CN107482979A - Positioning method and device of motor rotor and single chip microcomputer - Google Patents
Positioning method and device of motor rotor and single chip microcomputer Download PDFInfo
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- CN107482979A CN107482979A CN201710692668.0A CN201710692668A CN107482979A CN 107482979 A CN107482979 A CN 107482979A CN 201710692668 A CN201710692668 A CN 201710692668A CN 107482979 A CN107482979 A CN 107482979A
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Classifications
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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
- H02P21/18—Estimation of position or speed
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Abstract
The invention provides a motor rotor positioning method, a motor rotor positioning device and a single chip microcomputerαValue of said UαA voltage having α axis component in αβ coordinate system representing a two-phase AC system, according to the UαValue calculating three-phase target voltage values to be applied to three-phase windings of the alternating current motor; and correspondingly applying the three-phase target voltage values to three-phase windings of the alternating current motor so as to position a motor rotor. The invention can ensure the current required by the positioning of the motor rotor, avoid the condition that the current required by the positioning of the motor rotor is too large or too small, simultaneously protect the alternating current motor from being damaged and prolong the service life of the motor.
Description
Technical field
The present invention relates to technical field of motors, more particularly to a kind of localization method of rotor, device and single-chip microcomputer.
Background technology
Vector controlled is the conventional control mode of alternating current generator, but the premise that the control mode is realized is to need accurate electricity
Machine rotor position.And alternating current generator is when doing initial position measurement, generally use UαPattern, i.e., to UαApplying constant voltage makes motor
Rotor fixed position.
The rotor localization method used at present is rule of thumb determined to UαThe voltage of application.But because motor does not have
Establish counter electromotive force, the excessive several volts of voltage, it is possible to cause the current increment of peaces up to a hundred, cause burn-down of electric motor；And some
Its static load is very big in device, if brownout, can produce the problem of being insufficient to allow rotor to position.
The content of the invention
It is an object of the invention to provide a kind of localization method of rotor, device and single-chip microcomputer, so as to solve
U in the prior artαThe empirically determined voltage value that applies of pattern causes electric current needed for rotor positioning excessive or too small
Problem.
To achieve these goals, the embodiment of the present invention provides a kind of localization method of rotor, including：
Obtain the three-phase electricity flow valuve of alternating current generator；
The three-phase electricity flow valuve is subjected to coordinate transform, obtains actual current value, the actual current value is used to represent two
There is the current value of α axis components in the α β coordinate systems of cross streams system；
U is calculated according to the actual current valueαValue, the UαRepresent that there is α axis components in the α β coordinate systems of two cross streams systems
Voltage；
According to the UαValue, which calculates, to be needed to apply to the three-phase target voltage values of the three-phase windings of the alternating current generator；
The three-phase target voltage values are corresponded to and applied to the three-phase windings of the alternating current generator, so that rotor is determined
Position.
Wherein, the step of three-phase electricity flow valuve of the acquisition alternating current generator, including：
By current sensor, the three-phase current signal of alternating current generator is obtained；
The three-phase current signal is subjected to A/D conversions, obtains the three-phase electricity flow valuve i of alternating current generatorU、iVAnd iW；
Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W of alternating current generator
Phase current.
Wherein, the three-phase electricity flow valuve is subjected to coordinate transform, the step of obtaining actual current value, including：
By the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain reality
Border current value iα；
Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two-phase
Exchanging has the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is beta -axis component in the α β coordinate systems of two cross streams systems
Current value.
Wherein, it is described that U is calculated according to the actual current valueαThe step of value, including：
The load current value of the previously given alternating current generator and the actual current value are subjected to proportional integration regulation,
Obtain UαValue.
Wherein, the load current value of the previously given alternating current generator and the actual current value are subjected to proportional integration
Regulation, obtains UαThe step of value, including：
By the load current value i* of the previously given alternating current generatorαWith the actual current value iαCarry out difference operation,
Obtain result of calculation △ iα；
By the result of calculation △ iαSubstitute into formula Uα=KPΔiα+KiΣΔiα, obtain UαValue；Wherein, KPExpression ratio system
Number；KiRepresent integral coefficient.
Wherein, according to the UαValue, which calculates, to be needed to apply to the three-phase target voltage values of the three-phase windings of the alternating current generator
The step of, including：
According to the UαValue and previously given UβValue, through space vector pulse width modulation, obtains three-phase pulse width modulated duty
Than the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；
According to the three-phase pulse width modulated dutycycle, it is calculated and the three-phase pulse width modulated dutycycle by inverter
Three-phase target voltage that is corresponding and needing three-phase windings of the application to the alternating current generator.
