CN107482984B - Motor initial position angle automatic Calibration angle compensation process and system - Google Patents
Motor initial position angle automatic Calibration angle compensation process and system Download PDFInfo
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- CN107482984B CN107482984B CN201610891993.5A CN201610891993A CN107482984B CN 107482984 B CN107482984 B CN 107482984B CN 201610891993 A CN201610891993 A CN 201610891993A CN 107482984 B CN107482984 B CN 107482984B
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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
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention proposes a kind of motor initial position angle automatic Calibration angle compensation process and system, and method is the following steps are included: obtain motor initial position angle；The power-factor angle of A phase is obtained according to power input to a machine, AB line voltage and A phase current；Electric angle frequency is obtained according to the revolving speed of motor, and the internal power factor angle of A phase is obtained according to electric angle frequency and power-factor angle；And motor initial position angle is compensated according to internal power factor angle, to obtain final motor initial position angle.Method of the invention can be improved motor initial position angle measurement accuracy and torque control precision, while improve the working efficiency of motor.
Description
Technical field
The present invention relates to technical field of motors, in particular to a kind of motor initial position angle automatic Calibration angle compensation process
And system.
Background technique
Permanent magnet synchronous motor is influenced when producing assembly by motor assembly technology, the setting angle and electricity that motor rotation becomes
There are angular deviation between machine rotor electrical angle, this angular deviation is referred to as the initial angle of motor.The initial angle of motor can be with
It is obtained before electric machine controller matches motor by test calibration.
Current motor initial position angle automatic calibration method is become between zero degree using A phase current zero crossing and rotation
Deviation calculates motor initial position angle.But because the influence of motor inner parameter, is deposited between electric machine phase current and phase voltage
In power-factor angle, therefore, there are angular deviations for the motor initial position angle calculated using A phase current zero crossing, can reduce electricity
Machine initial position angle measurement accuracy, torque control precision and working efficiency.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, an object of the present invention is to provide a kind of motor initial position angle automatic Calibration angle compensation process,
This method can be improved motor initial position angle measurement accuracy and torque control precision, while improve the working efficiency of motor.
It is another object of the present invention to propose a kind of motor initial position angle automatic Calibration angle compensation system.
To achieve the goals above, the embodiment of first aspect present invention discloses a kind of motor initial position angle and marks automatically
Determine angle compensation process, comprising the following steps: obtain motor initial position angle；According to power input to a machine, AB line voltage and A
Phase current obtains the power-factor angle of A phase；Electric angle frequency is obtained according to the revolving speed of motor, and according to the electric angle frequency and described
Power-factor angle obtains the internal power factor angle of A phase；And according to the internal power factor angle to the motor initial position angle
It compensates, to obtain final motor initial position angle.
Motor initial position angle automatic Calibration angle compensation process according to an embodiment of the present invention, first acquisition motor are initial
Then position angle obtains the power-factor angle of A phase according to power input to a machine, AB line voltage and A phase current, according to motor
Revolving speed obtains electric angle frequency, and obtains the internal power factor angle of A phase according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates motor initial position angle, to obtain final motor initial position angle, thus at the beginning of improving motor
Beginning position angle measurement accuracy and torque control precision, while improving the working efficiency of motor.
In addition, motor initial position angle automatic Calibration angle compensation process according to the above embodiment of the present invention can also have
There is following additional technical characteristic:
In some instances, the power-factor angle is obtained by following formula:
Wherein, P is the power input to a machine, UABFor the AB line voltage, I is the A phase current,For the function
Rate factor angle.
In some instances, the internal power factor angle is obtained by following formula:
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual value, and φ is the power-factor angle, and I is the A
Phase current, XqFor quadrature axis reactance.
In some instances, the motor initial position angle is compensated by following formula:
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
In some instances, the motor initial position angle is obtained by following formula:
θ1=360- θrdc,
Wherein, the θrdcThe electrical angle for becoming and issuing is revolved for motor.
To achieve the goals above, the embodiment of second aspect of the present invention discloses a kind of motor initial position angle and marks automatically
Determine angle compensation system, comprising: obtain module, the acquisition module is for obtaining motor initial position angle；Computing module, it is described
Computing module is used to obtain the power-factor angle of A phase according to power input to a machine, AB line voltage and A phase current, and according to electricity
The revolving speed of machine obtains electric angle frequency, and obtains the internal power factor angle of A phase according to the electric angle frequency and the power-factor angle；
And compensating module, the compensating module is for mending the motor initial position angle according to the internal power factor angle
It repays, to obtain final motor initial position angle.
