observation phase place obtains sub-step,
Described shutdown rate-determining steps include feedback output sub-step and phase bit comparison sub-step.
Specifically, feedback output sub-step includes：According to described actual speed ωreAnd the rotating speed of target settingRespectively
Obtain exciting current set-pointAnd torque current set-pointThe described current control letter of the input according to described motor 40
Number ia、ibExciting current feedback value i obtainingMAnd torque current value of feedback iMWith exciting current set-pointAnd torque current gives
Definite valueFeedback regulation is carried out to motor 40：
According to actual speed ωreAnd the rotating speed of target settingObtain exciting current set-point respectivelyAnd torque current
Set-pointThe exciting current being obtained by this current controling signal that three-phase inverter 50 exports of the input according to motor 40
Value of feedback iMAnd torque current value of feedback iTWith exciting current set-pointAnd torque current set-pointMotor 40 is fed back
Adjust.Wherein, torque current set-pointBy the rotating speed of target settingWith actual speed ωreDifference carry out linear operation after obtain
, exciting current set-pointIt is then to be judged according to below equation：
Work as ωre>ωNWhen,
Or, work as ωre<ωNWhen,
Wherein, I0For the no-load current in rated frequency no-load running for the motor 40, ωNFor Rated motor rotating speed.
Exciting current feedback value iMAnd torque current value of feedback iTIt is then the current control letter according to three-phase inverter 50 output
Number ia、ibObtain after carrying out the coordinate transform relevant with above-mentioned orientation phase theta.
According to described exciting current set-pointValue of feedback i in conjunction with actual exciting currentMAfter carrying out closed loop regulation, generate
Excitation voltage signal uM；Set-point according to described torque currentWith actual torque electric current iTValue of feedback carry out closed loop regulation,
Generate moment voltage signal uT；By described moment voltage signal uTAnd described excitation voltage signal uMCarrying out above-mentioned orientation phase theta has
Voltage control signal u is generated after the coordinate transform closedα、uβExport to three-phase inverter 50, and then produce above-mentioned current control letter
Number ia、ibTo control described motor 40 to operate.
This orientation phase place obtains sub-step and includes：Calculate the orientation phase theta obtaining described motor 40 by slip.Orientation phase
Position acquiring unit 12 obtains current controling signal i at three-phase inverter 50a、ib, according to generate in feedback output unit 11
And torque current set-pointGenerate slippage ωf, to slippage ωfWith actual speed ωreAnd be integrated obtaining described orientation
Phase theta.Specifically, slippage ωfObtained according to below equation：
Wherein, TrFor rotor time constant.
This observation phase place obtains sub-step and includes：According to current controling signal ia、ibGenerate α and β under rest frame respectively
The current component i of axleα、iβ, by voltage control signal uα、uβRespectively with above-mentioned current component iα、iβEach and motor stator winding
The α axle component of stator magnetic linkage is obtained after the difference difference integral operation that the product of resistance Rs obtains after subtracting each otherAnd stator magnetic linkage
Beta -axis componentIn conjunction with current component iα、iβAnd the α beta -axis component of stator magnetic linkageCan obtain according to below equation and see
Survey phase place
Wherein, LrFor the self-induction of rotor winding, LsFor the self-induction of motor stator winding, LmFor motor stator winding with
Mutual inductance between rotor windings,For the α axle component of rotor flux,Beta -axis component for rotor flux.
This phase bit comparison sub-step is：Phase comparison unit 14 receives above-mentioned observation phase placeAnd orient phase theta and calculate
The difference of the two, setting predetermined deviation phase place in phase comparison unit 14, in observation phase placeDifference and orientation phase theta between
During more than described predetermined deviation phase place, judge that described encoder goes offline.In the case that encoder goes offline, output signal to feedback
Output unit 11, adjusts voltage control signal u by feedback output unit 11α、uβAnd then controlled motor 40 shuts down.
The present invention passes through using the rotor flux-orientation vector control based on speed feedback, fixed with reality by observing phase place
The comparing in real time of deviation between phase place, realize report fault free parking when situation that encoder goes offline occurs.The present invention exists
Do not occur in the case that encoder goes offline, observe the phase place obtaining and actual to send out deviation between wave phase less；And once going out
Existing encoder goes offline fault, due to the mutation of rotating speed, observes phase place and the deviation sent out between orientation phase place can increase rapidly.Therefore
The detection that goes offline can be carried out according to the deviation between orientation phase place and observation phase place；Once phase deviation exceedes predetermined deviation phase
Position, can report encoder fault through routine processes, motor carries out free parking, be unlikely to situation motor locking.
The present invention is described according to specific embodiment, but it will be understood by those skilled in the art that without departing from this
During bright scope, various change and equivalent can be carried out.Additionally, the specific occasion for adaptation the technology of the present invention or material, can be right
The present invention carries out many modifications without deviating from its protection domain.Therefore, the present invention is not limited to specific embodiment disclosed herein,
And include all embodiments dropping into claims.
