CN106330015B - A kind of detection method and device of permanent-magnet synchronous motor rotor position - Google Patents
A kind of detection method and device of permanent-magnet synchronous motor rotor position Download PDFInfo
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- CN106330015B CN106330015B CN201611031355.2A CN201611031355A CN106330015B CN 106330015 B CN106330015 B CN 106330015B CN 201611031355 A CN201611031355 A CN 201611031355A CN 106330015 B CN106330015 B CN 106330015B
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- control period
- current control
- frequency
- motor
- rotor position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
Abstract
The embodiment of the invention discloses a kind of detection method and device of permanent-magnet synchronous motor rotor position.This method comprises: correcting frequency when detecting electric motor starting according to the position calculation formula of setting and initial revolving speed, determining rotor position angle of the motor in current control period；Level signal value based on hall position sensor output end in current control period, correction revolving speed correct frequency；Frequency is corrected according to the revolving speed that position calculation formula and current control period correct, determines rotor position angle of the motor within next control period, and using next control period as new current control period, returns to the correct operation for executing revolving speed correction frequency.Utilize this method, it can effectively overcome the problems, such as hall position sensor rotor-position detection failure when electric motor starting, to accurately realize the detection of rotor position angle in real time, in addition, the robustness that this method changes the detection of rotor position angle to motor inherent parameters is been significantly enhanced.
Description
Technical field
The present embodiments relate to the detection method of motor field more particularly to a kind of permanent-magnet synchronous motor rotor position and
Device.
Background technique
Permanent magnet synchronous motor (abbreviation motor) is simple etc. with high power density, high efficiency, low-loss, small in size and structure
Feature is more and more widely used.The superior control performance of permanent magnet synchronous motor needs accurate rotor position information.
Traditional rotor-position detection generally passes through hall position sensor in detection cycle to 6 absolute positions in motor rotation process
Determining for (0 °, 60 °, 120 °, 180 °, 240 ° and 300 °) is set to realize.Deficiency existing for the conventional method is: this method is only capable of
Accurately determine 6 absolute positions of rotor；Meanwhile when motor just starts, hall position sensor can not carry out rotor position
Set detection；In addition, if motor speed is lower, hall position sensor can not effectively detect rotor-position.
On the basis of traditional detection method, technical staff, which also proposed first with counter electromotive force integral, calculates rotor position
It sets, 6 absolute positions for being then based on hall position sensor detection are corrected calculated rotor-position, finally obtain
Accurate rotor-position.Need to rely on itself ginseng of motor when however, calculating rotor-position based on back-emf integration method in this method
Number, therefore different motor this method is generally required to reset control parameter, to lose the universality of algorithm；This
Outside, when motor just starts, back-emf is also zero, can not accurately detect rotor-position based on back-emf integration method at this time, still
Hall position sensor rotor-position detection failure when electric motor starting can not be overcome the problems, such as well.
Summary of the invention
The embodiment of the invention provides a kind of detection method and device of permanent-magnet synchronous motor rotor position, can effectively solve
Certainly when electric motor starting the problem of hall position sensor rotor-position detection failure.
On the one hand, the embodiment of the invention provides a kind of detection methods of permanent-magnet synchronous motor rotor position, comprising:
When detecting electric motor starting, frequency is corrected according to the position calculation formula of setting and initial revolving speed, determines institute
State rotor position angle of the motor in current control period；
Level signal value based on hall position sensor output end in the current control period corrects the revolving speed
Correct frequency；
Frequency is corrected according to the revolving speed that the position calculation formula and the current control period correct, determines the motor
Rotor position angle within next control period, and using next control period as new current control period, return is held
The correct operation of row revolving speed correction frequency.
