CN105515486B - A kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration - Google Patents
A kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration Download PDFInfo
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Abstract
The invention discloses a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, it is concretely comprised the following steps：Build magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation dressing plate；Dsp controller (5) divides to phase-locked loop circuit A (6) and phase-locked loop circuit B (9) the virtual code-disc signals exported；Dsp controller (5) is according to two-way orthographic virtual code-disc signal QEPAB、QEPCPhase relation judge the steering of motor；Dsp controller (5) obtains motor speed and delay angle；Dsp controller (5) judges rotor magnetic pole absolute zero position and rotor magnetic pole position.The present invention is low to the parameter of electric machine and motor mathematical model degree of dependence, has higher accuracy of detection；Control phase-locked loop circuit and variable thread selection circuit as needed, change orthographic virtual code-disc signal QEPABAnd QEPCFrequency, simple and flexible, it is easy to accomplish.
Description
Technical field
The present invention relates to a kind of rotor magnetic pole position real-time correction method, particularly a kind of permanent-magnetic synchronous motor rotor magnetic pole
Position real-Time Compensation bearing calibration.
Background technology
Permagnetic synchronous motor has power density height, rotor moment of inertia is small, armature inductance is small, operational efficiency is high and turns
Without slip ring and the advantages that brush on axle, the High Performance Motion Control field that is widely used in the range of middle low power, as robot,
The application scenarios such as CNC Digit Control Machine Tools.With the development of Power Electronic Technique and motor control theory, using vector controlled as representative
High-performance permanent magnet synchronous motor closed loop control method is rapidly developed and extensive use, and method for controlling permanent magnet synchronous motor
Quality, it is critically depend on the accuracy of rotor magnetic pole position detection.
Existing magnetic pole position of permanent magnet synchronous motor rotor real-time correction method is, it is necessary to pass through the voltage of measurement motor, electricity
The electric parameters such as stream, and the parameter of motor and the method for mathematical modeling progress a series of complex are combined to detect the position of rotor
Put, but because the sampling precision of the electric parameters such as voltage, electric current is not high enough, the parameter of motor is with load constantly change and motor
The uncertainty of mathematical modeling, cause rotor-position testing result inaccurate, and method is more complicated, poor real, is not easy
Realize.
The content of the invention
It is an object of the invention to provide a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, solves
The problem of rotor magnetic pole position real time correction in permagnetic synchronous motor closed-loop control.
A kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, it is concretely comprised the following steps：
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 includes：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, can
Become thread selection circuit A and variable thread selection circuit B, wherein voltage subtraction there are three identical branch with signal filter circuit
Road, each branch road include：Resistance Ra, resistance Rb, resistance R2, resistance R3, electric capacity C1, electric capacity C2, electric capacity C3With operational amplifier U1.
Three inputs of voltage subtraction and signal filter circuit respectively with motor terminal A, motor terminal B, motor terminal C
Three output ends of connection, voltage subtraction and signal filter circuit are connected with three inputs of zero-crossing detection circuit respectively,
Two output ends of zero-crossing detection circuit are connected with two inputs of signal isolation circuit respectively, and the two of signal isolation circuit
Individual output end is connected with two inputs of signal transformation circuit respectively, and the output end of signal transformation circuit is electric with phaselocked loop respectively
Road A, phase-locked loop circuit B connect with the input of dsp controller, phase-locked loop circuit A and the variable two-way companies of thread selection circuit A
Connect, phase-locked loop circuit B is bi-directionally connected with variable thread selection circuit B, phase-locked loop circuit A and phase-locked loop circuit B output end point
Be not connected with the input of dsp controller, the output end of dsp controller respectively with variable thread selection circuit A and variable thread
Selection circuit B input connection.In each branch road of voltage subtraction and signal filter circuit, resistance RaOne end and motor side
Son connection, resistance RaThe other end respectively with resistance RbOne end, electric capacity C1One end and resistance R2One end connection, resistance Rb's
The other end and electric capacity C1The other end be connected respectively with neutral point N, resistance R2The other end respectively with electric capacity C2One end and resistance
R3One end connection, electric capacity C2The other end connected with operational amplifier U1 output end, resistance R3The other end respectively with electric capacity
C3One end connected with operational amplifier U1 positive input, electric capacity C3The other end be connected with neutral point N, operational amplifier
U1 negative input is connected with output end.
