CN107404272B - Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system - Google Patents
Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system Download PDFInfo
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- CN107404272B CN107404272B CN201610322135.9A CN201610322135A CN107404272B CN 107404272 B CN107404272 B CN 107404272B CN 201610322135 A CN201610322135 A CN 201610322135A CN 107404272 B CN107404272 B CN 107404272B
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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Abstract
A kind of rotation of permanent magnet synchronous motor becomes zero-bit initial angle scaling method and calibration system, and the scaling method is comprising steps of the permanent magnet synchronous motor for installing rotary transformer is connected with a dragging motor；Make the motor stator three-phase shortcircuit of the permanent magnet synchronous motor；The dragging motor drives the permanent magnet synchronous motor to rotate forward and stablizes in desired speed；Three-phase current I of the electronic control unit to synchronizationa、Ib、IcBecome reading φ with rotationreadIt is sampled, becomes reading φ with rotationreadTo three-phase current Ia、Ib、IcPark transformation is carried out, current phasor I is obtaineds,p, and calculating current vector Is,pCorresponding vector angle θp；The dragging motor drives the permanent magnet synchronous motor to invert and stablizes in desired speed；When the electronic control unit records motor reversal, current phasor Is,nCorresponding vector angle θn；According toIt calculates rotation and becomes the corresponding motor stator of reading zero point angle actually electrical rotational angle theta0As zero-bit initial angle.
Description
Technical field
The present invention relates to the technical field of driving motor, in particular to a kind of permanent magnet synchronous motor rotation becomes the initial footmark of zero-bit
Determine method and calibration system.
Background technique
Permanent magnet synchronous motor is high-efficient, power density is big, is the mainstream driving motor on electric car.Permanent magnet synchronous motor
High quality control need accurately to detect rotor electrical angle.Rotary transformer referred to as rotation becomes, and is a kind of angular transducer, tool
There are adverse environment resistant, vibration resistance, high reliability, high-precision, be more and more widely used, uses rotary transformer
Permanent magnet synchronous motor drive scheme as angular transducer is the mainstream scheme of current electric car driving.
When carrying out angle sensor to permanent magnet synchronous motor using rotary transformer, need to know the electrical of permanent magnet synchronous motor
Angle and rotation become the deviation between reading.As shown in Figure 1, it includes that rotation becomes rotor 51 and rotation set 52, permanent-magnet synchronous that rotation, which becomes,
Motor includes rotor 61 and motor stator 62, and rotation becomes rotor 51 and is fixed on rotor 61, and rotation set 52 is fixed on
On motor stator 62.Rotor 61 is φ relative to the electrical corner between motor stator 62rot, which is motor stator
Permanent magnet flux linkage positive direction (the D axis positive direction of rotor DQ coordinate system) of the 62 winding A phase direction to rotor 61
Angle；The reading become is revolved into angle φread.Become rotor 51 and motor due to revolving between set 52 and motor stator 62 and revolving
There is installation deviations between rotor 61, therefore φ under normal circumstancesrotAnd φreadAnd it is unequal, but there is a fixations
Deviation θ0, it may be assumed that
φrotFor the angle needed in real electrical machinery control calculating, φreadIt is the reading of rotary transformer.Only pass through one
Fixed method determines the two difference θ0, revolve the reading φ of changereadMotor control angle φ actually required can be just transformed intorot.Mark
Determine angle, θ0Process, be just called rotation become Zero positioning, or cry calibration permanent magnet synchronous motor zero-bit initial angle.
The precision that rotation becomes Zero positioning directly determines the control performance of permanent magnet synchronous motor.The calibration that rotation becomes zero point is general
It needs to carry out on electromechanical testing rack.Existing calibration technique generally requires special calibration facility other than testboard bay
Or additional aiding sensors, therefore calibration process is complicated, hardware requirement is higher.
Summary of the invention
It is revolved the purpose of the present invention is to provide a kind of permanent magnet synchronous motor and becomes zero-bit initial angle scaling method and calibration system,
Special calibration facility or additional aiding sensors are needed to solve the prior art, cause calibration process complicated and hardware requirement
Higher problem.
