CN105515486A - Real-time compensation and correction method for rotor magnetic pole position of permanent magnet synchronous motor - Google Patents

Real-time compensation and correction method for rotor magnetic pole position of permanent magnet synchronous motor Download PDF

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CN105515486A
CN105515486A CN201510876680.8A CN201510876680A CN105515486A CN 105515486 A CN105515486 A CN 105515486A CN 201510876680 A CN201510876680 A CN 201510876680A CN 105515486 A CN105515486 A CN 105515486A
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motor
dsp controller
phase
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CN105515486B (en
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崔臣君
何成峰
张文波
王利
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Beijing Machinery Equipment Research Institute
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Abstract

The invention discloses a real-time compensation and correction method for the rotor magnetic pole position of a permanent magnet synchronous motor. The method specifically comprises the steps of setting up a real-time compensation and correction platform for the rotor magnetic pole position of a permanent magnet synchronous motor; conducting the frequency division treatment on virtual code disc signals outputted by a phase-locked loop circuit A (6) and a phase-locked loop circuit B (7) by means of a DSP controller (5); judging the steering condition of the motor by means of the DSP controller (5) according to the phase relationship between the two paths of orthogonal virtual code disc signals QEPAB and QEPC; acquiring the rotational speed and the delay angle of the motor by means of the DSP controller (5); and judging the magnetic pole absolute zero position and the magnetic pole position of a rotor by means of the DSP controller (5). According to the technical scheme of the invention, the method has little dependence on the parameters of the motor and the mathematical model of the motor, and is high in detection accuracy. Meanwhile, a user can select a circuit through controlling the phase-locked loop circuits and variable lines as needed, so as to change the frequencies of orthogonal virtual code disc signals QEPAB and QEPC. Moreover, the method is simple, flexible and easy to implement.