The embodiment of the present invention also provides a kind of positioner of rotor, including：
Acquisition module, for obtaining the three-phase electricity flow valuve of alternating current generator；
Coordinate transformation module, for the three-phase electricity flow valuve to be carried out into coordinate transform, obtain actual current value, the reality
Current value is used in the α β coordinate systems of two cross streams systems of expression the current value with α axis components；
First computing module, for calculating U according to the actual current valueαValue, the UαRepresent that the α β of two cross streams systems are sat
There is the voltage of α axis components in mark system；
Second computing module, for according to the UαValue, which calculates, to be needed to apply to the three of the three-phase windings of the alternating current generator
Phase target voltage values；
Rotor fixed position module, for by the three-phase target voltage values it is corresponding apply to the three-phase of the alternating current generator around
Group, so that rotor positions.
Wherein, the acquisition module includes：
Acquisition submodule, for by current sensor, obtaining the three-phase current signal of alternating current generator；
Analog-to-digital conversion submodule, for the three-phase current signal to be carried out into A/D conversions, obtain the three-phase electricity of alternating current generator
Flow valuve iU、iVAnd iW；
Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W of alternating current generator
Phase current.
Wherein, the coordinate transformation module includes：
Coordinate transform submodule, for by the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain actual current value iα；
Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two-phase
Exchanging has the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is beta -axis component in the α β coordinate systems of two cross streams systems
Current value.
Wherein, first computing module includes：
First calculating sub module, for by the load current value of the previously given alternating current generator and the actual current
Value carries out proportional integration regulation, obtains UαValue.
Wherein, first calculating sub module includes：
First computing unit, for by the load current value i* of the previously given alternating current generatorαWith the actual electricity
Flow valuve iαDifference operation is carried out, obtains result of calculation △ iα；
Second computing unit, for by the result of calculation △ iαSubstitute into formula Uα=KPΔiα+KiΣΔiα, obtain Uα
Value；Wherein, KPRepresent proportionality coefficient；KiRepresent integral coefficient.
Wherein, second computing module includes：
Pulsewidth modulation submodule, for according to the UαValue and previously given UβValue, through space vector pulse width modulation, is obtained
To three-phase pulse width modulated dutycycle, the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；
Second calculating sub module, for according to the three-phase pulse width modulated dutycycle, being calculated by inverter and institute
State corresponding to three-phase pulse width modulated dutycycle and need to apply to the three-phase target voltage of the three-phase windings of the alternating current generator.
The embodiment of the present invention also provides a kind of single-chip microcomputer, including：The positioner of rotor as described above.
The embodiment of the present invention also provides a kind of single-chip microcomputer, including：Processor, memory and it is stored on the memory simultaneously
The computer program that can be run on the processor, the computer program are realized institute as described above during the computing device
The step of localization method for the rotor stated.
The embodiment of the present invention also provides a kind of computer-readable recording medium, it is characterised in that described computer-readable to deposit
Computer program is stored with storage media, the computer program realizes rotor as described above when being executed by processor
Localization method the step of.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In the such scheme of the embodiment of the present invention, coordinate change is carried out by the three-phase alternating current value of the alternating current generator to getting
Get actual current value in return, and actual current value is passed through into series of computation, obtain needing to apply to the three of the alternating current generator
The three-phase target voltage values of phase winding, and three-phase target voltage values are applied to the three-phase windings of the alternating current generator, so that electric
Machine rotor position, so, it is possible ensure rotor positioning needed for electric current, avoid rotor position needed for electric current it is excessive or
Too small situation occurs, while protects alternating current generator not destroyed, extends the service life of motor.
Brief description of the drawings
Fig. 1 is one of flow chart of localization method of rotor of the embodiment of the present invention；
Fig. 2 is the particular flow sheet of step 101 in Fig. 1；
Fig. 3 is the particular flow sheet of step 104 in Fig. 1；
Fig. 4 is the alignment system block diagram of the rotor of the present invention；
Fig. 5 is the two of the flow chart of the localization method of the rotor of the embodiment of the present invention；
Fig. 6 is the composition structural representation of the positioner of the rotor of the embodiment of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
As shown in figure 1, the flow chart of the localization method for the rotor of the embodiment of the present invention.It should scheme below specifically
The implementation process of bright this method.
