CN105897105A - Motor resolver detection and conditioning circuit and resolver initial position self-detection and self-updating method - Google Patents
Motor resolver detection and conditioning circuit and resolver initial position self-detection and self-updating method Download PDFInfo
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- CN105897105A CN105897105A CN201610269929.3A CN201610269929A CN105897105A CN 105897105 A CN105897105 A CN 105897105A CN 201610269929 A CN201610269929 A CN 201610269929A CN 105897105 A CN105897105 A CN 105897105A
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Abstract
The invention discloses a motor resolver detection and conditioning circuit and a resolver initial position self-detection and self-updating method. The method comprises the steps that a motor controller enters a resolver position self-detection and self-updating mode according to a mode selection switching signal; the motor controller controls the alignment of magnetic electrodes, then reads out the absolute angle of an encoder at the moment through a rotary transformer, an encoder chip and a peripheral circuit, uses the absolute angle read out at the moment as the resolver initial angle of the motor, and writes into a software version; and the motor controller reads out the absolute angle of the encoder in real time through the rotary transformer, the encoder chip and the peripheral circuit, and calculates the electrical angle and electrical angle speed of the motor in real time according to the resolver initial angle of the motor in the software version. By adding the resolver position self-detection and self-updating mode, the invention can effectively reduce the resolver position adjustment link in the motor factory test under the premise of the same software version, and can automatically and accurate detect and update the resolver initial angle. The invention can be widely applied to the field of frequency control.
Description
Technical field
The present invention relates to frequency control field, especially a kind of motor revolves change detection modulate circuit and rotation becomes initial position certainly
Detection self refresh method.
Background technology
The current location that motor runs is most important for the vector controlled of electric system.Currently existing scheme passes through motor position
The mode of sensor or estimation of putting is to obtain the current location of motor, and coordinates sampling (or estimation) cycle to calculate motor and turn
Speed.First, the precision of existing evaluation method cannot compare favourably with sensor computational accuracy.Secondly, existing motor position passes
The mode of sensor, it has the most been demarcated good rotation and has become the position of initial angle, the follow-up location and installation can only put by rotation displacement
Ensure precision.But the rotation displacement of reality is put the demarcation angle with software and be there is difference, now, prior art provides two kinds
Settling mode: the first is the most once to check the rotation change initial angle of whole motors before Motor Production Test, needs root successively
Software software being carried out man-to-man correction, so each motor according to the corresponding rotation angle of motor is different, causes every
The software version of platform motor control is identical is impossible, so client is not allow this situation；Another way is right
Supplementing of the first, the precision installed by raising ensures that rotation becomes initial angle precision, but in practice for the accurate control of motor
For system, there is inevitable deviation in this mode, it is difficult to ensure that accurately judge the position of motor, and efficient output torque.
Therefore, the most universal motor manufacturer uses to adjust in test of dispatching from the factory to revolve to conjugate puts the mode meeting output-index, this side
Formula had both added dispatching from the factory the testing time of motor, reduced again the control accuracy of motor, system effectiveness and peak torque output property
Energy.
Additionally, have also appeared in the industry a kind of joining by rotary transformer, rotary transformer decoding chip and main control chip
Mode is put in the rotation displacement of incompatible detection motor, and in this mode, rotary transformer decoding chip provides excitation letter for rotary transformer
Number, and the position signalling that rotary transformer exports is converted to digital quantity is sent to main control chip, be converted to digital position signal.So
And, it is identical that this kind of mode gives tacit consent to voltage magnitude and the phase place of rotary transformer and rotary transformer decoding chip, not
Cause the two voltage magnitude and phase place that inconsistent situation occurs in view of because of factors such as interference, noises, reduce motor rotation
The precision of detection is put in displacement, even rotary transformer can be caused to decode core because the voltage of rotary transformer output is excessive time serious
Sheet damages.
Summary of the invention
For solving above-mentioned technical problem, it is an object of the invention to: providing a kind of precision high and safety, motor rotation becomes inspection
Survey modulate circuit.