Description

The bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation
Technical field
The present invention relates to a kind of rotor magnetic pole position real-time correction method, particularly a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration.
Background technology
Permagnetic synchronous motor have that power density is high, rotor moment of inertia is little, armature inductance is little, operational efficiency is high and in rotating shaft without the advantage such as slip ring and brush, be widely used in the High Performance Motion Control field within the scope of middle low power, as application scenarios such as robot, CNC Digit Control Machine Tools.Along with the development of power electronic technology and Electric Machine Control theory, be that the high-performance permanent magnet synchronous machine closed loop control method of representative is rapidly developed and extensive use with vector control, and the quality of method for controlling permanent magnet synchronous motor, key depends on the accuracy that rotor magnetic pole position detects.
Existing magnetic pole position of permanent magnet synchronous motor rotor real-time correction method, need the electric parameter such as voltage, electric current by measuring motor, and carry out the method for series of complex to detect the position of rotor in conjunction with the parameter of motor and Mathematical Modeling, but because the sampling precision of the electric parameter such as voltage, electric current is not high enough, the parameter of motor constantly changes with load and the uncertainty of motor mathematical model, cause rotor-position testing result inaccurate, and Measures compare is complicated, poor real, not easily realizes.
Summary of the invention
The object of the present invention is to provide the bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation, solve the problem of the rotor magnetic pole position real time correction in permagnetic synchronous motor closed-loop control.
The bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation, its concrete steps are:
The first step builds magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate
Magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate comprises: voltage subtraction and signal filter circuit, zero-crossing detection circuit, signal isolation circuit, signal transformation circuit, phase-locked loop circuit A, phase-locked loop circuit B, dsp controller, variable thread selection circuit A and variable thread selection circuit B, wherein voltage subtraction and signal filter circuit have three identical branch roads, and each branch road comprises: resistance R a, resistance R b, resistance R 2, resistance R 3, electric capacity C 1, electric capacity C 2, electric capacity C 3with operational amplifier U1.
Three inputs of voltage subtraction and signal filter circuit respectively with motor terminal A, motor terminal B, motor terminal C connects, voltage subtraction is connected with three inputs of zero-crossing detection circuit respectively with three outputs of signal filter circuit, two outputs of zero-crossing detection circuit are connected with two inputs of signal isolation circuit respectively, two outputs of signal isolation circuit are connected with two inputs of signal transformation circuit respectively, the output of signal transformation circuit respectively with phase-locked loop circuit A, phase-locked loop circuit B is connected with the input of dsp controller, phase-locked loop circuit A and variable thread selection circuit A is bi-directionally connected, phase-locked loop circuit B and variable thread selection circuit B is bi-directionally connected, phase-locked loop circuit A is connected with the input of dsp controller respectively with the output of phase-locked loop circuit B, the output of dsp controller is connected with the input of variable thread selection circuit A and variable thread selection circuit B respectively.In each branch road of voltage subtraction and signal filter circuit, resistance R aone end be connected with motor terminal, resistance R athe other end respectively with resistance R bone end, electric capacity C 1one end and resistance R 2one end connect, resistance R bthe other end and electric capacity C 1the other end be connected with neutral point N respectively, resistance R 2the other end respectively with electric capacity C 2one end and resistance R 3one end connect, electric capacity C 2the other end be connected with the output of operational amplifier U1, resistance R 3the other end respectively with electric capacity C 3one end be connected with the positive input of operational amplifier U1, electric capacity C 3the other end be connected with neutral point N, the negative input of operational amplifier U1 is connected with output.
Second step dsp controller carries out frequency division to the virtual code-disc signal that phase-locked loop circuit A and phase-locked loop circuit B exports
Dsp controller, according to the decimal system thread value M preset, exports four corresponding binary switch signals to variable thread selection circuit A and variable thread selection circuit B, by the orthographic virtual code-disc signal QEP that phase-locked loop circuit A exports aBcarry out M frequency division, by the orthographic virtual code-disc signal QEP that phase-locked loop circuit B exports ccarry out M frequency division, wherein, M is the P power of 2, and P is positive integer, the tetrad switching signal outputting to variable thread selection circuit A and variable thread selection circuit B is just in time the tetrad switching signal DD3DD2DD1DD0 of P value correspondence, the highest order of the corresponding tetrad of DD3, the lowest order of the corresponding tetrad of DD0.
3rd step dsp controller judges motor steering
Dsp controller is according to two-way orthographic virtual code-disc signal QEP aB, QEP cphase relation judge turning to of motor, work as QEP aBadvanced QEP cwhen 90 °, motor rotates forward, and works as QEP aBdelayed QEP cwhen 90 °, motor reversal.
4th step dsp controller obtains motor speed and time delay angle
Dsp controller catches QEP aB, QEP csignal, utilizes predetermined amount of time the orthographic virtual code-disc signal QEP of interior seizure aBcount value X 1with orthographic virtual code-disc signal QEP ccount value X 2, obtain predetermined amount of time interior average pulse catches count value X= , then dsp controller catches count value X according to the decimal system thread value M preset and average pulse, obtain the rotational speed omega of motor= .
Dsp controller obtains the orthographic virtual hall signal H of signal transformation circuit output according to the motor speed ω obtained aB" relative to motor lines voltage signal u aBthe time delay angle of zero crossing :
（1）
Wherein, R a, R b, R 2, R 3be respectively the resistance value in voltage subtraction and signal filter circuit, C 1, C 2, C 3be respectively the capacitance in voltage subtraction and signal filter circuit, ω is the rotating speed of motor.
5th step dsp controller judges rotor magnetic pole absolute zero position
The orthographic virtual hall signal H that dsp controller utilizes signal transformation circuit to export aB" rising edge judge the absolute zero position in an electric cycle of motor, to work as H aB" rising edge arrive time, proves that motor rotates a circle, dsp controller will seizure QEP aBsignal-count value resets.
