CN106877776A - Determine the method that magneto controls position using rotary transformer outgoing position - Google Patents
Determine the method that magneto controls position using rotary transformer outgoing position Download PDFInfo
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- CN106877776A CN106877776A CN201710223831.9A CN201710223831A CN106877776A CN 106877776 A CN106877776 A CN 106877776A CN 201710223831 A CN201710223831 A CN 201710223831A CN 106877776 A CN106877776 A CN 106877776A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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Abstract
Determine the method that magneto controls position the invention provides a kind of utilization rotary transformer outgoing position, the processing procedures such as subregion, motor pre-determined bit and the calculating of control position are carried out by being exported to the decoded position of rotary transformer, the control position being under control needed for motor, solves the problems, such as that magneto number of pole-pairs mismatches the control position acquisition for causing with rotary transformer number of pole-pairs difficult.Can be realized using the inventive method it is unmatched to number of pole-pairs, and magneto number of pole-pairs more than rotary transformer number of pole-pairs magneto carry out the state square wave of accurate three-phase six control or vector controlled, breach limitation during rotary transformer type selecting.
Description
Technical field
Determine permanent magnetism using rotary transformer outgoing position the invention belongs to motor control technology field, more particularly to one kind
The method of motor control position.
Background technology
Rotary transformer is a kind of stabilization and efficient electromagnetic sensor, can measure the rotating shaft angle position of rotating object
Move and angular speed.It is made up of stator and rotor, and wherein stator winding receives excitation voltage as the primary side of transformer；And turn
Sub- winding obtains induced voltage as the secondary of transformer by electromagnetic coupled, can just be obtained after being decoded to induced voltage and turned
Speed and positional information.Rotary transformer has simple structure, sturdy and durable, easy to maintenance, contactless structure, stator and rotor
Be installed separately, strong antijamming capability, output absolute position and the good advantage of high speed performance, have been widely used for magneto three
The control of the state square wave of phase six and high performance vector control etc. are needed in the control process for detect rotor-position.
According to the number of number of pole-pairs, rotary transformer can be divided into two kinds of single pair of pole and multipair pole.Rotary transformer rotor
On motor shaft, with rotor synchronous rotary, functionally see：When rotor (rotary transformer rotor) goes to not
With locus when, by after decoding process, rotary transformer can export a corresponding positional value, this is to realize Permanent Magnet and Electric
The basis of machine control.In engineering, commonly using the precision that multipair pole rotary transformer raising motor rotor position is measured, but one
As require that the number of pole-pairs p of tested motor is the integral multiple of rotary transformer number of pole-pairs m, i.e. x=p/m, x=1,2,3,4 ....When
When x is integer, the position required for motor control is clear and definite with rotary transformer output relation, i.e. position required for controlled motor
It is one-to-one with the decoded position output valve of rotary transformer；But when x is not integer, each rotary transformer
Decoded position output valve can correspond to multiple different motor rotor positions, it is impossible to directly be controlled according to decoded positional value
Motor, such case is referred to as motor number of pole-pairs and is mismatched with rotary transformer number of pole-pairs.At present, many engineers think to work as x
When being not integer, realize that the accurate control of motor is impossible using rotary transformer detection motor rotor position, rotation becomes
Depressor type selecting has therefore suffered from limitation.
In fact, when magneto number of pole-pairs is not rotary transformer number of pole-pairs integral multiple, but when x is more than 1, Ke Yitong
Cross and the decoded position output valve of rotary transformer is processed to obtain the control position needed for controlled motor.But, forever
The control of the state square wave of magneto three-phase six realizes commutation using absolute position values, and vector controlled carries out coordinate using relative position
The selection of voltage vector is realized in change.So, when x is not integer, for different control modes, the rational treatment side of selection
Method determines that the control position of motor is very necessary.
The content of the invention
Magneto can be caused to control position acquisition because magneto number of pole-pairs and rotary transformer number of pole-pairs are mismatched
Difficult and no rational solution, for this problem, the present invention proposes a kind of true using rotary transformer outgoing position
Determine the method that magneto controls position, the control that the control of the state square wave of motor three-phase six and vector controlled need can be obtained respectively
Position processed.
