CN105871162B - PMSM Servo System and positioning and deviation eliminating method - Google Patents
PMSM Servo System and positioning and deviation eliminating method Download PDFInfo
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- CN105871162B CN105871162B CN201610228545.7A CN201610228545A CN105871162B CN 105871162 B CN105871162 B CN 105871162B CN 201610228545 A CN201610228545 A CN 201610228545A CN 105871162 B CN105871162 B CN 105871162B
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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
Abstract
The present invention relates to technical field of motors, more particularly to a kind of servo-drive system and positioning and deviation eliminating method of the permanent magnet synchronous motor based on mixing incremental encoder.The servo-drive system of the present invention mainly includes initial ranging judging unit, motor rotation direction judging unit, variable step-size search computing unit, Hall event and rotor position angle map unit, error correction unit and given value of current computing unit.Initial position angle when can quickly and accurately determine that permanent magnet synchronous motor starts by the positioning and deviation eliminating method of the present invention, it can realize that servomotor often rotates 60 ° of electrical angles and just smoothly corrects a rotor-position in motor operation course, substantially increase positioning accuracy.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of permanent magnet synchronous motor based on mixing incremental encoder
Servo-drive system and positioning and deviation eliminating method.
Background technology
Obtain accurate rotor-position be realize permanent magnet synchronous motor high performance vector control premise, at present it is most of forever
Magnetic-synchro motor servo is all the positional information that rotor is obtained using mechanical pick-up device, wherein most commonly used is exactly light
Photoelectric coder, can be divided into absolute type, increment type and hybrid, hybrid incremental encoder according to the counting mode difference of pulse
Simple in structure, response initial position that is fast, small, can detecting motor, is most widely used；And absolute optical electric pulse is compiled
Code device is expensive, and resolution ratio can not show a candle to increment photoelectric pulse coder.
Although hybrid incremental encoder can substantially estimate permanent magnet synchronous electric according to the assembled state of hall signal
Machine rotor position can not draw exact angle position in one 60 ° of electrical angle, therefore can only carry out motor and turn
The rough detection of sub- initial position, using this method start can be there are the error of positive and negative 30 ° of electrical angle, and rotor position
Put error need when encoder Z pulses (encoder code disc, which rotates, produces A, B and Z signal, A and B there are 90 ° of phase differences, to
Orthogonal pulses signal is produced, locate increment；Z signals each rotation triggers a Z pulse, for doing reference calibration) occur
When can eliminate.And Z pulses need motor rotation to turn around and just occur, permanent magnet synchronous servo motor is under position control mode
Rotating angle is sometimes up to less than a circle, and when Z pulses occur, force the angle of correcting motor, be likely to result in
The rotor position angle mutation of motor.
And be to force positioning calibration method for the method for traditional zero drift calibration (i.e. Z location calibrate) use, i.e., pair
Motor applies the current phasor of a fixed-direction, forces rotor to rotate to zero position, such as 2015, August was announced on the 12nd
A kind of " permanent-magnetic synchronous motor rotor zero correction system and method " patent of Patent No. CN 104836506A.This method school
The accurate required time is long, and in whole calibration process, rotor rotation amplitude is larger, causes mechanical shock, and
Due to the existing friction of permanent-magnetic synchronous motor rotor itself, when carrying out zero adjustment plus this method, when close to design zero-bit
The electromagnetic torque meeting very little of motor, so using this method can there are larger error.
Therefore, the initial position for determining permanent magnet synchronous servo motor and the short-cut method of rotor position error calibration are found,
It is the direction that those skilled in the art endeavour research.
The content of the invention
In view of the above problems, the present invention provides what a kind of simply and easily permanent magnet synchronous motor fast positioning and deviation eliminated
Method, this method can realize that motor completes permanent magnet synchronous motor initial position really in the case where rotor rotates more by a small margin
It is fixed, and the quick and smooth correction of rotor differential location.
Technical solution is used by the present invention solves above-mentioned technical problem：
There is provided a kind of PMSM Servo System, it is characterised in that based on mixing incremental encoder, the mixing
Code-disc pulse signal and hall signal, the servo-drive system are produced when the code-disc of incremental encoder rotates to be included：
Initial ranging judging unit, judges initial ranging angle and direction according to the hall signal；
Motor rotation direction judging unit, the motor for judging the permanent magnet synchronous motor according to the code-disc pulse signal turn
Dynamic direction；
Variable step-size search computing unit, with the initial ranging judging unit and the motor rotation direction judging unit
Connection, according to the initial ranging angle and direction and the direction of motor rotation, to search out the permanent magnet synchronous motor
Initial position angle of rotor, to position the permanent magnet synchronous motor.
