CN106772052A - Permanent-magnetic synchronous motor rotor initial angle modification method and update the system - Google Patents

Permanent-magnetic synchronous motor rotor initial angle modification method and update the system Download PDF

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Publication number
CN106772052A
CN106772052A CN201710186823.1A CN201710186823A CN106772052A CN 106772052 A CN106772052 A CN 106772052A CN 201710186823 A CN201710186823 A CN 201710186823A CN 106772052 A CN106772052 A CN 106772052A
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China
Prior art keywords
initial angle
magneto
rotor
permanent
synchronous motor
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CN201710186823.1A
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CN106772052B (en
Inventor
刘雪冰
李文杰
周从源
李荫荣
李�杰
汪文江
许二超
徐赟
叶昌森
吴鹏
何俊
张宸维
李高水
张茂飞
李坤鹏
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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Priority to CN201710186823.1A priority Critical patent/CN106772052B/en
Publication of CN106772052A publication Critical patent/CN106772052A/en
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Publication of CN106772052B publication Critical patent/CN106772052B/en
Expired - Fee Related legal-status Critical Current
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/346—Testing of armature or field windings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a kind of permanent-magnetic synchronous motor rotor initial angle modification method, wherein, controlled motor controller drives magneto operating, the initial angle of output rotor；Controlled motor controller is given to carry out vector controlled to magneto, and controls rotation speed operation of the magneto to set by prime mover；Obtain the output torque of magneto；Judge whether output torque exceeds the error range of target torque；If it is, being compensated to initial angle, to obtain current initial angle correction value, and moment of torsion is detected again and is judged；If it is not, then terminating amendment.Permanent-magnetic synchronous motor rotor initial angle modification method and update the system that the present invention is provided, realize to the accurate adjustment of rotor initial angle and positioning；Additionally, when the rotor initial angle of the different motors of adjustment amendment is needed, it is only necessary to motor is changed, it is achieved thereby that the versatility of the update the system.

