CN106849810A - The initial position detection method and device of AC permanent magnet synchronous motor rotor - Google Patents
The initial position detection method and device of AC permanent magnet synchronous motor rotor Download PDFInfo
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- CN106849810A CN106849810A CN201710211496.0A CN201710211496A CN106849810A CN 106849810 A CN106849810 A CN 106849810A CN 201710211496 A CN201710211496 A CN 201710211496A CN 106849810 A CN106849810 A CN 106849810A
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Abstract
The present invention provides a kind of initial position detection method and device of AC permanent magnet synchronous motor rotor, and method includes：Obtain the combinations of states of current each phase pulse signal of the rotor that position sensor is detected, the combinations of states of each phase pulse signal of the pre- rotor for preserving of inquiry and the corresponding relation of the initial angle estimate of rotor, obtain the initial angle estimate of the corresponding rotor of combinations of states of current each phase pulse signal, during the combinations of states of current each phase pulse signal is switched to the combinations of states of next each phase pulse signal, obtain the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected, according to the advanced or lagged relationship of the rotor two-way orthogonal signalling, the current state for determining the rotor is forward or reverse.The present invention can realize easily and quickly determining the initial angle angle value of rotor, and with accuracy and operability higher.
Description
Technical field
The invention belongs to motor control technology field, more particularly to a kind of initial position of AC permanent magnet synchronous motor rotor
Detection method and device.
Background technology
The position of AC permanent magnet synchronous motor rotor before being initiated is unknown, now needs to obtain rotor
Initial position, and AC permanent magnet synchronous motor is started according to the initial position.
At present, the main method for generally obtaining original position of electric motor's rotator when AC permanent magnet synchronous motor starts is to use
Oscillograph detects to original position of electric motor's rotator, obtains original position of electric motor's rotator and the initial position could be adjusted to
Start AC permanent magnet synchronous motor.Easily made a mistake during but the method workload is larger, efficiency is low and operation is used, influence is just
Beginning position detection accuracy and operability.
The content of the invention
In view of this, the embodiment of the invention provides a kind of initial position detection method of AC permanent magnet synchronous motor rotor
And device, the work existed during solving and obtain original position of electric motor's rotator when AC permanent magnet synchronous motor starts in the prior art
Easily made a mistake during work amount is larger, efficiency is low and operation is used, influence the accuracy of detection and the asking for operability of initial position
Topic.
The first aspect of the embodiment of the present invention provides a kind of initial position detection side of AC permanent magnet synchronous motor rotor
Method method, including：
Obtain the combinations of states of current each phase pulse signal of the rotor that position sensor is detected；
The combinations of states of each phase pulse signal of the pre- rotor for preserving of inquiry is initial with the rotor
The corresponding relation of angle estimation value, obtains the first of the currently corresponding rotor of combinations of states of each phase pulse signal
Beginning angle estimation value；
The combinations of states mistake of next each phase pulse signal is switched in the combinations of states of current each phase pulse signal
Cheng Zhong, obtains the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected；
According to the initial angle estimate and the angle accumulated value, the initial angle angle value of the rotor is drawn.
