CN105871162A - Servo system for permanent magnet synchronous motor and positioning and deviation eliminating methods - Google Patents
Servo system for permanent magnet synchronous motor and positioning and deviation eliminating methods Download PDFInfo
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- CN105871162A CN105871162A CN201610228545.7A CN201610228545A CN105871162A CN 105871162 A CN105871162 A CN 105871162A CN 201610228545 A CN201610228545 A CN 201610228545A CN 105871162 A CN105871162 A CN 105871162A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/08—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using magnetic effect devices, e.g. Hall-plates, magneto-resistors
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Abstract
The invention relates to the technical field of motors, in particular to a mixed incremental encoder-based servo system for a permanent magnet synchronous motor and positioning and deviation eliminating methods. The servo system mainly comprises an initial search judgment unit, a motor operation direction judgment unit, a variable step search calculation unit, a hall event and rotor position angle mapping unit, an error correcting unit and a current setting calculation unit. Through the positioning and deviation eliminating methods, the initial position angle of the permanent magnet synchronous motor when started can be quickly and accurately determined; the target that the rotor position is smoothly corrected once when a servo motor rotates for a 60-degree electrical angle can be achieved in the operation process of the motor; and the positional accuracy is greatly improved.
Description
Technical field
The present invention relates to technical field of motors, particularly relate to a kind of based on mixing incremental encoder
PMSM Servo System and location and deviation eliminating method.
Background technology
Obtain accurate rotor-position realize permagnetic synchronous motor high performance vector control before
Carrying, current most of permagnetic synchronous motor servos are all to use mechanical pick-up device to turn to obtain motor
The positional information of son, wherein using most is exactly photoelectric encoder, according to the counting side of pulse
Formula difference can be divided into absolute type, increment type and hybrid, the letter of hybrid incremental encoder structure
List, response are soon, volume is little, can detect the initial position of motor, are most widely used；And
Absolute type photoelectric pulse coder is expensive, and resolution ratio can not show a candle to increment photoelectric pulse code
Device.
Although hybrid incremental encoder substantially can be estimated according to the assembled state of hall signal
Calculate permanent-magnet synchronous motor rotor position in the electrical angle of 60 °, but but cannot obtain
Go out definite angle position, therefore can only carry out the rough detection of original position of electric motor's rotator, make
Carry out startup by the method and can there is the error of positive and negative 30 ° of electrical angles, and rotor-position
Error need encoder Z pulse by the time (encoder code disc rotate produce A, B and Z signal,
There are 90 ° of phase differences in A and B, in order to produce orthogonal pulses signal, locate increment；Z
Signal each rotation triggers a Z pulse, is used for doing reference calibration) can eliminate when occurring.
And Z pulse needs motor rotation to turn around and just there will be, permanent magnet synchronous servo motor is in position control
The angle rotated under pattern is sometimes up to less than a circle, and Z pulse occurs when, forces
The angle of correcting motor, is likely to result in the rotor position angle sudden change of motor.
And the method used for tradition zero drift calibration (i.e. Z location calibration) is to force
Location calibration method, i.e. applies the current phasor of a fixed-direction, forces rotor motor
Rotate to zero position, the Patent No. CN 104836506A announced such as on August 12nd, 2015
" a kind of permanent-magnetic synchronous motor rotor zero correction system and method " patent.The method calibrates institute
The time needed is long, and in whole calibration process, rotor rotation amplitude is relatively big, makes
Become mechanical shock, and the friction existed due to permanent-magnetic synchronous motor rotor self, add the party
When method carries out zero adjustment, when close to design zero-bit, the electromagnetic torque of motor can be the least, so
Use the method can there is bigger error.
Therefore, searching determines initial position and the rotor position error school of permanent magnet synchronous servo motor
Accurate short-cut method, is those skilled in the art directions of endeavouring research.
Summary of the invention
In view of the above problems, the present invention provides one permagnetic synchronous motor simply and easily quickly fixed
The method that position and deviation eliminate, the method can realize motor and rotate feelings more by a small margin at rotor
The determination of permagnetic synchronous motor initial position, and the quick flat of rotor differential location is completed under condition
Sliding correction.
