CN106772052B - 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
CN106772052B
CN106772052B CN201710186823.1A CN201710186823A CN106772052B CN 106772052 B CN106772052 B CN 106772052B CN 201710186823 A CN201710186823 A CN 201710186823A CN 106772052 B CN106772052 B CN 106772052B
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China
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initial angle
magneto
rotor
permanent
synchronous motor
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Expired - Fee Related
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CN201710186823.1A
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CN106772052A (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
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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 methods, wherein control electric machine controller driving magneto operating, the initial angle of output rotor；It is given to magneto progress vector controlled to control electric machine controller, and the rotation speed operation by prime mover control magneto to set；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 torque 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 provided by the invention realize accurate adjustment and positioning to rotor initial angle；In addition, when needing to adjust the rotor initial angle for correcting different motors, it is only necessary to motor is replaced, to realize 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 sides Method and update the system.
Background technique
Permanent magnet synchronous motor is low in energy consumption, high-efficient, speed-regulating range width, is widely used in electric car field, it is automobile-used forever Magnetic-synchro motor control mostly uses vector control algorithm, and the high performance vector controlled of permanent magnet synchronous motor be unable to do without and accurately turns Sub- initial angle, so the rotor initial angle for the permanent magnet synchronous motor that must be dispatched from the factory to each carries out identification confirmation.If distinguishing Know inaccuracy, be likely to result in permanent magnet synchronous motor cannot normally start, step-out, and will be greatly reduced electric efficiency, even Influence vehicle continual mileage.
In the prior art, when most permanent magnet synchronous motor producer batch production motor, position sensor is installed to forever When on magneto shaft, by dedicated motor position sensor zeroing tooling, by position sensor and permanent magnet machine rotor zero-bit Between angle be fixed on a preset angle, to complete setting to rotor initial angle.
But when being adjusted by the above method, the precision of rotor initial angle relies on tooling precision, and in processing and manufacturing work When dress, precision it is difficult to ensure that；In addition, the versatility of tooling is poor, different motors need to make different toolings, and cost is caused to increase Add, and time-consuming and laborious.
Summary of the invention
The object of the present invention is to provide a kind of permanent-magnetic synchronous motor rotor initial angle modification method and update the systems, with solution The problem of certainly above-mentioned existing rotor initial angle localization method cannot be accurately positioned rotor initial angle, while it is general to solve tooling Property difference problem.
The present invention provides a kind of permanent-magnetic synchronous motor rotor initial angle modification methods, wherein includes the following steps:
Step S100, control electric machine controller driving magneto operating, and obtain the initial angle of magneto upper rotor part Degree；
Step S200, control electric machine controller gives the current value of d-axis setting, 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 of magneto is obtained；
Step S400, judge whether output torque exceeds the error range of target torque；If it is, entering step S500；If it is not, then entering step S600；
Step S500, initial angle is compensated, to obtain current initial angle correction value and according to current initial angle Correction value is spent, S200 is entered step；
Step S600, amendment is terminated.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, wherein preferably, sentence in step S400 The error range whether disconnected output torque exceeds target torque specifically comprises the following steps:
Step S410, judge whether output torque is greater than the error upper limit value of target torque；And
Step S420, judge whether output torque is less than the error floor value of target torque；
If the judging result in step S410 be it is yes, initial angle is compensated in step S500 and is specifically included:
Step S510, the offset of initial angle and setting is made to do subtraction；
If the judging result in step S420 be it is yes, initial angle is compensated in step S500 and is specifically included:
Step S520, the offset of initial angle and setting is made to do add operation；
Step S500 further include:
Step S530, current initial angle correction value is obtained.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, wherein preferably, the offset is logical Following formula is crossed to obtain:
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1For initial angle.
Permanent-magnetic synchronous motor rotor initial angle modification method as described above, wherein preferably, obtain magneto The initial angle of upper rotor part specifically comprises the following steps:
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle for obtaining rotor is calculated according to rotor position data.
The present invention also provides a kind of update the systems, wherein for implementing the permanent magnet synchronous motor provided by the invention Rotor initial angle modification method, the update the system include:
Prime mover is mechanically connected with tested magneto, for dragging the magneto operating；
Electric machine controller is electrically connected with the magneto, for carrying out vector controlled to the magneto；
Initial angle amending unit is provided in the electric machine controller, for correcting the initial angle of rotor.