The initial position detection that the second aspect of the embodiment of the present invention provides a kind of AC permanent magnet synchronous motor rotor is filled
Put, including：
Acquisition module, the state group of the current each phase pulse signal for obtaining the rotor that position sensor is detected
Close；
Data inquiry module, the combinations of states of each phase pulse signal of the rotor for inquiring about pre- preservation and institute
The corresponding relation of the initial angle estimate of rotor is stated, the combinations of states for obtaining current each phase pulse signal is corresponding
The initial angle estimate of the rotor；
The acquisition module, is additionally operable to be switched to next each phase arteries and veins in the combinations of states of current each phase pulse signal
Rush during the combinations of states of signal, obtain the angle of the two-way orthogonal signalling of the rotor that position sensor is detected
Accumulated value；
Data processing module, for according to the initial angle estimate and the angle accumulated value, drawing the motor
The initial angle angle value of rotor.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：The exchange that embodiments of the invention are provided is forever
The initial position detection method and device of magnetic-synchro rotor, obtain the current each of the rotor that position sensor is detected
The combinations of states of phase pulse signal, the combinations of states and rotor of each phase pulse signal of the pre- rotor for preserving of inquiry
The corresponding relation of initial angle estimate, obtains the initial angle of the corresponding rotor of combinations of states of current each phase pulse signal
Degree estimate, the combinations of states process of next each phase pulse signal is switched in the combinations of states of current each phase pulse signal
In, the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected is obtained, according to the rotor
The advanced or lagged relationship of two-way orthogonal signalling, the current state for determining the rotor is forward or reverse.The present invention is logical
The combinations of states for crossing each phase pulse signal for detecting obtains the initial angle estimate of rotor, by current each phase
The combinations of states of pulse signal is switched to during the combinations of states of next each phase pulse signal, the orthogonal letter of two-way for detecting
The angle accumulated value of orthogonal signalling number is obtained, then initial angle estimate and angle is added up and is worth to the initial of rotor
Angle value, can realize easily and quickly determining the initial angle angle value of rotor, and with accuracy higher and operable
Property.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to embodiment or description of the prior art
Needed for the accompanying drawing to be used be briefly described, it should be apparent that, drawings in the following description are only more of the invention
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is the structural representation of AC permanent magnet synchronous motor control system provided in an embodiment of the present invention；
Fig. 2 is a kind of initial position detection method of AC permanent magnet synchronous motor rotor that the embodiment of the present invention one is provided
Realize flow chart；
Fig. 3 is the schematic diagram of the corresponding combinations of states of three-phase U, V, W phase pulse signal provided in an embodiment of the present invention；
Fig. 4 is a kind of initial position detection method of AC permanent magnet synchronous motor rotor that the embodiment of the present invention two is provided
Realize flow chart；
Fig. 5 is the combinations of states and angle of rotor of motor model of three-phase U, V, W phase pulse signal provided in an embodiment of the present invention
Enclose, the corresponding relation schematic diagram of initial angle estimate；
Fig. 6 is the combinations of states and angle of rotor of motor model of three-phase U, V, W phase pulse signal provided in an embodiment of the present invention
Enclose, the corresponding relation schematic diagram of angular range and mechanical angle；
Fig. 7 is a kind of initial position detection device of AC permanent magnet synchronous motor rotor that the embodiment of the present invention three is provided
Structured flowchart；
Fig. 8 is the knot of the acquisition module of the initial position detection device of the AC permanent magnet synchronous motor rotor of Fig. 7 embodiments
Structure block diagram.
Specific embodiment
In below describing, in order to illustrate rather than in order to limit, it is proposed that the such as tool of particular system structure, technology etc
Body details, thoroughly to understand the embodiment of the present invention.However, it will be clear to one skilled in the art that specific without these
The present invention can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details hinders description of the invention.
Fig. 1 is the structural representation of AC permanent magnet synchronous motor control system provided in an embodiment of the present invention, including：
Inverter 001, AC permanent magnet synchronous motor 002, coordinate transformation module 003, target current maker 004, the first electric current loop ratio
Example integration pi regulator 005, the second electric current loop pi regulator 006, voltage inverse transform block 007, angle generator 008, position
Sensor 009, position signal acquisition module 010, current sensor 011 and summation module 012.Current sensor 011 with exchange
The stator connection of permagnetic synchronous motor 002, current sensor 011, coordinate transformation module 003, summation module 012 are sequentially connected,
Summation module 012 is connected respectively with the first electric current loop pi regulator 005, the second electric current loop pi regulator 006, the first electric current loop PI
Adjuster 005, the second electric current loop pi regulator 006 are connected with voltage inverse transform block 007, voltage inverse transform block 007 with it is inverse
Become device 001 to connect, inverter 001 is connected with AC permanent magnet synchronous motor 002.The electric current loop PI of coordinate transformation module 003 and first
Adjuster 005 constitutes quadrature axis current ring；3 and second electric current loop pi regulator of coordinate transformation module 006 constitutes direct-axis current ring, hands over
Shaft current ring and direct-axis current ring constitute electric current loop.