On the other hand, the embodiment of the invention provides a kind of detection devices of permanent-magnet synchronous motor rotor position, comprising:
Position angle pre-determining module, for when detecting electric motor starting, according to the position calculation formula of setting and initial
Revolving speed correct frequency, determine rotor position angle of the motor in current control period；
Speed-frequency correction module, for the electricity based on hall position sensor output end in the current control period
Flat signal value corrects the revolving speed correction frequency；
Rotor-position determining module, for the revolving speed according to the position calculation formula and current control period correction
Frequency is corrected, determines rotor position angle of the motor within next control period, and using next control period as new
Current control period, return execute revolving speed correction frequency correct operation.
A kind of detection method and device of permanent-magnet synchronous motor rotor position are provided in the embodiment of the present invention, this method is first
First when detecting electric motor starting, according to the rotor-position of position calculation formula and initial revolving speed correction frequency pre-determining motor
Angle；Then revolving speed is corrected by hall position sensor and corrects frequency；Just frequency is corrected by the revolving speed after correction later to determine
The rotor position angle that motor controls in the period at one, the correct operation of final periodically repeated execution revolving speed correction frequency and
Rotor position angle determines operation.Using this method, hall position sensor rotor position when can effectively overcome electric motor starting
The problem of setting detection failure, while this method can correct frequency to revolving speed and carry out continuing adjusting, to real-time and accurately realize
The detection of rotor position angle, in addition, this method is but also the robustness that the detection of rotor position angle changes motor inherent parameters
It been significantly enhanced.
Detailed description of the invention
Fig. 1 is a kind of process signal of the detection method for permanent-magnet synchronous motor rotor position that the embodiment of the present invention one provides
Figure；
Fig. 2 is a kind of process signal of detection method of permanent-magnet synchronous motor rotor position provided by Embodiment 2 of the present invention
Figure；
Fig. 3 is a kind of structural frames of the detection device for permanent-magnet synchronous motor rotor position that the embodiment of the present invention three provides
Figure.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of process signal of the detection method for permanent-magnet synchronous motor rotor position that the embodiment of the present invention one provides
Figure, this method are suitable for the case where being measured in real time to permanent-magnet synchronous motor rotor position, and this method can be by permanent-magnet synchronous
The detection device of motor rotor position executes, and wherein the detection device can be implemented by software and/or hardware, and be typically integrated in
On the matching used single-chip microcontroller of permanent magnet synchronous motor.
As shown in Figure 1, the detection method for the permanent-magnet synchronous motor rotor position that the embodiment of the present invention one provides, including it is as follows
Operation:
S101, when detecting electric motor starting, frequency is corrected according to the position calculation formula of setting and initial revolving speed, really
Determine rotor position angle of the motor in current control period.
In the present embodiment, the control period specifically can be regarded as preset permanent magnet synchronous motor (following abbreviation motors) rotation
A rotor-position is carried out in one week time detects the time it takes.Illustratively, it is assumed that carry out a rotor-position inspection
Surveying the time spent is 10s, and the control period for being equivalent to rotor-position detection is 2ms, at this point, rotate one week can be into for motor
The rotor-position detection that row is 5000 times.Specifically, each control period can regard rotor-position detection of a progress as
Period, therefore, current control period, can also will be with it can be understood that carry out the current slot of rotor-position detection
The connected subsequent time period of current slot is known as carrying out next control period of rotor-position detection, similarly, can will with it is current
The upper period that period is connected is known as carrying out a upper control period for rotor-position detection.
In the present embodiment, when detecting electric motor starting, so that it may the first time carried out when rotating motor first week
Rotor-position detection is used as current control period, at this point it is possible to according to the position calculation formula of setting and initially set turn
Speed corrects frequency to determine the rotor of current control period (the first time rotor-position detection for being equivalent to motor rotation first week)
Position angle.
