CN105553347A - Method for determining mechanical rotation angle of rotor based on electrical angle - Google Patents
Method for determining mechanical rotation angle of rotor based on electrical angle Download PDFInfo
- Publication number
- CN105553347A CN105553347A CN201510682582.0A CN201510682582A CN105553347A CN 105553347 A CN105553347 A CN 105553347A CN 201510682582 A CN201510682582 A CN 201510682582A CN 105553347 A CN105553347 A CN 105553347A
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- China
- Prior art keywords
- rotation
- rotor
- electricity
- anglec
- machinery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
Abstract
The invention relates to a method for determining a mechanical rotation angle of a rotor based on an electrical angle, in particular to a method for determining a real-time mechanical rotation angle of a rotor of an electric motor of at least one pole pair. An electrical rotation angle of electrical revolution is detected by using a sensor arrangement during rotation of the rotor; a further measurement signal is detected, wherein the further measurement signal has a phase determined by mechanical rotation of the rotor; a mechanical initial rotation angle of the rotor is determined by means of the further measurement signal; and the real-time mechanical rotation angle of the rotor is calculated by means of the measured electrical rotation angle based on the mechanical initial rotation angle.
Description
Technical field
The present invention relates to a kind of method for obtaining the anglec of rotation according to claim 1, a kind of by assessment circuit according to claim 8 and one by motor according to claim 14.
Background technology
By the known dissimilar angle perception principle of prior art, they in most of the cases all match with the major function of system and optimised.In electric drive, major function is exactly the commutation of the electricity of motor.Therefore multiple drive system has some angle perception principles, and they only detect the angular range that single electricity rotates.Such as use Hall element for this reason.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of assessment circuit and a kind of method, can obtain the anglec of rotation of the machinery of rotor in the method by the measurement of the anglec of rotation to electricity.
This technical problem solves with by method according to claim 1 and with by assessment circuit according to claim 8 with by motor according to claim 14.
Other form of implementation illustrates in the dependent claims.
The advantage of described method and described assessment circuit is, calculates the anglec of rotation of the machinery of rotor according to the anglec of rotation of electricity with simple device.Especially the change curve of the anglec of rotation of the machinery of rotor can be obtained.At this, by the anglec of rotation of the machinery of the other measuring-signal with the phase place that the rotation about rotor is determined and the determination determining rotor by the anglec of rotation of electricity.
Therefore obtain one expansion with synchronized measuring range, wherein, other function can be converted.Other function can be used to optimize drive system.Such as can compensating error rank, to reduce torque fluctuations or noise produces.In addition, that especially can provide other in the scope of position adjustments or new function.
In a kind of form of implementation, a value of the galvanic spectrum component using inverter unit or the alpha-beta electric current using motor is as other measuring-signal.Therefore measuring-signal can be obtained simply.
In another embodiment, if at least two extremely to and the rotation counting of repeatedly electricity to rotor, and wherein, calculated the anglec of rotation of the real-time machinery of rotor by the quantity of the rotation of electricity and the initial rotation angle of machinery.Therefore the anglec of rotation of machinery can be determined with simple device.
In another embodiment, if at least two extremely right, wherein, the rotation of at least twice electricity of rotor is there is during the rotation of the one-time mechanical of rotor, wherein, counter is used to carry out the number count of the rotation to electricity, wherein, counter after the rotation of the once complete machinery of rotor, be set to a predetermined value, particularly null value and next counter restarts the number count of the rotation to electricity.Therefore the anglec of rotation of the machinery of rotor can be obtained in a straightforward manner by counter.
In another embodiment, use the anglec of rotation of real-time machinery to control motor.
In another kind of form of implementation, use an interference signal as other measuring-signal, this interference signal has the fixing phase place of the rotation of the machinery about rotor.Especially can use the one-component of interference signal, it has the fixing phase place of of the rotation of the machinery about rotor.
In another kind of form of implementation, control motor by the mode of the component reducing interference signal, particularly interference signal according to the anglec of rotation of real-time machinery.
Accompanying drawing explanation
Next the present invention is explained in detail by accompanying drawing.In accompanying drawing:
Fig. 1 diagrammatically illustrates the motor with control circuit;
Fig. 2 is two stacked charts, wherein, and the anglec of rotation of the machinery of graphical presentation rotor above, the anglec of rotation of the electricity of graphical presentation motor below;
Fig. 3 diagrammatically illustrates the cut-away section of computing unit.