6th step dsp controller obtains rotor magnetic pole position
Dsp controller utilizes the QEP caught aBsignal-count value deducts time delay angle and obtains rotor magnetic pole position.As the QEP that dsp controller catches aBsignal-count value is x, and when motor rotates forward, rotor magnetic pole position pos is:
（2）
During motor reversal, rotor-position pos is:
（3）
So far, achieve magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation to correct.
The present invention to the parameter of electric machine and motor mathematical model degree of dependence low, there is higher accuracy of detection; Avoid complicated software algorithm, improve the real-time of testing result, reduce the requirement of algorithm to dsp controller processing speed; As required, phase-locked loop circuit and variable thread selection circuit can be controlled, change orthographic virtual code-disc signal QEP aBand QEP cfrequency, simple and flexible, be easy to realize.
Accompanying drawing explanation
Magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate schematic diagram described in the bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation of Fig. 1;
Voltage subtraction described in the bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation of Fig. 2 and signal filter circuit schematic diagram.
1. voltage subtraction and signal filter circuit 2. zero-crossing detection circuit 3. signal isolation circuit 4. signal transformation circuit 5.DSP controller 6. phase-locked loop circuit A7. phase-locked loop circuit B8. variable thread selection circuit A9. variable thread selection circuit B.
Embodiment
The bearing calibration of a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation, its concrete steps are:
The first step builds magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate
Magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate comprises: voltage subtraction and signal filter circuit 1, zero-crossing detection circuit 2, signal isolation circuit 3, signal transformation circuit 4, phase-locked loop circuit A6, phase-locked loop circuit B7, dsp controller 5, variable thread selection circuit A8 and variable thread selection circuit B9.
Three inputs of voltage subtraction and signal filter circuit 1 respectively with motor terminal A, motor terminal B, motor terminal C connects, voltage subtraction is connected with three inputs of zero-crossing detection circuit 2 respectively with three outputs of signal filter circuit 1, two outputs of zero-crossing detection circuit 2 are connected with two inputs of signal isolation circuit 3 respectively, two outputs of signal isolation circuit 3 are connected with two inputs of signal transformation circuit 4 respectively, the output of signal transformation circuit 4 respectively with phase-locked loop circuit A6, phase-locked loop circuit B7 is connected with the input of dsp controller 5, phase-locked loop circuit A6 and variable thread selection circuit A8 is bi-directionally connected, phase-locked loop circuit B7 and variable thread selection circuit B9 is bi-directionally connected, phase-locked loop circuit A6 is connected with the input of dsp controller 5 respectively with the output of phase-locked loop circuit B7, the output of dsp controller 5 is connected with the input of variable thread selection circuit A8 and variable thread selection circuit B9 respectively.In each branch road of voltage subtraction and signal filter circuit 1, resistance R aone end be connected with motor terminal, resistance R athe other end respectively with resistance R bone end, electric capacity C 1one end and resistance R 2one end connect, resistance R bthe other end and electric capacity C 1the other end be connected with neutral point N respectively, resistance R 2the other end respectively with electric capacity C 2one end and resistance R 3one end connect, electric capacity C 2the other end be connected with the output of operational amplifier U1, resistance R 3the other end respectively with electric capacity C 3one end be connected with the positive input of operational amplifier U1, electric capacity C 3the other end be connected with neutral point N, the negative input of operational amplifier U1 is connected with output.
The virtual code-disc signal that second step dsp controller 5 couples of phase-locked loop circuit A6 and phase-locked loop circuit B7 export carries out frequency division
The decimal system thread value M that dsp controller 5 presets is 1024, exports four corresponding binary switch signals to variable thread selection circuit A8 and variable thread selection circuit B9, by the orthographic virtual code-disc signal QEP that phase-locked loop circuit A6 exports aBcarry out 1024 frequency divisions, by the orthographic virtual code-disc signal QEP that phase-locked loop circuit B7 exports ccarry out 1024 frequency divisions, wherein, 1024 be 2 10 powers, P=10, the tetrad switching signal outputting to variable thread selection circuit A8 and variable thread selection circuit B9 is just in time the tetrad switching signal 1010 of 10 correspondences.
3rd step dsp controller 5 judges motor steering
Dsp controller 5 is according to two-way orthographic virtual code-disc signal QEP aB, QEP cphase relation judge turning to of motor, work as QEP aBadvanced QEP cwhen 90 °, motor rotates forward, and works as QEP aBdelayed QEP cwhen 90 °, motor reversal.
4th step dsp controller 5 obtains motor speed and time delay angle
When motor rotates forward, dsp controller 5 catches QEP aB, QEP csignal, utilizes the orthographic virtual code-disc signal QEP that ms catches aBcount value X 1=99 and orthographic virtual code-disc signal QEP ccount value X 2=101, the average pulse obtained in predetermined amount of time 10ms catches count value X= , then dsp controller 5 catches count value 100 according to the decimal system thread value 1024 preset and average pulse, obtain the rotational speed omega of motor= .
In voltage subtraction and signal filter circuit 1, resistance R afor 480k Ω, resistance R bfor 240k Ω, resistance R 2and R 3be 3.3k Ω, electric capacity C 1for 0.1uf, electric capacity C 2and C 3be 0.01uf, dsp controller 5 obtains the orthographic virtual hall signal H of signal transformation circuit 4 output according to the motor speed ω obtained aB" relative to motor lines voltage signal u aBthe time delay angle of zero crossing:
5th step dsp controller 5 judges rotor magnetic pole absolute zero position
The orthographic virtual hall signal H that dsp controller 5 utilizes signal transformation circuit 4 to export aB" rising edge judge the absolute zero position in an electric cycle of motor, to work as H aB" rising edge arrive time, proves that motor rotates a circle, dsp controller 5 will seizure QEP aBsignal-count value resets.
6th step dsp controller 5 obtains rotor magnetic pole position
Dsp controller 5 utilizes the QEP caught aBsignal-count value deducts time delay angle and obtains rotor magnetic pole position.As the QEP that dsp controller 5 catches aBsignal-count value is x=90, due to motor rotate forward and , rotor magnetic pole position: ;
Thus achieve the correction of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation.