A kind of utilization rotary transformer outgoing position determines the method that magneto controls position, it is characterised in that step is such as
Under：
Step 1：Determine rotary transformer outgoing position subregion：A is pressed by controller+B-、A+C-、B+C-、B+A-、C+A-、C+
B-Turn-on sequence send 6p two-phase framing signal successively, and 6p obtained after the decoding of journal rotary transformer exports
Positional value, respectively with m outgoing position value P minimum in 6p outgoing position valueiFor starting point carries out position subregion, wherein subregion
I is by PiAnd it is adjacent thereafterIndividual outgoing position value is constituted；
Wherein, p is motor number of pole-pairs, A+B-Represent that DC bus-bar voltage positive pole connects A phase windings, negative pole and connects B phase windings, A+
C-Represent that DC bus-bar voltage positive pole connects A phase windings, negative pole and connects C phase windings, B+C-Represent DC bus-bar voltage positive pole connect B phases around
Group, negative pole connect C phase windings, B+A-Represent that DC bus-bar voltage positive pole connects B phase windings, negative pole and connects A phase windings, C+A-Represent direct current
Busbar voltage positive pole connects C phase windings, negative pole and connects A phase windings, C+B-Represent that DC bus-bar voltage positive pole connects C phase windings, negative pole and meets B
Phase winding, i=1,2 ..., m, m are rotary transformer number of pole-pairs；
Step 2：Pre-determined bit is carried out before motor operation：Before motor operation, A is sent by controller+B-Two-phase positioning letter
Number, the outgoing position value P obtained after record rotary transformer decodingpre, PpreWith A is sent in step 1+B-Recorded during framing signal
Rotary transformer decoding after among p outgoing position value obtaining it is equal, its position subregion is also identical, if its
Position subregion is y, then controlled for the state square wave of three-phase six, makes square wave control position subregion to count initial value fc0=y, completes pre-
Positioning；For vector controlled, transmission A is found in position subregion y+C-After the rotary transformer decoding recorded during framing signal
The outgoing position value P for arriving*, according toCalculate the positional value P in a phase axis directiona, i.e., needed for vector controlled zero
Position, and it is v to make vector controlled area count initial valuec0=0, complete pre-determined bit；
Step 3：Determine motor control position：During motor operation, real-time detection rotary transformer outgoing position value Pmt, for
The state square wave of three-phase six is controlled, if the poor P of current time and previous moment outgoing position valueerrMeet | Perr|≤0.8*Pmax,
Then square wave control position subregion count value fcEqual to previous moment area count value, subregion fcMiddle outgoing position value is equal to PmtCorrespondence
Commutation position be motor square wave control needed for control position；If current time and the difference of previous moment outgoing position value
PerrMeet | Perr|>0.8*Pmax, then square wave is made to control position subregion count value fcPlus 1, be designated as z, then outgoing position in subregion z
Value is equal to PmtCorresponding commutation position is the required control position of motor square wave control；When square wave controls position subregion count value
fc>During m, f is madecIt is 1；
For vector controlled, if the poor P of current time and previous moment outgoing position valueerrMeet | Perr|≤0.8*
Pmax, then vector controlled area count value vcEqual to previous moment area count value, if now vc=0 and Pmt<Pa, then motor arrow
Measure control needed for control position byIt is calculated, otherwise, needed for motor vector controlled
Control position byIt is calculated；If current time and previous moment outgoing position value
Poor PerrMeet | Perr|>0.8*Pmax, then vector controlled position subregion count value v is madecPlus 1, if now vc=0 and Pmt<Pa,
Then the control position needed for motor vector controlled byIt is calculated, otherwise, motor vector control
System needed for control position byIt is calculated；As vector controlled position subregion count value vc
During=m, v is madecIt is 0；
Wherein, y ∈ [1, m], z ∈ [1, m+1], PmaxIt is the maximum of rotary transformer outgoing position value.
The beneficial effects of the invention are as follows：Made a reservation for by carrying out subregion, motor to the decoded position output of rotary transformer
The processing procedure such as position and the calculating of control position, the control position needed for the motor that is under control solves magneto number of pole-pairs
The difficult problem of the control position acquisition for causing is mismatched with rotary transformer number of pole-pairs.It is right to be realized using the inventive method
Number of pole-pairs is unmatched, and magneto number of pole-pairs carries out accurate three-phase six more than the magneto of rotary transformer number of pole-pairs
State square wave is controlled or vector controlled, breaches limitation during rotary transformer type selecting.