Preferably, above-mentioned PMSM Servo System further includes Hall event and rotor position angle map unit,
It is connected with the variable step-size search computing unit, with according to the initial position angle of rotor and permanent magnet synchronous motor rotation
During Hall event, generation Hall event and rotor position angle correspondence.
Preferably, above-mentioned PMSM Servo System further includes error correction unit, with the Hall event with
Rotor position angle map unit connects, and the position of the rotor is corrected according to the Hall event and rotor position angle correspondence
Error, to eliminate the deviation of the permanent magnet synchronous motor.
Preferably, above-mentioned servo-drive system further includes given value of current computing unit, judges with the motor rotation direction single
Member connection, to adjust the size to constant current according to the motor rotation situation.
The present invention also provides a kind of localization method of permanent magnet synchronous motor, and based on above-mentioned servo-drive system, the permanent magnetism is same
Motor is walked using current-velocity-position three-loop system control, it is characterised in that the described method includes：
Step 1, closes the position ring and speed ring of the three-loop system, retains the electric current loop；
Step 2, the electric current loop is set in the given value of current computing unit is pulse mode to constant current, arteries and veins
Rush amplitude incremental variations；
Step 3, searches the rotor position angle of the permanent magnet synchronous motor according to the initial ranging angle and direction
Rope, calculates the initial position angle of rotor, to complete the positioning of the permanent magnet synchronous motor.
Preferably, above-mentioned localization method, it is described to include torque current and excitation electricity to constant current in the step 2
Stream, it is zero to give the torque current, and the exciting current is applied with the pulse mode of pulse amplitude incremental variations.
Preferably, above-mentioned localization method, the pulse amplitude press 0.2In、0.4In、0.8InAnd InSequentially；
Wherein, InFor the rated current of the permanent magnet synchronous motor.
Preferably, above-mentioned localization method, in the step 3, the step of calculating the initial position angle of rotor, also wraps
Include：
Step 31, after completing a rotor position angle search according to the initial ranging angle and direction, the electric current is given
Determine computing unit and be applied to constant current；
Step 32, when it is described to the action time of constant current after, the motor rotation direction judging unit judges electricity
Machine rotation direction；
Step 33, the variable step-size search computing unit is according to the direction of motor rotation and the initial ranging angle
And direction, judge current variable step-size search angle and direction；
Step 34, repeat step 31 and 32, reach maximum amplitude and after action time, institute until described to constant current
State motor rotation direction judging unit and judge that direction of motor rotation is zero, then the variable step-size search computing unit calculates this
Shi Suoshu initial position angle of rotor, to complete the positioning of the permanent magnet synchronous motor.
Preferably, above-mentioned localization method, in the step 33, judges the current variable step-size search angle and direction
The step of include：
If the initial search direction is with the direction of motor rotation on the contrary, keeping the initial search direction and initially searching
The step-length of rope angle is constant；
If the initial search direction is identical with the direction of motor rotation, change the initial search direction and by described in
The step-length of initial ranging angle halves, to generate the current variable step-size search angle and direction.
The present invention also provides a kind of deviation eliminating method of permanent magnet synchronous motor, including above-mentioned localization method, its feature
It is, the deviation eliminating method further includes：
Step 4, after completing positioning, current-velocity-position three is switched to by the control system of the permanent magnet synchronous motor
Loop system, starts the permanent magnet synchronous motor, when Hall event occurs, the Hall event and rotor position angle map unit
According to computation rule, the Hall event of the generation comprising misalignment angle and rotor position angle correspondence；
Step 5, the error correction unit by the misalignment angle compensate to the permanent magnet synchronous motor it is next suddenly
In your event, to correct the site error of rotor, and next Hall event is waited to occur；
Step 6, repeat step four and step 5, until the misalignment angle is reduced to zero, to complete the permanent-magnet synchronous
The deviation of motor eliminates.
Preferably, in above-mentioned deviation eliminating method, a Hall event often occurs, the permanent magnet synchronous motor rotates
60 ° of electrical angles.