Motor initial position angle automatic Calibration angle compensation system according to an embodiment of the present invention, first acquisition motor are initial
Then position angle obtains the power-factor angle of A phase according to power input to a machine, AB line voltage and A phase current, according to motor
Revolving speed obtains electric angle frequency, and obtains the internal power factor angle of A phase according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates motor initial position angle, to obtain final motor initial position angle, thus at the beginning of improving motor
Beginning position angle measurement accuracy and torque control precision, while improving the working efficiency of motor.
In addition, motor initial position angle automatic Calibration angle compensation system according to the above embodiment of the present invention can also have
There is following additional technical characteristic:
In some instances, the computing module obtains the power-factor angle by following formula:
Wherein, P is the power input to a machine, UABFor the AB line voltage, I is the A phase current,For the function
Rate factor angle.
In some instances, the computing module obtains the internal power factor angle by following formula:
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual value, and φ is the power-factor angle, and I is the A
Phase current, XqFor quadrature axis reactance.
In some instances, the compensating module compensates the motor initial position angle by following formula:
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
In some instances, the acquisition module obtains the motor initial position angle by following formula:
θ1=360- θrdc,
Wherein, the θrdcThe electrical angle for becoming and issuing is revolved for motor.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart of motor initial position angle automatic Calibration angle compensation process according to an embodiment of the present invention；
Fig. 2 is the phase deviation schematic diagram of motor phase back-emf and A phase current according to an embodiment of the invention；
Fig. 3 is electrical angle of motor rotor and emf phase waveform diagram according to an embodiment of the invention；
Fig. 4 is motor initial position angle Computing Principle schematic diagram according to an embodiment of the invention；And
Fig. 5 is the structural block diagram of motor initial position angle automatic Calibration angle compensation system according to an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Motor initial position angle automatic Calibration angle compensation process according to an embodiment of the present invention is described below in conjunction with attached drawing
And system.
Fig. 1 is the process of motor initial position angle automatic Calibration angle compensation process according to an embodiment of the invention
Figure.As shown in Figure 1, method includes the following steps:
Step S1: motor initial position angle is obtained.
Become the electrical angle issued firstly, acquiring A phase current I by current sensor and becoming sensor motor rotation by rotation
θrdc, as I=0, read rotation and become the electrical angle issued, as initial position angle θ1.In theoretical situation, phase back-emf
Zero crossing and rotation, which become the electrical angle of motor rotor zero degree issued, to be overlapped, such as shown in Fig. 3, and abscissa x is time horizontal axis, A
Point is A phase back-emf zero crossing position, and B point is that rotation becomes zero point (i.e. zero degree) position for reading electrical angle.And then utilize A phase electricity
The deviation between zero point and rotation change zero degree is flowed through, motor initial position angle θ is calculated1, schematic diagram calculation is as shown in Figure 4.
More specifically, in one embodiment of the invention, the motor initial position angle is obtained by following formula:
θ1=360- θrdc,
Wherein, θrdcThe electrical angle for becoming and issuing is revolved for motor.
Step S2: the power-factor angle of A phase is obtained according to power input to a machine, AB line voltage and A phase current.Wherein,
For example, passing through the input power of power analyzer motor in real time, AB line voltage and A phase current.
Specifically, power-factor angle is obtained by following formula:
Wherein, P is power input to a machine, UABFor AB line voltage, I is A phase current,For power-factor angle.
Step S3: electric angle frequency is obtained according to the revolving speed of motor, and A phase is obtained according to electric angle frequency and power-factor angle
Internal power factor angle.
Specifically, existing motor initial position angle automatic calibration method is to become zero using A phase current zero crossing and rotation
Deviation between angle calculates motor initial position angle.However, if going calculating using phase back-emf zero crossing, it can more
Accurately.Because the influence of motor inner parameter, there are phase differences between motor phase back-emf and phase current, and therefore, it is necessary to realities
When calculate internal power factor angle, with compensate with phase current carry out initial position angle automatic Calibration when angular error.Some
In example, internal power factor angle ψ, that is, motor phase back-emf E0With phase current IAPhase deviation, such as shown in Fig. 2.
More specifically, internal power factor angle is obtained by following formula:
Wherein, ψ is internal power factor angle, and U is A phase voltage virtual value, and U=UAB/ sqrt (3), φ are power-factor angle,
I is A phase current, XqFor quadrature axis reactance, and quadrature axis reactance X is calculated by electric angle frequencyq。
Step S4: compensating motor initial position angle according to internal power factor angle, initial with the motor for obtaining final
Position angle.