The present invention solves the technical scheme that above-mentioned technical problem used:
There is provided a kind of PMSM Servo System, it is characterised in that based on mixing increment type
Encoder, produce when the code-disc of described mixing incremental encoder rotates code-disc pulse signal and
Hall signal, described servo-drive system includes:
Initial ranging judging unit, judges initial ranging angle and side according to described hall signal
To；
According to described code-disc pulse signal, motor rotation direction judging unit, judges that described permanent magnetism is same
The direction of motor rotation of step motor；
Variable step-size search computing unit, transports with described initial ranging judging unit and described motor
Turn walking direction unit to connect, with according to described initial ranging angle and direction and described motor
Rotation direction, searches out the initial position angle of rotor of described permagnetic synchronous motor, positions described
Permagnetic synchronous motor.
Preferably, above-mentioned PMSM Servo System also includes Hall event and rotor position
Angle setting map unit, is connected with described variable step-size search computing unit, at the beginning of according to described rotor
Hall event in beginning position angle and described permagnetic synchronous motor rotation process, generates Hall thing
Part and rotor position angle corresponding relation.
Preferably, above-mentioned PMSM Servo System also includes error correction unit, with
Described Hall event is connected with rotor position angle map unit, according to described Hall event and rotor
The site error of rotor described in position angle corresponding relation correction, to eliminate described permagnetic synchronous motor
Deviation.
Preferably, above-mentioned servo-drive system also includes given value of current computing unit, with described motor
Rotation direction judging unit connects, to adjust the big of given electric current according to described electric machine rotation situation
Little.
The present invention also provides for the localization method of a kind of permagnetic synchronous motor, based on above-mentioned servo system
System, described permagnetic synchronous motor uses current-velocity-position three-loop system to control, and its feature exists
In, described method includes:
Step one, closes position ring and the speed ring of described three-loop system, retains described electric current loop；
Step 2, arranges the given electric current of described electric current loop in described given value of current computing unit
For pulse mode, pulse amplitude incremental variations；
Step 3, turns described permagnetic synchronous motor according to described initial ranging angle and direction
Sub-position angle scans for, and calculates described initial position angle of rotor, same to complete described permanent magnetism
The location of step motor.
Preferably, above-mentioned localization method, in described step 2, described given electric current includes
Torque current and exciting current, given described torque current is zero, and described exciting current is with pulse
The pulse mode of amplitude incremental variations applies.
Preferably, above-mentioned localization method, described pulse amplitude presses 0.2In、0.4In、0.8In、
And InSequentially；
Wherein, InRated current for described permagnetic synchronous motor.
Preferably, above-mentioned localization method, in described step 3, calculate described rotor initial
The step of position angle also includes:
Step 31, completes a rotor position angle according to described initial ranging angle and direction and searches
Suo Hou, described given value of current computing unit applies given electric current；
Step 32, after the action time of described given electric current terminates, described motor rotation side
Direction of motor rotation is judged to judging unit；
Step 33, described variable step-size search computing unit according to described direction of motor rotation and
Described initial ranging angle and direction, it is judged that current variable step-size search angle and direction；
Step 34, repeat step 31 and 32, until described given electric current reach maximum amplitude and
After action time terminates, described motor rotation direction judging unit judges that direction of motor rotation is
Zero, the most described variable step-size search computing unit calculates the most described initial position angle of rotor, with
Complete the location of described permagnetic synchronous motor.
Preferably, above-mentioned localization method, in described step 33, it is judged that described current change
The step of step length searching angle and direction includes:
If described initial search direction is contrary with described direction of motor rotation, keeps described and initially search
The step-length of Suo Fangxiang and initial ranging angle is constant；
If described initial search direction is identical with described direction of motor rotation, changes and described initially search
The step-length of described initial ranging angle is also halved by Suo Fangxiang, searches generating described current variable step
Rope angle and direction.