Preferably, above-mentioned deviation eliminating method, in the step 4, generates the computation rule of the misalignment angle
For：
Δθp=(Δ θ * wi)/(60*Ts)
Wherein, Δ θpTo need the misalignment angle compensated；
Δ θ is total deviation when Hall event occurs；
wiThe rotating speed of permanent magnet synchronous motor during for Hall event occurs；
TsFor the calculating cycle of the rotor position angle of the permanent magnet synchronous motor.
Above-mentioned technical proposal has the following advantages that or beneficial effect：The design that the present invention passes through software scenario, it is possible to achieve
The quick and smooth for starting initial angle detection and rotor position error to permanent magnet synchronous motor corrects, and method of the invention is simply fast
Victory, need not increase extra cost, and positional accuracy is high, and rotor rotational action is small.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent.Identical mark indicates identical part in whole attached drawings.Not can according to than
Example draws attached drawing, it is preferred that emphasis is shows the purport of the present invention.
Fig. 1 is the schematic diagram of PMSM Servo System；
Fig. 2 is the structure diagram of permanent magnet 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 there are graph of a relation between the d ' q ' axis coordinate systems under error condition and theory dq coordinate systems for rotor position angle；
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 current phasor search schematic diagram；
Fig. 9 is the combination of HALL1, HALL2 and HALL3 model and the relation of search initial angle.
Embodiment
The servo-drive system of the permanent magnet synchronous motor of the present invention includes initial ranging judging unit, motor rotation direction judges list
Member, variable step-size search computing unit, Hall event and rotor position angle map unit, error correction unit and given value of current meter
Calculate unit.
The positioning of the permanent magnet synchronous motor of the present invention and deviation eliminating method concrete methods of realizing are as follows：
Closed-loop current control mode is used in permanent magnet synchronous servo motor control system, using closed-loop current control mode
The mechanical property of motor can be improved.The torque current i in electric current loop closed loopqIt is given to be arranged to 0；Exciting current idGive with arteries and veins
The mode of punching is applied, and pulse amplitude presses 0.2In、0.4In、0.8InAnd InIncremental order change, InFor the specified of motor
Electric current, the condition of the amplitude increase of pulse is under certain search angle, applies the pulse of current amplitude, motor does not rotate.
The initial angle of variable step-size search is sentenced according to hall signal (UVW signals) assembled state of mixing incremental encoder
It is disconnected.UVW signals are used for doing initial alignment to rotor, 120 ° of electrical angles of these three signal pulse mutual deviations, therefore in an electrical angle
The output of tri- signals of UVW forms 6 states (sector), each 60 ° of electrical angles in sector in cycle.Such as preferable, the present invention
Variable step-size search initial angle may be selected UVW definite sector back edge；Initial search direction for clockwise (i.e.
Towards the front edge change of determined sector)；The initial angle of search is set to 15 °；
After a rotor position angle search is completed, it is supplied to park transforms (PARK) and inverse Parker to become the position angle
(IPARK) computing module is changed, and constant current pulse, pulse operating time t are applied to d axis；When pulse action time to after,
Changed according to hybrid coder code wheel reading, judge direction of motor rotation, with reference to the rotor position angle applied before motor and
The direction of search, step-size in search adjust to obtain the direction of search and step-size in search of current rotor position angle.Determine that principle is：If
The direction of search and the rotation direction of motor are that step-size in search is constant, calculates next rotor on the contrary, then the holding direction of search is constant
Location finding angle；If the direction of search is identical with the rotation direction of motor, illustrate that step-size in search is excessive, should be by step-size in search
Halve, and change the direction of search, calculate next rotor-position search angle；Obtain repeatedly above-mentioned after new rotor position angle
Step applies the pulse of d axis to constant current, judges that code wheel reading changes；
After the given pulse amplitude of d axis application reaches maximum, and pulse current action time arrives, code wheel reading is still not
Change, then it is assumed that initial position of rotor positioning terminates.Start motor after original position of electric motor's rotator positioning is completed, when occurring the
During Hall event, according to the corresponding theoretical rotor position angle of current Hall event and calculate obtained present bit angle setting come
The installation error angle of calculation code device, and other Hall events and rotor position angle correspondence are corrected, since motor opens
Turned position is smaller after dynamic, thinks that it is precise angle to calculate obtained position angle at this time.