Description

Permanent-magnetic synchronous motor rotor initial angle modification method and update the system
Technical field
The present invention relates to Motor Measuring Technology field, more particularly to a kind of permanent-magnetic synchronous motor rotor initial angle amendment side Method and update the system.
Background technology
Permagnetic synchronous motor is low in energy consumption, efficiency high, speed-regulating range width, is widely used in electric automobile field, it is automobile-used forever Vector control algorithm is used magnetic-synchro motor control more, and the high performance vector controlled of permagnetic synchronous motor be unable to do without and accurately turns Sub- initial angle, so identification confirmation must be carried out to the rotor initial angle of each permagnetic synchronous motor for dispatching from the factory.If distinguishing Know it is inaccurate, be likely to result in permagnetic synchronous motor can not normally start, step-out, and electric efficiency can be substantially reduced, or even Influence vehicle continual mileage.
In the prior art, during most permagnetic synchronous motor producer batch production motor, position sensor is installed to forever When on magneto shaft, by special motor position sensor zeroing frock, by position sensor and permanent magnet machine rotor zero-bit Between angle be fixed on an angle set in advance, so as to complete the setting to rotor initial angle.
But, when being adjusted by the above method, the precision of rotor initial angle relies on frock precision, and in processing and manufacturing work During dress, its precision it is difficult to ensure that；Additionally, the versatility of frock is poor, different motors need to make different frocks, cause cost to increase Plus, and waste time and energy.
The content of the invention
It is an object of the invention to provide a kind of permanent-magnetic synchronous motor rotor initial angle modification method and update the system, to solve Certainly above-mentioned existing rotor initial angle localization method can not be accurately positioned the problem of rotor initial angle, while it is general to solve frock Property difference problem.
The invention provides a kind of permanent-magnetic synchronous motor rotor initial angle modification method, wherein, comprise the following steps：
Step S100, controlled motor controller drive magneto operating, and obtain the initial angle of magneto upper rotor part Degree；
The current value of the given d-axis setting of step S200, controlled motor controller, while given quadrature axis current value is 0, and Rotation speed operation of the magneto to set is controlled by prime mover；
Step S300, the output torque for obtaining magneto；
Step S400, judge output torque whether beyond target torque error range；If it is, into step S500；If it is not, then into step S600；
Step S500, initial angle is compensated, to obtain current initial angle correction value and according to current initial angle Degree correction value, into step S200；
Step S600, termination amendment.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, these, it is preferred to, sentence in step S400 The error range whether disconnected output torque exceeds target torque specifically includes following steps：
Step S410, judge output torque whether more than target torque error higher limit；And
Step S420, judge output torque whether less than target torque error floor value；
If the judged result in step S410 is yes, initial angle is compensated in step S500 is specifically included：
Step S510, make initial angle with setting offset do subtraction；
If the judged result in step S420 is yes, initial angle is compensated in step S500 is specifically included：
Step S520, make initial angle with setting offset do add operation；
Step S500 also includes：
Step S530, the current initial angle correction value of acquisition.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, these, it is preferred to, the offset leads to Cross equation below acquisition：
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1It is initial angle.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, these, it is preferred to, obtain magneto The initial angle of upper rotor part specifically includes following steps：
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle that acquisition rotor is calculated according to rotor position data.
Present invention also offers a kind of update the system, wherein, the permagnetic synchronous motor for implementing present invention offer Rotor initial angle modification method, the update the system includes：
Prime mover, mechanically connects with tested magneto, for dragging the magneto operating；
Electric machine controller, electrically connects with the magneto, for carrying out vector controlled to the magneto；
Initial angle amending unit is provided with the electric machine controller, the initial angle for correcting rotor.
Update the system as described above, these, it is preferred to, also including torque detecting apparatus, the torque detecting apparatus Electrically connected with the electric machine controller and the magneto, the output torque for detecting the magneto.
Update the system as described above, these, it is preferred to, also including rotary transformer, the rotary transformer and institute Electric machine controller and magneto electrical connection are stated, for output rotor position data.
Permanent-magnetic synchronous motor rotor initial angle modification method and update the system that the present invention is provided, by judging that output is turned round Whether square exceeds the error range of target torque, realizes advanced or lagged relationship to the estimated value and actual value of rotor angle Judge, and then realize to the accurate adjustment of rotor initial angle and positioning；Additionally, needing turning for the different motors of adjustment amendment During sub- initial angle, it is only necessary to change motor, it is achieved thereby that the versatility of the update the system.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the flow chart of permanent-magnetic synchronous motor rotor initial angle modification method provided in an embodiment of the present invention；
Fig. 2 be permanent-magnetic synchronous motor rotor initial angle modification method provided in an embodiment of the present invention in a particular embodiment Flow chart.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not construed as limiting the claims.
Fig. 1 is the flow chart of permanent-magnetic synchronous motor rotor initial angle modification method provided in an embodiment of the present invention.
As shown in figure 1, a kind of permanent-magnetic synchronous motor rotor initial angle modification method is the embodiment of the invention provides, its In, comprise the following steps：