The control process of AC permanent magnet synchronous motor control system is：The AC permanent-magnet that current sensor 011 will be detected
The three-phase current input coordinate conversion module 003 of the stator of synchronous motor 002；Coordinate transformation module 003 examines current sensor 011
The three-phase current of survey obtains quadrature axis current I after carrying out Clark and Park conversionqWith direct-axis current Id；Quadrature axis current IqWith target electricity
The quadrature axis current I of the stream output of maker 004qrefCompare, fiducial value is input into the first electric current loop pi regulator 005 obtains quadrature axis electricity
Pressure Uq, and by quadrature-axis voltage UqInput voltage inverse transform block 007；Direct-axis current IdIt is straight with what target current maker 004 was exported
Shaft current IdrefCompare, fiducial value is input into the second electric current loop pi regulator 005 obtains direct-axis voltage Ud, and by direct-axis voltage Ud
Input voltage inverse transform block 007；Voltage inverse transform block 007 is according to quadrature-axis voltage UqWith direct-axis voltage UdGenerate the control of three tunnels
Signal Va, Vb, VcInput inverter；Inverter is according to Va, Vb, VcInput three-phase voltage drives to AC permanent magnet synchronous motor 002
AC permanent magnet synchronous motor 002 works.
On the basis of above-mentioned AC permanent magnet synchronous motor control system, also include：Angle generator 008, position sensing
Device 009 and position signal acquisition module 010.Angle generator 008 is connected with coordinate transformation module 003, position sensor 009
Input is connected with the output shaft end of AC permanent magnet synchronous motor 002, and the output end of position sensor 009 is in position signal acquisition
Module 010 is connected.Wherein, position sensor 009 be used for detect AC permanent magnet synchronous motor 002 output signal (pulse signal,
Orthogonal signalling etc.), position signal acquisition module 010 is used for the signal that position recording sensor 009 is detected.
The position of AC permanent magnet synchronous motor rotor before being initiated is unknown, now needs to obtain rotor
Initial position, and AC permanent magnet synchronous motor is started according to the initial position, at present, generally obtain AC permanent magnet synchronous
The main method of original position of electric motor's rotator when machine starts is that original position of electric motor's rotator is detected using oscillograph, is obtained
Take original position of electric motor's rotator and the initial position could be adjusted to start AC permanent magnet synchronous motor.But the method works
Measure larger, efficiency it is low and operation use in easily make a mistake, influence initial position detection accuracy and operability.In view of
Above mentioned problem, the embodiment of the invention provides a kind of initial position detection method and device of AC permanent magnet synchronous motor rotor,
To solve above-mentioned technical problem present in prior art.
Embodiment one
Fig. 2 is a kind of initial position detection method of AC permanent magnet synchronous motor rotor that the embodiment of the present invention one is provided
Flow chart is realized, the present embodiment includes：
S101：Obtain the combinations of states of current each phase pulse signal of the rotor that position sensor is detected.
Wherein, the position sensor can be incremental optical-electricity encoder, and when rotor is in motion process, position passes
Sensor can detect each phase pulse signal in rotor rotation process, and AC permanent magnet synchronous motor is three-phase U, V, W phase
Pulse signal, the phase difference of three-phase U, V, W phase pulse signal is 120 °, and pulse signal is divided into high level area and low level area, its
Middle high level area represents that low level area is represented with 0 with 1.With reference to Fig. 3 in one electrical angle periodic process of rotor, three-phase
The schematic diagram of the corresponding combinations of states of U, V, W phase pulse signal, altogether comprising six states 101,001,011,010,110,
100。
S102：The combinations of states of each phase pulse signal of the pre- rotor for preserving of inquiry and the initial angle of rotor
The corresponding relation of estimate, the initial angle for obtaining the corresponding rotor of combinations of states of current each phase pulse signal is estimated
Value.
Wherein it is possible to the combinations of states for passing through each phase pulse signal of rotor determines the corresponding angle model of rotor
Enclose, and according to the corresponding angular range estimation of rotor and the initial angle of rotor, so as to set up each of rotor
The corresponding relation of the combinations of states of phase pulse signal and the initial angle estimate of rotor.
S103：The combinations of states mistake of next each phase pulse signal is switched in the combinations of states of current each phase pulse signal
Cheng Zhong, obtains the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected.
Wherein, before the detection that motor does not complete initial alignment, position sensor needs real-time detection current motor rotor
Each phase pulse signal combinations of states, the combinations of states of current each phase pulse signal is switched to next each phase pulse signal
During combinations of states, the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected is obtained.
S104：According to the initial angle estimate and the angle accumulated value, the initial angle of the rotor is drawn
Angle value.
Specifically, the combinations of states of current each phase pulse signal is switched to the combinations of states knot of next each phase pulse signal
Shu Shi, initial angle estimate is added with angle accumulated value, the initial angle angle value of the angle value for obtaining as rotor.