The present invention provides a kind of rotation of permanent magnet synchronous motor and becomes zero-bit initial angle scaling method, for installing rotation transformation
The permanent magnet synchronous motor of device carries out the calibration of zero-bit initial angle, which is driven by electric machine controller, the motor control
Device processed includes that three phase inverter bridge, electronic control unit and rotation become decoding circuit, is set in the wherein at least two-phase of the three phase inverter bridge
There is phase current sensor to detect electric machine phase current signal and be transferred to the electronic control unit, which becomes decoding circuit and the electricity
Sub-control unit and the rotary transformer are connected, which becomes decoding circuit and receive the output signal of the rotary transformer and by the rotation
The rotation that the output signal of transformation depressor decodes becomes measurement angle and is transferred to the electronic control unit, which includes step
It is rapid:
S1: the permanent magnet synchronous motor is connected with a dragging motor；
S2: make the motor stator three-phase shortcircuit of the permanent magnet synchronous motor；
S3: the dragging motor drives the permanent magnet synchronous motor to rotate forward and stablizes in desired speed；
S4: three-phase current I of the electronic control unit to synchronizationa、Ib、IcBecome reading φ with rotationreadIt is sampled,
Become reading φ with rotationreadTo three-phase current Ia、Ib、IcPark transformation is carried out, current phasor I is obtaineds,p, and calculating current vector
Is,pCorresponding vector angle θp；
S5: the dragging motor drives the permanent magnet synchronous motor to invert and stablizes identical revolving speed when with rotating forward；
S6: three-phase current I of the electronic control unit to synchronizationa、Ib、IcBecome reading φ with rotationreadIt is sampled,
Become reading φ with rotationreadTo three-phase current Ia、Ib、IcPark transformation is carried out, current phasor I is obtaineds,n, and calculating current vector
Is,nCorresponding vector angle θn；And
S7: according toThe corresponding motor stator reality of rotation change reading zero point angle is calculated electrically to turn
Angle θ0As zero-bit initial angle.
Further, the direct-flow input end of the three phase inverter bridge is open circuit, in step s 2, by simultaneously turning on three-phase
On bridge arm first, third and the 5th switching tube or simultaneously turn on the second, the 4th and the 6th switching tube in three-phase lower bridge arm,
So that the motor stator three-phase shortcircuit of the permanent magnet synchronous motor.
Further, the direct-flow input end connection of the three phase inverter bridge has DC power supply, in step s 2, by leading simultaneously
On logical three-phase on bridge arm first, third and the 5th switching tube or simultaneously turn on the second, the 4th in three-phase lower bridge arm and the
Six switching tubes, so that the motor stator three-phase shortcircuit of the permanent magnet synchronous motor.
Further, the direct-flow input end of the three phase inverter bridge is by conducting wire direct short-circuit, so that the permanent magnet synchronous electric
The motor stator three-phase shortcircuit of machine.
Further, when carrying out step S4, continuous sampling multi-group data (Ia,Ib,Ic,φread)1, (Ia,Ib,Ic,
φread)2, (Ia,Ib,Ic,φread)3... (Ia,Ib,Ic,φread)N, then each group of data are calculated, obtain θp1,
θp2, θp3... θpN, then it is averaged to obtain vector angle θp；When carrying out step S6, continuous sampling multi-group data (Ia,Ib,
Ic,φread)1, (Ia,Ib,Ic,φread)2, (Ia,Ib,Ic,φread)3... (Ia,Ib,Ic,φread)N, then to each group of data
It is calculated, obtains θn1, θn2, θn3... θnN, then it is averaged to obtain vector angle θn。
Further, it when carrying out step S3 to S6, is alternately repeated and carries out step S3, S4 and S5, S6, then to every time just
The result calculated when turning averages to obtain vector angle θp, the result calculated when inverting every time is averaged to obtain azimuth
Spend θn。
Further, it when carrying out step S3 to S6, is demarcated under different rotating speeds using the dragging motor, then
It is averaged to the calibration result under different rotating speeds to obtain zero-bit initial angle θ0。
Further, which still further comprises the zero-bit initial angle θ for obtaining calibration0It is stored directly in this
In the memory of electronic control unit.
The present invention also provides a kind of calibration system for executing the rotation of above-mentioned permanent magnet synchronous motor and becoming zero-bit initial angle scaling method,
The calibration system includes dragging motor and the permanent magnet synchronous motor for installing rotary transformer, and the permanent magnet synchronous motor is by motor
Controller driving, the electric machine controller include that three phase inverter bridge, electronic control unit and rotation become decoding circuit, the three phase inverter bridge
Wherein at least two-phase be equipped with phase current sensor to detect electric machine phase current signal and be transferred to the electronic control unit, should
Rotation becomes decoding circuit and is connected with the electronic control unit and the rotary transformer, which becomes decoding circuit and receive the rotary transformer
Output signal and rotation that the output signal of the rotary transformer decodes become into measurement angle be transferred to the electronic control list
Member, the dragging motor are connected for driving the permanent magnet synchronous motor main story or reversion with the permanent magnet synchronous motor.