When being occurred after motor normal operation according to each Hall event, with the corresponding rotor position angle of Hall event after amendment
The position angle being calculated in degree correction program, it is after error angle is calculated that its is smooth to prevent rotor-position to be mutated
Ground is compensated into next 60 ° of electrical angles.Due to the rotation speed change very little of the motor in 60 ° of electrical angles, so with Hall
Speed of the angular speed as motor in next 60 ° of electrical angles when event occurs, calculates and is calculated in each rotor angle
Position compensation size in cycle, 60 ° of electrical angles of every turn of motor, the rotor-position offset angle update once.
The calculation formula Δ θ of position compensationp=(Δ θ * wi)/(60*Ts)
Rotor position=current calculated position+Δ θ after correctionp
wiThe motor speed for being for motor generation Hall event, TsFor the calculating cycle at motor position angle, Δ θ is Hall thing
Total error when part occurs, Δ θpFor the offset of each position angle calculating cycle.
The servo-drive system of the permanent magnet synchronous motor of the present invention and positioning and deviation are eliminated with reference to specific embodiment
Method elaborates.
Embodiment one：
The servo-drive system of the permanent magnet synchronous motor of the present invention, based on mixing incremental encoder, mixes incremental encoder
Code-disc produce code-disc pulse signal and hall signal when rotating, with reference to Fig. 1, servo-drive system of the invention includes：
Initial ranging judging unit, judges initial ranging angle and direction according to hall signal；Motor rotation direction is sentenced
Disconnected unit, judges direction of motor rotation according to code-disc pulse signal；Variable step-size search computing unit, with initial ranging judging unit
And the connection of motor rotation direction judging unit, according to initial ranging angle and direction and direction of motor rotation, to search out
The initial position angle of rotor of permanent magnet synchronous motor, so as to position permanent magnet synchronous motor；Hall event and rotor position angle mapping are single
Member, is connected with variable step-size search computing unit, corresponding with rotor position angle to generate Hall event according to initial position angle of rotor
Relation；Error correction unit, is connected with Hall event with rotor position angle map unit, according to Hall event and rotor position angle
Correspondence corrects the site error of rotor, to eliminate the deviation of permanent magnet synchronous motor.
Preferably, servo-drive system of the invention further includes given value of current computing unit, with motor rotation direction judging unit
Connection, to adjust the size to constant current according to motor rotation situation.
Embodiment two：
With reference to Fig. 2~Fig. 9, the positioning of permanent magnet synchronous motor of the invention and deviation eliminating method embodiment are：
The present embodiment uses internal permanent magnet synchronous motor (IPMSM), is controlled using current-velocity-position three-loop system,
The control structure of current closed-loop is preferably used during initial position of rotor is positioned, namely closes the position ring of three-loop system
And speed ring, only retain electric current loop, specific control structure block diagram is as shown in Figure 2.I in Fig. 2dIt is Fig. 3 incrementally to give table
Shown exciting current (id) pulse given way, id *For a currently given exciting current, iq *For currently given one
Torque current；D shaft currents adjuster and q shaft current adjusters are respectively exciting current idThe d axis and torque current i at placeqPlace
Q axis current regulator.Clark becomes the voltage that the voltage circuit equation changed commanders on three-phase windings is simplified on two phase windings
Loop equation, is two-phase stator alpha-beta coordinate system from threephase stator A-B-C coordinate system transformations；But Clark conversion after, torque according to
So rely on rotor flux, therefore carry out Park conversion again, the coordinate system after conversion is rotated with the identical speed of rotor, and d axis with
Rotor flux position is identical, then torque expression formula is only related with error angle θ.Thus by three-phase current iA、iB、iCProjection etc.
Imitate on d, q axis.PWM modulation is pulse width modulation, and analog circuit is controlled using the numeral output of microprocessor.
Setting electric current ring i during rotor fixed positionqIt is given as 0, idGiven by regulation pulse mode as shown in Figure 3.By
Angle is searched for during initial alignment with actual rotor position there are an error angle θ, as shown in figure 5, so stator is electric
There are torque component i ' on q direction of principal axis for streamq, so that motor produces rotation.