Brief description of the drawings
Fig. 1 is that utilization rotary transformer outgoing position of the invention determines that magneto controls the method flow diagram of position
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples, and the present invention includes but are not limited to following implementations
Example.
It is the rotor-position of real-time detection motor using the purpose of rotary transformer in permanent magnet motor system, is the shape of three-phase six
The control of state square wave and vector controlled etc. provide control position, to realize to the accurately control of magneto ground.It is general to require in engineering
The rotary transformer number of pole-pairs m of selection is matched with magneto number of pole-pairs p, and p is the integral multiple of m, i.e. x=p/m, x=1,2, and 3,
4 ..., in other words, if magneto number of pole-pairs p is 1, then rotary transformer number of pole-pairs m can only be 1.Rotary transformer
Angle-measurement accuracy it is directly related with number of pole-pairs, number of pole-pairs is more, and precision is higher, to meet demand for control, it is sometimes necessary to
The selection more rotary transformers of number of pole-pairs, however, when also lacking suitable position processing method at present and being not integer to meet x
Demand, cause many engineers to generate a kind of wrong idea：When x is not integer, the position that rotary transformer is detected
It is not used to during motor control.As long as in fact, the position detected to rotary transformer carry out certain treatment can
To obtain the accurate control position required for motor control, the present invention proposes a kind of using the determination of rotary transformer outgoing position
The method that magneto controls position, as shown in Figure 1.Magneto and rotary transformer number of pole-pairs point that the present embodiment is used
Not Wei p=3 and m=2, be 0~P after rotary transformer position decodingmaxValue between=65535, specific method is as follows：
The first step：Rotary transformer outgoing position subregion
The phase winding of magneto two can produce induced field after being powered, the magnetic field and rotor permanent magnet magnetic field interaction,
Rotor fixed position to a fixed position can be allowed, when pressing A by controller+B-, A+C-, B+C-, B+A-, C+A-, C+B-, A+B-... ...
Turn-on sequence when sending 6p=18 two-phase framing signal successively, permanent magnet machine rotor can continuously turn over 360 ° of machineries counterclockwise
Angle, while exporting 18 positional values, these positional values are exactly the commutation position used when the state square wave of three-phase six is controlled, order
Record this 18 outgoing position value P1(A+B-)=6444, P1(A+C-)=13304, P1(B+C-)=19944, P1(B+A-)=27640,
P1(C+A-)=35016, P1(C+B-)=42100, P2(A+B-)=50072, P2(A+C-)=57296, P2(B+C-)=64300, P2(B+A-)=
6528, P2(C+A-)=13288, P2(C+B-)=20048, P3(A+B-)=27576, P3(A+C-)=34880, P3(B+C-)=41996,
P3(B+A-)=50996, P3(C+A-)=57300, P3(C+B-)=64276；
Can determine m=2 subregion by 18 outgoing position values determined above：Found most from these outgoing position values
2 small values, respectively P1=P1(A+B-)=6444, P2=P2(B+A-)=6528, will be with P1It is for starting point and adjacent backward therewith
AltogetherIndividual point is P1(A+B-)、P1(A+C-)、P1(B+C-)、P1(B+A-)、P1(C+A-)、P1(C+B-)、P2(A+B-)、P2(A+C-)、P2(B+C-)Divide
It is subregion 1, will be with P2For remaining 9 points of starting point are divided into subregion 2.
Second step：Pre-determined bit is carried out before motor operation
1st, the state square wave control mode of three-phase six：
A is sent by controller+B-Two-phase Continuity signal, obtain outgoing position value Ppre, PpreWith 3 hairs in step 1
Send A+B-When the outgoing position value (P that determines1(A+B-)=6444, P2(A+B-)=50072, P3(A+B-)=27576) in one it is equal,
Subregion where it is also identical, makes square wave control area count initial value fc0Equal to the regional number, even Ppre=6444, fc0=1,
If Ppre=50072, fc0=1, if Ppre=27576, fc0=2.