The present invention also provides for the deviation eliminating method of a kind of permagnetic synchronous motor, determines including above-mentioned
Method for position, it is characterised in that described deviation eliminating method also includes:
Step 4, after completing location, is switched to electricity by the control system of described permagnetic synchronous motor
Stream-Speed-position three-loop system, starts described permagnetic synchronous motor, when there is Hall event,
Described Hall event and rotor position angle map unit, according to computation rule, generate and comprise the angle of deviation
The described Hall event of degree and rotor position angle corresponding relation；
Step 5, described misalignment angle is compensated described permanent-magnet synchronous by described error correction unit
In the next Hall event of motor, to revise the site error of rotor, and wait that the next one is suddenly
You occur event；
Step 6, repeats step 4 and step 5, until described misalignment angle is reduced to zero, with
The deviation completing described permagnetic synchronous motor eliminates.
Preferably, in above-mentioned deviation eliminating method, often occur a Hall event, described forever
60 ° of electrical angles of magnetic-synchro electric machine rotation.
Preferably, above-mentioned deviation eliminating method, in described step 4, generate described deviation
The computation rule of angle is:
Δθp=(Δ θ * wi)/(60*Ts)
Wherein, Δ θpFor needing the misalignment angle compensated；
Δ θ is the total deviation during generation of Hall event；
wiFor the rotating speed of described permagnetic synchronous motor during generation Hall event；
TsThe calculating cycle for the rotor position angle of described permagnetic synchronous motor.
Technique scheme has the advantage that or beneficial effect: the present invention is by software scenario
Design, it is possible to achieve permagnetic synchronous motor is started initial angle detection and rotor position error fast
Speed smooth correction, the method simple and fast of the present invention, without increasing extra cost, accurate positioning
Degree height, rotor rotational action is little.
Accompanying drawing explanation
The detailed description with reference to the following drawings, non-limiting example made by reading, this
Bright and feature, profile and advantage will become more apparent.Mark identical in whole accompanying drawings
The part that note instruction is identical.Can not be drawn to scale accompanying drawing, it is preferred that emphasis is this is shown
Bright purport.
Fig. 1 is the schematic diagram of PMSM Servo System；
Fig. 2 is the structured flowchart of permagnetic synchronous motor closed-loop current control；
Fig. 3 is that exciting current pulse gives schematic diagram；
Fig. 4 is that search angle calculation gives graph of a relation with pulse current；
Fig. 5 is that the d ' q ' axis coordinate system that rotor position angle exists under error condition is sat with theoretical dq
Graph of a relation between mark system；
Fig. 6 is contrast schematic diagram before and after Hall event respective rotor position correction；
Fig. 7 is rotor position error smooth compensating schematic diagram；
Fig. 8 is that current phasor searches for schematic diagram；
Fig. 9 is the combination of HALL1, HALL2 and HALL3 model and search initial angle
Relation.
Detailed description of the invention
The servo-drive system of the permagnetic synchronous motor of the present invention includes initial ranging judging unit, motor
Rotation direction judging unit, variable step-size search computing unit, Hall event are reflected with rotor position angle
Penetrate unit, error correction unit and given value of current computing unit.
The location of the permagnetic synchronous motor of the present invention and deviation eliminating method concrete methods of realizing are such as
Under:
In permanent magnet synchronous servo motor control system, use closed-loop current control mode, use electricity
Stream close-loop control mode can improve the mechanical property of motor.Torque current in electric current loop closed loop
iqGive and be set to 0；Exciting current idGive and apply in a pulsed fashion, pulse amplitude
By 0.2In、0.4In、0.8In, and InIncremental order change, InFor the rated current of motor,
The condition that the amplitude of pulse increases is under certain search angle, applies the pulse of current amplitude, electricity
Machine does not rotates.