Claims (1)

1. a magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, is characterized in that concrete steps are:
The first step builds magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate
Magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate comprises: voltage subtraction and signal filter circuit (1), zero-crossing detection circuit (2), signal isolation circuit (3), signal transformation circuit (4), phase-locked loop circuit A(6), phase-locked loop circuit B(7), dsp controller (5), variable thread selection circuit A(8) and variable thread selection circuit B(9), wherein voltage subtraction and signal filter circuit (1) have three identical branch roads, and each branch road comprises: resistance R a, resistance R b, resistance R 2, resistance R 3, electric capacity C 1, electric capacity C 2, electric capacity C 3with operational amplifier U1;
Three inputs of voltage subtraction and signal filter circuit (1) respectively with motor terminal A, motor terminal B, motor terminal C connects, voltage subtraction is connected with three inputs of zero-crossing detection circuit (2) respectively with three outputs of signal filter circuit (1), two outputs of zero-crossing detection circuit (2) are connected with two inputs of signal isolation circuit (3) respectively, two outputs of signal isolation circuit (3) are connected with two inputs of signal transformation circuit (4) respectively, the output of signal transformation circuit (4) respectively with phase-locked loop circuit A(6), phase-locked loop circuit B(7) be connected with the input of dsp controller (5), phase-locked loop circuit A(6) and variable thread selection circuit A(8) be bi-directionally connected, phase-locked loop circuit B(7) and variable thread selection circuit B(9) be bi-directionally connected, phase-locked loop circuit A(6) with phase-locked loop circuit B(7) output be connected with the input of dsp controller (5) respectively, the output of dsp controller (5) respectively with variable thread selection circuit A(8) and variable thread selection circuit B(9) input be connected, in each branch road of voltage subtraction and signal filter circuit (1), resistance R aone end be connected with motor terminal, resistance R athe other end respectively with resistance R bone end, electric capacity C 1one end and resistance R 2one end connect, resistance R bthe other end and electric capacity C 1the other end be connected with neutral point N respectively, resistance R 2the other end respectively with electric capacity C 2one end and resistance R 3one end connect, electric capacity C 2the other end be connected with the output of operational amplifier U1, resistance R 3the other end respectively with electric capacity C 3one end be connected with the positive input of operational amplifier U1, electric capacity C 3the other end be connected with neutral point N, the negative input of operational amplifier U1 is connected with output,
Second step dsp controller (5) is to phase-locked loop circuit A(6) and phase-locked loop circuit B(7) the virtual code-disc signal that exports carries out frequency division
Dsp controller (5) is according to the decimal system thread value M preset, export four corresponding binary switch signals to variable thread selection circuit A(8) and variable thread selection circuit B(9), by phase-locked loop circuit A(6) the orthographic virtual code-disc signal QEP that exports aBcarry out M frequency division, by phase-locked loop circuit B(7) the orthographic virtual code-disc signal QEP that exports ccarry out M frequency division, wherein, M is the P power of 2, and P is positive integer, output to variable thread selection circuit A(8) and variable thread selection circuit B(9) tetrad switching signal be just in time tetrad switching signal DD3DD2DD1DD0 corresponding to P value, the highest order of the corresponding tetrad of DD3, the lowest order of the corresponding tetrad of DD0;
3rd step dsp controller (5) judges motor steering
Dsp controller (5) is according to two-way orthographic virtual code-disc signal QEP aB, QEP cphase relation judge turning to of motor, work as QEP aBadvanced QEP cwhen 90 °, motor rotates forward, and works as QEP aBdelayed QEP cwhen 90 °, motor reversal;
4th step dsp controller (5) obtains motor speed and time delay angle
Dsp controller (5) catches QEP aB, QEP csignal, utilizes predetermined amount of time the orthographic virtual code-disc signal QEP of interior seizure aBcount value X 1with orthographic virtual code-disc signal QEP ccount value X 2, obtain predetermined amount of time interior average pulse catches count value X= , then dsp controller (5) catches count value X according to the decimal system thread value M that preset and average pulse, obtain the rotational speed omega of motor= ;
The orthographic virtual hall signal H that dsp controller (5) exports according to motor speed ω acquisition signal transformation circuit (4) obtained aB" relative to motor lines voltage signal u aBthe time delay angle of zero crossing :
（1）
Wherein, R a, R b, R 2, R 3be respectively the resistance value in voltage subtraction and signal filter circuit (1), C 1, C 2, C 3be respectively the capacitance in voltage subtraction and signal filter circuit (1), ω is the rotating speed of motor;
5th step dsp controller (5) judges rotor magnetic pole absolute zero position
The orthographic virtual hall signal H that dsp controller (5) utilizes signal transformation circuit (4) to export aB" rising edge judge the absolute zero position in an electric cycle of motor, to work as H aB" rising edge arrive time, proves that motor rotates a circle, dsp controller (5) will seizure QEP aBsignal-count value resets;
6th step dsp controller (5) obtains rotor magnetic pole position
Dsp controller (5) utilizes the QEP caught aBsignal-count value deducts time delay angle and obtains rotor magnetic pole position; As the QEP that dsp controller (5) catches aBsignal-count value is x, and when motor rotates forward, rotor magnetic pole position pos is:
（2）
During motor reversal, rotor-position pos is:
（3）
So far, achieve magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation to correct.
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CN106655919A (en) * 2016-12-26 2017-05-10 北京机械设备研究所 Brushless DC motor commutation circuit based on position sensorless
CN107102282A (en) * 2017-05-08 2017-08-29 中国航空工业集团公司北京长城计量测试技术研究所 Hall signal delay calibration method
CN108880358A (en) * 2018-07-02 2018-11-23 哈尔滨理工大学 Method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer
CN109612502A (en) * 2018-12-05 2019-04-12 麦歌恩电子(上海)有限公司 The test method and system of magnetic coder chip interior signal transmission delay
CN109639202A (en) * 2018-11-28 2019-04-16 上海大学 A kind of permanent-magnetic synchronous motor rotor pole polarity judgment method
CN111895957A (en) * 2020-06-30 2020-11-06 天津大学 Signal delay compensation method of time subdivision angle measuring instrument
WO2021253562A1 (en) * 2020-06-17 2021-12-23 北京航空航天大学宁波创新研究院 Commutation error compensation system and method without position sensor for brushless motor