Another object of the present invention is to: provide a kind of on the premise of same software version, can effectively reduce motor and go out
Rotation in factory's test conjugates puts adjustment link, and can accurately judge that rotation becomes initial angle, and rotation becomes initial position Autonomous test certainly
Update method.
The technical solution used in the present invention is:
Motor rotation becomes detection modulate circuit, including decoding chip first input end, decoding chip the second input, rotary transformer
First outfan, rotary transformer the second outfan, voltage modulate circuit, first phase modulate circuit and second phase conditioning
Circuit and 15V external power source, described 15V external power source connects digitally by voltage modulate circuit, described voltage modulate circuit
Input is connected with rotary transformer the first outfan and rotary transformer the second outfan the most respectively, described voltage modulate circuit
Outfan be connected with the input of first phase modulate circuit and the input of second phase modulate circuit the most respectively, described
The outfan of first phase modulate circuit respectively with decoding chip first input end and being digitally connected, described second phase is adjusted
The outfan of reason circuit respectively with decoding chip the second input and being digitally connected.
Further, described voltage modulate circuit includes the first resistance, the second resistance, the second electric capacity, the 5th resistance and the 6th
Resistance, described 15V external power source pass sequentially through the first resistance, the second resistance, the second electric capacity, the 5th resistance and the 6th resistance and then
Be digitally connected, described second resistance is also connected with first phase modulate circuit, described 5th resistance also with second phase adjust
Reason circuit connects.
Further, described first phase circuit includes that the 3rd resistance and the first electric capacity, described second phase circuit include
Four resistance and the 3rd electric capacity, described one end of 3rd resistance and one end of the first electric capacity be all connected with the second resistance, and the described 3rd
The other end of resistance is connected with decoding chip first input end, and one end of described 4th resistance and one end of the 3rd electric capacity are all with
Five resistance connect, and the other end of described 4th resistance is connected with decoding chip the second input, the other end of described first electric capacity
And second the other end of electric capacity all connect digitally.
Further, described decoding chip uses AU6802 decoding chip.
Further, the voltage between described rotary transformer the first outfan and rotary transformer the second outfan is 1-
7V, the voltage between described decoding chip first input end and decoding chip the second input is 0-5V.
Further, the resistance of described first resistance is 51K Ω, and the resistance of described second resistance is 68 K Ω, the described 3rd
The resistance of resistance is 30K Ω, and the resistance of described 4th resistance is 30 K Ω, and the resistance of described 5th resistance is 68 K Ω, described
The resistance of the 6th resistance is 20K Ω, and the capacitance of described first electric capacity and the 3rd electric capacity is 1nF, the electricity of described second electric capacity
Capacitance is 100nF.
What the present invention was taked another solution is that
Rotation becomes initial position Autonomous test self refresh method, comprises the following steps:
S1, electric machine controller enter rotation according to model selection switching signal and become position automatic detection self refresh mode；
S2, motor controller controls magnetic pole align, and then read this by rotary transformer, decoding chip and peripheral circuit
Time encoder absolute angle, and become in initial angle write software version using the absolute angle that now reads as the rotation of motor；
S3, electric machine controller read the absolute angle of encoder in real time by rotary transformer, decoding chip and peripheral circuit, and
Become initial angle according to the rotation of motor in software version and calculate electrical angle and the angular rate of motor in real time.
Further, described step S1 particularly as follows:
Electric machine controller enters rotation according to the model selection switching signal that CAN communication sends and becomes position automatic detection self refresh mode,
Described model selection switching signal includes but not limited to that rotating speed mode select signal, torque mode select signal and rotation to become initial
Angle Autonomous test self refresh mode selects signal.
Further, described step S2 includes:
S21, motor controller controls motor pole align, and make the position angle of rotor become 0；
S22, electric machine controller read the absolute of pole pair timing encoder by rotary transformer, decoding chip and peripheral circuit
Angle, and become initial angle using the absolute angle that now reads as the rotation of motor；
S23, the rotation of motor is become initial angle it is written to be mounted with in the ROM of software version and solidifies.