Further, the position calculation formula isWherein, n is
Integer not less than 0, when n=0, θ (0) is set as 0 °, indicates the rotor position angle of motor before activation, and Δ f (0) is set as
0, indicate initial revolving speed correction frequency；When n >=1, n indicates current control period, and n+1 is indicated under the current control period
One control period, and θ (n) ∈ [0 °, 360 °) indicate that rotor position angle in current control period n, Δ f (n) indicate current control
Revolving speed in period n processed corrects frequency；fsIndicate speed-frequency when motor operation；fcIndicate that motor rotates one week control frequency
Rate.
In the present embodiment, the speed-frequency f in the calculation formula of positionsThe concretely rotational frequency of motor, belongs to electricity
The characteristic of machine itself, generally, speed-frequency possessed by different motors exist different；In addition, in the calculation formula of position
Control frequency fcThe motor that specifically can be regarded as setting based on historical experience rotates the rotor-position detection that expectation in one week carries out
Number.It is understood that after the rotational frequency that determines motor and control frequency, so that it may determine control period when
Between length.
Specifically, by position calculation formula given herein above it is found that motor is in next control period rotor position to be determined
Angle setting corrects frequency dependent on the fixed rotor position angle of current control period and the revolving speed of current control period.Cause
This, when detecting electric motor starting, motor starts to rotate and carry out first time rotor-position detection, rotor position at this time for first week
Current control period can be regarded as by setting detection, and rotor position angle is represented by θ (1).θ is being determined based on its position calculation formula
(1) when, in addition to it needs to be determined that motor rotational frequency and control frequency, it is also necessary to determine θ (0) and initial revolving speed correction frequency
θ (0) and Δ f (0) are preferably set as 0 by rate Δ f (0), the present embodiment.
S102, the level signal value based on hall position sensor output end in current control period correct revolving speed school
Positive frequency.
In the present embodiment, it is determined when can improve rotor-position detection according to the revolving speed correction frequency constantly corrected
The accuracy of rotor position angle.The present embodiment is based preferably on hall position sensor and periodically carries out to revolving speed correction frequency
Correction is specifically periodically corrected revolving speed correction frequency, is equivalent in current control period to upper control week
The revolving speed correction frequency that phase provides is corrected.It illustratively, can be based on hall position sensor output end in the first control
Level signal value in period is corrected initial revolving speed correction frequency.
In the present embodiment, it is believed that hall position sensor includes the end U, the end V and three, the end W output end, by right
The detection of hall position sensor can determine the level signal value of each output end, and generally, the level of each output end is believed
Number value can determine corresponding level signal value according to the height of institute's output level, when such as output is low level, it may be determined that defeated
The level signal value of outlet (end U, the end V or the end W) is 0；When output is high level, the electricity at output end (end U, the end V or the end W) is determined
Flat signal value is 1.The present embodiment can worked as based on level signal value possessed by the end hall position sensor U, the end V and the end W
The correction to determined revolving speed correction frequency of the upper control period was realized in the preceding control period.
S103, frequency is corrected according to the revolving speed that position calculation formula and current control period correct, determines motor next
The rotor position angle in the period is controlled, and using next control period as new current control period, returns and executes revolving speed correction
The correct operation of frequency.
In the present embodiment, the cycle detection that the detection of rotor-position can be regarded as to a cycle, it is current determining
After controlling the rotor position angle in the period, it is also necessary to based on turning after being had corrected that in position calculation formula and current control period
Speed correction frequency determines the rotor position angle in next control period；It later, can be using next control period as new current control
Period processed, return step S102 continue to carry out revolving speed correction frequency determined by a upper control period in current control period
Correction, the carry out rotor-position detection thus to move in circles ensure that the real-time detection and accuracy of rotor position angle.
It should be noted that the present embodiment can regard closing motor (as closed motor switch or closing power supply) as circulation
The reciprocal termination condition for carrying out rotor-position detection operation；In addition, the present embodiment is except can be by revolving speed initial in step S101
Calibrating frequency rate is set as outside 0, and the revolving speed correction frequency corrected at the end of can also detecting circulation to rotor-position saves, then
When starting motor next time using the revolving speed saved correction frequency as initial positive frequency of transferring to another school, it is possible thereby to preferably guarantee
The accuracy of determined rotor position angle when electric motor starting.