Permanent magnet synchronous motor rotation provided in an embodiment of the present invention becomes zero-bit initial angle scaling method and calibration system, in addition to dragging
Except dynamic motor, the equipment additional without other, without increasing additional hardware circuit in electric machine controller, directly using forever
Magnetic-synchro electric machine controller itself can complete the Zero positioning become to rotation, and proving operation is easy, and calculation method is simply bright
, equipment and process that permanent magnet synchronous motor rotation becomes calibration are simplified, the dependence to equipment is reduced.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects, features and advantages of the invention can
It is clearer and more comprehensible, special below to lift preferred embodiment and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the schematic illustration that rotation becomes Zero positioning in permanent magnet synchronous motor.
Fig. 2 is the hardware structural diagram of calibration system in the embodiment of the present invention.
Fig. 3 is the flow chart of scaling method in the embodiment of the present invention.
Fig. 4 is the coordinate system schematic diagram established in the embodiment of the present invention.
Specific embodiment
It is of the invention to reach the technical means and efficacy that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment, to specific embodiment proposed according to the present invention, structure, feature and effect, detailed description is as follows.
The embodiment of the invention provides a kind of rotations suitable for permanent magnet synchronous motor to become Zero positioning method, the scaling method
It needs common electromechanical testing rack only to drag permanent magnet synchronous motor by given speed constant-speed operation, is not necessarily to other any additional electrics
Road and aiding sensors, becoming decoding circuit using the phase current sensor and rotation of electric machine controller itself can be achieved with rotation change zero-bit
Calibration.
As shown in Fig. 2, the calibration system of the embodiment of the present invention includes dragging motor 20 and installs rotary transformer 14
The permanent magnet synchronous motor 13 of (referred to as rotation becomes).Rotation becomes 14 and has installed on permanent magnet synchronous motor 13, wherein it includes rotation that rotation, which becomes 14,
Become rotor and rotation set, permanent magnet synchronous motor 13 includes rotor and motor stator, and rotation becomes rotor and is fixed on rotor
On, rotation set is fixed on motor stator.Dragging motor 20 is connected by shaft coupling 30 with permanent magnet synchronous motor 13, dragging electricity
Machine 20 can drive 13 synchronous forward of permanent magnet synchronous motor or rotate backward.Two motors 13,20 can be fixed on rigid support
In (not shown).
Permanent magnet synchronous motor 13 can be driven by electric machine controller 12, can be using electricity in the motor course of work
Machine controller 12 controls permanent magnet synchronous motor 13 by instruction operation.It include typical three contrary inside electric machine controller 12
Become bridge 121, core is 6 switching tubes (Q1~Q6).The friendship of the three-phase output and permanent magnet synchronous motor 13 of three phase inverter bridge 121
Stream input is connected.The direct-flow input end of three phase inverter bridge 121 can open a way, and can also be connected with DC power supply, can also be logical
Cross conducting wire direct short-circuit (the case where in Fig. 2 to open a way).In the three-phase output of three phase inverter bridge 121, wherein at least set in two-phase
There is phase current sensor 125 (when detecting the phase current in two-phase, the electricity of the phase on third phase to can be obtained by simple computation
Stream), it is also possible to be designed with phase current sensor 125 on three-phase, for measuring electric machine phase current.
There are also control circuits for 12 inside of electric machine controller, wherein control circuit relevant to rotation change calibration includes: motor control
The electronic control unit 122 (ECU) of device 12 processed and rotation become decoding circuit 123.Electronic control unit 122 specifically can be DSP,
Or FPGA or other kinds of electronic control unit.The electricity that phase current sensor 125 on three phase inverter bridge 121 will test
Machine phase current signal (Ia、Ib、Ic) it is transferred to electronic control unit 122.Rotation become decoding circuit 123 and electronic control unit 122 and
Rotation becomes 14 and is connected.Rotation becomes decoding circuit 123 for driving rotation to become 14 work, and receives the output signal that rotation becomes 14, then will rotation
Become the rotation that output signal decodes and becomes measurement angle (i.e. rotation change reading φread) it is transferred to electronic control unit 122.