Embodiment
The one that Fig. 1 shows in the diagram with motor 1, control circuit 2, commutator circuit 3, first sensor device 5, second sensor device 4 and assessment circuit 6 is arranged.Motor 1 such as can be used as CD-ROM drive motor in electric motor car.EC motor that is that motor 1 is such as configured to three-phase or three lines.An only stator is shown in motor 1, its winding phase of each 120 ° of electrically staggering with three.The rotor of a relevant permanent magnetism is not illustrated.In an example shown, winding is with star connection, but wherein, a kind of triangle circuit of winding phase is also feasible.Winding is connected with the commutator circuit 3 being configured to semiconductive bridge by the head that connects.Commutator circuit 3 is made up of six power semiconductors, these six power semiconductors by control circuit 2, or rather according to turned position, namely according to the machinery of rotor or the anglec of rotation of electricity control signal is provided.In addition, a torque signal 7 is flowed to control circuit 2, torque signal take into account the control circuit 2 for affecting motor moment.
In order to produce the stator rotating field of magnetic, in the combination of cycle alternation respectively, the power semiconductor of commutator circuit 3 is controlled thus by control circuit 2, that is, make the positive of winding joint and DC power supply 8 or negative joint be connected, or high impedance be separated with DC power supply 8.In order to obtain the anglec of rotation of the electricity of rotor, if first sensor device 5.First sensor device 5 as obtained an electric anglec of rotation as shown in the chart below Fig. 2.In addition, a joint of DC power supply 8 is connected with the second sensor device by sensor line 17.Second sensor device 4 detects the direct current composition I of commutator circuit 3 by the second sensor line 17
bat.
The anglec of rotation of the machinery of from 0 ° to 360 ° of rotor has been shown in the chart on Fig. 2.In chart below Fig. 2, time-synchronously depict the anglec of rotation of the electricity of the motor 1 relevant to the anglec of rotation of the machinery of rotor.This example is applicable to number of pole-pairs 20.This means, motor 1 have 20 extremely right.Therefore during the rotation of the only one-time mechanical of rotor, to produce and the quantity recording electric rotation is 20.First sensor device 5 is arranged for the anglec of rotation detecting electricity and the rotation therefore detecting electricity now.In illustrated example, thus from the rotation of machinery, the quantity of that is rotation of rotor obtains the quantity of the rotation of electricity, that is, the quantity of the rotation of rotor be multiplied with extremely right quantity.Therefore following relationship can be set up between the anglec of rotation of electricity and the anglec of rotation of rotor:
, wherein, represent extremely right quantity and the use of motor 1 with Z
represent the anglec of rotation of the machinery of rotor.In addition, use
represent the anglec of rotation of electricity.The anglec of rotation of electricity is only measured by first sensor device 5.But the anglec of rotation of the machinery of rotor directly can't be inferred at this.
Remedial measure is that the angle reaching out for a kind of expansion by the enforcement of assessment circuit 6 detects.In assessment circuit 6, achieve a kind of counter, it detects the rotation of electricity of first sensor device 5 or the number count of the anglec of rotation of electricity and the rotation to electricity.Therefore the angle value of an expansion can be produced:
, wherein,
be the angle value of expansion, Z is the number of pole-pairs of motor 1,
be the anglec of rotation and the k of electricity be the Counter Value of counter, Counter Value is by assessing circuit 6 or block 14 realizes.Counter is to the number count of the friendship zero of the anglec of rotation of the electricity detected by first sensor device 5.Value k can adopt the value within the scope of the value between 0 and Z-1.When counter exceedance Z-1, count from value 0 again.Extremely right quantity is known.
For further consideration, in order to more simply understand as starting point, that is, the angle value of expansion
just in time there is the periodicity of the rotation of the machinery of rotor.But also it is contemplated that some systems, in such systems, the angle value of expansion
there is the several-fold periodicity of the rotation of the machinery of rotor.If under another kind is considered, people are with a kind of special case for starting point, and in this special case, the zero point of rotor is not known, so by first sensor device 5 and the angle assessing the expansion that circuit 6 is obtained
invariable angular variation is only with the difference of the absolute anglec of rotation of rotor.Angular variation completes thus, that is, motor 1 access and therefore counter assessment circuit 6 in access occur in any one engine location.When accessing counter, the usual evaluated circuit 6 null value initialization of this counter.In other words, counter level does not reflect the information of the anglec of rotation of the machinery absolute really about rotor, but form is the auxiliary parameter of the anglec of rotation of the machinery of the phase place of relative measurement signal.
If the not only anglec of rotation change trend of rotor, and the absolute anglec of rotation of rotor also should be very important, so can change into the absolute anglec of rotation of rotor by the synchronous anglec of rotation by electricity of adaptation.For this reason, assess circuit 6 and there is a structure schematically shown in figure 3.Assessment circuit has the angle measurement unit 10 of expansion.Angle measurement unit 10 comprises a revolution counter 14 and a computing block 15.By first sensor device 5 by an electric anglec of rotation
flow to angle measurement unit 10.Detect the quantity of the friendship zero of the anglec of rotation of electricity by revolution counter 14 and it can be used as value k to transfer computing block 15 to.Computing block 15 when considering the anglec of rotation of value k and real-time electricity by the anglec of rotation that above-mentioned formulae discovery is expanded
.Parallel is other measuring-signal 9 is flowed to assessment circuit 6 therewith.