A kind of detection method for permanent-magnet synchronous motor rotor position that the embodiment of the present invention one provides, is detecting electricity first
When machine starts, according to the rotor position angle of position calculation formula and initial revolving speed correction frequency pre-determining motor；Then pass through
Hall position sensor corrects revolving speed and corrects frequency；Frequency is just corrected by the revolving speed after correction later and determines that motor is controlled at one
Rotor position angle in period processed, the correct operation of final periodically repeated execution revolving speed correction frequency and rotor position angle
Determine operation.Using this method, hall position sensor rotor-position detection failure when can effectively overcome electric motor starting
Problem, while this method corrects frequency to revolving speed by feedback control and carries out continuing adjusting, to real-time and accurately realize rotor
The detection of position angle, due to introducing closed-loop control, but also the Shandong that the detection of rotor position angle changes motor inherent parameters
Stick is been significantly enhanced.
Embodiment two
Fig. 2 is a kind of process signal of detection method of permanent-magnet synchronous motor rotor position provided by Embodiment 2 of the present invention
Figure.The embodiment of the present invention two is optimized based on above-described embodiment, in the present embodiment, " will be sensed based on hall position
Level signal value of the device output end in the current control period corrects the revolving speed correction frequency " it is further detailed as:
Current level signal value of the monitoring record hall position sensor output end in the current control period, and acquisition is described suddenly
Preceding level signal value of that position sensor output end at a upper control period；Worked as according to the preceding level signal value with described
The comparison result of preceding level signal value, value of statistical indicant of the determination commutation flag bit in the current control period, and described in determination
The current absolute rotor position angle of motor；According to the rotor updating formula of the value of statistical indicant, absolute rotor position angle and setting, school
The just described revolving speed corrects frequency.
A kind of detection method of permanent-magnet synchronous motor rotor position provided by Embodiment 2 of the present invention, specifically includes following behaviour
Make:
S201, when detecting electric motor starting, frequency is corrected according to the position calculation formula of setting and initial revolving speed, really
Determine rotor position angle of the motor in current control period.
Illustratively, initial revolving speed correcting rate can be determined directly as 0 or be determined as the last time by the present embodiment
Click the revolving speed correcting rate saved when closing.
In the present embodiment, it is given in current period by following step S202 to step S204 and frequency is corrected to revolving speed
Corrected specific descriptions.
The current level signal value of S202, monitoring record hall position sensor output end in current control period, and
Obtained preceding level signal value of the hall position sensor output end at a upper control period.
Specifically, hall position sensor output end (end U, the end V and the end W) working as in current control period can be monitored
Preceding level signal value, and record the corresponding current level signal value of three output ends.Meanwhile it can also obtain hall position biography
Three output ends of sensor corresponding preceding level signal value at a upper control period.
S203, according to the comparison result of preceding level signal value and current level signal value, determine commutation flag bit current
The value of statistical indicant in the period is controlled, and determines the current absolute rotor position angle of motor.
In the present embodiment, commutation flag bit specifically can be regarded as that the output level height variation of output end institute is marked
Marker bit, that is, can by commutate flag bit value of statistical indicant come determine the level of output end whether have occurred from low to high or by
High to Low variation, wherein the mark value for the flag bit that commutates can take 0 or 1, and the present embodiment can be based on the preceding level of output end
The comparison result of signal value and current level signal value determines value of statistical indicant of the commutation flag bit in current control period.
It is appreciated that the absolute of rotor can be detected in motor normal rotation using hall position sensor
Rotor position angle, that is, can determine motor rotate one week in 6 absolute rotor position angles (respectively 0 °, 60 °,
120 °, 180 °, 240 ° and 300 °), and motor rotate when rotor-position 6 absolute rotor position angles then need based on three it is defeated
The value of statistical indicant of the corresponding commutation flag bit of outlet specifically determines.