Further, described step S3 includes:
S31, electric machine controller read motor current location encoder in real time by rotary transformer, decoding chip and peripheral circuit
Absolute angle；
S32, become initial angle according to the rotation of motor in the absolute angle of motor current location encoder and software version and calculate in real time
The current electrical angle of motor and current angular rate, the current electrical angle of described motor=(motor currently revolves the angle-software of change
In version, the rotation of motor becomes initial angle) ÷ revolves pole-changing logarithm × motor number of pole-pairs, the current angular rate=(motor of described motor
Current electrical angle-motor on the electrical angle in a detection cycle) ÷ detects the cycle.
The circuit of the present invention provides the benefit that: include decoding chip first input end, decoding chip the second input, rotation
Change depressor the first outfan, rotary transformer the second outfan, voltage modulate circuit, first phase modulate circuit and second
Phase place modulate circuit and 15V external power source, be additionally arranged voltage modulate circuit, first phase modulate circuit and second phase conditioning
Circuit, can be nursed one's health by the voltage magnitude of voltage modulate circuit and the voltage-phase of phase place modulate circuit is nursed one's health so that rotate
The signal of transformator output finally meets amplitude and the phase requirements of decoding chip, improves motor rotation displacement and puts the essence of detection
Degree, the situation that is that cause rotary transformer decoding chip to damage because the voltage of rotary transformer output is excessive that decreases occurs, more
Add safety.
The beneficial effects of the method for the present invention is: is additionally arranged rotation and becomes position automatic detection self refresh mode, by rotating transformation
Device, decoding chip and peripheral circuit read the absolute angle of now encoder, and using the absolute angle that now reads as motor
Rotation become in initial angle write software version, change prior art and the most demarcated good rotation and become the side of position of initial angle
Formula to put initial angle be variable in rotation displacement, only need to by rotary transformer, decoding chip and outward when Motor Production Test test
Enclose circuit to read rotation displacement in real time and put initial angle and be written into software version and can obtain the accurately rotation of corresponding motor and become initial
Position, thus on the premise of same software version, adjustment link is put in the rotation displacement effectively reduced in Motor Production Test test, and
Rotation change position automatic detection self refresh mode can the most accurately detect for difference rotation change position deviation and update rotation and become initial angle.
Accompanying drawing explanation
Fig. 1 is the circuit theory diagrams that motor of the present invention rotation becomes detection modulate circuit；
Fig. 2 is the overall flow figure that rotation becomes initial position Autonomous test self refresh method；
Fig. 3 is the flow chart that the embodiment of the present invention one rotation becomes Autonomous test self refresh mode.
Reference: 1, voltage modulate circuit；2, first phase modulate circuit；3, second phase modulate circuit；S1(S3),
Decoding chip first input end；S2(S4), decoding chip the second input；S1 ' (S3 '), rotary transformer the first outfan；
S2 ' (S4 '), rotary transformer the second outfan；R1, the first resistance；R2, the second resistance；R3, the 3rd resistance；R4, the 4th electricity
Resistance；R5, the 5th resistance；R6, the 6th resistance；C1, the first electric capacity；C2, the second electric capacity；C3, the 3rd electric capacity；+ 15V, 15V external electrical
Source；DGND, digitally.
Detailed description of the invention
With reference to Fig. 1, motor rotation becomes detection modulate circuit, inputs including decoding chip first input end, decoding chip second
End, rotary transformer the first outfan, rotary transformer the second outfan, voltage modulate circuit, first phase modulate circuit with
And second phase modulate circuit and 15V external power source, described 15V external power source connects digitally by voltage modulate circuit, described
The input of voltage modulate circuit is connected with rotary transformer the first outfan and rotary transformer the second outfan the most respectively, institute
State the outfan of voltage modulate circuit the most respectively with the input of first phase modulate circuit and second phase modulate circuit
Input connects, the outfan of described first phase modulate circuit respectively with decoding chip first input end and digitally connecting
Connect, the outfan of described second phase modulate circuit respectively with decoding chip the second input and being digitally connected.