S1, when electric machine control system after the power is turned on, first according to detected hall signal assembled state, determined by Fig. 9
Go out variable step-size search initial angle (Fig. 9 be according to specific hybrid coder model set HALL (Hall) 1, HALL (suddenly
You) 2 and HALL (Hall) 3 model combination with search initial angle relation), setting electric current ring iqIt is given as 0, idWith pulse side
Formula gives, and pulse initial magnitude is arranged to 0.2In, pulse operating time is arranged to 10ms, and pulse gives schematic diagram such as Fig. 3 institutes
Show.The present invention preferably by the initial angle of variable step-size search be arranged to UVW definite sector back edge；Initial search direction is
Clockwise (i.e. towards the front edge change of determined sector)；The initial angle of search is set to 15 °.E.g. for the first time into
Row variable step-size search, then be arranged to 15 ° by position angle initial ranging step-length, and the direction of search is clockwise direction, as shown in figure 8,
By taking I subregion as an example, i.e., from 60 ° to 0 ° direction change.
S2, reads motor code wheel reading situation of change, and determines to work as according to the direction of search and search angle step of last time
The preceding direction of search and search angle step.When setting the increase of motor reading, motor is rotation counterclockwise, is up time during reduction
Pin rotates.If variable step-size search direction is identical with the direction of rotation of motor, just step-size in search is halved, the direction of search changes；
Otherwise continued search for according to original step-length and direction；After search angle is obtained, apply the pulse described in S1 to constant current,
Search for angle calculation and pulse is as shown in Figure 4 to the order that constant current applies.
S3, if code wheel reading does not change in 5 rotor-position calculating cycles (after being searched for 5 times in the present embodiment
Infinite approach rotor-position), by exciting current i after pulse operating time arrivesdGiven pulse amplitude set according to predefined procedure
For next value, work as idSetting value had reached rated current InAfterwards, then show that motor positions accurate, the rotor of motor
Initial position fix terminates, and control structure is switched to the control structure of normal three closed loop of current-velocity-position, is otherwise weighed
Multiple step S2, S3.
S4, after motor initial position fix, starts motor, and waits the generation of Hall event, when first time Hall
When event occurs, the mistake between the rotor position angle rotor-position corresponding with Hall event being calculated in program at this time is calculated
Difference, and the relation of Hall event respective rotor position angle is modified using the error angle, revised hall position
As shown in Figure 6.
S5, after motor works normally, when a Hall event often occurs, that is, shows 60 ° of electrical angles of motor operation, detects
Error between calculation position angle and revised Hall event correspondence position angle, and according to the rotating speed and rotor of current motor
The calculating cycle of position angle calculates the offset in each calculating cycle internal rotor position angle, realizes the smooth benefit of rotor-position
Repay, the rotor angle after compensation is as shown in fig. 7, θ1For calibrated rear accurate rotor position angle, θ2To calculate institute in present procedure
Obtained angle, Δ θ are current rotor position error angle.
In conclusion the invention discloses a kind of PMSM Servo System based on mixing incremental encoder
Simple and convenient quick accurate localization method.It is first when can quickly and accurately determine that permanent magnet synchronous motor starts by this method
Beginning position angle, and can realize that servomotor often rotates 60 ° of electrical angles and just smoothly corrects a rotor in motor operation course
Position, substantially increases positioning accuracy.The method simple and fast of the present invention, need not increase extra cost, and positional accuracy is high, turn
Sub- rotational action is small.
It should be appreciated by those skilled in the art that those skilled in the art combine the prior art and above-described embodiment can be with
Realize the change case, this will not be repeated here.Such change case has no effect on the substantive content of the present invention, not superfluous herein
State.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical solution protection.
Claims (11)
1. a kind of PMSM Servo System, it is characterised in that based on mixing incremental encoder, the mixing increment type
Code-disc pulse signal and hall signal, the PMSM Servo System are produced when the code-disc of encoder rotates to be included：
Initial ranging judging unit, judges initial ranging angle and direction according to the hall signal；
Motor rotation direction judging unit, the motor rotation side of the permanent magnet synchronous motor is judged according to the code-disc pulse signal
To；
Variable step-size search computing unit, connects with the initial ranging judging unit and the motor rotation direction judging unit
Connect, according to the initial ranging angle and direction and the direction of motor rotation, to search out the permanent magnet synchronous motor
Initial position angle of rotor, to position the permanent magnet synchronous motor
Hall event and rotor position angle map unit, are connected with the variable step-size search computing unit, with according to the rotor
Hall event in initial position angle and the permanent magnet synchronous motor rotation process, generation Hall event and rotor position angle pair
It should be related to.