The initial angle of variable step-size search is according to the hall signal of mixing incremental encoder
(UVW signal) assembled state judges.UVW signal is used for doing initial alignment to rotor,
120 ° of electrical angles of these three signal pulse mutual deviation, therefore UVW within an electrical angle cycle
Output 6 states (sector) of composition of three signals, 60 °, each sector electrical angle.Such as
Preferably, the initial angle of the variable step-size search of the present invention may select the determined sector of UVW
Back edge；Initial search direction is by (i.e. the edge, front towards determined sector becomes clockwise
Change)；The initial angle of search is set to 15 °；
After completing a rotor position angle search, this position angle is supplied to park transforms
And inverse park transforms (IPARK) computing module, and apply given electricity to d axle (PARK)
Stream pulse, pulse operating time t；After the action time of pulse arrives, according to hybrid coder
Code wheel reading changes, it is judged that direction of motor rotation, in conjunction with the rotor position angle applied before motor
Degree and the direction of search, step-size in search adjust and obtain the direction of search of current rotor position angle and search
Suo Buchang.Determine that principle is: if the direction of search is contrary with the rotation direction of motor, then protect
Holding the direction of search constant, step-size in search is constant, calculates next rotor-position search angle；As
Really the direction of search is identical with the rotation direction of motor, then explanation step-size in search is excessive, should will search for
Step-length halves, and changes the direction of search, calculates next rotor-position search angle；Obtain new
Rotor position angle after repeat the above steps execute d axle pulse and give electric current, it is judged that code wheel reading
Change；
Reach maximum when d axle applies given pulse amplitude, and pulse current action time arrives
After, code wheel reading does not still change, then it is assumed that initial position of rotor location is terminated.
Motor is started, when Hall event for the first time occurs after completing original position of electric motor's rotator location
Time, the present bit obtained by the theoretical rotor position angle corresponding according to current Hall event and calculating
Angle setting carrys out the alignment error angle of calculation code device, and corrects other Hall event and rotor-positions
Angle corresponding relation, owing to after electric motor starting, turned position is less, now thinks that calculating is obtained
Position angle be precise angle.
When occurring according to each Hall event after motor is properly functioning, with Hall event pair after revising
Calculated position angle in the rotor position angle correction program answered, for preventing rotor-position
Sudden change, smoothly compensates it in next 60 ° of electrical angles after calculating error angle.
Owing in 60 ° of electrical angles, the rotation speed change of motor is the least, so sending out with Hall event
Angular speed time raw, as motor speed in next 60 ° of electrical angles, calculates often
Position compensation size in the individual rotor angle calculating cycle, 60 ° of electrical angles of every turn of motor, should
Rotor-position offset angle updates once.
The computing formula Δ θ of position compensationp=(Δ θ * wi)/(60*Ts)
Rotor position=current calculated position+Δ θ after correctionp
wiThe motor speed being for motor generation Hall event, TsCalculating week for motor position angle
Phase, Δ θ is the total error during generation of Hall event, Δ θpThe cycle is calculated for each position angle
Offset.
Below in conjunction with specific embodiment to the servo-drive system of the permagnetic synchronous motor of the present invention and
Location and deviation eliminating method elaborate.
Embodiment one:
The servo-drive system of the permagnetic synchronous motor of the present invention, based on mixing incremental encoder, mixed
Code-disc pulse signal and hall signal, reference is produced when closing the code-disc rotation of incremental encoder
Fig. 1, the servo-drive system of the present invention includes:
Initial ranging judging unit, judges initial ranging angle and direction according to hall signal；
Motor rotation direction judging unit, judges direction of motor rotation according to code-disc pulse signal；Become step
Long search computing unit, connects with initial ranging judging unit and motor rotation direction judging unit
Connect, according to initial ranging angle and direction and direction of motor rotation, to search out permanent-magnet synchronous
The initial position angle of rotor of motor, thus position permagnetic synchronous motor；Hall event and rotor position
Angle setting map unit, is connected with variable step-size search computing unit, with according to initial position angle of rotor
Generate Hall event and rotor position angle corresponding relation；Error correction unit, with Hall event with
Rotor position angle map unit connects, according to Hall event and rotor position angle corresponding relation correction
The site error of rotor, eliminates the deviation of permagnetic synchronous motor.
Preferably, the servo-drive system of the present invention also includes given value of current computing unit, transports with motor
Turn walking direction unit to connect, to adjust the size of given electric current according to electric machine rotation situation.