Update the system as described above, wherein it further include torque detecting apparatus preferably, the torque detecting apparatus It is electrically connected with the electric machine controller and the magneto, for detecting the output torque of the magneto.
Update the system as described above, wherein it further include rotary transformer preferably, the rotary transformer and institute Electric machine controller and magneto electrical connection are stated, output rotor position data is used for.
Permanent-magnetic synchronous motor rotor initial angle modification method and update the system provided by the invention are turned round by judgement output Whether square exceeds the error range of target torque, realizes advanced to the estimated value and actual value of rotor angle or lagged relationship Judgement, and then realize accurate adjustment and positioning to rotor initial angle；In addition, correcting turning for different motors needing to adjust When sub- initial angle, it is only necessary to motor is replaced, to realize the versatility of the update the system.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
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
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the 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, the embodiment of the invention provides a kind of permanent-magnetic synchronous motor rotor initial angle modification method, In, include the following steps:
Step S100, control electric machine controller driving magneto operating, exports the initial angle of magneto upper rotor part.
Specifically, the initial angle for obtaining magneto upper rotor part specifically comprises the following steps:
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle for obtaining rotor is calculated according to rotor position data.
It should be noted that can realize the control to prime mover revolving speed by prime mover rotary speed controling unit.
Step S200, control electric machine controller gives the current value of d-axis setting, 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 revolving 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 system), controlling electric machine controller and giving quadrature axis (q axis) electric current is 0, it is ensured that forever Load torque will not be generated on magneto, to realize dragging no-load running of the magneto by prime mover, and output no-load Torque；Meanwhile being specifically as follows 0.2~0.4 times of rated current to the current value of d-axis (d axis) input setting, to obtain forever The preferable operating condition of magneto.
Step S300, the output torque of magneto is obtained.
Specifically, the output torque of magneto can be detected by torque detecting apparatus.
Step S400, judge whether output torque exceeds the error range of target torque；If it is, entering step S500；If it is not, then entering step S600.
Step S500, initial angle is compensated, to obtain current initial angle correction value, and according to current initial angle Correction value is spent, S200 is entered step.
Step S600, amendment is terminated.
Specifically, in the present embodiment, target torque 0Nm, and the error range of target torque is ± 1Nm, i.e. torque Error amount is 1Nm, how to judge whether output torque exceeds the error range of target torque for ease of description, can use as Lower formula:
Tout> Ttar+ Δ or Tout< TtarΔ or TtarΔ < Tout< Ttar+Δ
Wherein, ToutFor output torque, TtarFor 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 Poor range specifically comprises the following steps: if it is, compensating to initial angle
Step S410, judge whether output torque is greater than the error upper limit value of target torque；If it is, entering step S510；
Step S510, the offset of initial angle and setting is made to do subtraction.
Work as Tout> TtarWhen+Δ, the actual value of the theoretical assessment lag rotor angle of rotor angle, therefore make initial angle Degree and the offset of setting do subtraction.
Step S420, judge whether output torque is less than the error floor value of target torque；If it is, entering step S520；
Step S520, the offset of initial angle and setting is made to do add operation.
Work as Tout< TtarWhen Δ, the actual value of the theoretical assessment Advancing Rotor angle of rotor angle, therefore make initial angle Degree and the offset of setting do add operation.
It should be noted that the offset can be obtained by following formula:
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1For initial angle.
Step S500 further include:
Step S530, current initial angle correction value is obtained.
Further, for the ease of being illustrated to initial angle makeover process, the compensation of initial angle can be passed through Following formula is realized:
θm=θm-1± δ (m 2,3,4 ...)
Wherein, θmFor current initial angle correction value, θm-1For last initial angle correction value.
It is understood that enable m=2, when being judged as Tout> TtarWhen+Δ, then make θ2=θ1- δ, and further, first Beginning angle is θ2On the basis of, it re-execute the steps S200；
If it is determined that being still Tout> Ttar+ Δ, then make θ3=θ2- δ, and further, it is θ in initial angle3Basis On, it re-execute the steps S200；And so on.
Relatively, when being judged as Tout< TtarWhen Δ, then make θ2=θ1±δ；Subsequent deterministic process and above-mentioned Tout> Ttar+ Deterministic process when Δ is identical, and details are not described herein.
It is understood that when being judged as TtarΔ < Tout< TtarWhen+Δ, then amendment is terminated, illustrates that initial angle closes Lattice.