Further, the comparison result according to the preceding level signal value and the current level signal value determines
Commutate value of statistical indicant of the flag bit in the current control period, and determines the absolute rotor position angle of the motor, comprising: such as
Preceding level signal value described in fruit is equal to the current level signal value, it is determined that commutation flag bit is in the current control period
Value of statistical indicant be 0 and the motor there is currently no absolute rotor position angles；If the preceding level signal value is not equal to described
Current level signal value, it is determined that value of statistical indicant of the commutation flag bit in the current control period is 1, and according to the letter of setting
Number value position mapping table determines the current absolute rotor position angle of the motor.
Specifically, when the preceding level signal value of three output ends of hall position sensor respectively with current level signal value phase
Whens equal, it is believed that the level that hall position sensor is exported in current control period, at this time can be true there is no variation
Surely value of statistical indicant of the commutation flag bit in current control period is 0, it is also believed that the rotor position angle of motor at this time is not equal to exhausted
To any one of rotor position angle；When the preceding level signal value of any of three output ends of hall position sensor with work as
Preceding level signal value is unequal, so that it may which the level for thinking that hall position sensor is exported in current control period is become
Change, can determine that value of statistical indicant of the commutation flag bit in current control period is 1 at this time, can be changed later according to the specific signal value that occurs
The output end of change and the signal value position mapping table of setting determine absolute rotor position angle that motor currently has.
1 signal value position mapping table of table
| Level output end | (n-1)th control periodic signal value | N-th control periodic signal value | Absolute rotor position angle |
| U | 0 | 1 | 0 |
| U | 1 | 0 | 180° |
| V | 0 | 1 | 60° |
| V | 1 | 0 | 240° |
| W | 0 | 1 | 120° |
| W | 1 | 0 | 300° |
As shown in table 1, the signal value position mapping table of setting is given, wherein the (n-1)th control period phase signals value is suitable
In the preceding level signal value in an acquired upper control period, the n-th control periodic signal value is equivalent to working as current control period
Preceding level signal value.Illustratively, it is based on above-mentioned signal value position mapping table, can determine the current level signal value at the end U
It is 0, when preceding level signal value is 1, the current absolute rotor position angle of corresponding motor is 60 °.
S204, the rotor updating formula according to value of statistical indicant, absolute rotor position angle and setting, correction revolving speed correct frequency.
In the present embodiment, can according to step S203 determine current control period in commutate flag bit value of statistical indicant and
The rotor updating formula of absolute rotor position angle and setting carried out revolving speed correction frequency provided by a upper control period
Correction.
Further, the rotor updating formula are as follows:
Wherein, m is the integer not less than 1, and m indicates current control
Period, m-1 indicated a upper control period for current control period；Δ f (m) indicates that the revolving speed in current control period m corrects frequency
Rate；θ (m) indicates the rotor position angle in current control period m；θ s indicates the current absolute rotor position angle of motor；S expression is changed
To the value of statistical indicant of flag bit；fcIndicate that motor rotates one week control frequency.
Specifically, the revolving speed correction frequency based on current control period known to above-mentioned rotor updating formula, which is dependent firstly on, changes
To the value of statistical indicant of flag bit, when value of statistical indicant is 1, revolving speed correction frequency is depending on identified rotor position angle and absolutely
Rotor position angle；When flag bit is 1, revolving speed correction frequency is then equal to the revolving speed correction frequency in a control period.
S205, frequency is corrected according to the revolving speed that position calculation formula and current control period correct, determines motor next
The rotor position angle in the period is controlled, and using next control period as new current control period, returns to step S202.
It illustratively, can be after correction revolving speed correction frequency, based on revolving speed correction frequency and position calculation formula weight
It newly determines the rotor position angle in next control period, and is returned after next control period is determined as new current control period
The execution that S202 moves in circles, until closing the power switch of motor.Further, it is also possible to be saved obtained by correction at the end of circulation
Revolving speed correct frequency, initial revolving speed corrects frequency when using as next electric motor starting.