Other measuring-signal 9 is detected by the second sensor device 4.Other measuring-signal 9 has the phase place of the restriction of the rotation of the machinery about rotor.Can determine the initial rotation angle of machinery by other measuring-signal, the initial rotation angle of machinery has the changeless phase relation with the rotation of the machinery of rotor.Therefore the appearance of the appearance of other measuring-signal or at least one component of other measuring-signal determines the initial rotation angle of rotor.Other measuring-signal can be such as interference signal component.Interference signal can be the interference signal of the first order, and that is, interference signal has the periodicity 1 of the rotation of machinery each time about rotor.Therefore interference signal component can be used, so that about initial rotation angle and therefore arrange the rotation of machinery about the rotation of the machinery of rotor and therefore reach the real-time anglec of rotation about the phase place of interference signal component.Interference signal also can be the interference signal of the second level, and in other words, interference signal has the periodicity 2 of rotating each time about rotor.Other measuring-signal can acoustically, optically, mechanically or electricly be detected in principle.
Such as use the signal of the electricity of motor 1 as measuring-signal.The signal of electricity can have at least one spectrum component, the periodicity of the rotation of the machinery of spectrum component respective rotor.The such as current component of inverter unit under certain rim condition, the particularly value of the current component of commutator circuit 3 or the alpha-beta electric current of motor, phase current such as in the coordinate system that two-axis pillar is fixed, such as can have spectrum component, spectrum component has the periodicity of the rotation of the machinery of rotor.Therefore other measuring-signal 9 can be used to determine rotor the phase place relative to other measuring-signal 9 and therefore relative to initial rotation angle with therefore about the anglec of rotation of the real-time machinery rotated of rotor.Other measuring-signal 9 such as can be assessed by Fourier analysis like this, and the phase place of spectrum component can be obtained by the periodicity of the rotation of the machinery of rotor.Then this phase place of the component of interference signal or interference signal can be used directly the anglec of rotation of the machinery of the phase place of the relative interference signal anglec of rotation of electricity being changed into rotor.This step is performed in assessment circuit 6 in synchronization blocks 11, now other measuring-signal 9 and the anglec of rotation of expansion
be fed to synchronization blocks 11.The rotation of the machinery of rotor such as has 360 °.The component detected of interference signal such as occurs with the phase place of 90 °.Therefore can by the anglec of rotation of expansion
obtain the anglec of rotation of the machinery of 90 ° of phase places of relative interference signal.
Based on other measuring-signal 9, in synchronization blocks 11, calculate an angular misalignment 16.Angular misalignment 16 is flowed to adder block 12 by synchronization blocks 11.In addition, by the anglec of rotation of angle detection device 10 by the electricity through expansion
flow to adder block 12 equally.Adder block 12 is by the anglec of rotation of the electricity through expansion
be added with angular misalignment 16.Therefore obtain the angle value 13 of an expansion through revising, this angle value is the anglec of rotation of the real-time machinery of rotor.In this case, under hypothesis above-mentioned, the angle value 13 of the expansion through revising is connected with the anglec of rotation of the machinery of rotor clearly and regularly.Therefore the real-time machinery of rotor the anglec of rotation can clearly relatively the phase place of interference signal solved.Therefore the anglec of rotation of the machinery of rotor can be determined about the rotation of the one or many machinery of rotor.
With described embodiment by contrast, also it is contemplated that some systems, in such systems, the angle value of expansion can adopt the several-fold periodicity of the rotation of the machinery of rotor.No longer clearly can solve the rotation of the once complete machinery of rotor in this case.When other measuring-signal 9 only has spectrum component, during the several-fold periodicity of the rotation of the machinery of this spectrum component respective rotor, just there is this situation.Even if but in such systems, also can use and come such as to optimize drive system in torque fluctuations or noise to the estimation of the anglec of rotation or anglec of rotation change trend.
In one embodiment, can also be gone out drive the quality regulated by the analytical derivation of the current component (IBat) to commutator circuit 3.Seem that the spectrum component in electric current or in the value of alpha-beta electric current is also can by the level compensated ideally.If such as only the second level (periodicity of the half way around of the machinery of rotor) is noticeable, the angle value of an expansion so only can be obtained clearly by the periodicity of the half way around of the machinery of rotor by above-mentioned method.But under the target reaching optimization electric drive is arranged, this point is enough, because only can compensate the second level.
Illustrated system can be used at least one extremely right motor.In addition, the real-time anglec of rotation can be controlled motor by the mode that control circuit is used for making interference signal diminish.This can such as be completed by adjustment, regulates the mode by particularly controlling to commutate by minimise interference signal to control motor.