With reference to Fig. 1, being further used as preferred embodiment, described voltage modulate circuit includes the first resistance, the second electricity
Resistance, the second electric capacity, the 5th resistance and the 6th resistance, described 15V external power source pass sequentially through the first resistance, the second resistance, second
Electric capacity, the 5th resistance and the 6th resistance so be digitally connected, described second resistance is also connected with first phase modulate circuit,
Described 5th resistance is also connected with second phase modulate circuit.
With reference to Fig. 1, being further used as preferred embodiment, described first phase circuit includes the 3rd resistance and the first electricity
Holding, described second phase circuit includes the 4th resistance and the 3rd electric capacity, one end of described 3rd resistance and one end of the first electric capacity
All being connected with the second resistance, the other end of described 3rd resistance is connected with decoding chip first input end, described 4th resistance
One end of one end and the 3rd electric capacity is all connected with the 5th resistance, the other end of described 4th resistance and decoding chip the second input
Connecting, the other end of described first electric capacity and the other end of the second electric capacity all connect digitally.
Being further used as preferred embodiment, described decoding chip uses AU6802 decoding chip.
Being further used as preferred embodiment, described rotary transformer the first outfan exports with rotary transformer second
Voltage between end is 1-7V, and the voltage between described decoding chip first input end and decoding chip the second input is 0-
5V。
Being further used as preferred embodiment, the resistance of described first resistance is 51K Ω, the resistance of described second resistance
Being 68 K Ω, the resistance of described 3rd resistance is 30K Ω, and the resistance of described 4th resistance is 30 K Ω, described 5th resistance
Resistance is 68 K Ω, and the resistance of described 6th resistance is 20K Ω, and the capacitance of described first electric capacity and the 3rd electric capacity is 1nF,
The capacitance of described second electric capacity is 100nF.
With reference to Fig. 2, rotation becomes initial position Autonomous test self refresh method, comprises the following steps:
S1, electric machine controller enter rotation according to model selection switching signal and become position automatic detection self refresh mode；
S2, motor controller controls magnetic pole align, and then read this by rotary transformer, decoding chip and peripheral circuit
Time encoder absolute angle, and become in initial angle write software version using the absolute angle that now reads as the rotation of motor；
S3, electric machine controller read the absolute angle of encoder in real time by rotary transformer, decoding chip and peripheral circuit, and
Become initial angle according to the rotation of motor in software version and calculate electrical angle and the angular rate of motor in real time.
Be further used as preferred embodiment, described step S1 particularly as follows:
Electric machine controller enters rotation according to the model selection switching signal that CAN communication sends and becomes position automatic detection self refresh mode,
Described model selection switching signal includes but not limited to that rotating speed mode select signal, torque mode select signal and rotation to become initial
Angle Autonomous test self refresh mode selects signal.
Being further used as preferred embodiment, described step S2 includes:
S21, motor controller controls motor pole align, and make the position angle of rotor become 0；
S22, electric machine controller read the absolute of pole pair timing encoder by rotary transformer, decoding chip and peripheral circuit
Angle, and become initial angle using the absolute angle that now reads as the rotation of motor；
S23, the rotation of motor is become initial angle it is written to be mounted with in the ROM of software version and solidifies.
Being further used as preferred embodiment, described step S3 includes:
S31, electric machine controller read motor current location encoder in real time by rotary transformer, decoding chip and peripheral circuit
Absolute angle；
S32, become initial angle according to the rotation of motor in the absolute angle of motor current location encoder and software version and calculate in real time
The current electrical angle of motor and current angular rate, the current electrical angle of described motor=(motor currently revolves the angle-software of change
In version, the rotation of motor becomes initial angle) ÷ revolves pole-changing logarithm × motor number of pole-pairs, the current angular rate=(motor of described motor
Current electrical angle-motor on the electrical angle in a detection cycle) ÷ detects the cycle.
Below in conjunction with Figure of description and specific embodiment the present invention it is further explained and illustrates.
Embodiment one
Reference Fig. 1, the first embodiment of the present invention:
In the vector controlled of motor, rotor position angle is obtained by encoder.Rotation becomes owing to it starts conveniently, and material is sturdy
Feature, is widely used in electric automobile field.Rotation become initial alignment main purpose be obtain at motor position angle into 0 degree time
Corresponding encoder absolute angle (i.e. initial angle), according to this information so that the position angle of motor and encoder absolute
Angle one_to_one corresponding.