Embodiment two:
With reference to Fig. 2～Fig. 9, the location of the permagnetic synchronous motor of the present invention and deviation eliminating method tool
Body embodiment is:
The present embodiment use internal permanent magnet synchronous motor (IPMSM), utilize current-velocity-
Position three-loop system controls, and preferably employs current closed-loop during the initial position of rotor of location
Control structure, namely close the position ring of three-loop system and speed ring, only retain electric current loop,
Concrete control structure block diagram is as shown in Figure 2.I in Fig. 2dIt is incremented by given table and is Fig. 3 institute
Exciting current (the i shownd) pulse given way, id *For a current given exciting current,
iq *For a current given torque current；D shaft current adjuster and q shaft current adjuster divide
Wei exciting current idThe d axle at place and torque current iqThe current regulator of the q axle at place.
Voltage circuit equation on three-phase windings is simplified to the voltage on two phase windings by Clark conversion
Loop equation, is two-phase stator alpha-beta coordinate system from threephase stator A-B-C coordinate system transformation；
But after Clark conversion, torque still relies on rotor flux, carries out Park conversion the most again, becomes
Coordinate system after changing rotates with the speed that rotor is identical, and d axle is identical with rotor flux position,
Then torque expression formula is only relevant with error angle θ.Thus by three-phase current iA、iB、iCThrow
Shadow equivalence is on d, q axle.PWM is pulse width modulation, utilizes the number of microprocessor
Analog circuit is controlled by word output.
Electric current loop i is set during rotor fixed positionqIt is given as 0, idBy specifying arteries and veins as shown in Figure 3
The mode of punching gives.Exist with actual rotor position owing to searching for angle during initial alignment
One error angle θ, as it is shown in figure 5, so there is torque in stator current on q direction of principal axis
Component i 'q, rotate so that motor produces.
S1, after electric machine control system powers on, first according to detected hall signal combination
By Fig. 9, state, determines that (Fig. 9 is according to specifically mixing volume for the initial angle of variable step-size search
HALL (Hall) 1, the HALL (Hall) 2 and HALL (Hall) that code type number sets
3 model combinations and the relation searching for initial angle), set electric current loop iqIt is given as 0, idWith arteries and veins
Mode of rushing gives, and pulse initial magnitude is set to 0.2In, pulse operating time is set to 10ms,
Pulse gives schematic diagram as shown in Figure 3.The initial angle of variable step-size search is preferably set by the present invention
It is set to the back edge of the determined sector of UVW；Initial search direction be clockwise (i.e. to
The front of determined sector along change)；The initial angle of search is set to 15 °.E.g.
Once carry out variable step-size search, then position angle initial ranging step-length is set to 15 °, search
Direction is clockwise, as shown in Figure 8, as a example by I subregion, i.e. from 60 ° to 0 °
Direction changes.
S2, reads motor code wheel reading situation of change, and according to the direction of search of last time and search
Angle step determines the current direction of search and search angle step.Set motor reading to increase
Time, motor is to rotate, during reduction, for turning clockwise counterclockwise.If variable step-size search side
Identical to the direction of rotation with motor, just step-size in search is halved, the direction of search changes；Otherwise
Continue search for according to original step-length and direction；After obtaining searching for angle, apply institute in S1
The pulse stated gives electric current, and search angle calculation gives, with pulse, order such as Fig. 4 that electric current applies
Shown in.
S3, if code wheel reading does not changes (this reality within 5 rotor-position calculating cycles
Execute infinite approach rotor-position after searching for 5 times in example), by excitation after pulse operating time arrives
Electric current idGiven pulse amplitude be set to next value according to predefined procedure, work as idSetting value
Through having reached rated current InAfter, then show that motor positions accurately, the rotor initial bit of motor
Put location to terminate, control structure is switched to the control of normal current-velocity-position three closed loop
Structure, otherwise repeats step S2, S3.