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CN102386820A (en) * 2011-11-22 2012-03-21 陕西航空电气有限责任公司 Motor rotor position measuring method with compensation capability and device employing same
CN103532450A (en) * 2012-07-04 2014-01-22 北京精密机电控制设备研究所 Brushless motor rotor position detection device and brushless motor rotor position detection method for position servo system

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CN108880358A (en) * 2018-07-02 2018-11-23 哈尔滨理工大学 Method for controlling permanent magnet synchronous motor and device based on angular displacement without Time Delay Observer
CN109639202A (en) * 2018-11-28 2019-04-16 上海大学 A kind of permanent-magnetic synchronous motor rotor pole polarity judgment method
CN109639202B (en) * 2018-11-28 2021-08-10 上海大学 Method for judging polarity of magnetic pole of permanent magnet synchronous motor rotor
CN109612502A (en) * 2018-12-05 2019-04-12 麦歌恩电子(上海)有限公司 The test method and system of magnetic coder chip interior signal transmission delay
CN109612502B (en) * 2018-12-05 2021-02-12 麦歌恩电子(上海)有限公司 Method and system for testing transmission delay of internal signal of magnetic encoder chip
WO2021253562A1 (en) * 2020-06-17 2021-12-23 北京航空航天大学宁波创新研究院 Commutation error compensation system and method without position sensor for brushless motor
CN111895957A (en) * 2020-06-30 2020-11-06 天津大学 Signal delay compensation method of time subdivision angle measuring instrument
CN111895957B (en) * 2020-06-30 2021-11-19 天津大学 Signal delay compensation method of time subdivision angle measuring instrument

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