The beneficial effect that the present embodiment exists compared with prior art is：The AC permanent magnet synchronous motor that the present embodiment is provided
The initial position detection method of rotor includes, obtains current each phase pulse signal of the rotor that position sensor is detected
Combinations of states, the combinations of states of each phase pulse signal and the initial angle of rotor of the pre- rotor for preserving of inquiry are estimated
The corresponding relation of value, obtains the initial angle estimate of the corresponding rotor of combinations of states of current each phase pulse signal,
The combinations of states of current each phase pulse signal is switched to during the combinations of states of next each phase pulse signal, is obtained position and is passed
The angle accumulated value of the two-way orthogonal signalling of the rotor that sensor is detected, by initial angle estimate and angle accumulated value phase
Plus, obtain the initial angle angle value of rotor.The present invention obtains motor by the combinations of states of each phase pulse signal for detecting
The initial angle estimate of rotor, believes by being switched to next each phase pulse in the combinations of states of current each phase pulse signal
Number combinations of states during, the two-way orthogonal signalling for detecting obtain the angle accumulated value of orthogonal signalling, then by initial angle
Degree estimate adds up with angle and is worth to the initial angle angle value of rotor, can realize easily and quickly determining rotor
Initial angle angle value, and with accuracy and operability higher.
Embodiment two
Fig. 4 is a kind of initial position detection method of AC permanent magnet synchronous motor rotor that the embodiment of the present invention two is provided
Flow chart is realized, on the basis of above-described embodiment, was also included before step S101：
S201：Obtain the angle value and incrementss of the rotor of angle generator generation.
Wherein, angle generator can generate an angle value θ in an electrical angle periodic process0, span
Be 0~360 °, then generate incrementss ± Δ a θ ,+Δ θ and-Δ θ can represent rotor rotation direction (rotate forward or
Reversion) it is different, the unit of Δ θ is °/millisecond.
S202：One process in electrical angle cycle is rotated according to the angle value and incrementss of rotor in rotor
In, obtain the angular range of the corresponding rotor of combinations of states of each group of each phase pulse signal of rotor.
Wherein, during rotor rotates an electrical angle cycle according to the angle value and incrementss of rotor,
According to the velocity variations (increasing or decreasing) of incrementss on the basis of angle value θ 0, generally, the value of Δ θ is less than
0.01 °/millisecond, to increase the accuracy of data, then the angle of rotor of motor θ=θ of any timek+ 1=θk± Δ θ, in formula, K
=0,1,2.....N, Δ θ=360/ (N+1).
Specifically, corresponding six groups of combinations of states 101,001,011,010,110,100 of three-phase U, V, W phase pulse signals
The corresponding relation of the angular range of corresponding rotor, reference table 1 and Fig. 5.
The combinations of states of table 1 and angular range mapping table
S203：According to the angular range of rotor, the initial angle estimate of rotor is determined.
Specifically, the angle value scope according to the rotor draws the median of the angle value scope of rotor,
And using the median of angular range as rotor initial angle estimate.
Reference table 1, rotor angular range (0 °, 60 °] median be 30 °；(60 °, 120 °] median be
90 °, (120 °, 180 °] median be 150 °；(180 °, 240 °] median be 210 °；(240 °, 300 °] median be
270°；(300 °, 360 °] median be 330 °.
S204：The combinations of states of each group of each phase pulse signal and the initial angle of rotor according to rotor are estimated
Evaluation, preserves the combinations of states pass corresponding with the initial angle estimate of rotor of each phase pulse signal of rotor
System.
Specifically, corresponding six groups of combinations of states 101,001,011,010,110,100 of three-phase U, V, W phase pulse signals
The corresponding relation of the initial angle estimate of corresponding rotor, reference table 2 and Fig. 5.
The combinations of states of table 2 and initial angle estimate mapping table
In one example, multiple electrical angles can be rotated according to the angle value and incrementss of rotor in rotor
During cycle, the angle model of the corresponding rotor of combinations of states of each group of each phase pulse signal of rotor is obtained
Enclose, then the number of pole-pairs P according to motor, P record can be carried out and seek its average value.The angle value and rotor of rotor
Mechanical angle conversion it is relevant with the number of pole-pairs P of motor, U, V, W signal combinations of states, between angular range and mechanical angle close
System refers to Fig. 6, and in N number of electrical angle cycle, the mechanical angle of corresponding rotor is 360 ° × N/P to rotor.