Second step dsp controller divides to the phase-locked loop circuit A and phase-locked loop circuit B virtual code-disc signals exported
Dsp controller is according to decimal system thread value M set in advance, and four corresponding binary switch signals of output are to can
Become thread selection circuit A and variable thread selection circuit B, the orthographic virtual code-disc signal QEP that phase-locked loop circuit A is exportedABEnter
Row M is divided, the orthographic virtual code-disc signal QEP that phase-locked loop circuit B is exportedCM frequency dividings are carried out, wherein, M is 2 P powers, and P
For positive integer, the tetrad switching signal for being output to variable thread selection circuit A and variable thread selection circuit B is exactly
Tetrad switching signal DD3DD2DD1DD0 corresponding to P values, DD3 correspond to the highest order of tetrad, and DD0 is corresponding four
Binary lowest order.
3rd step dsp controller judges motor steering
Dsp controller is according to two-way orthographic virtual code-disc signal QEPAB、QEPCPhase relation judge the steering of motor, when
QEPABAdvanced QEPCAt 90 °, motor rotates forward, and works as QEPABLag QEPCAt 90 °, motor reversal.
4th step dsp controller obtains motor speed and delay angle
Dsp controller catches QEPAB、QEPCSignal, utilize the orthographic virtual code-disc signal caught in predetermined amount of time Δ t
QEPABCount value X1With orthographic virtual code-disc signal QEPCCount value X2, the average pulse obtained in predetermined amount of time Δ t catches
Catch count valueThen dsp controller is caught according to decimal system thread value M and average pulse set in advance
Count value X, obtain the rotating speed of motor
Dsp controller obtains the orthographic virtual hall signal of signal transformation circuit output according to obtained motor speed ω
HAB" relative to motor lines voltage signal uABThe delay angle ψ of zero crossing：
Wherein, Ra、Rb、R2、R3Respectively voltage subtraction and the resistance value in signal filter circuit, C1、C2、C3It is respectively electric
Pressure extraction and the capacitance in signal filter circuit, ω are the rotating speed of motor.
5th step dsp controller judges rotor magnetic pole absolute zero position
Dsp controller utilizes the orthographic virtual hall signal H of signal transformation circuit outputAB" rising edge judge motor
The absolute zero position in one electric cycle, works as HAB" rising edge arrive when, it was demonstrated that motor has been rotated a circle, and dsp controller will be caught
The QEP caughtABSignal-count value is reset.
6th step dsp controller obtains rotor magnetic pole position
Dsp controller utilizes the QEP caughtABSignal-count value subtracts delay angle and obtains rotor magnetic pole position.When DSP is controlled
The QEP that device processed is caughtABSignal-count value is x, and when motor rotates forward, rotor magnetic pole position pos is：
During motor reversal, rotor-position pos is：
So far, the correction of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation is realized.
The present invention is low to the parameter of electric machine and motor mathematical model degree of dependence, has higher accuracy of detection；Avoid multiple
Miscellaneous software algorithm, the real-time of testing result is improved, reduce requirement of the algorithm to dsp controller processing speed；Can root
According to needs, phase-locked loop circuit and variable thread selection circuit are controlled, changes orthographic virtual code-disc signal QEPABAnd QEPCFrequency,
Simple and flexible, it is easy to accomplish.
Brief description of the drawings
Permanent-magnetic synchronous motor rotor described in a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibrations of Fig. 1
Position of magnetic pole real-Time Compensation dressing plate schematic diagram；
Voltage subtraction described in a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibrations of Fig. 2 is filtered with signal
Wave circuit schematic diagram.
1. voltage subtraction and the signal shaping of 2. zero-crossing detection circuit of signal filter circuit, 3. signal isolation circuit 4. electricity
6. phase-locked loop circuit A of road 5.DSP controllers, the 7. variable variable phaselocked loops of thread selection circuit B 9. of thread selection circuit A 8.
Circuit B
Embodiment
A kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, it is concretely comprised the following steps：
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 includes：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 B9, DSP control
Device 5, variable thread selection circuit A7 and variable thread selection circuit B8.
Three inputs of voltage subtraction and signal filter circuit 1 respectively with motor terminal A, motor terminal B, motor terminal
Three output ends of C connections, voltage subtraction and signal filter circuit 1 connect with three inputs of zero-crossing detection circuit 2 respectively
Connect, two output ends of zero-crossing detection circuit 2 are connected with two inputs of signal isolation circuit 3 respectively, signal isolation electricity
Two output ends on road 3 are connected with two inputs of signal transformation circuit 4 respectively, the output end difference of signal transformation circuit 4
It is connected with phase-locked loop circuit A6, phase-locked loop circuit B9 and dsp controller 5 input, phase-locked loop circuit A6 selects with variable thread
Select circuit A7 to be bi-directionally connected, phase-locked loop circuit B9 is bi-directionally connected with variable thread selection circuit B8, phase-locked loop circuit A6 and lock phase
Input of the loop circuit B9 output end respectively with dsp controller 5 is connected, the output end of dsp controller 5 respectively with variable thread
Selection circuit A7 connects with variable thread selection circuit B8 input.Voltage subtraction and each branch road of signal filter circuit 1
In, resistance RaOne end be connected with motor terminal, resistance RaThe other end respectively with resistance RbOne end, electric capacity C1One end and
Resistance R2One end connection, resistance RbThe other end and electric capacity C1The other end be connected respectively with neutral point N, resistance R2It is another
End respectively with electric capacity C2One end and resistance R3One end connection, electric capacity C2The other end and operational amplifier U1 output end connect
Connect, resistance R3The other end respectively with electric capacity C3One end connected with operational amplifier U1 positive input, electric capacity C3It is another
End is connected with neutral point N, and operational amplifier U1 negative input is connected with output end.