The electric machine controller of the present invention is reading the absolute angle of encoder by rotary transformer, decoding chip and peripheral circuit
Time continued to use the principle of prior art: rotation becomes the pumping signal that decoding chip produces and exports to rotation through pumping signal modulate circuit
Transformator, then rotary transformer becomes SIN signal the rotation detected and rotation change COS signal is re-fed into decoding chip and deals with,
Last decoding chip sends DSP by level shifting circuit to motor position signal, by DSP after treatment in a parallel fashion
Draw the absolute angle of encoder.The rotation of the present invention becomes decoding chip and have employed Duo Mo river company decoding chip AU6802(such as
AU6802N1 etc.), it is specifically used to provide pumping signal into rotary transformer, and is turned by the position signalling that rotary transformer exports
It is changed to digital quantity and is sent to DSP.The present invention is revolved and is inputted modulate circuit and pumping signal conditioning electricity in the peripheral circuit becoming decoding chip
The curb interface circuit that AU6802N1 decoding chip carries, is not described in detail at this.And in order to improve motor rotation displacement
The precision putting detection and the voltage reducing rotary transformer output is excessive and the feelings that cause rotary transformer decoding chip to damage
Condition occurs, and the present invention goes back the motor rotation of specialized designs Fig. 1 and becomes detection modulate circuit.
As it is shown in figure 1, the present invention motor rotation become detection modulate circuit include decoding chip first input end S1(S3), solve
Code chip the second input S2(S4), rotary transformer the first outfan S1 ' (S3 '), rotary transformer the second outfan S2 '
(S4 '), voltage modulate circuit 1, first phase modulate circuit 2 and second phase modulate circuit 3 and 15V external power source.
Wherein, voltage modulate circuit 1, for nursing one's health the voltage magnitude of output signal of rotary transformer, to meet
The input voltage requirement of AU6802N1 decoding chip.Voltage modulate circuit by the first resistance, the second resistance, the second electric capacity, the 5th
Resistance and the 6th resistance composition.
First phase modulate circuit 2 and second phase modulate circuit 3, for the voltage to output signal of rotary transformer
Phase place is nursed one's health, and reduces because rotary transformer is inconsistent with AU6802N1 decoding chip phase place shadow that is that cause accuracy of detection
Ring.First phase circuit 2 is made up of the 3rd resistance and the first electric capacity, and second phase circuit 3 is by the 4th resistance and the 3rd electric capacity
Composition.
If the voltage between rotary transformer the second outfan is 1-7V, motor rotation becomes input, and (i.e. 15V external power source is defeated
Enter) electric current 10mA, during voltage 15V, then need connect resistance RAlways=15V÷10mA=150kΩ.And decode core according to AU6802N1
The requirement of sheet, the input voltage of AU6802N1 decoding chip is less than or equal to 5V, therefore the voltage that motor rotation becomes output also should be less than
In 5V.Based on above 2 considering, motor of the present invention rotation becomes the parameter of each device in detection modulate circuit and is respectively as follows: the
The resistance of one resistance is 51K Ω, and the resistance of the second resistance is 68 K Ω, and the resistance of the 3rd resistance is 30K Ω, the resistance of the 4th resistance
Value is 30 K Ω, and the resistance of the 5th resistance is 68 K Ω, and the resistance of the 6th resistance is 20K Ω, the first electric capacity and the 3rd electric capacity
Capacitance is 1nF, and the capacitance of the second electric capacity is 100nF.