A kind of detection method of permanent-magnet synchronous motor rotor position provided by Embodiment 2 of the present invention, embodies revolving speed school
The specific correction course of positive frequency.Using this method, hall position sensor rotor position when can effectively overcome electric motor starting
The problem of setting detection failure, while this method can correct frequency to revolving speed and carry out continuing adjusting, to real-time and accurately realize
The detection of rotor position angle, in addition, this method is but also the robustness that the detection of rotor position angle changes motor inherent parameters
It been significantly enhanced.
Embodiment three
Fig. 3 is a kind of structural frames of the detection device for permanent-magnet synchronous motor rotor position that the embodiment of the present invention three provides
Figure.The device is suitable for the case where being measured in real time to permanent-magnet synchronous motor rotor position, and wherein the detection device can be by soft
Part and/or hardware realization, and be typically integrated in on the matching used single-chip microcontroller of permanent magnet synchronous motor.As shown in figure 3, the detection
Device includes: position angle pre-determining module 31, speed-frequency correction module 32 and rotor-position determining module 33.
Wherein, position angle pre-determining module 31, for when detecting electric motor starting, according to the position calculation formula of setting
And initial revolving speed corrects frequency, determines rotor position angle of the motor in current control period.
Speed-frequency correction module 32, for based on hall position sensor output end in the current control period
Level signal value corrects the revolving speed correction frequency.
Rotor-position determining module 33, for turn according to the position calculation formula and current control period correction
Speed correction frequency, determine the motor it is next control the period in rotor position angle, and using next control period as
New current control period returns to the correct operation for executing revolving speed correction frequency.
In the present embodiment, which passes through position angle pre-determining module 31 when detecting electric motor starting, according to
The position calculation formula of setting and initial revolving speed correct frequency, determine rotor-position of the motor in current control period
Angle；Then pass through electricity of the speed-frequency correction module 32 based on hall position sensor output end in the current control period
Flat signal value corrects the revolving speed correction frequency；Eventually by rotor-position determining module 33 according to the position calculation formula
And the revolving speed of the current control period correction corrects frequency, determines rotor-position of the motor within next control period
Angle, and using next control period as new current control period, return to the correct operation for executing revolving speed correction frequency.
A kind of detection device for permanent-magnet synchronous motor rotor position that the embodiment of the present invention three provides, can effectively overcome
When electric motor starting hall position sensor rotor-position detection failure the problem of, while the device can to revolving speed correct frequency into
Row is lasting to be adjusted, to real-time and accurately realize the detection of rotor position angle, in addition, the device but also rotor position angle inspection
The robustness for changing motor inherent parameters is surveyed to been significantly enhanced.
Further, the position calculation formula are as follows:
Wherein, n is integer not less than 0, and when n=0, θ (0) is set
It is set to 0 °, indicates the rotor position angle of motor before activation, and Δ f (0) is set as 0, indicates initial revolving speed correction frequency；n
When >=1, n indicates current control period, and n+1 indicates next control period of the current control period, and θ (n) ∈ [0 °,
360 °) indicate current control period n in rotor position angle, Δ f (n) indicate current control period n in revolving speed correct frequency；
fsIndicate speed-frequency when motor operation；fcIndicate that motor rotates one week control frequency.
Further, the speed-frequency correction module 32, specifically includes:
Signal value monitoring unit, for monitoring record hall position sensor output end in the current control period
Current level signal value, and obtained preceding level signal value of the hall position sensor output end at a upper control period；
Value of statistical indicant determination unit, for the comparison result according to the preceding level signal value and the current level signal value, determination is changed
To value of statistical indicant of the flag bit in the current control period, and determine the current absolute rotor position angle of the motor；Frequency
It corrects unit and corrects the revolving speed school for the rotor updating formula according to the value of statistical indicant, absolute rotor position angle and setting
Positive frequency.