Step 101, the three-phase electricity flow valuve of alternating current generator is obtained；
Here, the three-phase windings of alternating current generator include：U phase windings, V phase windings and W phase windings.
Here, three-phase electricity flow valuve obtains from U phase windings, V phase windings and W phase windings respectively.
Step 102, the three-phase electricity flow valuve is subjected to coordinate transform, obtains actual current value, the actual current value is used
There is the current value of α axis components in the α β coordinate systems for representing two cross streams systems；
It should be noted that coordinate be transformed to 3/2 conversion, in particular to three phase static winding U, V, W and two-phase it is static around
Conversion between group α, β.Conversion namely between three-phase static coordinate system and two-phase rest frame.
Step 103, U is calculated according to the actual current valueαValue, the UαRepresent have in the α β coordinate systems of two cross streams systems
There is the voltage of α axis components；
Preferably, UαValue is obtained by the proportional integration regulating calculation between previously given current value and actual current value
Arrive.
Step 104, according to the UαValue, which calculates, to be needed to apply to the three-phase target electricity of the three-phase windings of the alternating current generator
Pressure value；
Here, it is preferred that, three-phase target voltage values can pass through UαValue and previously given UβValue, at pulse width modulation algorithm
Reason obtains.
Step 105, the three-phase target voltage values are corresponded to and applied to the three-phase windings of the alternating current generator, so that motor
Rotor fixed position.
The localization method of rotor provided in an embodiment of the present invention, pass through the three-phase alternating current of the alternating current generator to getting
Value carries out coordinate transform and obtains actual current value, and actual current value is passed through into series of computation, obtains needing to apply to described
The three-phase target voltage values of the three-phase windings of alternating current generator, and three-phase target voltage values are applied to the three-phase of the alternating current generator
Winding so that rotor position, so, it is possible ensure rotor positioning needed for electric current, avoid rotor position needed for
The excessive or too small situation of electric current occurs, while protects alternating current generator not destroyed, extends the service life of motor.
Based on embodiment illustrated in fig. 1, as shown in Fig. 2 specifically, step 101 obtains the three-phase electricity flow valuve of alternating current generator
Step, it may also include：
Step 1011, by current sensor, the three-phase current signal of alternating current generator is obtained；
It should be noted that current sensor is used for the electric current for gathering U, V, W three-phase windings of alternating current generator.
More specifically, circuit sensor can be current divider, electromagnetic current transducer, electronic current mutual inductor, suddenly
The various electric currents that tested current information can be converted into voltage signal such as your current sensor, Rogowski current sensor pass
Sensor.
Here, the executive agent of the localization method of the rotor is single-chip microcomputer.Therefore current sensor is connected to monolithic
Machine.
Step 1012, the three-phase current signal is subjected to A/D conversions, obtains the three-phase electricity flow valuve i of alternating current generatorU、iVWith
iW；
Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W of alternating current generator
Phase current.
Here, A/D conversions are analog-to-digital conversion.
Based on embodiment illustrated in fig. 1, further, step 102 also may particularly include：By the three-phase electricity flow valuve iU、iVWith
iWSubstitute into formulaObtain actual current value iα；
Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two-phase
Exchanging has the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is beta -axis component in the α β coordinate systems of two cross streams systems
Current value.
So, by 3/2 coordinate transform, the current value i of α axis components in two-phase rest frame is obtainedαWith beta -axis component
Current value iβ。
Based on embodiment illustrated in fig. 1, specifically, step 103 also may particularly include：
Step 1031, the load current value of the previously given alternating current generator and the actual current value are subjected to ratio
Integral adjustment, obtain UαValue.
Specifically, step 1031 also may particularly include：
Step 10311, by the load current value i* of the previously given alternating current generatorαWith the actual current value iαEnter
Row difference operation, obtain result of calculation △ iα；
Here, i*αAs given electric current, its value is determined by the rated current of alternating current generator.
Step 10312, by the result of calculation △ iαSubstitute into formula Uα=KPΔiα+KiΣΔiα, obtain UαValue；Wherein, KP
Represent proportionality coefficient；KiRepresent integral coefficient.
Preferably, this step can be realized on hardware by pi regulator.Pi regulator is of course not solely limited to, can also be
Proportional controller, PID regulator etc..