S4, after motor initial position fix terminates, starts motor, and waits sending out of Hall event
Raw, when first time Hall event occurs, calculate now calculated rotor-position in program
Error between the rotor-position that angle is corresponding with Hall event, and use this error angle to Hall
The relation of event respective rotor position angle is modified, revised hall position such as Fig. 6 institute
Show.
S5, after motor normally works, when often there is a Hall event, i.e. shows that motor runs
60 ° of electrical angles, detection calculate position angle and revised Hall event correspondence position angle it
Between error, and exist according to the rotating speed of current motor and the calculating computation of Period of rotor position angle
The offset of each calculating cycle internal rotor position angle, it is achieved the smooth compensating of rotor-position, mends
Rotor angle after repaying is as it is shown in fig. 7, θ1For rotor position angle, θ accurately after calibrated2For
Calculating obtained angle in present procedure, Δ θ is current rotor position error angle.
In sum, the invention discloses a kind of permanent-magnet synchronous based on mixing incremental encoder
The simple and convenient the most accurate localization method of motor servo system.Can be rapid by the method
Accurately determine initial position angle when permagnetic synchronous motor starts, and in motor operation course
It is capable of servomotor and often rotates 60 ° of electrical angles rotor-position of the most smooth correction, greatly
Improve greatly positioning precision.The method simple and fast of the present invention, without increasing extra cost, fixed
Level exactness is high, and rotor rotational action is little.
It should be appreciated by those skilled in the art that those skilled in the art combine prior art and
Above-described embodiment can realize described change case, does not repeats at this.Such change case is not
Affect the flesh and blood of the present invention, do not repeat them here.
Above presently preferred embodiments of the present invention is described.It is to be appreciated that the present invention
Being not limited to above-mentioned particular implementation, the equipment and the structure that do not describe in detail the most to the greatest extent should
It is interpreted as being practiced with the common mode in this area；Any it is familiar with those skilled in the art
Member, without departing under technical solution of the present invention ambit, the method that all may utilize the disclosure above
With technology contents, technical solution of the present invention made many possible variations and modification, or be revised as
The Equivalent embodiments of equivalent variations, this has no effect on the flesh and blood of the present invention.Therefore, every
Without departing from the content of technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention and protects
In the range of protecting.
Claims (12)
1. a PMSM Servo System, it is characterised in that based on mixing increment type
Encoder, produce when the code-disc of described mixing incremental encoder rotates code-disc pulse signal and
Hall signal, described PMSM Servo System includes:
Initial ranging judging unit, judges initial ranging angle and side according to described hall signal
To；
According to described code-disc pulse signal, motor rotation direction judging unit, judges that described permanent magnetism is same
The direction of motor rotation of step motor；
Variable step-size search computing unit, transports with described initial ranging judging unit and described motor
Turn walking direction unit to connect, with according to described initial ranging angle and direction and described motor
Rotation direction, searches out the initial position angle of rotor of described permagnetic synchronous motor, positions described
Permagnetic synchronous motor.
2. PMSM Servo System as claimed in claim 1, it is characterised in that
Also include Hall event and rotor position angle map unit, with described variable step-size search computing unit
Connect, with according in described initial position angle of rotor and described permagnetic synchronous motor rotation process
Hall event, generate Hall event and rotor position angle corresponding relation.
3. PMSM Servo System as claimed in claim 2, it is characterised in that
Also include error correction unit, be connected with rotor position angle map unit with described Hall event,
According to the site error of described Hall event with rotor described in rotor position angle corresponding relation correction,
To eliminate the deviation of described permagnetic synchronous motor.
4. PMSM Servo System as claimed in claim 1, it is characterised in that
Also include given value of current computing unit, be connected, with root with described motor rotation direction judging unit
The size of given electric current is adjusted according to described electric machine rotation situation.
5. a localization method for permagnetic synchronous motor, based on described in claim 1-4 forever
Magnetic-synchro motor servo system, described permagnetic synchronous motor uses current-velocity-position three ring system
System controls, it is characterised in that described localization method includes:
Step one, closes position ring and the speed ring of described three-loop system, retains described electric current loop；
Step 2, arranges the given electric current of described electric current loop in described given value of current computing unit
For pulse mode, pulse amplitude incremental variations；
Step 3, turns described permagnetic synchronous motor according to described initial ranging angle and direction
Sub-position angle scans for, and calculates described initial position angle of rotor, same to complete described permanent magnetism
The location of step motor.