In one example, the initial position detection method of above-mentioned AC permanent magnet synchronous motor rotor, will obtain pre- preservation
Rotor each phase pulse signal combinations of states and rotor initial angle estimate corresponding relation before, also
Including：
Obtain the two-way orthogonal signalling of the rotor that position sensor is detected；According to two-way orthogonal signalling, it is determined that electric
The advanced or lagged relationship of machine rotor two-way orthogonal signalling；According to the advanced or lagged relationship of rotor two-way orthogonal signalling,
The current state for determining rotor is forward or reverse.
Specifically, A, B orthogonal signalling that the two-way orthogonal signalling of rotor are detected for position sensor, and A, B letter
Numbers 90 ° orthogonal.According to the advanced or lagged relationship of rotor two-way orthogonal signalling, determine the current state of rotor for just
Turn or the detailed process of reversion is (by taking A, B orthogonal signalling as an example)：When the advanced B signal of a-signal, determine that current motor rotor is anti-
Turn；B signal after a-signal, determines current motor rotor to rotate forward.
It should be noted that：The advanced or lagged relationship of the content of table 2 and A, B orthogonal signalling can be believed by position
Number acquisition module 10 is recorded and is stored in EEPROM (Electrically Erasable Programmable Read-Only
Memory, EEPROM) in.
In one example, the initial position detection method of above-mentioned AC permanent magnet synchronous motor rotor, according to two-way just
Signal is handed over, is determined after the advanced or lagged relationship of rotor two-way orthogonal signalling, also included：
Determine the direction of the incrementss of angle generator；Detect the advanced or delayed pass of the two-way orthogonal signalling of rotor
Whether it is corresponding rotation direction consistent with the direction of incrementss；Detect the advanced of the two-way orthogonal signalling of rotor or
When the direction of the corresponding rotation direction of lagged relationship and incrementss is inconsistent, adjust rotor two-way orthogonal signalling it is advanced
Or lagged relationship.
Specifically, when rotor follows the angle that angle generator is generated slowly to rotate, the inspection of position signal acquisition mould
Survey the two-way orthogonal signalling of position sensor the corresponding rotation direction of advanced or lagged relationship and incrementss direction whether one
Cause；If Δ θ>0, and the technique direction of two-way orthogonal signalling is increase trend, then it is orthogonal without adjusting the two-way of rotor
The advanced or lagged relationship of signal；Or, if Δ θ<0, and the technique direction of two-way orthogonal signalling is reduction trend, then without
Adjust the advanced or lagged relationship of the two-way orthogonal signalling of rotor；Conversely, then needing the two-way for adjusting rotor orthogonal
The advanced or lagged relationship of signal.
It should be noted that the three-phase current that coordinate transformation module 3 detects current sensor 11 carries out Clark and Park
Quadrature axis current I is obtained after conversionqWith direct-axis current IdDetailed process be：
First, the three-phase current of the stator of AC permanent magnet synchronous motor 2 of the detection of current sensor 11 is respectively：ia, ib, then
ic=-(ia+ib), coordinate transformation module 3 is by ia, ib, icClark changes are carried out, the electric current point under two-phase rest frame is obtained
Amount, as iα, iβ, it is as follows that it changes formula：
Then, the electrical angle θ that conversion module 3 is generated according to angle generator, by the electricity under above-mentioned two-phase rest frame
Flow component iα, iβPARK conversion is carried out, the current component under two-phase synchronous rotary DQ coordinate systems, as I is obtainedd, Iq, its its change
Change formula as follows：
It should be noted that the current component I of the generation of target current maker 4dref、IqrefValue be：
In formula, IeeIt is the rated current of AC permanent magnet synchronous motor 2.
It should be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present invention constitutes any limit with its function and internal logic
It is fixed.
Embodiment three
Corresponding to the initial position detection method of the AC permanent magnet synchronous motor rotor described in foregoing embodiments, Fig. 7 shows
The structured flowchart of the initial position detection device of the AC permanent magnet synchronous motor rotor that the embodiment of the present invention three is provided, in order to just
In explanation, the part related to the embodiment of the present invention is illustrate only.
Reference picture 7, the device includes：Including：Acquisition module 301, data inquiry module 302, data processing module 303.