Here, U is determined using current closed-loopαNumerical value, it is ensured that electric current needed for rotor positioning, avoid rotor from determining
The excessive or too small situation of electric current needed for position occurs.
Based on embodiment illustrated in fig. 1, as shown in figure 3, specifically, step 104 may particularly include：
Step 1041, according to the UαValue and previously given UβValue, through space vector pulse width modulation, obtains three-phase pulsewidth
Modulation duty cycle, the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；
Here, space vector pulse width modulation (Space Vector Pulse Width Modulation, abbreviation SVPWM).
Preferably, previously given UβSet-point be 0, can so ensure that rotor is positioned at U phases.
It should be noted that space vector pulse width modulation directly generates three-phase PWM ripple using space vector of voltage, that is, obtain
Three-phase pulse width modulated dutycycle, it calculates simply, is easy to implement.
Step 1042, according to the three-phase pulse width modulated dutycycle, it is calculated and the three-phase pulsewidth by inverter
Corresponding to modulation duty cycle and need to apply to the three-phase target voltage of the three-phase windings of the alternating current generator.
It should be noted that the localization method of rotor provided by the invention, is electronic without being assigned in alternating current generator
When on automobile, when carrying out testing experiment on stand, do what is used during initial position measurement to alternating current generator.
The full-automation of rotor positioning can be realized using the localization method of rotor provided by the invention, without
Tester constantly manually adjusts UαThe magnitude of voltage of application, the location efficiency of rotor can be effectively improved.
All embodiments of the localization method of above-mentioned rotor can be applied particularly to the alignment system of rotor, such as
Shown in Fig. 4.It is briefly described as follows the function that the part of the alignment system of the rotor and each several part are completed.
As shown in figure 4, the alignment system of rotor includes：Alternating current generator, current sensor, single-chip microcomputer and inverter.
Wherein, inverter is connected with U, V, W three-phase windings of alternating current generator；
Current sensor gathers U, V, W three-phase windings electric current of alternating current generator；
Single-chip microcomputer is connected with current sensor and inverter respectively, and wherein single-chip microcomputer receives the three-phase of current sensor collection
Current signal, by the localization method of rotor provided in an embodiment of the present invention, produce pulse width modulation (Pulse
Width Modulation, abbreviation PWM) signal, and will be with the three-phase pulse width modulated dutycycle corresponding three by inverter
Phase target voltage applies to the three-phase windings of alternating current generator.
Here, current sensor can be current divider, electromagnetic current transducer, electronic current mutual inductor, Hall electricity
The various current sensors that tested current information is changed into voltage signal such as flow sensor, Rogowski current sensor.
Single-chip microcomputer has A/D translation functions and sends PWM waveform function, completes 3/2 conversion, and the control of PI regulation motors is calculated
Method.As shown in figure 4, include on single-chip microcomputer：3/2 coordinate transformation module, subtraction module, pi regulator and SVPWM modules.
With reference to the alignment system of the rotor, the implementing procedure of the localization method of rotor is illustrated, such as
Shown in Fig. 5.
Step 201, single-chip microcomputer gives electric current i* according to the load current value of alternating current generatorα；
Step 202, current sensor collection three-phase current signal, three-phase current i is converted to through Chip Microcomputer A/DU、iV、
iW；
Step 203, single-chip microcomputer is by three-phase current iU、iV、iWI is converted into by coordinate transformα、iβ；
Specific implementation process repeats no more here referring to the elaboration about step 102 part in above-described embodiment.
Step 204, by given electric current i*αSubtract actual current iα, obtain Δ iα；
Here, specifically, Δ iα=i*α-iα。
Step 205, by Δ iαThrough pi regulator, U is obtainedα；
Here, Uα=KPΔiα+Ki∑Δiα；Wherein, KpFor proportionality coefficient, KiFor integral coefficient.
Step 206, the previously given U of single-chip microcomputerβFor 0；
Step 207, according to UαAnd Uβ, the dutycycle of three-phase PWM is obtained using SVPWM algorithms, will be with described three through inverter
Three-phase voltage corresponding to phase pulse width modulation duty is applied to the three-phase windings of alternating current generator.