With reference to Fig. 3 to Fig. 4, in calibration, establishes and revolve change rotor D0Q0 coordinate system, under D0Q0 coordinate system, current phasor
(Id, Iq) and motor three-phase current (Ia, Ib, Ic), rotation become reading φreadBetween transformation relation such as following formula (2) shown in, i.e. institute
Meaning is with φreadPark transformation is carried out for angle.
Then it follows the steps below rotation and becomes Zero positioning:
S1: the permanent magnet synchronous motor 13 for installing rotary transformer 14 is connected with dragging motor 20.
For example, dragging motor 20 is connected by shaft coupling 30 with permanent magnet synchronous motor 13, so that dragging motor 20 can band
Dynamic 13 main story of permanent magnet synchronous motor or reversion.
S2: make the motor stator three-phase shortcircuit of permanent magnet synchronous motor 13.
When the direct-flow input end of three phase inverter bridge 121 is open circuit (as shown in Figure 2), by simultaneously turning on three-phase on bridge arm
First, third and the 5th switching tube (i.e. Q1, Q3, Q5) or simultaneously turn in three-phase lower bridge arm the second, the 4th and the 6th
Switching tube (Q2, Q4, Q6), so that the motor stator three-phase shortcircuit of permanent magnet synchronous motor 13.
When the direct-flow input end connection of three phase inverter bridge 121 has DC power supply (not shown), by simultaneously turning on three-phase
On bridge arm first, third and the 5th switching tube (i.e. Q1, Q3, Q5) or simultaneously turn in three-phase lower bridge arm the second, the 4th
With the 6th switching tube (Q2, Q4, Q6) so that the motor stator three-phase shortcircuit of permanent magnet synchronous motor 13.
It can also be by the direct-flow input end of three phase inverter bridge 121 by the connected direct short-circuit of conducting wire, so that permanent magnet synchronous electric
The motor stator three-phase shortcircuit of machine 13.
S3: dragging motor 20 drives permanent magnet synchronous motor 13 to rotate forward and stablize in desired speed n.Desired speed n's is big
It is small to can choose as the rated speed of dragging motor 20, or selected according to other principles.
S4: as normal vector controlled, three-phase current I of the electronic control unit 122 to synchronizationa、Ib、IcWith
Rotation becomes reading φreadIt is sampled, becomes reading φ with rotationreadTo three-phase current Ia、Ib、IcCarrying out Park transformation, (Park is converted
Well-known technique), obtain the current phasor I under D0Q0 coordinate systems,p, and calculating current vector Is,pCorresponding vector angle θp.This
It is as follows to locate Park transformation calculations formula:
S5: dragging motor 20 drives permanent magnet synchronous motor 13 to invert and stablizes identical desired speed n when with rotating forward.
S6: as above-mentioned steps S4, three-phase current I of the electronic control unit 122 to synchronizationa、Ib、IcBecome with rotation
Read φreadIt is sampled, becomes reading φ with rotationreadTo three-phase current Ia、Ib、IcPark transformation is carried out, D0Q0 coordinate system is obtained
Under current phasor Is,n, and calculating current vector Is,nCorresponding vector angle θn.Park transformation calculations formula is as follows herein:
In above step S4, S6, " synchronization " sampling refers to: 4 sampled value (Ia、Ib、Ic、φread) corresponding adopt
Very little is differed between the sample moment, for example 4 samplings are completed within 5/1000ths times in current of electric period, but are not limited to
This.
S7: rotation is calculated according to the following formula and becomes the corresponding motor stator of reading zero point angle actually electrical rotational angle theta0As zero-bit
Initial angle:
According to the above method, just completes the zero deviation that 14 are become to rotation and demarcate.Demarcate the zero-bit initial angle θ obtained0It can
To be stored directly in the Nonvolatile memory of electronic control unit 122, operator can also be sent to by communication interface
Or other receiving ends.
Permanent magnet synchronous motor 13 can induce short circuit current in motor stator when motor stator three-phase shortcircuit is run.It should
The size of electric current is main related with motor speed, motor stator internal resistance, motor stator inductive nature, the characteristic of rotor permanent magnet.