Wherein, acquisition module 301, the current each phase pulse signal for obtaining the rotor that position sensor is detected
Combinations of states.
Data inquiry module 302, the combinations of states of each phase pulse signal of the rotor for inquiring about pre- preservation
With the corresponding relation of the initial angle estimate of the rotor, the combinations of states pair of current each phase pulse signal is obtained
The initial angle estimate of the rotor answered.
The acquisition module 301, the combinations of states being additionally operable in current each phase pulse signal is switched to next each
During the combinations of states of phase pulse signal, the two-way orthogonal signalling of the rotor that position sensor is detected are obtained
Angle accumulated value.
Data processing module 303, for according to the initial angle estimate and the angle accumulated value, drawing the electricity
The initial angle angle value of machine rotor.
The beneficial effect that the embodiment of the present invention exists compared with prior art is：The exchange that embodiments of the invention are provided is forever
The initial position detection device of magnetic-synchro rotor, obtains current each phase pulse of the rotor that position sensor is detected
The combinations of states of signal, the combinations of states of each phase pulse signal of the pre- rotor for preserving of inquiry and the initial angle of rotor
The corresponding relation of estimate is spent, the initial angle for obtaining the corresponding rotor of combinations of states of current each phase pulse signal is estimated
Value, during the combinations of states of current each phase pulse signal is switched to the combinations of states of next each phase pulse signal, obtains
The angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected, it is orthogonal according to the rotor two-way
The advanced or lagged relationship of signal, the current state for determining the rotor is forward or reverse.The present invention is by detecting
The combinations of states of each phase pulse signal obtain the initial angle estimate of rotor, by current each phase pulse signal
Combinations of states be switched to during the combinations of states of next each phase pulse signal, the two-way orthogonal signalling for detecting are obtained just
The angle accumulated value of signal is handed over, then initial angle estimate and angle add up is worth to the initial angle angle value of rotor,
The initial angle angle value of rotor can be realized easily and quickly determining, and with accuracy and operability higher.
In one example, the acquisition module 301, is additionally operable to obtain each phase pulse of the rotor of pre- preservation
The corresponding relation of the combinations of states of signal and the initial angle estimate of the rotor.The acquisition module 301, specific bag
Include：Acquiring unit 3011, determining unit 3012, data saving unit 3013.Acquiring unit 3011, for obtaining angle generator
The angle value and incrementss of the rotor of generation, and in the rotor according to the angle value of the rotor
During rotating an electrical angle cycle with incrementss, each group of state of each phase pulse signal of the rotor is obtained
Combine the angular range of the corresponding rotor.Determining unit 3012, for the angular range according to the rotor,
Determine the initial angle estimate of the rotor.Data saving unit 3013, for according to each of the rotor
The combinations of states of each phase pulse signal of group and the initial angle estimate of the rotor, preserve each phase of the rotor
The corresponding relation of the combinations of states of pulse signal and the initial angle estimate of the rotor.
In one example, the determining unit 3012, obtains specifically for the angle value scope according to the rotor
Go out the median of the angle value scope of the rotor, and using the median of the angular range as the rotor
Initial angle estimate.
In one example, the acquisition module 301, being additionally operable to the 3rd acquisition module will obtain described in pre- preservation
Before the combinations of states of each phase pulse signal of rotor and the corresponding relation of the initial angle estimate of the rotor,
Obtain the two-way orthogonal signalling of the rotor that the position sensor is detected.Described device also includes：Processing module
304, for according to the two-way orthogonal signalling, determining the advanced or lagged relationship of the rotor two-way orthogonal signalling, with
And according to the advanced or lagged relationship of the rotor two-way orthogonal signalling, determine the current state of the rotor for just
Turn or invert.
In one example, the processing module 304, is additionally operable to, according to the two-way orthogonal signalling, determine the electricity
After the advanced or lagged relationship of machine rotor two-way orthogonal signalling, the direction of the incrementss of the angle generator is determined.It is described
Device also includes：Angle detecting module 305, signal adjusting module 306.Wherein, angle detecting module 305, it is described for detecting
The corresponding rotation direction of advanced or lagged relationship of the two-way orthogonal signalling of rotor and the direction of the incrementss whether one
Cause.Signal adjusting module 306, for detected in the angle detecting module rotor two-way orthogonal signalling it is super
When the corresponding rotation direction of preceding or lagged relationship is inconsistent with the direction of the incrementss, the two-way of the rotor is being adjusted just
Hand over the advanced or lagged relationship of signal.