The embodiment of the present invention also provides a kind of computer-readable recording medium, is stored thereon with computer program (instruction),
The program (instruction) realizes following steps when being executed by processor：
Obtain the three-phase electricity flow valuve of alternating current generator；
The three-phase electricity flow valuve is subjected to coordinate transform, obtains actual current value, the actual current value is used to represent two
There is the current value of α axis components in the α β coordinate systems of cross streams system；
U is calculated according to the actual current valueαValue, the UαRepresent that there is α axis components in the α β coordinate systems of two cross streams systems
Voltage；
According to the UαValue, which calculates, to be needed to apply to the three-phase target voltage values of the three-phase windings of the alternating current generator；
The three-phase target voltage values are corresponded to and applied to the three-phase windings of the alternating current generator, so that rotor is determined
Position.
Alternatively, following steps can also be realized when the program (instruction) is executed by processor：
The step of obtaining the three-phase electricity flow valuve of alternating current generator, including：
By current sensor, the three-phase current signal of alternating current generator is obtained；
The three-phase current signal is subjected to A/D conversions, obtains the three-phase electricity flow valuve i of alternating current generatorU、iVAnd iW；
Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W of alternating current generator
Phase current.
Alternatively, the three-phase electricity flow valuve is subjected to coordinate transform, the step of obtaining actual current value, including：
By the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain reality
Border current value iα；
Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two-phase
Exchanging has the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is beta -axis component in the α β coordinate systems of two cross streams systems
Current value.
Alternatively, U is calculated according to the actual current valueαThe step of value, including：
The load current value of the previously given alternating current generator and the actual current value are subjected to proportional integration regulation,
Obtain UαValue.
Alternatively, the load current value of the previously given alternating current generator and the actual current value are subjected to ratio product
Divide regulation, obtain UαThe step of value, including：
By the load current value i* of the previously given alternating current generatorαWith the actual current value iαCarry out difference operation,
Obtain result of calculation △ iα；
By the result of calculation △ iαSubstitute into formula Uα=KPΔiα+Ki∑Δiα, obtain UαValue；Wherein, KPExpression ratio system
Number；KiRepresent integral coefficient.
Alternatively, according to the UαValue, which calculates, to be needed to apply to the three-phase target voltage of the three-phase windings of the alternating current generator
The step of value, including：
According to the UαValue and previously given UβValue, through space vector pulse width modulation, obtains three-phase pulse width modulated duty
Than the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；
According to the three-phase pulse width modulated dutycycle, it is calculated and the three-phase pulse width modulated dutycycle by inverter
Three-phase target voltage that is corresponding and needing three-phase windings of the application to the alternating current generator.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
As shown in fig. 6, the embodiment of the present invention also provides a kind of positioner of rotor, including：
Acquisition module 301, for obtaining the three-phase electricity flow valuve of alternating current generator；
Coordinate transformation module 302, for the three-phase electricity flow valuve to be carried out into coordinate transform, actual current value is obtained, it is described
Actual current value is used in the α β coordinate systems of two cross streams systems of expression the current value with α axis components；
First computing module 303, for calculating U according to the actual current valueαValue, the UαRepresent the α of two cross streams systems
There is the voltage of α axis components in β coordinate systems；
Second computing module 304, for according to the UαValue, which calculates, to be needed to apply to the three-phase windings of the alternating current generator
Three-phase target voltage values；
Rotor fixed position module 305, apply for the three-phase target voltage values to be corresponded to the three-phase of the alternating current generator
Winding, so that rotor positions.
Specifically, the acquisition module may also include：
Acquisition submodule, for by current sensor, obtaining the three-phase current signal of alternating current generator；
Analog-to-digital conversion submodule, for the three-phase current signal to be carried out into A/D conversions, obtain the three-phase electricity of alternating current generator
Flow valuve iU、iVAnd iW；
Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W of alternating current generator
Phase current.
Specifically, the coordinate transformation module may also include：
Coordinate transform submodule, for by the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain actual current value iα；
Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two-phase
Exchanging has the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is beta -axis component in the α β coordinate systems of two cross streams systems
Current value.
Specifically, first computing module may also include：
First calculating sub module, for by the load current value of the previously given alternating current generator and the actual current
Value carries out proportional integration regulation, obtains UαValue.
Wherein, first calculating sub module also may particularly include：
First computing unit, for by the load current value i* of the previously given alternating current generatorαWith the actual electricity
Flow valuve iαDifference operation is carried out, obtains result of calculation △ iα；
Second computing unit, for by the result of calculation △ iαSubstitute into formula Uα=KPΔiα+Ki∑Δiα, obtain Uα
Value；Wherein, KPRepresent proportionality coefficient；KiRepresent integral coefficient.