Embodiment two
Reference Fig. 2 and Fig. 3, the second embodiment of the present invention:
In producing at batch electric system, solve to require the consistent institute of software version on the premise of rotation change concordance is difficult to ensure that
The motor rotation brought becomes initial position parameters offset issue, and the present invention proposes a kind of rotation and becomes initial position Autonomous test self refresh side
Method.Autonomous test self refresh method of the present invention to realize principle as follows:
The present invention is provided with motor rotation and becomes initial angle detection pattern, and in electric system exfactory inspection, electric machine controller can lead to
Cross communication instruction (as CAN communication instructs) and enter this pattern, automatic aligning motor-field direction, record and store and now revolve angle
Degree, controls the changeless rotation of function as follow-up other and becomes initial angle, comprising:
A) motor rotation becomes initial angle detection and generation patterns handoff functionality；
B) rotation becomes initial angle position detection function.
Electric machine controller can send corresponding model selection switching signal by CAN communication and (include rotating speed model selection
Signal, torque mode select signal and revolve change initial angle Autonomous test self refresh mode selection signal) enter motor rotation change initially
Angle detection and generation patterns handoff functionality, realize motor-field and orthofunction, rotation change position detecting function, rotation become initial after entrance
Angle variable calibrating function, as shown in Figure 3.
After electric machine controller enters rotation change initial position detection pattern, control motor pole and align, make the q axle weight of motor
Closing, now the position angle of rotor is 0, records the absolute angle of now encoder, and the rotation as this motor becomes initial
Angle Sita0.In this mode, arrange rotation become initial angle for can knots modification, the rotation that detect in real time is become initial angle writes software
In version, become initial angle parameter as the fixing rotation under this motor hereafter other control models (such as rotating speed pattern, torque mode).
After fixing rotation becomes initial angle parameter, electrical angle Deta=(SitaX-Sita0 of motor)/rotation pole-changing logarithm * motor pole
Logarithm.The angular rate of motor=(upper detection cycle electrical angle Deta0 of current electrical angle Deta1-)/detection cycle.
Present invention employs a kind of rotation and become initial position Autonomous test self refresh technology, ensure batch electric system software one
On the premise of cause, position deviation can be become for different motor rotations, the most accurately detect and update rotation change initial angle.The present invention is permissible
Realize:
A., in batch off-line test, motor rotation need not be become initial position and be adjusted, the accurate of corresponding motor can be obtained
Rotation becomes initial position, reduces hardware adjustment workload and difficulty；
B. by the way of software pattern switches, it is ensured that the software conformance of bulk article；
C. rotation becomes Autonomous test self refresh technology and can ensure that the rotation of every motor becomes initial angle all with to mate motor highly consistent,
Improve the control accuracy of system.
It is above the preferably enforcement of the present invention is illustrated, but the invention is not limited to described enforcement
Example, those of ordinary skill in the art also can make all equivalent variations on the premise of spirit of the present invention or replace
Changing, deformation or the replacement of these equivalents are all contained in the application claim limited range.
Claims (10)
1. motor rotation becomes detection modulate circuit, it is characterised in that: include that decoding chip first input end, decoding chip second inputs
End, rotary transformer the first outfan, rotary transformer the second outfan, voltage modulate circuit, first phase modulate circuit with
And second phase modulate circuit and 15V external power source, described 15V external power source connects digitally by voltage modulate circuit, described
The input of voltage modulate circuit is connected with rotary transformer the first outfan and rotary transformer the second outfan the most respectively, institute
State the outfan of voltage modulate circuit the most respectively with the input of first phase modulate circuit and second phase modulate circuit
Input connects, the outfan of described first phase modulate circuit respectively with decoding chip first input end and digitally connecting
Connect, the outfan of described second phase modulate circuit respectively with decoding chip the second input and being digitally connected.
Motor the most according to claim 1 rotation becomes detection modulate circuit, it is characterised in that: described voltage modulate circuit includes
First resistance, the second resistance, the second electric capacity, the 5th resistance and the 6th resistance, described 15V external power source passes sequentially through the first electricity
Resistance, the second resistance, the second electric capacity, the 5th resistance and the 6th resistance so be digitally connected, described second resistance is also with first
Phase place modulate circuit connects, and described 5th resistance is also connected with second phase modulate circuit.