Specifically, motor initial position angle is compensated by following formula:
θ=θ1+ ψ, (3)
Wherein, θ1For motor initial position angle, θ is final motor initial position angle.
Generally speaking, the main calculating stream of the motor initial position angle automatic Calibration angle compensation process of the embodiment of the present invention
Journey can be summarized are as follows: become the deviation between zero degree using A phase current zero crossing and rotation first, calculate motor initial position angle
θ1.Again in motor bench, under permanent torque perseverance revolving speed, input power P, the AB line electricity of power analyzer motor in real time is utilized
Press UABPower-factor angle can be calculated by above-mentioned formula (1) with A phase current IThen pass through the motor speed of acquisition
Electric angle frequency is calculated, quadrature axis reactance X is calculatedqWith d-axis reactance Xd, then by above-mentioned formula (2), interior power is calculated
Factor angle ψ.Finally, by above-mentioned formula (3), final initial position angle θ after being compensated.To both improve initial position
Angular measurement precision and torque control precision also improve the working efficiency of motor.Further, above-mentioned algorithm flow can be multiple
It computes repeatedly, can obtain the average value of final motor initial position angle θ, averaging after repeatedly calculating, it is final to can be improved
The precision of motor initial position angle θ.
To sum up, motor initial position angle automatic Calibration angle compensation process according to an embodiment of the present invention obtains electricity first
Then machine initial position angle obtains the power-factor angle of A phase according to power input to a machine, AB line voltage and A phase current, according to
The revolving speed of motor obtains electric angle frequency, and obtains the internal power factor angle of A phase, last root according to electric angle frequency and power-factor angle
Motor initial position angle is compensated according to internal power factor angle, to obtain final motor initial position angle, to improve
Motor initial position angle measurement accuracy and torque control precision, while improving the working efficiency of motor.
Further embodiment of the present invention additionally provides a kind of motor initial position angle automatic Calibration angle compensation system.
Fig. 5 is the structural frames of motor initial position angle automatic Calibration angle compensation system according to an embodiment of the invention
Figure.As shown in figure 5, motor initial position angle automatic Calibration angle compensation system 100 according to an embodiment of the invention, packet
It includes: obtaining module 110, computing module 120 and compensating module 130.
Wherein, module 110 is obtained for obtaining motor initial position angle.
Specifically, it obtains module 110 and motor initial position angle is obtained by following formula:
θ1=360- θrdc,
Wherein, θrdcThe electrical angle for becoming and issuing is revolved for motor.
Computing module 120 is used to obtain the power factor of A phase according to power input to a machine, AB line voltage and A phase current
Angle, and electric angle frequency is obtained according to the revolving speed of motor, and the internal power factor of A phase is obtained according to electric angle frequency and power-factor angle
Angle.
Specifically, computing module 120 obtains power-factor angle by following formula:
Wherein, P is power input to a machine, UABFor AB line voltage, I is A phase current,For power-factor angle.
Specifically, computing module 120 obtains internal power factor angle by following formula:
Wherein, ψ is internal power factor angle, and U is A phase voltage virtual value, and U=UAB/ sqrt (3), φ are power-factor angle,
I is A phase current, XqFor quadrature axis reactance, and quadrature axis reactance X is calculated by electric angle frequencyq。
Compensating module 130 is final to obtain for being compensated according to internal power factor angle to motor initial position angle
Motor initial position angle.
Specifically, compensating module 130 compensates motor initial position angle by following formula:
θ=θ1+ ψ,
Wherein, θ1For motor initial position angle, θ is final motor initial position angle.
It should be noted that the specific reality of the motor initial position angle automatic Calibration angle compensation system of the embodiment of the present invention
Existing mode is similar with the specific implementation of motor initial position angle automatic Calibration angle compensation process of the embodiment of the present invention, tool
Body refers to the description of method part, and in order to reduce redundancy, details are not described herein again.
Motor initial position angle automatic Calibration angle compensation system according to an embodiment of the present invention, first acquisition motor are initial
Then position angle obtains the power-factor angle of A phase according to power input to a machine, AB line voltage and A phase current, according to motor
Revolving speed obtains electric angle frequency, and obtains the internal power factor angle of A phase according to electric angle frequency and power-factor angle, finally according to internal strength
Rate factor angle compensates motor initial position angle, to obtain final motor initial position angle, thus at the beginning of improving motor
Beginning position angle measurement accuracy and torque control precision, while improving the working efficiency of motor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is by claim and its equivalent limits.