But when motor speed is sufficiently high, DQ coordinate system (taking rotor permanent magnet magnetic linkage direction as the rotor coordinate of D axis foundation)
Under, electric motor short circuit current phasor is basically stable at close to a fixed position of D axis negative direction, very close-D axis, Er Qiezheng
Short circuit current vector point is distributed in D axis both sides about D axial symmetry when turning and inverting.Therefore control motor positive and inverse revolving speed is identical,
Since other influences factor is almost unchanged, obtained Is,pAnd Is,nVery close-D the axis of two current phasors, Er Qieji
About-D axial symmetry, thus the two vector angle be averaged be exactly-D axis angle.And directly use φreadCarry out Park transformation
For obtained D0 axis to the angle of D axis, the rotation for exactly needing to demarcate becomes zero-bit initial angle θ0。
In step S3, S5, the desired speed n rotated and reverse after stablizing should be identical.
In step S4, S6, to Ia、Ib、IcAnd φreadSampling to accomplish to synchronize as far as possible, the time difference between any two
It is the smaller the better.
Sequencing between above-mentioned steps S3, S4 and S5, S6 can be interchanged.
Furthermore it is also possible to improve stated accuracy by following Optimized Measures:
Measure is 1.: can be with continuous sampling multi-group data (I when carrying out step S4a,Ib,Ic,φread)1, (Ia,Ib,Ic,
φread)2, (Ia,Ib,Ic,φread)3... (Ia,Ib,Ic,φread)N, then each group of data are calculated, obtain θp1,
θp2, θp3... θpN, then it is averaged to obtain vector angle θp, to obtain more accurate θp。
Identical method can be used in step s 6, i.e., can be with continuous sampling multi-group data (I when carrying out step S6a,Ib,
Ic,φread)1, (Ia,Ib,Ic,φread)2, (Ia,Ib,Ic,φread)3... (Ia,Ib,Ic,φread)N, then to each group of data
It is calculated, obtains θn1, θn2, θn3... θnN, then it is averaged to obtain vector angle θn, to obtain more accurate θn。
Sampling interval T between two adjacent groups datasIt is general identical, for example be current of electric cycle TacOne percent
One.Data count N preferably just corresponds to a current of electric period, i.e. Ts* N=Tac。
Measure is 2.: be alternately repeated and carry out step S3, S4 and S5, S6, i.e., first rotate forward it is primary, then invert again it is primary, again
It rotates forward, inverts, loop back and forth like this again, then the result calculated when rotating forward every time is averaged to obtain vector angle θp,
The result calculated when to each reversion averages to obtain vector angle θn.Such as motor temperature variation etc can be excluded in this way
Factor caused by error.
Measure is 3.: using dragging motor 20 in different revolving speed (n1, n2, n3...) demarcated, then to different rotating speeds
Under calibration result be averaged to obtain zero-bit initial angle θ0。
1. 2. 3. measure can be independently operated, or be used together above, and the precision of calibration can be improved.
In the present embodiment, three phase inverter bridge 121, phase current sensor 125, electronic control unit that measurement and calibration are used
122, rotation becomes the component that decoding circuit 123 is all ordinary motor controller 12, and circuit connection and motor control from each other
It is the same when device 12 processed operates normally, the only not torque of actuating motor or the revolving speed control at this time of electronic control unit 122.
The rotation that the embodiment of the present invention proposes becomes initial zero position angle calibration, and permanent magnet synchronous motor three short circuit current is utilized
Characteristic, be a kind of completely new calibration idea and method.This method (is provided with dragging motor in addition to ordinary motor testboard bay
20, and dragging motor 20 can be controlled in constant-speed operation) except, it is not necessarily to any other extras, directly uses motor
Phase current sensor 125 and processing circuit (electronic control unit 122 and rotation become decoding circuit 123) energy of controller 12 itself
Rotation is become and is demarcated.