Second step dsp controller 5 divides the phase-locked loop circuit A6 and phase-locked loop circuit B9 virtual code-disc signals exported
Frequently
The decimal system thread value M set in advance of dsp controller 5 is 1024, exports four corresponding binary switch signals
To variable thread selection circuit A7 and variable thread selection circuit B8, the orthographic virtual code-disc signal that phase-locked loop circuit A6 is exported
QEPABCarry out 1024 frequency dividings, the orthographic virtual code-disc signal QEP that phase-locked loop circuit B9 is exportedC1024 frequency dividings are carried out, wherein,
1024 be 2 10 powers, and P=10, be output to variable thread selection circuit A7 and variable thread selection circuit B8 four two enter
Switching signal processed is exactly tetrad switching signal 1010 corresponding to 10.
3rd step dsp controller 5 judges motor steering
Dsp controller 5 is according to two-way orthographic virtual code-disc signal QEPAB、QEPCPhase relation judge the steering of motor,
Work as QEPABAdvanced QEPCAt 90 °, motor rotates forward, and works as QEPABLag QEPCAt 90 °, motor reversal.
4th step dsp controller 5 obtains motor speed and delay angle
When motor rotates forward, dsp controller 5 catches QEPAB、QEPCSignal, the orthographic virtual code caught using Δ t=10ms
Disk signal QEPABCount value X1=99 and orthographic virtual code-disc signal QEPCCount value X2=101, obtain predetermined amount of time
Average pulse in 10ms catches count valueThen dsp controller 5 is according to the decimal system set in advance
Thread value 1024 and average pulse catch count value 100, obtain the rotating speed of motor
In voltage subtraction and signal filter circuit 1, resistance RaFor 480k Ω, resistance RbFor 240k Ω, resistance R2And R3
For 3.3k Ω, electric capacity C1For 0.1uf, electric capacity C2And C3It is 0.01uf, dsp controller 5 obtains according to obtained motor speed ω
The orthographic virtual hall signal H that signal transformation circuit 4 exportsAB" relative to motor lines voltage signal uABThe delay angle of zero crossing
Degree：
5th step dsp controller 5 judges rotor magnetic pole absolute zero position
The orthographic virtual hall signal H that dsp controller 5 is exported using signal transformation circuit 4AB" rising edge judge electricity
The absolute zero position in one electric cycle of machine, works as HAB" rising edge arrive when, it was demonstrated that motor has rotated a circle, dsp controller 5
By the QEP of seizureABSignal-count value is reset.
6th step dsp controller 5 obtains rotor magnetic pole position
Dsp controller 5 utilizes the QEP caughtABSignal-count value subtracts delay angle and obtains rotor magnetic pole position.Work as DSP
The QEP that controller 5 is caughtABSignal-count value is x=90, due to motor rotate forward and
Rotor magnetic pole position：
It is achieved thereby that magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation corrects.