Step S100, controlled motor controller drive magneto operating, export the initial angle of magneto upper rotor part.
Specifically, the initial angle for obtaining magneto upper rotor part specifically includes following steps：
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle that acquisition rotor is calculated according to rotor position data.
It should be noted that the control to prime mover rotating speed can be realized by prime mover rotary speed controling unit.
The current value of the given d-axis setting of step S200, controlled motor controller, while given quadrature axis current value is 0, and Rotation speed operation of the magneto to set is controlled by prime mover.
Preferably, the constant rotating speed can be the rated speed of magneto.
It will be appreciated by persons skilled in the art that vector controlled can be carried out to magneto by electric machine controller, And according to two-phase rotating coordinate system (dq coordinate systems), it is 0 that controlled motor controller gives quadrature axis (q axles) electric current, it is ensured that forever Load torque will not be produced on magneto, so as to realize that magneto is subject to the dragging no-load running of prime mover, and output no-load Moment of torsion；Meanwhile, 0.2~0.4 times of rated current is specifically as follows to the current value of d-axis (d axles) input setting, to obtain forever Magneto preferably operating condition.
Step S300, the output torque for obtaining magneto.
Specifically, the output torque of magneto can be detected by torque detecting apparatus.
Step S400, judge output torque whether beyond target torque error range；If it is, into step S500；If it is not, then into step S600.
Step S500, initial angle is compensated, to obtain current initial angle correction value, and according to current initial angle Degree correction value, into step S200.
Step S600, termination amendment.
Specifically, in the present embodiment, target torque is 0Nm, and the error range of target torque is ± 1Nm, i.e. moment of torsion Error amount is 1Nm, how to judge whether output torque exceeds the error range of target torque for convenience of description, it is possible to use such as Lower formula：
Tout＞ Ttar+ Δ or Tout＜ Ttar- Δ or Ttar- Δ ＜ Tout＜ Ttar+Δ
Wherein, ToutIt is output torque, TtarIt is target torque, Δ is torque error.
Fig. 2 be permanent-magnetic synchronous motor rotor initial angle modification method provided in an embodiment of the present invention in a particular embodiment Flow chart.
Specifically, as shown in Fig. 2 judging whether output torque exceeds the mistake of target torque in step S400 and step S500 Difference scope, if it is, being compensated to initial angle, specifically includes following steps：
Step S410, judge output torque whether more than target torque error higher limit；If it is, into step S510；
Step S510, make initial angle with setting offset do subtraction.
Work as Tout＞ TtarDuring+Δ, the actual value of the delayed rotor angle of theoretical assessment of rotor angle, therefore make initial angle Degree does subtraction with the offset of setting.
Step S420, judge output torque whether less than target torque error floor value；If it is, into step S520；
Step S520, make initial angle with setting offset do add operation.
Work as Tout＜ TtarDuring-Δ, the actual value of the theoretical assessment Advancing Rotor angle of rotor angle, therefore make initial angle Degree does add operation with the offset of setting.
It should be noted that the offset can be obtained by equation below：
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1It is initial angle.
Step S500 also includes：
Step S530, the current initial angle correction value of acquisition.
Further, for the ease of being illustrated to initial angle makeover process, the compensation to initial angle can pass through Equation below is realized：
θm=θm-1± δ (m is 2,3,4 ...)
Wherein, θmIt is current initial angle correction value, θm-1It is last initial angle correction value.
It is understood that make m=2, when being judged as Tout＞ TtarDuring+Δ, then make θ2=θ1- δ, and further, first Beginning angle is θ2On the basis of, re-execute step S200；
If it is determined that being still Tout＞ Ttar+ Δ, then make θ3=θ2- δ, and be θ in initial angle further3Basis On, re-execute step S200；And so on.
Relatively, when being judged as Tout＜ TtarDuring-Δ, then make θ2=θ1±δ；Follow-up deterministic process and above-mentioned Tout＞ Ttar+ Deterministic process during Δ is identical, will not be repeated here.
It is understood that work as being judged as Ttar- Δ ＜ Tout＜ TtarDuring+Δ, then terminate amendment, illustrate that initial angle is closed Lattice.
The embodiment of the present invention additionally provides a kind of update the system, and the permanent magnetism for implementing any embodiment offer of the present invention is same Step rotor initial angle modification method, the update the system includes：Prime mover and electric machine controller；Wherein, prime mover and quilt Survey magneto to mechanically connect, for dragging magneto operating；Electric machine controller is electrically connected with magneto, for permanent magnetism Motor carries out vector controlled；And initial angle amending unit is provided with electric machine controller, the initial angle for correcting rotor.
Further, the update the system also includes torque detecting apparatus, the torque detecting apparatus and electric machine controller and forever Magnetoelectricity mechatronics, the output torque for detecting magneto.
Further, the update the system also includes rotary transformer, rotary transformer and electric machine controller and magneto Electrical connection, for output rotor position data.
Permanent-magnetic synchronous motor rotor initial angle modification method provided in an embodiment of the present invention and update the system, by judging Whether output torque exceeds the error range of target torque, realizes advanced or delayed to the estimated value and actual value of rotor angle The judgement of relation, and then realize to the accurate adjustment of rotor initial angle and positioning；Additionally, needing the different electricity of adjustment amendment During the rotor initial angle of machine, it is only necessary to change motor, it is achieved thereby that the versatility of the update the system.
Construction of the invention, feature and action effect, above institute is described in detail according to the embodiment shown in schema above Only presently preferred embodiments of the present invention is stated, but the present invention is not to limit practical range shown in drawing, it is every according to structure of the invention Want made change, or be revised as the Equivalent embodiments of equivalent variations, still without departing from specification and diagram covered it is spiritual when, All should be within the scope of the present invention.