The embodiment of the invention also provides a kind of update the system, the permanent magnetism for implementing any embodiment of that present invention offer is same Rotor initial angle modification method is walked, which includes: prime mover and electric machine controller；Wherein, prime mover and quilt Magneto mechanical connection is surveyed, 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 in electric machine controller, for correcting the initial angle of rotor.
Further, which further includes torque detecting apparatus, and the torque detecting apparatus is with electric machine controller and forever Magnetoelectricity mechatronics, for detecting the output torque of magneto.
Further, which further includes rotary transformer, rotary transformer and electric machine controller and magneto Electrical connection is used for output rotor position data.
Permanent-magnetic synchronous motor rotor initial angle modification method and update the system provided in an embodiment of the present invention, pass through judgement Whether output torque exceeds the error range of target torque, realizes or lag advanced to the estimated value and actual value of rotor angle The judgement of relationship, and then realize accurate adjustment and positioning to rotor initial angle；In addition, correcting different electricity needing to adjust When the rotor initial angle of machine, it is only necessary to motor is replaced, to realize the versatility of the update the system.
Structure, feature and effect of the invention, the above institute are described in detail based on the embodiments shown in the drawings Only presently preferred embodiments of the present invention is stated, but the present invention does not limit the scope of implementation as shown in the drawings, it is all according to structure of the invention Think made change or equivalent example modified to equivalent change, when not going beyond the spirit of the description and the drawings, It should all be within the scope of the present invention.

Claims (7)

1. a kind of permanent-magnetic synchronous motor rotor initial angle modification method, which comprises the steps of:
Step S100, control electric machine controller driving magneto operating, exports the initial angle of magneto upper rotor part；
Step S200, control electric machine controller gives the current value of d-axis setting, while given quadrature axis current value is 0, and is passed through Prime mover controls rotation speed operation of the magneto to set；
Step S300, the output torque of magneto is obtained；
Step S400, judge whether output torque exceeds the error range of target torque；If it is, entering step S500；Such as Fruit is no, then enters step S600；
Step S500, initial angle is compensated, to obtain current initial angle correction value, and is repaired according to current initial angle Positive value enters step S200；
Step S600, amendment is terminated.
2. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 1, which is characterized in that step S400 It is middle to judge whether output torque exceeds the error range of target torque and specifically comprise the following steps:
Step S410, judge whether output torque is greater than the error upper limit value of target torque；And
Step S420, judge whether output torque is less than the error floor value of target torque；
If the judging result in step S410 be it is yes, initial angle is compensated in step S500 and is specifically included:
Step S510, the offset of initial angle and setting is made to do subtraction；
If the judging result in step S420 be it is yes, initial angle is compensated in step S500 and is specifically included:
Step S520, the offset of initial angle and setting is made to do add operation；
Step S500 further include:
Step S530, current initial angle correction value is obtained.
3. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 2, which is characterized in that the compensation Value is obtained by following formula:
δ=0.1 × 0.02 × θ1
Wherein, δ is offset, θ1For initial angle.
4. permanent-magnetic synchronous motor rotor initial angle modification method according to claim 2, which is characterized in that step S100 Specifically comprise the following steps:
Step S110, according to rotary transformer output rotor position data；
Step S120, the initial angle for obtaining rotor is calculated according to rotor position data.
5. a kind of update the system, which is characterized in that for implementing the described in any item permanent-magnetic synchronous motor rotors of claim 1-4 Initial angle modification method, the update the system include:
Prime mover is mechanically connected with tested magneto, for dragging the magneto operating；
Electric machine controller is electrically connected with the magneto, for carrying out vector controlled to the magneto；
Initial angle amending unit is provided in the electric machine controller, for correcting the initial angle of rotor.
6. update the system according to claim 5, which is characterized in that it further include torque detecting apparatus, the torque detection Device is electrically connected with the electric machine controller and the magneto, for detecting the output torque of the magneto.
7. update the system according to claim 6, which is characterized in that it further include rotary transformer, the rotary transformer It is electrically connected with the electric machine controller and the magneto, is used 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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Families Citing this family (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
CN107508522B (en) * 2017-08-29 2020-05-22 合肥巨一动力系统有限公司 Method for measuring initial position of rotor of permanent magnet synchronous motor
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
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
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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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 of correcting initial position of rotor of permanent magnet synchronous motor
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

Patent Citations (5)

* 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 of correcting initial position of rotor of permanent magnet synchronous motor
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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