2nd, vector control mode：
A is sent by controller+B-Two-phase Continuity signal, obtain outgoing position value Ppre, PpreWith 3 hairs in step 1
Send A+B-When the outgoing position value (P that determines1(A+B-)=6444, P2(A+B-)=50072, P3(A+B-)=27576) in one it is equal,
Subregion where it is also identical, and transmission A is found in the subregion+C-When the outgoing position value P that determines*, according toCalculate
Zero-bit needed for going out the positional value in a phase axis direction, i.e. vector control mode, it is assumed that Ppre=P1(A+B-)=6444, the same area
Interior transmission A+C-When the outgoing position value P that determines*=13304, thenAt the beginning of making vector controlled area count
Initial value is vc0=0.
3rd step：Determine motor control position
1st, the state square wave control mode of three-phase six：
To normal rotation, for the state square wave control mode of three-phase six, 18 outgoing position values are exactly actual need to motor
The control position wanted, the commutation moment can be determined according to these positions.
In motor operation course, real-time detection motor rotor position PmtIf, current time and previous moment outgoing position
The poor P of valueerrMeet | Perr|≤0.8*Pmax=52428, then square wave control position subregion count value fcEqual to previous moment region
Count value, in the present embodiment, fcEqual to 1 or 2, subregion fcMiddle outgoing position value is equal to PmtCorresponding commutation position is motor side
Control position needed for ripple control, it is assumed that fc=1, then when meeting P1(A+B-)≤Pmt≤P1(A+C-)When, send the conducting letter of B+C-
Number, then when meeting P1(A+C-)≤Pmt≤P1(B+C-)When, the Continuity signal of B+A- is sent, in this way, motor rotates；If current time
With the poor P of previous moment outgoing position valueerrMeet | Perr|>0.8*Pmax=52428, then make square wave control position subregion to count
Value fcPlus 1, be designated as z, then outgoing position value is equal to P in subregion zmtCorresponding commutation position is the required control of motor square wave control
Position processed；As square wave control position subregion count value fc>During m, f is madecIt is 1.
2nd, vector control mode：
Control position needed for magneto vector controlled is relative position (relative to a phase axis direction position), and by
Angle or radian are represented, on the basis of the initial position that second step determines a phase axis, real-time detection motor rotor position
Pmt。
Current time and the poor P of previous moment outgoing position valueerrMeet | Perr|≤0.8*Pmax=52428, then vector control
Area count value v processedcEqual to previous moment area count value, if now vc=0 and Pmt<Pa=9874, then motor vector controlled
Required control position byIt is calculated, otherwise,
Control position needed for motor vector controlled byIt is calculated；Such as
Fruit current time and the poor P of previous moment outgoing position valueerrMeet | Perr|>0.8*Pmax=52428, then make vector controlled position
Put subregion count value vcPlus 1, if now vc=0 and Pmt<Pa=9874, then the control position needed for motor vector controlled byIt is calculated, otherwise, needed for motor vector controlled
Control position byIt is calculated, even vc=1, thenAs vector controlled position subregion count value vcDuring=m, v is madecIt is 0.
Claims (1)
1. a kind of utilization rotary transformer outgoing position determines the method that magneto controls position, it is characterised in that step is such as
Under：
Step 1：Determine rotary transformer outgoing position subregion：A is pressed by controller+B-、A+C-、B+C-、B+A-、C+A-、C+B-'s
Turn-on sequence sends the 6p outgoing position obtained after 6p two-phase framing signal, and the decoding of journal rotary transformer successively
Value, respectively with m outgoing position value P minimum in 6p outgoing position valueiFor starting point carries out position subregion, wherein subregion i is by Pi
And it is adjacent thereafterIndividual outgoing position value is constituted；
Wherein, p is motor number of pole-pairs, A+B-Represent that DC bus-bar voltage positive pole connects A phase windings, negative pole and connects B phase windings, A+C-Represent
DC bus-bar voltage positive pole connects A phase windings, negative pole and connects C phase windings, B+C-Represent that DC bus-bar voltage positive pole connects B phase windings, negative pole
Connect C phase windings, B+A-Represent that DC bus-bar voltage positive pole connects B phase windings, negative pole and connects A phase windings, C+A-Represent DC bus-bar voltage