Claims (7)

1. a kind of permanent-magnetic synchronous motor rotor initial angle modification method, it is characterised in that comprise the following steps：
Step S100, controlled motor controller drive magneto operating, export the initial angle of magneto upper rotor part；
The current value of the given d-axis setting of step S200, controlled motor controller, while given quadrature axis current value is 0, and passes through Prime mover controls rotation speed operation of the magneto to set；
Step S300, the output torque for obtaining magneto；
Step S400, judge output torque whether beyond target torque error range；If it is, into step S500；Such as It is really no, then into step S600；
Step S500, initial angle is compensated, to obtain current initial angle correction value, and repaiied according to current initial angle On the occasion of into step S200；
Step S600, termination amendment.
2. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 1, it is characterised in that step S400 It is middle to judge whether output torque specifically includes following steps beyond the error range of target torque：
Step S410, judge output torque whether more than target torque error higher limit；And
Step S420, judge output torque whether less than target torque error floor value；
If the judged result in step S410 is yes, initial angle is compensated in step S500 is specifically included：
Step S510, make initial angle with setting offset do subtraction；
If the judged result in step S420 is yes, initial angle is compensated in step S500 is specifically included：
Step S520, make initial angle with setting offset do add operation；
Step S500 also includes：
Step S530, the current initial angle correction value of acquisition.
3. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 2, it is characterised in that the compensation Value is obtained by equation below：
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1It is initial angle.
4. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 2, it is characterised in that obtain permanent magnetism The initial angle of motor upper rotor part specifically includes following steps：
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle that acquisition rotor is calculated according to rotor position data.
5. a kind of update the system, it is characterised in that for implementing the permanent-magnetic synchronous motor rotor described in claim any one of 1-4 Initial angle modification method, the update the system includes：
Prime mover, mechanically connects with tested magneto, for dragging the magneto operating；
Electric machine controller, electrically connects with the magneto, for carrying out vector controlled to the magneto；
Initial angle amending unit is provided with the electric machine controller, the initial angle for correcting rotor.
6. update the system according to claim 5, it is characterised in that also including torque detecting apparatus, the moment of torsion detection Device is electrically connected with the electric machine controller and the magneto, the output torque for detecting the magneto.
7. update the system according to claim 6, it is characterised in that also including rotary transformer, the rotary transformer Electrically connected with the electric machine controller and the magneto, for output rotor position data.
CN201710186823.1A 2017-03-27 2017-03-27 Permanent-magnetic synchronous motor rotor initial angle modification method and update the system Expired - Fee Related CN106772052B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107167735A (en) * 2017-07-21 2017-09-15 奇瑞汽车股份有限公司 Motor Zero positioning system and method
CN107508522A (en) * 2017-08-29 2017-12-22 合肥巨动力系统有限公司 A kind of permanent-magnetic synchronous motor rotor initial position measuring method
CN113381665A (en) * 2021-06-09 2021-09-10 上海晟矽微电子股份有限公司 Motor control method and device, motor and electric tool
CN113640667A (en) * 2021-08-20 2021-11-12 东风汽车集团股份有限公司 Automatic calibration method and system for EOL (electric operating level) offline zero point of motor
CN113759247A (en) * 2021-07-19 2021-12-07 东风汽车集团股份有限公司 Motor zero point adjusting method, electronic device and computer readable storage medium

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EP2372899A1 (en) * 2008-12-25 2011-10-05 Sany Electric Co., Ltd. Automatic detection method and apparatus for rotor initial position angle of double-fed machine
CN102832865A (en) * 2012-09-05 2012-12-19 南京航空航天大学 Method for estimating initial position of rotor of three-stage brushless alternative-current synchronous motor
CN102931903A (en) * 2012-10-18 2013-02-13 青岛斑科变频技术有限公司 Method for detecting initial position of rotor of permanent magnet synchronous motor
CN103401504A (en) * 2013-08-06 2013-11-20 中国科学院光电技术研究所 Method for correcting initial position of permanent magnet synchronous motor rotor
CN106253783A (en) * 2016-09-28 2016-12-21 西北工业大学 Initial position evaluation method under electric excitation synchronous motor rotor oscillation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2372899A1 (en) * 2008-12-25 2011-10-05 Sany Electric Co., Ltd. Automatic detection method and apparatus for rotor initial position angle of double-fed machine
CN102832865A (en) * 2012-09-05 2012-12-19 南京航空航天大学 Method for estimating initial position of rotor of three-stage brushless alternative-current synchronous motor
CN102931903A (en) * 2012-10-18 2013-02-13 青岛斑科变频技术有限公司 Method for detecting initial position of rotor of permanent magnet synchronous motor
CN103401504A (en) * 2013-08-06 2013-11-20 中国科学院光电技术研究所 Method for correcting initial position of permanent magnet synchronous motor rotor
CN106253783A (en) * 2016-09-28 2016-12-21 西北工业大学 Initial position evaluation method under electric excitation synchronous motor rotor oscillation

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107167735A (en) * 2017-07-21 2017-09-15 奇瑞汽车股份有限公司 Motor Zero positioning system and method
CN107508522A (en) * 2017-08-29 2017-12-22 合肥巨动力系统有限公司 A kind of permanent-magnetic synchronous motor rotor initial position measuring method
CN113381665A (en) * 2021-06-09 2021-09-10 上海晟矽微电子股份有限公司 Motor control method and device, motor and electric tool
CN113381665B (en) * 2021-06-09 2022-07-08 上海晟矽微电子股份有限公司 Motor control method and device, motor and electric tool
CN113759247A (en) * 2021-07-19 2021-12-07 东风汽车集团股份有限公司 Motor zero point adjusting method, electronic device and computer readable storage medium
CN113759247B (en) * 2021-07-19 2023-09-19 东风汽车集团股份有限公司 Motor zero point adjustment method, electronic device and computer readable storage medium
CN113640667A (en) * 2021-08-20 2021-11-12 东风汽车集团股份有限公司 Automatic calibration method and system for EOL (electric operating level) offline zero point of motor
CN113640667B (en) * 2021-08-20 2023-12-19 东风汽车集团股份有限公司 Automatic calibration method and system for EOL off-line zero point of motor

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