6. localization method as claimed in claim 5, it is characterised in that in described step 2
In, described given electric current includes torque current and exciting current, and given described torque current is zero,
Described exciting current applies with the pulse mode of pulse amplitude incremental variations.
7. localization method as claimed in claim 6, it is characterised in that described pulse amplitude
By 0.2In、0.4In、0.8In, and InSequentially；
Wherein, InRated current for described permagnetic synchronous motor.
8. localization method as claimed in claim 6, it is characterised in that in described step 3
In, the step calculating described initial position angle of rotor also includes:
Step 31, completes a rotor position angle according to described initial ranging angle and direction and searches
Suo Hou, described given value of current computing unit applies given electric current；
Step 32, after the action time of described given electric current terminates, described motor rotation side
Direction of motor rotation is judged to judging unit；
Step 33, described variable step-size search computing unit according to described direction of motor rotation and
Described initial ranging angle and direction, it is judged that current variable step-size search angle and direction；
Step 34, repeat step 31 and 32, until described given electric current reach maximum amplitude and
After action time terminates, described motor rotation direction judging unit judges that direction of motor rotation is
Zero, the most described variable step-size search computing unit calculates the most described initial position angle of rotor, with
Complete the location of described permagnetic synchronous motor.
9. localization method as claimed in claim 8, it is characterised in that in described step 33
In, it is judged that the step of described current variable step-size search angle and direction includes:
If described initial search direction is contrary with described direction of motor rotation, keeps described and initially search
The step-length of Suo Fangxiang and initial ranging angle is constant；
If described initial search direction is identical with described direction of motor rotation, changes and described initially search
The step-length of described initial ranging angle is also halved by Suo Fangxiang, searches generating described current variable step
Rope angle and direction.
10. the deviation eliminating method of a permagnetic synchronous motor, it is characterised in that include right
Requiring the localization method described in 5-9, described deviation eliminating method also includes:
Step 4, after completing location, is switched to electricity by the control system of described permagnetic synchronous motor
Stream-Speed-position three-loop system, starts described permagnetic synchronous motor, when there is Hall event,
Described Hall event and rotor position angle map unit, according to computation rule, generate and comprise the angle of deviation
The described Hall event of degree and rotor position angle corresponding relation；
Step 5, described misalignment angle is compensated described permanent-magnet synchronous by described error correction unit
In the next Hall event of motor, to revise the site error of rotor, and wait that the next one is suddenly
You occur event；
Step 6, repeats step 4 and step 5, until described misalignment angle is reduced to zero, with
The deviation completing described permagnetic synchronous motor eliminates.
11. deviation eliminating methods as claimed in claim 10, it is characterised in that often occur
Hall event, described permagnetic synchronous motor rotates 60 ° of electrical angles.