It is apparent to those skilled in the art that, for convenience of description and succinctly, only with above-mentioned each work(
Energy unit, the division of module are carried out for example, in practical application, as needed can distribute by different above-mentioned functions
Functional unit, module are completed, will the internal structure of described device be divided into different functional unit or modules, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
Being that unit is individually physically present, it is also possible to which two or more units are integrated in a unit, above-mentioned integrated
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.In addition, each function list
Unit, the specific name of module are also only to facilitate mutually differentiation, is not limited to the protection domain of the application.Said system
The specific work process of middle unit, module, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Unit and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function, but this realization can be realized it is not considered that exceeding using distinct methods to each specific application
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by other
Mode is realized.For example, system embodiment described above is only schematical, for example, the division of the module or unit,
It is only a kind of division of logic function, there can be other dividing mode when actually realizing, such as multiple units or component can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection, can be electrical, mechanical or other forms.
The unit that is illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be according to the actual needs selected to realize the mesh of this embodiment scheme
's.
In addition, during each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is to realize in the form of SFU software functional unit and as independent production marketing or use
When, can store in a computer read/write memory medium.Based on such understanding, the technical scheme of the embodiment of the present invention
The part for substantially being contributed to prior art in other words or all or part of the technical scheme can be with software products
Form embody, the computer software product is stored in a storage medium, including some instructions are used to so that one
Computer equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform this hair
The all or part of step of bright embodiment each embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk,
Read-only storage (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic
Dish or CD etc. are various can be with the medium of store program codes.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although with reference to foregoing reality
Example is applied to be described in detail the present invention, it will be understood by those within the art that：It still can be to foregoing each
Technical scheme described in embodiment is modified, or carries out equivalent to which part technical characteristic；And these are changed
Or replace, do not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution, all should
It is included within protection scope of the present invention.
Claims (10)
1. a kind of initial position detection method of AC permanent magnet synchronous motor rotor, it is characterised in that including：
Obtain the combinations of states of current each phase pulse signal of the rotor that position sensor is detected；
The combinations of states of each phase pulse signal of the pre- rotor for preserving of inquiry and the initial angle of the rotor
The corresponding relation of estimate, obtains the initial angle of the corresponding rotor of combinations of states of current each phase pulse signal
Degree estimate；
During the combinations of states of current each phase pulse signal is switched to the combinations of states of next each phase pulse signal,
Obtain the angle accumulated value of the two-way orthogonal signalling of the rotor that position sensor is detected；
According to the initial angle estimate and the angle accumulated value, the initial angle angle value of the rotor is drawn.
2. the initial position detection method of AC permanent magnet synchronous motor rotor according to claim 1, it is characterised in that also
The combinations of states of each phase pulse signal including the pre- rotor for preserving of acquisition and the initial angle of the rotor
The corresponding relation of estimate, specially：
Obtain the angle value and incrementss of the rotor of angle generator generation；
During the rotor rotates an electrical angle cycle according to the angle value and incrementss of the rotor,
Obtain the angular range of the corresponding rotor of combinations of states of each group of each phase pulse signal of the rotor；
According to the angular range of the rotor, the initial angle estimate of the rotor is determined；
The combinations of states of each group of each phase pulse signal and the initial angle of the rotor according to the rotor are estimated
Evaluation, preserves the combinations of states and the initial angle estimate of the rotor of each phase pulse signal of the rotor
Corresponding relation.
3. the initial position detection method of AC permanent magnet synchronous motor rotor according to claim 2, it is characterised in that institute
The angle value scope according to the rotor is stated, determines that the initial angle estimate of the rotor is specially：
Angle value scope according to the rotor draws the median of the angle value scope of the rotor, and will be described
The median of angular range as the rotor initial angle estimate.
4. the initial position detection method of AC permanent magnet synchronous motor rotor according to claim 2, it is characterised in that
The combinations of states of each phase pulse signal that will obtain the pre- rotor for preserving and the initial angle of the rotor
Before spending the corresponding relation of estimate, also include：
Obtain the two-way orthogonal signalling of the rotor that the position sensor is detected；
According to the two-way orthogonal signalling, the advanced or lagged relationship of the rotor two-way orthogonal signalling is determined；
According to the advanced or lagged relationship of the rotor two-way orthogonal signalling, the current state for determining the rotor is
Forward or reverse.