Claims (8)
1. a kind of electric motor car encoder goes offline detecting system, including encoder (20) and motor (40), described encoder (20) with
Described motor (40) synchronous axial system is it is characterised in that described system also includes：It is connected to the electric machine controller of described motor (40)
(10) signal gathering unit (30) being connected with described electric machine controller (10) and described motor (40) and respectively, and described motor
Controller (10) includes phase calculation unit (10b) and shuts down control unit (10a)；Wherein,
Described signal gathering unit (30), for obtaining the actual speed of described motor (40)；
Described phase calculation unit (10b), for provide set rotating speed of target and according to described rotating speed of target and described reality
Rotating speed obtains orientation phase place and observation phase place；
Described shutdown control unit (10a), for by by the difference between described orientation phase place and described observation phase place with pre-
If difference is compared and judges whether described encoder (20) goes offline, and controls described motor when described encoder (20) goes offline
(40) shut down；
Described system includes the three-phase inverter (50) being connected between described electric machine controller (10) and described motor (40), institute
State and shut down the feedback output unit (11) that control unit (10a) includes output voltage control signal extremely described three-phase inverter, institute
State three-phase inverter (50) and current controling signal is generated to described motor (40) according to described voltage control signal；
Described feedback output unit (11) is used for obtaining exciting current respectively according to the rotating speed of target of described actual speed and setting
Set-point and torque current set-point；The excitation electricity that the described current controling signal of the input according to described motor (40) obtains
Stream value of feedback and torque current value of feedback are entered to motor (40) with described exciting current set-point and described torque current set-point
Row feedback regulation：
Carried out after closed loop regulation according to the value of feedback that described exciting current set-point combines actual exciting current, generate excitation voltage
Signal；Set-point according to described torque current carries out closed loop regulation with the value of feedback of actual torque electric current, generates moment voltage
Signal；By described moment voltage signal and described excitation voltage signal carry out after coordinate transform generate voltage control signal export to
Three-phase inverter (50) is operated with controlling described motor (40).
2. electric motor car encoder according to claim 1 goes offline detecting system it is characterised in that described phase calculation unit
(10b) include orientation phase place acquiring unit (12), for calculating the orientation phase place obtaining described motor by slip：According to described
Exciting current set-point and described torque current set-point generate slippage, to described slippage and described actual speed and carry out
Integration is to obtain described orientation phase theta.
3. electric motor car encoder according to claim 2 goes offline detecting system it is characterised in that described phase calculation unit
(10b) include observation phase place acquiring unit (13), for generating according to described voltage control signal and described current controling signal
Observation phase place.
4. electric motor car encoder according to claim 3 goes offline detecting system it is characterised in that described shutdown control unit
(10a) also include phase comparison unit (14), setting predetermined deviation phase place in described phase comparison unit (14), in described observation
When difference between phase place and described orientation phase place is more than described predetermined deviation phase place, judge that described encoder goes offline.
5. a kind of electric motor car encoder as claimed in claim 1 go offline detecting system detection method it is characterised in that described
Method comprises the following steps：
Acquisition step：Detect actual speed ω of described encoder (20)re；
Phase calculation step：The rotating speed of target setting is provided, and orientation is obtained according to described rotating speed of target and described actual speed
Phase place and observation phase place；
Shut down rate-determining steps：By the difference between described orientation phase place and described observation phase place is compared with preset difference value
Judge whether described encoder (20) goes offline；Control described motor (40) to shut down when described encoder (20) goes offline；
Described shutdown rate-determining steps include feedback output sub-step：
Rotating speed of target according to described actual speed and setting obtains exciting current set-point and torque current set-point respectively；Root
The exciting current feedback value obtaining according to the current controling signal of the input of described motor (40) and torque current value of feedback and institute
State exciting current set-point and described torque current set-point carries out feedback regulation to motor (40)：
Carried out after closed loop regulation according to the value of feedback that described exciting current set-point combines actual exciting current, generate excitation voltage
Signal；Set-point according to described torque current carries out closed loop regulation with the value of feedback of actual torque electric current, generates moment voltage
Signal；By described moment voltage signal and described excitation voltage signal carry out after coordinate transform generate voltage control signal export to
Three-phase inverter (50) is operated with controlling described motor (40).
6. electric motor car encoder according to claim 5 go offline detecting system detection method it is characterised in that described phase
Position calculation procedure also includes orienting phase place acquisition sub-step：Calculate the orientation phase place obtaining described motor by slip：According to institute
State exciting current set-point and described torque current set-point and generate slippage, to described slippage and described actual speed and enter
Row integration is to obtain described orientation phase place.
7. electric motor car encoder according to claim 6 go offline detecting system detection method it is characterised in that described phase
Position calculation procedure also includes observing phase place acquisition sub-step：Generated according to described voltage control signal and described current controling signal
Observation phase place.
8. electric motor car encoder according to claim 7 go offline detecting system detection method it is characterised in that described stop
Machine rate-determining steps also include phase bit comparison sub-step：Setting predetermined deviation phase place, in described observation phase place and described orientation phase place
Between difference be more than described predetermined deviation phase place when, judge that described encoder (20) goes offline.
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| CN104494446A (en) | 2015-04-08 |
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