12. deviation eliminating methods as claimed in claim 10, it is characterised in that described
In step 4, the computation rule generating described misalignment angle is:
Δθp=(Δ θ * wi)/(60*Ts)
Wherein, Δ θpFor needing the misalignment angle compensated；
Δ θ is the total deviation during generation of Hall event；
wiFor the rotating speed of described permagnetic synchronous motor during generation Hall event；
TsThe calculating cycle for the rotor position angle of described permagnetic synchronous motor.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106301106A (en) * | 2016-09-12 | 2017-01-04 | 上海新时达电气股份有限公司 | The self-learning method of permagnetic synchronous motor initial magnetic pole |
| CN106330015A (en) * | 2016-11-18 | 2017-01-11 | 广州视源电子科技股份有限公司 | Detection method and device for rotor location of permanent magnet synchronous motor |
| CN109581888A (en) * | 2018-12-04 | 2019-04-05 | 上海航天控制技术研究所 | The test method and system of servo-system static demarcating and dynamic zero compensation |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN111987937A (en) * | 2019-05-24 | 2020-11-24 | 上海安浦鸣志自动化设备有限公司 | Permanent magnet motor starting device and method |
| CN112202379A (en) * | 2020-08-11 | 2021-01-08 | 南京邮电大学 | MTPA curve calibration system and calibration method based on variable step size search |
| CN112564573A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Hall installation deviation compensation method of permanent magnet synchronous motor based on high-frequency injection method |
| WO2021062725A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市大疆创新科技有限公司 | Electric motor control method, electric motor and movable platform |
| CN113418544A (en) * | 2021-06-30 | 2021-09-21 | 重庆渝凌晶科智能控制技术研究院有限公司 | QEP-based automatic calibration method for initial position of encoder |
| CN114123879A (en) * | 2021-11-25 | 2022-03-01 | 深圳众为兴技术股份有限公司 | Phase detection method, phase detection device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106301106A (en) * | 2016-09-12 | 2017-01-04 | 上海新时达电气股份有限公司 | The self-learning method of permagnetic synchronous motor initial magnetic pole |
| CN106301106B (en) * | 2016-09-12 | 2018-11-02 | 上海新时达电气股份有限公司 | The self-learning method of permanent magnet synchronous motor initial magnetic pole |
| CN106330015A (en) * | 2016-11-18 | 2017-01-11 | 广州视源电子科技股份有限公司 | Detection method and device for rotor location of permanent magnet synchronous motor |
| CN106330015B (en) * | 2016-11-18 | 2018-12-28 | 广州视源电子科技股份有限公司 | A kind of detection method and device of permanent-magnet synchronous motor rotor position |
| CN109581888B (en) * | 2018-12-04 | 2021-12-07 | 上海航天控制技术研究所 | Test method and system for static calibration and dynamic zero compensation of servo system |
| CN109581888A (en) * | 2018-12-04 | 2019-04-05 | 上海航天控制技术研究所 | The test method and system of servo-system static demarcating and dynamic zero compensation |
| CN111987937A (en) * | 2019-05-24 | 2020-11-24 | 上海安浦鸣志自动化设备有限公司 | Permanent magnet motor starting device and method |
| CN111987937B (en) * | 2019-05-24 | 2023-11-03 | 上海安浦鸣志自动化设备有限公司 | Permanent magnet motor starting device and method |
| WO2021062725A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市大疆创新科技有限公司 | Electric motor control method, electric motor and movable platform |
| CN112889213A (en) * | 2019-09-30 | 2021-06-01 | 深圳市大疆创新科技有限公司 | Motor control method, motor and movable platform |
| CN111756289A (en) * | 2020-06-23 | 2020-10-09 | 西安航天精密机电研究所 | Control method suitable for portable turntable |
| CN112202379A (en) * | 2020-08-11 | 2021-01-08 | 南京邮电大学 | MTPA curve calibration system and calibration method based on variable step size search |
| CN112564573B (en) * | 2020-11-23 | 2022-05-20 | 东莞市齐恩电机科技有限公司 | Hall installation deviation compensation method of permanent magnet synchronous motor based on high-frequency injection method |
| CN112564573A (en) * | 2020-11-23 | 2021-03-26 | 江苏科技大学 | Hall installation deviation compensation method of permanent magnet synchronous motor based on high-frequency injection method |
| CN113418544A (en) * | 2021-06-30 | 2021-09-21 | 重庆渝凌晶科智能控制技术研究院有限公司 | QEP-based automatic calibration method for initial position of encoder |
| CN113418544B (en) * | 2021-06-30 | 2024-03-08 | 重庆渝凌晶科智能控制技术研究院有限公司 | Automatic calibration method for initial position of encoder based on QEP |
| CN114123879A (en) * | 2021-11-25 | 2022-03-01 | 深圳众为兴技术股份有限公司 | Phase detection method, phase detection device, electronic equipment and storage medium |
| CN114123879B (en) * | 2021-11-25 | 2023-12-12 | 深圳众为兴技术股份有限公司 | Phase detection method, device, electronic equipment and storage medium |
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