What replace current signal is also to use the voltage signal of motor as other measuring-signal.In addition, the signal of motor a acoustics also can be used as other measuring-signal.
Claims (14)
1. for obtaining the method for the anglec of rotation of the real-time machinery of the rotor of the motor of at least one extremely right electricity, wherein during rotor turns by the anglec of rotation of the electricity of the rotation of the electricity of sensor device detection rotor, wherein detect other measuring-signal, wherein said other measuring-signal has the phase place that the rotation about the machinery of rotor is determined, wherein by the initial rotation angle of the machinery of described other measuring-signal determination rotor, and wherein obtain the anglec of rotation of the real-time machinery of rotor by the anglec of rotation of measured electricity from the initial rotation angle of described machinery.
2. by method according to claim 1, wherein, the spectrum component of electric current of use inverter unit or the value of the alpha-beta electric current of motor are as other measuring-signal.
3., by the method described in claim 1 or 2, wherein, the quantity of the rotation of the electricity of rotor is counted, and wherein, calculated the anglec of rotation of the real-time machinery of rotor by the quantity of the rotation of electricity and the initial rotation angle of machinery.
4. by method according to claim 3, wherein, arrange at least two extremely right, wherein, during the rotation of the one-time mechanical of rotor, there is the rotation of at least twice electricity of rotor, wherein, use counter to the number count of the rotation of electricity, wherein, counter is set to a predetermined value after the once complete rotation of rotor, particularly be set to null value, and next counter restarts to count the quantity of the rotation of electricity.
5., by method in any one of the preceding claims wherein, wherein, use the anglec of rotation of real-time machinery to control motor.
6., by method in any one of the preceding claims wherein, wherein, described other measuring-signal is interference signal, particularly the component of interference signal.
7. by method described in claim 5 and 6, wherein, to reduce the mode of the interference signal particularly component of interference signal to control motor.
8. for obtaining the assessment circuit (6) of the anglec of rotation of the rotor of the motor (1) of at least one extremely right electricity, during the rotation of the one-time mechanical of rotor, wherein there is the rotation of electricity at least one times, wherein assess the anglec of rotation that circuit (6) is configured to by the electricity of the rotation of the electricity of sensor device (5) detection rotor during the once rotation of rotor, wherein be provided with synchronization blocks (11), described synchronization blocks is configured to the initial rotation angle determining the machinery of the determination of rotor by the other measuring-signal (9) with the phase place that the rotation about the machinery of rotor is determined, and wherein, assessment circuit (6) is configured to the anglec of rotation obtaining the real-time machinery of rotor according to the initial rotation angle of described machinery and the anglec of rotation of electricity that records.
9. by assessment circuit according to claim 8, wherein, be provided with counter (14) to count for the quantity of the rotation to electricity.
10. by the assessment circuit described in claim 8 or 9, wherein, synchronization blocks is configured to use a value of the current component of inverter unit or the alpha-beta electric current of motor as other measuring-signal.
11. by the assessment circuit according to any one of claim 8 to 10, and wherein, assessment circuit (6) is connected with the control circuit (2) of motor (1), wherein, by assessment circuit (6), the anglec of rotation of described machinery is in real time supplied to control circuit (2).
12. by the assessment circuit according to any one of claim 8 to 11, and wherein, described other measuring-signal is interference signal, particularly interference signal component.
13. by assessment circuit according to claim 12, and wherein, control circuit (2) is configured to reduce interference signal and particularly reduces the mode of interference signal component to control motor.
The motor of 14. motor (1), particularly electric motor car, it is with the assessment circuit pressed according to any one of claim 8 to 13.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102014221406.8A DE102014221406A1 (en) | 2014-10-22 | 2014-10-22 | Method for determining a mechanical angle of rotation of a rotor due to an electrical angle of rotation |
| DE102014221406.8 | 2014-10-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105553347A true CN105553347A (en) | 2016-05-04 |
| CN105553347B CN105553347B (en) | 2020-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510682582.0A Active CN105553347B (en) | 2014-10-22 | 2015-10-21 | Method for determining a mechanical rotation angle of a rotor on the basis of an electrical rotation angle |
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| CN (1) | CN105553347B (en) |
| DE (1) | DE102014221406A1 (en) |
Cited By (1)
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| CN110463020A (en) * | 2018-07-02 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The acquisition methods and system of the initial mechanical angle of motor |
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| CN110463020A (en) * | 2018-07-02 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The acquisition methods and system of the initial mechanical angle of motor |
| WO2020006659A1 (en) * | 2018-07-02 | 2020-01-09 | 深圳市大疆创新科技有限公司 | Method and system for acquiring initial mechanical angle of electric motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105553347B (en) | 2020-09-08 |
| DE102014221406A1 (en) | 2016-04-28 |
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