Positive pole connects C phase windings, negative pole and connects A phase windings, C+B-Represent that DC bus-bar voltage positive pole connects C phase windings, negative pole and connects B phase windings, i
=1,2 ..., m, m are rotary transformer number of pole-pairs；
Step 2：Pre-determined bit is carried out before motor operation：Before motor operation, A is sent by controller+B-Two-phase framing signal, note
The outgoing position value P obtained after record rotary transformer decodingpre, PpreWith A is sent in step 1+B-The rotation recorded during framing signal
One among the p outgoing position value obtained after transformer decoding is equal, and its position subregion is also identical, if its position point
Area is y, then controlled for the state square wave of three-phase six, makes square wave control position subregion to count initial value fc0=y, completes pre-determined bit；
For vector controlled, transmission A is found in position subregion y+C-What is obtained after the rotary transformer decoding recorded during framing signal is defeated
Out position value P*, according toCalculate the positional value P in a phase axis directiona, i.e., the zero-bit needed for vector controlled, and
It is v to make vector controlled area count initial valuec0=0, complete pre-determined bit；
Step 3：Determine motor control position：During motor operation, real-time detection rotary transformer outgoing position value Pmt, for three-phase
Six state square waves are controlled, if the poor P of current time and previous moment outgoing position valueerrMeet | Perr|≤0.8*Pmax, then it is square
Ripple control position subregion count value fcEqual to previous moment area count value, subregion fcMiddle outgoing position value is equal to PmtIt is corresponding to change
Phase position is the required control position of motor square wave control；If current time and the poor P of previous moment outgoing position valueerr
Meet | Perr|>0.8*Pmax, then square wave is made to control position subregion count value fcPlus 1, be designated as z, then outgoing position value etc. in subregion z
In PmtCorresponding commutation position is the required control position of motor square wave control；As square wave control position subregion count value fc>m
When, make fcIt is 1；
For vector controlled, if the poor P of current time and previous moment outgoing position valueerrMeet | Perr|≤0.8*Pmax, then
Vector controlled area count value vcEqual to previous moment area count value, if now vc=0 and Pmt<Pa, then motor vector controlled
Required control position byIt is calculated, otherwise, the control bit needed for motor vector controlled
Put byIt is calculated；If current time and the poor P of previous moment outgoing position valueerr
Meet | Perr|>0.8*Pmax, then vector controlled position subregion count value v is madecPlus 1, if now vc=0 and Pmt<Pa, then motor
Control position needed for vector controlled byIt is calculated, otherwise, motor vector controlled institute
Need control position byIt is calculated；As vector controlled position subregion count value vc=m
When, make vcIt is 0；
Wherein, y ∈ [1, m], z ∈ [1, m+1], PmaxIt is the maximum of rotary transformer outgoing position value.
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| CN108562307A (en) * | 2018-03-30 | 2018-09-21 | 北京控制工程研究所 | It is a kind of based on n to the self-correcting angle-measuring method of pole inductosyn |
| CN112491321A (en) * | 2020-11-19 | 2021-03-12 | 潍柴动力股份有限公司 | Rotary transformer pole pair number identification method and motor |
| CN112544034A (en) * | 2018-08-08 | 2021-03-23 | 日本电产株式会社 | Position estimation method, motor control device, and motor system |
| CN112821817A (en) * | 2021-02-18 | 2021-05-18 | 深圳市风发科技发展有限公司 | Synchronous motor control position determining method and device, computer equipment and storage medium |
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| CN202940767U (en) * | 2012-11-27 | 2013-05-15 | 联合汽车电子有限公司 | System for calibrating zero position angle of resolver rotor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108562307A (en) * | 2018-03-30 | 2018-09-21 | 北京控制工程研究所 | It is a kind of based on n to the self-correcting angle-measuring method of pole inductosyn |
| CN112544034A (en) * | 2018-08-08 | 2021-03-23 | 日本电产株式会社 | Position estimation method, motor control device, and motor system |
| CN112491321A (en) * | 2020-11-19 | 2021-03-12 | 潍柴动力股份有限公司 | Rotary transformer pole pair number identification method and motor |
| CN112491321B (en) * | 2020-11-19 | 2022-07-29 | 潍柴动力股份有限公司 | Rotary transformer pole pair number identification method and motor |
| CN112821817A (en) * | 2021-02-18 | 2021-05-18 | 深圳市风发科技发展有限公司 | Synchronous motor control position determining method and device, computer equipment and storage medium |
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