Specifically, second computing module may also include：
Pulsewidth modulation submodule, for according to the UαValue and previously given UβValue, through space vector pulse width modulation, is obtained
To three-phase pulse width modulated dutycycle, the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；
Second calculating sub module, for according to the three-phase pulse width modulated dutycycle, being calculated by inverter and institute
State corresponding to three-phase pulse width modulated dutycycle and need to apply to the three-phase target voltage of the three-phase windings of the alternating current generator.
The positioner of rotor provided in an embodiment of the present invention, acquisition module is got by coordinate transformation module
The three-phase alternating current value of alternating current generator carry out coordinate transform and obtain actual current value, and actual current value is calculated into mould by first
Series of computation is carried out in block and the second computing module, obtains needing to apply to the three-phase mesh of the three-phase windings of the alternating current generator
Magnitude of voltage is marked, and is applied three-phase target voltage values to the three-phase windings of the alternating current generator by rotor fixed position module, so that
Rotor position, so, it is possible ensure rotor positioning needed for electric current, avoid rotor position needed for electric current it is excessive or
The too small situation of person occurs, while protects alternating current generator not destroyed, extends the service life of motor.
The embodiment of the present invention also provides a kind of single-chip microcomputer, includes the positioner of rotor as described above.
The embodiment of the present invention also provides a kind of single-chip microcomputer, including：Processor, memory and it is stored on the memory simultaneously
The computer program that can be run on the processor, the computer program are realized electric as described above during the computing device
Each process of the localization method embodiment of machine rotor, and identical technique effect can be reached, it is no longer superfluous here to avoid repeating
State.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (15)
- A kind of 1. localization method of rotor, it is characterised in that including：Obtain the three-phase electricity flow valuve of alternating current generator；The three-phase electricity flow valuve is subjected to coordinate transform, obtains actual current value, the actual current value is used to represent that two is intersecting Flowing has the current value of α axis components in the α β coordinate systems of system；U is calculated according to the actual current valueαValue, the UαRepresent that there is the electricity of α axis components in the α β coordinate systems of two cross streams systems Pressure；According to the UαValue, which calculates, to be needed to apply to the three-phase target voltage values of the three-phase windings of the alternating current generator；The three-phase target voltage values are corresponded to and applied to the three-phase windings of the alternating current generator, so that rotor positions.
- 2. the localization method of rotor according to claim 1, it is characterised in that the three-phase for obtaining alternating current generator The step of current value, including：By current sensor, the three-phase current signal of alternating current generator is obtained；The three-phase current signal is subjected to A/D conversions, obtains the three-phase electricity flow valuve i of alternating current generatorU、iVAnd iW；Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W phases electricity of alternating current generator Stream.
- 3. the localization method of rotor according to claim 1, it is characterised in that sat the three-phase electricity flow valuve Mark conversion, the step of obtaining actual current value, including：By the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain actual electricity Flow valuve iα；Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two cross streams There is the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is the electricity of beta -axis component in the α β coordinate systems of two cross streams systems Flow valuve.
- 4. the localization method of rotor according to claim 1, it is characterised in that described according to the actual current value Calculate UαThe step of value, including：The load current value of the previously given alternating current generator and the actual current value are subjected to proportional integration regulation, obtained UαValue.
- 5. the localization method of rotor according to claim 4, it is characterised in that by the previously given alternating current The load current value of machine carries out proportional integration regulation with the actual current value, obtains UαThe step of value, including：By the load current value i* of the previously given alternating current generatorαWith the actual current value iαDifference operation is carried out, is obtained Result of calculation △ iα；By the result of calculation △ iαSubstitute into formula Uα=KPΔiα+KiΣΔiα, obtain UαValue；Wherein, KPRepresent proportionality coefficient； KiRepresent integral coefficient.
- 6. the localization method of rotor according to claim 1, it is characterised in that according to the UαValue calculates needs and applied The step of adding to the three-phase target voltage values of the three-phase windings of the alternating current generator, including：According to the UαValue and previously given UβValue, through space vector pulse width modulation, obtains three-phase pulse width modulated dutycycle, institute State UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；According to the three-phase pulse width modulated dutycycle, it is calculated by inverter corresponding with the three-phase pulse width modulated dutycycle And need apply to the alternating current generator three-phase windings three-phase target voltage.