On the basis of above-mentioned optimization, the value of statistical indicant determination unit is specifically used for:
If the preceding level signal value is equal to the current level signal value, it is determined that commutation flag bit is described current
Control the period in value of statistical indicant be 0 and the motor there is currently no absolute rotor position angles；If the preceding level signal value
Not equal to the current level signal value, it is determined that value of statistical indicant of the commutation flag bit in the current control period is 1, and root
The current absolute rotor position angle of the motor is determined according to the signal value position mapping table of setting.
Further, the rotor updating formula are as follows:
Wherein, m is the integer not less than 1, and m indicates current control
Period, m-1 indicated a upper control period for current control period；Δ f (m) indicates that the revolving speed in current control period m corrects frequency
Rate；θ (m) indicates the rotor position angle in current control period m；θ s indicates the current absolute rotor position angle of motor；S expression is changed
To the value of statistical indicant of flag bit；fcIndicate that motor rotates one week control frequency.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (6)
1. a kind of detection method of permanent-magnet synchronous motor rotor position characterized by comprising
When detecting electric motor starting, frequency is corrected according to the position calculation formula of setting and initial revolving speed, determines the electricity
Rotor position angle of the machine in current control period；
Level signal value based on hall position sensor output end in the current control period corrects the revolving speed correction
Frequency；
Frequency is corrected according to the revolving speed that the position calculation formula and the current control period correct, determines the motor under
Rotor position angle in one control period, and using next control period as new current control period, it returns to execution and turns
The correct operation of speed correction frequency；
Wherein, the position calculation formula are as follows:
, wherein n is integer not less than 0, and when n=0, θ (0) is set as 0 °,
It indicates the rotor position angle of motor before activation, and Δ f (0) is set as 0, indicates initial revolving speed correction frequency；When n >=1, n
Indicating current control period, n+1 indicates next control period of the current control period, and θ (n) ∈ [0 °, 360 °) it indicates
Rotor position angle in current control period n, Δ f (n) indicate that the revolving speed in current control period n corrects frequency；fsIndicate electricity
Speed-frequency when machine is run；fcIndicate that motor rotates one week control frequency；
Wherein, the rotor updating formula are as follows:
, wherein m is the integer not less than 1, and m indicates current control period,
M-1 indicated a upper control period for current control period；Δ f (m) indicates that the revolving speed in current control period m corrects frequency；θ
(m) rotor position angle in current control period m is indicated；θ s indicates the current absolute rotor position angle of motor；S indicates commutation mark
The value of statistical indicant of will position；fcIndicate that motor rotates one week control frequency.
2. the method according to claim 1, wherein based on hall position sensor output end in the current control
Level signal value in period processed corrects the revolving speed correction frequency, comprising:
Current level signal value of the monitoring record hall position sensor output end in the current control period, and obtain institute
Stated preceding level signal value of the hall position sensor output end at a upper control period；
According to the comparison result of the preceding level signal value and the current level signal value, determine that commutation flag bit is worked as described
Value of statistical indicant in the preceding control period, and determine the current absolute rotor position angle of the motor；
According to the rotor updating formula of the value of statistical indicant, absolute rotor position angle and setting, the revolving speed correction frequency is corrected.
3. according to the method described in claim 2, it is characterized in that, described according to the preceding level signal value and the current electricity
The comparison result of flat signal value determines value of statistical indicant of the commutation flag bit in the current control period, and determines the motor
Absolute rotor position angle, comprising:
If the preceding level signal value is equal to the current level signal value, it is determined that commutation flag bit is in the current control
Value of statistical indicant in period be 0 and the motor there is currently no absolute rotor position angles；
If the preceding level signal value is not equal to the current level signal value, it is determined that commutation flag bit is in the current control
Value of statistical indicant in period processed is 1, and determines the current absolute rotor position of the motor according to the signal value position mapping table of setting
Angle setting.