2. PMSM Servo System as claimed in claim 1, it is characterised in that error correction unit is further included, with
The Hall event is connected with rotor position angle map unit, according to the Hall event and rotor position angle correspondence amendment
The site error of the rotor, to eliminate the deviation of the permanent magnet synchronous motor.
3. PMSM Servo System as claimed in claim 2, it is characterised in that further include given value of current and calculate list
Member, is connected with the motor rotation direction judging unit, to adjust the size to constant current according to the motor rotation situation.
4. a kind of localization method of permanent magnet synchronous motor, described based on the PMSM Servo System described in claim 3
Permanent magnet synchronous motor is using current-velocity-position three-loop system control, it is characterised in that the localization method includes：
Step 1, closes the position ring and speed ring of the three-loop system, retains the electric current loop；
Step 2, the electric current loop is set in the given value of current computing unit is pulse mode to constant current, pulse width
It is worth incremental variations；
Step 3, scans for the rotor position angle of the permanent magnet synchronous motor according to the initial ranging angle and direction,
The initial position angle of rotor is calculated, to complete the positioning of the permanent magnet synchronous motor.
5. localization method as claimed in claim 4, it is characterised in that described to include turning to constant current in the step 2
Square electric current and exciting current, it is zero to give the torque current, and the exciting current is with the pulse side of pulse amplitude incremental variations
Formula applies.
6. localization method as claimed in claim 5, it is characterised in that the pulse amplitude presses 0.2In、0.4In、0.8InAnd In
Sequentially；
Wherein, InFor the rated current of the permanent magnet synchronous motor.
7. localization method as claimed in claim 5, it is characterised in that in the step 3, calculate the rotor initial bit
The step of angle setting, further includes：
Step 31, after completing a rotor position angle search according to the initial ranging angle and direction, the given value of current meter
Calculate unit and be applied to constant current；
Step 32, when it is described to the action time of constant current after, the motor rotation direction judging unit judge motor turn
Dynamic direction；
Step 33, the variable step-size search computing unit is according to the direction of motor rotation and the initial ranging angle and side
To judging current variable step-size search angle and direction；
Step 34, repeat step 31 and 32, reach maximum amplitude and after action time, the electricity until described to constant current
Machine rotation direction judging unit judges that direction of motor rotation is zero, then the variable step-size search computing unit calculates institute at this time
Initial position angle of rotor is stated, to complete the positioning of the permanent magnet synchronous motor.
8. localization method as claimed in claim 7, it is characterised in that in the step 33, judge the current variable step
The step of searching for angle and direction includes：
If the initial search direction is with the direction of motor rotation on the contrary, keeping the initial search direction and initial ranging angle
The step-length of degree is constant；
If the initial search direction is identical with the direction of motor rotation, change the initial search direction and will be described initial
The step-length of search angle halves, to generate the current variable step-size search angle and direction.
9. a kind of deviation eliminating method of permanent magnet synchronous motor, it is characterised in that including the positioning side described in claim 4-8
Method, the deviation eliminating method further include：
Step 4, after completing positioning, three ring system of current-velocity-position is switched to by the control system of the permanent magnet synchronous motor
System, starts the permanent magnet synchronous motor, when Hall event occurs, the Hall event and rotor position angle map unit according to
Computation rule, the Hall event of the generation comprising misalignment angle and rotor position angle correspondence；
The misalignment angle is compensated next Hall thing to the permanent magnet synchronous motor by step 5, the error correction unit
In part, to correct the site error of rotor, and next Hall event is waited to occur；
Step 6, repeat step four and step 5, until the misalignment angle is reduced to zero, to complete the permanent magnet synchronous motor
Deviation eliminate.
10. deviation eliminating method as claimed in claim 9, it is characterised in that a Hall event often occurs, the permanent magnetism is same
Walk motor and rotate 60 ° of electrical angles.
11. deviation eliminating method as claimed in claim 9, it is characterised in that in the step 4, generate the angle of deviation
The computation rule of degree is：
Δθp=(Δ θ * wi)/(60*Ts)
Wherein, Δ θpTo need the misalignment angle compensated；
Δ θ is total deviation when Hall event occurs；
wiThe rotating speed of permanent magnet synchronous motor during for Hall event occurs；
TsFor the calculating cycle of the rotor position angle of the permanent magnet synchronous motor.
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| 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 |
| 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 |
| 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 |
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