- A kind of 7. positioner of rotor, it is characterised in that including：Acquisition module, for obtaining the three-phase electricity flow valuve of alternating current generator；Coordinate transformation module, for the three-phase electricity flow valuve to be carried out into coordinate transform, obtain actual current value, the actual current Being worth has the current value of α axis components in the α β coordinate systems for two cross streams systems of expression；First computing module, for calculating U according to the actual current valueαValue, the UαRepresent the α β coordinate systems of two cross streams systems In have α axis components voltage；Second computing module, for according to the UαValue, which calculates, to be needed to apply to the three-phase mesh of the three-phase windings of the alternating current generator Mark magnitude of voltage；Rotor fixed position module, apply for the three-phase target voltage values to be corresponded to the three-phase windings of the alternating current generator, with Position rotor.
- 8. the positioner of rotor according to claim 7, it is characterised in that the acquisition module includes：Acquisition submodule, for by current sensor, obtaining the three-phase current signal of alternating current generator；Analog-to-digital conversion submodule, for the three-phase current signal to be carried out into A/D conversions, obtain the three-phase electricity flow valuve of alternating current generator iU、iVAnd iW；Wherein, iURepresent the U phase currents of alternating current generator；iVRepresent the V phase currents of alternating current generator；iWRepresent the W phases electricity of alternating current generator Stream.
- 9. the positioner of rotor according to claim 7, it is characterised in that the coordinate transformation module includes：Coordinate transform submodule, for by the three-phase electricity flow valuve iU、iVAnd iWSubstitute into formulaObtain actual current value iα；Wherein, N3Represent three-phase windings per phase effective turn；N2Represent two phase windings per phase effective turn；iαRepresent two cross streams There is the current value of α axis components in the α β coordinate systems of system；iβRepresent that there is the electricity of beta -axis component in the α β coordinate systems of two cross streams systems Flow valuve.
- 10. the positioner of rotor according to claim 7, it is characterised in that first computing module includes：First calculating sub module, for the load current value of the previously given alternating current generator to be entered with the actual current value Row proportional integration is adjusted, and obtains UαValue.
- 11. the positioner of rotor according to claim 10, it is characterised in that the first calculating sub module bag Include：First computing unit, for by the load current value i* of the previously given alternating current generatorαWith the actual current value iα Difference operation is carried out, obtains result of calculation △ iα；Second computing unit, for by the result of calculation △ iαSubstitute into formula Uα=KPΔiα+KiΣΔiα, obtain UαValue；Its In, KPRepresent proportionality coefficient；KiRepresent integral coefficient.
- 12. the positioner of rotor according to claim 7, it is characterised in that second computing module includes：Pulsewidth modulation submodule, for according to the UαValue and previously given UβValue, through space vector pulse width modulation, obtains three Phase pulse width modulation duty, the UβRepresent that there is the voltage of beta -axis component in the α β coordinate systems of two cross streams systems；Second calculating sub module, for according to the three-phase pulse width modulated dutycycle, being calculated and described three by inverter Corresponding to phase pulse width modulation duty and need to apply to the three-phase target voltage of the three-phase windings of the alternating current generator.
- A kind of 13. single-chip microcomputer, it is characterised in that including：The positioning dress of rotor as described in any one of claim 7~12 Put.
- A kind of 14. single-chip microcomputer, it is characterised in that including：Processor, memory and it is stored on the memory and can be described The computer program run on processor, the computer program are realized during the computing device as in claim 1 to 6 The step of localization method of rotor described in any one.
- 15. a kind of computer-readable recording medium, it is characterised in that be stored with computer on the computer-readable recording medium Program, determining for the rotor as any one of claim 1 to 6 is realized when the computer program is executed by processor The step of position method.
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| CN201710692668.0A CN107482979A (en) | 2017-08-14 | 2017-08-14 | Positioning method and device of motor rotor and single chip microcomputer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112923839A (en) * | 2021-01-25 | 2021-06-08 | 深圳市和力泰智能科技有限公司 | Stepping motor control method, device, equipment and storage medium |
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| US20050127857A1 (en) * | 2003-11-17 | 2005-06-16 | Honda Motor Co., Ltd | Brushless motor control apparatus and brushless motor control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112923839A (en) * | 2021-01-25 | 2021-06-08 | 深圳市和力泰智能科技有限公司 | Stepping motor control method, device, equipment and storage medium |
| CN112923839B (en) * | 2021-01-25 | 2023-06-27 | 深圳市和力泰智能科技有限公司 | Stepping motor control method, device, equipment and storage medium |
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