Since the embodiment of the present invention is other than dragging motor 20, the equipment additional without other, without in motor control
Increase additional hardware inside device, directly use electric machine controller 12 itself, can complete to become rotation 14 Zero positioning, Er Qiebiao
Fixed easy to operate, calculating is simple and clear, simplifies equipment and process that permanent magnet synchronous motor rotation becomes calibration, reduces to equipment
It relies on.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
It is right according to the technical essence of the invention for the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention
Any simple modification, equivalent change and modification made by above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (9)
1. a kind of permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method, for the permanent-magnet synchronous for installing rotary transformer
Motor carries out the calibration of zero-bit initial angle, which is driven by electric machine controller, which includes three-phase
Inverter bridge, electronic control unit and rotation become decoding circuit, and the wherein at least two-phase of the three phase inverter bridge is sensed equipped with phase current
Device to detect electric machine phase current signal and be transferred to the electronic control unit, the rotation become decoding circuit and the electronic control unit and
The rotary transformer is connected, which becomes decoding circuit and receive the output signal of the rotary transformer and by the defeated of the rotary transformer
The rotation that signal decodes out becomes measurement angle and is transferred to the electronic control unit, which is characterized in that the scaling method includes step
It is rapid:
S1: the permanent magnet synchronous motor is connected with a dragging motor；
S2: make the motor stator three-phase shortcircuit of the permanent magnet synchronous motor；
S3: the dragging motor drives the permanent magnet synchronous motor to rotate forward and stablizes in desired speed；
S4: three-phase current I of the electronic control unit to synchronizationa、Ib、IcBecome reading φ with rotationreadIt is sampled, is become with rotation
Read φreadTo three-phase current Ia、Ib、IcPark transformation is carried out, current phasor I is obtaineds,p, and calculating current vector Is,pIt is corresponding
Vector angle θp；
S5: the dragging motor drives the permanent magnet synchronous motor to invert and stablizes identical revolving speed when with rotating forward；
S6: three-phase current I of the electronic control unit to synchronizationa、Ib、IcBecome reading φ with rotationreadIt is sampled, is become with rotation
Read φreadTo three-phase current Ia、Ib、IcPark transformation is carried out, current phasor I is obtaineds,n, and calculating current vector Is,nIt is corresponding
Vector angle θn；And
S7: according toIt calculates rotation and becomes the corresponding motor stator of reading zero point angle actually electrical rotational angle theta0I.e.
For zero-bit initial angle.
2. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: the three-phase
The direct-flow input end of inverter bridge is open circuit, in step s 2, by simultaneously turn on three-phase on bridge arm first, third and the 5th
Switching tube simultaneously turns on the second, the 4th and the 6th switching tube in three-phase lower bridge arm, so that the electricity of the permanent magnet synchronous motor
Machine stator three-phase shortcircuit.
3. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: the three-phase
The direct-flow input end connection of inverter bridge has DC power supply, in step s 2, by simultaneously turning on three-phase first, the on bridge arm
Three and the 5th switching tube simultaneously turns on the second, the 4th and the 6th switching tube in three-phase lower bridge arm, so that the permanent-magnet synchronous
The motor stator three-phase shortcircuit of motor.
4. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: the three-phase
The direct-flow input end of inverter bridge is by conducting wire direct short-circuit, in step s 2, by simultaneously turning on three-phase the on bridge arm
One, third and the 5th switching tube or the second, the 4th and the 6th switching tube in three-phase lower bridge arm is simultaneously turned on, so that the permanent magnetism
The motor stator three-phase shortcircuit of synchronous motor.
5. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: carrying out
When step S4, continuous sampling multi-group data (Ia,Ib,Ic,φread)1, (Ia,Ib,Ic,φread)2, (Ia,Ib,Ic,φread)3...
(Ia,Ib,Ic,φread)N, then each group of data are calculated, obtain θp1, θp2, θp3... θpN, then it is averaged to obtain
Vector angle θp；When carrying out step S6, continuous sampling multi-group data (Ia,Ib,Ic,φread)1, (Ia,Ib,Ic,φread)2,
(Ia,Ib,Ic,φread)3... (Ia,Ib,Ic,φread)N, then each group of data are calculated, obtain θn1, θn2, θn3...
θnN, then it is averaged to obtain vector angle θn。
6. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: carrying out
It when step S3 to S6, is alternately repeated and carries out step S3, S4 and S5, S6, i.e., first rotate forward once, then invert again once, again just
Turn, invert, loop back and forth like this again, then the result calculated when rotating forward every time is averaged to obtain vector angle θp, right
The result calculated when reversion every time averages to obtain vector angle θn。
7. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: carrying out
It when step S3 to S6, is demarcated under different rotating speeds using the dragging motor, then to the calibration result under different rotating speeds
It is averaged to obtain zero-bit initial angle θ0。
8. permanent magnet synchronous motor rotation according to claim 1 becomes zero-bit initial angle scaling method, it is characterised in that: the calibration
Method still further comprises the zero-bit initial angle θ for obtaining calibration0It is stored directly in the memory of the electronic control unit.