4. a kind of detection device of permanent-magnet synchronous motor rotor position characterized by comprising
Position angle pre-determining module according to the position calculation formula of setting and initial turns for when detecting electric motor starting
Speed correction frequency, determines rotor position angle of the motor in current control period；
Speed-frequency correction module, for the level letter based on hall position sensor output end in the current control period
Number value, corrects revolving speed correction frequency；
Rotor-position determining module, for being corrected according to the revolving speed of the position calculation formula and current control period correction
Frequency determines rotor position angle of the motor within next control period, and works as using next control period as new
The preceding control period returns to the correct operation for executing revolving speed correction frequency；
Wherein, the position calculation formula are as follows:
, wherein n is integer not less than 0, and when n=0, θ (0) is set as 0 °,
It indicates the rotor position angle of motor before activation, and Δ f (0) is set as 0, indicates initial revolving speed correction frequency；When n >=1, n
Indicating current control period, n+1 indicates next control period of the current control period, and θ (n) ∈ [0 °, 360 °) it indicates
Rotor position angle in current control period n, Δ f (n) indicate that the revolving speed in current control period n corrects frequency；fsIndicate electricity
Speed-frequency when machine is run；fcIndicate that motor rotates one week control frequency；
Wherein, the rotor updating formula are as follows:
, wherein m is the integer not less than 1, and m indicates current control period,
M-1 indicated a upper control period for current control period；Δ f (m) indicates that the revolving speed in current control period m corrects frequency；θ
(m) rotor position angle in current control period m is indicated；θ s indicates the current absolute rotor position angle of motor；S indicates commutation mark
The value of statistical indicant of will position；fcIndicate that motor rotates one week control frequency.
5. device according to claim 4, which is characterized in that the speed-frequency correction module specifically includes:
Signal value monitoring unit, it is current in the current control period for monitoring record hall position sensor output end
Level signal value, and obtained preceding level signal value of the hall position sensor output end at a upper control period；
Value of statistical indicant determination unit, for the comparison result according to the preceding level signal value and the current level signal value, really
Surely value of statistical indicant of the commutation flag bit in the current control period, and determine the current absolute rotor position angle of the motor；
Frequency correction unit corrects institute for the rotor updating formula according to the value of statistical indicant, absolute rotor position angle and setting
State revolving speed correction frequency.
6. device according to claim 5, which is characterized in that the value of statistical indicant determination unit is specifically used for:
If the preceding level signal value is equal to the current level signal value, it is determined that commutation flag bit is in the current control
Value of statistical indicant in period be 0 and the motor there is currently no absolute rotor position angles；
If the preceding level signal value is not equal to the current level signal value, it is determined that commutation flag bit is in the current control
Value of statistical indicant in period processed is 1, and determines the current absolute rotor position of the motor according to the signal value position mapping table of setting
Angle setting.
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| US20110089874A1 (en) * | 2009-10-19 | 2011-04-21 | Ricoh Company, Ltd. | Motor drive controller and image forming apparatus incorporating the motor drive controller |
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| CN105305914A (en) * | 2014-07-10 | 2016-02-03 | 珠海格力节能环保制冷技术研究中心有限公司 | Angle estimation method and device, motor vector control method and system and motor |
| CN105871162A (en) * | 2016-04-13 | 2016-08-17 | 上海信耀电子有限公司 | Servo system for permanent magnet synchronous motor and positioning and deviation eliminating methods |
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| US20110089874A1 (en) * | 2009-10-19 | 2011-04-21 | Ricoh Company, Ltd. | Motor drive controller and image forming apparatus incorporating the motor drive controller |
| CN103580578A (en) * | 2013-11-14 | 2014-02-12 | 南京航空航天大学 | Method for acquiring angle increment when brushless direct-current motor is started in sine-wave mode |
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