Motor the most according to claim 2 rotation becomes detection modulate circuit, it is characterised in that: described first phase circuit includes
3rd resistance and the first electric capacity, described second phase circuit includes the 4th resistance and the 3rd electric capacity, one end of described 3rd resistance
All being connected with the second resistance with one end of the first electric capacity, the other end of described 3rd resistance is with decoding chip first input end even
Connecing, described one end of 4th resistance and one end of the 3rd electric capacity are all connected with the 5th resistance, the other end of described 4th resistance with
Decoding chip the second input connects, and the other end of described first electric capacity and the other end of the second electric capacity all connect digitally.
4. revolve according to the motor described in claim 1,2 or 3 and become detection modulate circuit, it is characterised in that: described decoding chip is adopted
Use AU6802 decoding chip.
5. revolve according to the motor described in claim 1,2 or 3 and become detection modulate circuit, it is characterised in that: described rotary transformer
Voltage between first outfan and rotary transformer the second outfan is 1-7V, described decoding chip first input end and decoding
Voltage between chip the second input is 0-5V.
Motor the most according to claim 3 rotation becomes detection modulate circuit, it is characterised in that: the resistance of described first resistance is
51K Ω, the resistance of described second resistance is 68 K Ω, and the resistance of described 3rd resistance is 30K Ω, the resistance of described 4th resistance
Being 30 K Ω, the resistance of described 5th resistance is 68 K Ω, and the resistance of described 6th resistance is 20K Ω, described first electric capacity and
The capacitance of the 3rd electric capacity is 1nF, and the capacitance of described second electric capacity is 100nF.
7. rotation becomes initial position Autonomous test self refresh method, it is characterised in that: comprise the following steps:
S1, electric machine controller enter rotation according to model selection switching signal and become position automatic detection self refresh mode；
S2, motor controller controls magnetic pole align, and then read this by rotary transformer, decoding chip and peripheral circuit
Time encoder absolute angle, and become in initial angle write software version using the absolute angle that now reads as the rotation of motor；
S3, electric machine controller read the absolute angle of encoder in real time by rotary transformer, decoding chip and peripheral circuit, and
Become initial angle according to the rotation of motor in software version and calculate electrical angle and the angular rate of motor in real time.
Rotation the most according to claim 7 becomes initial position Autonomous test self refresh method, it is characterised in that: described step S1 has
Body is:
Electric machine controller enters rotation according to the model selection switching signal that CAN communication sends and becomes position automatic detection self refresh mode,
Described model selection switching signal includes but not limited to that rotating speed mode select signal, torque mode select signal and rotation to become initial
Angle Autonomous test self refresh mode selects signal.
Rotation the most according to claim 7 becomes initial position Autonomous test self refresh method, it is characterised in that: described step S2 bag
Include:
S21, motor controller controls motor pole align, and make the position angle of rotor become 0；
S22, electric machine controller read the absolute of pole pair timing encoder by rotary transformer, decoding chip and peripheral circuit
Angle, and become initial angle using the absolute angle that now reads as the rotation of motor；
S23, the rotation of motor is become initial angle it is written to be mounted with in the ROM of software version and solidifies.
10. become initial position Autonomous test self refresh method according to the rotation described in claim 7,8 or 9, it is characterised in that: described step
Rapid S3 includes:
S31, electric machine controller read motor current location encoder in real time by rotary transformer, decoding chip and peripheral circuit
Absolute angle；
S32, become initial angle according to the rotation of motor in the absolute angle of motor current location encoder and software version and calculate in real time
The current electrical angle of motor and current angular rate, the current electrical angle of described motor=(motor current location encoder absolute
In angle-software version, the rotation of motor becomes initial angle) ÷ revolve pole-changing logarithm × motor number of pole-pairs, and the current electric angle of described motor is fast
Degree=(electrical angle in a detection cycle on the current electrical angle-motor of motor) ÷ detects the cycle.
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| CN201610269929.3A CN105897105B (en) | 2016-04-27 | 2016-04-27 | Motor rotation becomes detection conditioning circuit and rotation becomes initial position self-test self refresh method |
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| CN109586250A (en) * | 2018-12-03 | 2019-04-05 | 中冶南方（武汉）自动化有限公司 | A kind of detection and guard method becoming initial angular displacement for rotation |
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