Claims (1)
1. a kind of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation bearing calibration, it is characterised in that concretely comprise the following steps：
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 includes：Voltage subtraction and signal filter circuit (1), mistake
Zero-detection circuit (2), signal isolation circuit (3), signal transformation circuit (4), phase-locked loop circuit A (6), phase-locked loop circuit B
(9), dsp controller (5), variable thread selection circuit A (7) and variable thread selection circuit B (8), wherein voltage subtraction and letter
Number filter circuit (1) has three identical branch roads, and each branch road includes：Resistance Ra, resistance Rb, resistance R2, resistance R3, electric capacity C1、
Electric capacity C2, electric capacity C3With operational amplifier U1；
Three inputs of voltage subtraction and signal filter circuit (1) respectively with motor terminal A, motor terminal B, motor terminal C
Connection, three output ends of voltage subtraction and signal filter circuit (1), three inputs with zero-crossing detection circuit (2) respectively
Connection, two output ends of zero-crossing detection circuit (2) are connected with two inputs of signal isolation circuit (3) respectively, signal
Two output ends of isolation circuit (3) are connected with two inputs of signal transformation circuit (4) respectively, signal transformation circuit (4)
Input of the output end respectively with phase-locked loop circuit A (6), phase-locked loop circuit B (9) and dsp controller (5) be connected, phaselocked loop
Circuit A (6) is bi-directionally connected with variable thread selection circuit A (7), and phase-locked loop circuit B (9) and variable thread selection circuit B (8) are double
To connection, the input of phase-locked loop circuit A (6) and phase-locked loop circuit B (9) output end respectively with dsp controller (5) is connected,
The output end of dsp controller (5) input with variable thread selection circuit A (7) and variable thread selection circuit B (8) respectively
Connection；In each branch road of voltage subtraction and signal filter circuit (1), resistance RaOne end be connected with motor terminal, resistance Ra's
The other end respectively with resistance RbOne end, electric capacity C1One end and resistance R2One end connection, resistance RbThe other end and electric capacity C1
The other end be connected respectively with neutral point N, resistance R2The other end respectively with electric capacity C2One end and resistance R3One end connection,
Electric capacity C2The other end connected with operational amplifier U1 output end, resistance R3The other end respectively with electric capacity C3One end and fortune
Calculate amplifier U1 positive input connection, electric capacity C3The other end be connected with neutral point N, the input of operational amplifier U1 negative sense
End is connected with output end；
Second step dsp controller (5) is carried out to the virtual code-disc signal that phase-locked loop circuit A (6) and phase-locked loop circuit B (9) is exported
Frequency dividing
Dsp controller (5) is according to decimal system thread value M set in advance, and four corresponding binary switch signals of output are to can
Become thread selection circuit A (7) and variable thread selection circuit B (8), the orthographic virtual code-disc of phase-locked loop circuit A (6) outputs is believed
Number QEPABM frequency dividings are carried out, the orthographic virtual code-disc signal QEP that phase-locked loop circuit B (9) is exportedCM frequency dividings are carried out, wherein, M 2
P powers, and P is positive integer, is output to four two of variable thread selection circuit A (7) and variable thread selection circuit B (8)
System switching signal is exactly that tetrad switching signal DD3DD2DD1DD0, DD3 corresponding to P values correspond to tetrad
Highest order, DD0 correspond to the lowest order of tetrad；
3rd step dsp controller (5) judges motor steering
Dsp controller (5) is according to two-way orthographic virtual code-disc signal QEPAB、QEPCPhase relation judge the steering of motor, when
QEPABAdvanced QEPCAt 90 °, motor rotates forward, and works as QEPABLag QEPCAt 90 °, motor reversal；
4th step dsp controller (5) obtains motor speed and delay angle
Dsp controller (5) catches QEPAB、QEPCSignal, utilize the orthographic virtual code-disc signal caught in predetermined amount of time Δ t
QEPABCount value X1With orthographic virtual code-disc signal QEPCCount value X2, the average pulse obtained in predetermined amount of time Δ t catches
Catch count valueThen dsp controller (5) is according to decimal system thread value M and average pulse set in advance are caught
Count value X is caught, obtains the rotating speed of motor
Dsp controller (5) obtains the orthographic virtual hall signal of signal transformation circuit (4) output according to obtained motor speed ω
HAB" relative to motor lines voltage signal uABThe delay angle ψ of zero crossing：
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Extraction and the capacitance in signal filter circuit (1), ω are the rotating speed of motor；
5th step dsp controller (5) judges rotor magnetic pole absolute zero position
Dsp controller (5) utilizes the orthographic virtual hall signal H of signal transformation circuit (4) outputAB" rising edge judge electricity
The absolute zero position in one electric cycle of machine, works as HAB" rising edge arrive when, it was demonstrated that motor has rotated a circle, dsp controller
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6th step dsp controller (5) obtains rotor magnetic pole position
Dsp controller (5) utilizes the QEP caughtABSignal-count value subtracts delay angle and obtains rotor magnetic pole position；When DSP is controlled
The QEP that device (5) processed catchesABSignal-count value is x, and when motor rotates forward, rotor magnetic pole position pos is：
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So far, the correction of magnetic pole position of permanent magnet synchronous motor rotor real-Time Compensation is realized.
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| CN106655919B (en) * | 2016-12-26 | 2019-02-22 | 北京机械设备研究所 | A kind of brshless DC motor commutation circuit based on position-sensor-free |
| CN107102282B (en) * | 2017-05-08 | 2019-06-11 | 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 |
| 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 |
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| CN111817618B (en) * | 2020-06-17 | 2021-07-23 | 北京航空航天大学宁波创新研究院 | Brushless motor position sensorless commutation error compensation system and method |
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