5. the initial position detection method of AC permanent magnet synchronous motor rotor according to claim 4, it is characterised in that
It is described to be determined after the advanced or lagged relationship of the rotor two-way orthogonal signalling according to the two-way orthogonal signalling, go back
Including：
Determine the direction of the incrementss of the angle generator；
Detect the corresponding rotation direction of advanced or lagged relationship and the incrementss of the two-way orthogonal signalling of the rotor
Direction it is whether consistent；
Detecting the corresponding rotation direction of advanced or lagged relationship of the two-way orthogonal signalling of the rotor and the increasing
When the direction of dosage is inconsistent, the advanced or lagged relationship of the two-way orthogonal signalling of the rotor is adjusted.
6. a kind of initial position detection device of AC permanent magnet synchronous motor rotor, it is characterised in that including：
Acquisition module, the combinations of states of the current each phase pulse signal for obtaining the rotor that position sensor is detected；
Data inquiry module, the combinations of states and the electricity of each phase pulse signal of the rotor for inquiring about pre- preservation
The corresponding relation of the initial angle estimate of machine rotor, the combinations of states for obtaining current each phase pulse signal is corresponding described
The initial angle estimate of rotor；
The acquisition module, the combinations of states being additionally operable in current each phase pulse signal is switched to next each phase pulse letter
Number combinations of states during, the angle for obtaining the two-way orthogonal signalling of the rotor that position sensor is detected adds up
Value；
Data processing module, for according to the initial angle estimate and the angle accumulated value, drawing the rotor
Initial angle angle value.
7. the initial position detection device of AC permanent magnet synchronous motor rotor according to claim 6, it is characterised in that institute
Acquisition module is stated, the combinations of states for being additionally operable to obtain each phase pulse signal of the rotor of pre- preservation turns with the motor
The corresponding relation of the initial angle estimate of son；
The acquisition module, specifically includes：
Acquiring unit, angle value and incrementss for obtaining the rotor of angle generator generation, and described
During rotor rotates an electrical angle cycle according to the angle value and incrementss of the rotor, the electricity is obtained
The angular range of the corresponding rotor of combinations of states of each group of each phase pulse signal of machine rotor；
Determining unit, for the angular range according to the rotor, determines the initial angle estimate of the rotor；
Data saving unit, for the combinations of states and the motor of each group of each phase pulse signal according to the rotor
The initial angle estimate of rotor, preserves the combinations of states and the rotor of each phase pulse signal of the rotor
The corresponding relation of initial angle estimate.
8. the initial position detection device of AC permanent magnet synchronous motor rotor according to claim 7, it is characterised in that institute
Determining unit is stated, the angle value scope specifically for drawing according to the angle value scope of the rotor rotor
Median, and using the median of the angular range as the rotor initial angle estimate.
9. the initial position detection device of AC permanent magnet synchronous motor rotor according to claim 7, it is characterised in that institute
Acquisition module is stated, the shape that the 3rd acquisition module will obtain each phase pulse signal of the pre- rotor for preserving is additionally operable to
State is combined and before the corresponding relation of the initial angle estimate of the rotor, obtains what the position sensor was detected
The two-way orthogonal signalling of the rotor；
Described device also includes：
Processing module, for according to the two-way orthogonal signalling, determining the advanced or stagnant of the rotor two-way orthogonal signalling
Relation afterwards, and according to the advanced or lagged relationship of the rotor two-way orthogonal signalling, determine working as the rotor
Preceding state is forward or reverse.
10. the initial position detection device of AC permanent magnet synchronous motor rotor according to claim 9, it is characterised in that
The processing module, is additionally operable to, according to the two-way orthogonal signalling, determine the advanced of the rotor two-way orthogonal signalling
Or after lagged relationship, determine the direction of the incrementss of the angle generator；
Described device also includes：
Angle detecting module, the corresponding rotation of advanced or lagged relationship of the two-way orthogonal signalling for detecting the rotor
Whether direction is consistent with the direction of the incrementss；
Signal adjusting module, for detected in the angle detecting module rotor two-way orthogonal signalling it is advanced
Or the corresponding rotation direction of lagged relationship it is inconsistent with the direction of the incrementss when, the two-way for adjusting the rotor is orthogonal
The advanced or lagged relationship of signal.
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