It executes permanent magnet synchronous motor as claimed in any one of claims 1 to 8 rotation 9. a kind of and becomes zero-bit initial angle scaling method
Calibration system, which is characterized in that the calibration system includes dragging motor and the permanent magnet synchronous motor for installing rotary transformer,
The permanent magnet synchronous motor is driven by electric machine controller, which includes that three phase inverter bridge, electronic control unit and rotation become
Decoding circuit, the wherein at least two-phase of the three phase inverter bridge are equipped with phase current sensor to detect electric machine phase current signal and pass
It is defeated by the electronic control unit, which becomes decoding circuit and be connected with the electronic control unit and the rotary transformer, which becomes solution
Code circuit receives the output signal of the rotary transformer and the rotation for decoding the output signal of the rotary transformer becomes measurement
Angle is transferred to the electronic control unit, which is connected with the permanent magnet synchronous motor for driving the permanent magnet synchronous motor
Main story or reversion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322135.9A CN107404272B (en) | 2016-05-16 | 2016-05-16 | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610322135.9A CN107404272B (en) | 2016-05-16 | 2016-05-16 | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system |
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| Publication Number | Publication Date |
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| CN107404272A CN107404272A (en) | 2017-11-28 |
| CN107404272B true CN107404272B (en) | 2019-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610322135.9A Active CN107404272B (en) | 2016-05-16 | 2016-05-16 | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system |
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| CN108418492B (en) * | 2018-03-28 | 2019-08-27 | 北京理工大学 | A kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system |
| CN110752797A (en) * | 2018-07-18 | 2020-02-04 | 郑州宇通客车股份有限公司 | Method and system for testing electric angle of rotor of permanent magnet synchronous motor |
| CN109004875B (en) * | 2018-07-26 | 2020-10-23 | 上海汽车工业(集团)总公司 | Method for calculating zero angle of permanent magnet synchronous motor rotor position sensor and calibration method |
| CN110763996A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110784132B (en) * | 2018-07-27 | 2021-07-20 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110855194B (en) * | 2018-07-27 | 2021-11-12 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110784133B (en) * | 2018-07-27 | 2021-08-10 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN109039176B (en) * | 2018-08-31 | 2019-05-21 | 浙江台运汽车科技有限公司 | A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle |
| CN109239635B (en) * | 2018-09-30 | 2020-10-27 | 合肥巨一动力系统有限公司 | Permanent magnet synchronous motor rotary transformer zero calibration system and calibration method |
| CN109586250B (en) * | 2018-12-03 | 2020-05-08 | 中冶南方（武汉）自动化有限公司 | Detection and protection method for initial angle deviation of rotary transformer |
| CN111313784B (en) * | 2018-12-11 | 2021-04-06 | 广州汽车集团股份有限公司 | Method and system for measuring initial zero position of rotary transformer of permanent magnet synchronous motor |
| CN110365270A (en) * | 2018-12-25 | 2019-10-22 | 格至控智能动力科技（上海）有限公司 | Rotation for AC magnetoelectric machine becomes zero bias setting method |
| CN110601610B (en) * | 2019-09-20 | 2021-05-18 | 潍柴动力股份有限公司 | Method and device for identifying zero offset of permanent magnet synchronous motor and rotary transformer |
| CN110635742B (en) * | 2019-11-12 | 2021-06-11 | 阳光电源股份有限公司 | Initial position angle calibration method for permanent magnet synchronous motor and motor controller |
| CN111474474A (en) * | 2020-03-18 | 2020-07-31 | 智新科技股份有限公司 | Method for improving testing precision of rotary transformer static zero position of motor |
| CN111355412A (en) * | 2020-04-09 | 2020-06-30 | 吉利汽车研究院（宁波）有限公司 | Self-checking method and system for initial angle of rotary transformer zero position of permanent magnet synchronous motor |
| CN112532139B (en) * | 2020-12-16 | 2022-10-21 | 丽水方德智驱应用技术研究院有限公司 | Self-calibration method for initial angle of rotary transformer zero position of permanent magnet synchronous motor |
| CN113131800B (en) * | 2021-03-25 | 2022-12-27 | 格至控智能动力科技（上海）有限公司 | Permanent magnet synchronous motor rotary transformer signal fluctuation measuring device and using method thereof |
| CN113014174B (en) * | 2021-03-31 | 2022-12-16 | 苏州英威腾电力电子有限公司 | Method and system for detecting initial position of motor rotor and related components |
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