Claims (6)
1. a kind of motor initial position angle automatic Calibration angle compensation process, which comprises the following steps:
Obtain motor initial position angle；
The power-factor angle of A phase is obtained according to power input to a machine, AB line voltage and A phase current；
Electric angle frequency is obtained according to the revolving speed of motor, and is obtained in A phase according to the electric angle frequency and the power-factor angle
Power-factor angle, wherein the internal power factor angle is obtained by following formula:
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual value, and φ is the power-factor angle, and I is the A phase electricity
Stream, XqFor quadrature axis reactance；And
The motor initial position angle is compensated according to the internal power factor angle, to obtain final motor initial position
Angle, wherein the motor initial position angle is compensated by following formula:
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
2. motor initial position angle automatic Calibration angle compensation process according to claim 1, which is characterized in that by such as
Lower formula obtains the power-factor angle:
Wherein, P is the power input to a machine, UABFor the AB line voltage, I is the A phase current,For the power because
Number angle.
3. motor initial position angle automatic Calibration angle compensation process according to claim 1, which is characterized in that by such as
Lower formula obtains the motor initial position angle:
θ1=360- θrdc,
Wherein, the θrdcThe electrical angle for becoming and issuing is revolved for motor.
4. a kind of motor initial position angle automatic Calibration angle compensation system characterized by comprising
Module is obtained, the acquisition module is for obtaining motor initial position angle；
Computing module, the computing module are used to obtain the function of A phase according to power input to a machine, AB line voltage and A phase current
Rate factor angle, and electric angle frequency is obtained according to the revolving speed of motor, and A is obtained according to the electric angle frequency and the power-factor angle
The internal power factor angle of phase, wherein the internal power factor angle is obtained by following formula:
Wherein, ψ is the internal power factor angle, and U is A phase voltage virtual value, and φ is the power-factor angle, and I is the A phase electricity
Stream, XqFor quadrature axis reactance；And
Compensating module, the compensating module is for mending the motor initial position angle according to the internal power factor angle
It repays, to obtain final motor initial position angle, wherein the motor initial position angle is compensated by following formula:
θ=θ1+ ψ,
Wherein, θ1For the motor initial position angle, θ is final motor initial position angle.
5. motor initial position angle automatic Calibration angle compensation system according to claim 4, which is characterized in that the meter
It calculates module and the power-factor angle is obtained by following formula:
Wherein, P is the power input to a machine, UABFor the AB line voltage, I is the A phase current,For the power because
Number angle.
6. motor initial position angle automatic Calibration angle compensation system according to claim 4, which is characterized in that described to obtain
Modulus block obtains the motor initial position angle by following formula:
θ1=360- θrdc,
Wherein, the θrdcThe electrical angle for becoming and issuing is revolved for motor.
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| CN201610891993.5A CN107482984B (en) | 2016-10-12 | 2016-10-12 | Motor initial position angle automatic Calibration angle compensation process and system |
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| CN201610891993.5A CN107482984B (en) | 2016-10-12 | 2016-10-12 | Motor initial position angle automatic Calibration angle compensation process and system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347393B (en) * | 2018-10-22 | 2020-06-30 | 北京新能源汽车股份有限公司 | Method, device and equipment for testing initial position angle of motor |
| 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 |
| CN110932637B (en) * | 2019-12-27 | 2021-05-18 | 浙江大学台州研究院 | Method for identifying rotor position of permanent magnet synchronous motor in static state |
| CN112803857B (en) * | 2021-01-06 | 2023-02-14 | 杭州湘滨电子科技有限公司 | Motor initial angle calibration system and method for EPS |
| CN113037158B (en) * | 2021-03-01 | 2023-04-18 | 潍柴动力股份有限公司 | AC-DC shaft decoupling control method and device for permanent magnet synchronous motor electric driving system |
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| JP2010051078A (en) * | 2008-08-20 | 2010-03-04 | Sanyo Electric Co Ltd | Motor control device |
| CN103560724A (en) * | 2013-09-27 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Method for determining initial position of synchronous motor |
| CN104167971A (en) * | 2014-08-22 | 2014-11-26 | 徐州中矿大传动与自动化有限公司 | Detection device and method of initial position of rotor of electrically excited synchronous motor |
| CN104852663A (en) * | 2015-05-11 | 2015-08-19 | 上海吉亿电机有限公司 | Permanent magnet secondary synchronization reluctance motor rotor initial N/S pole exact identification method |
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| JP2010051078A (en) * | 2008-08-20 | 2010-03-04 | Sanyo Electric Co Ltd | Motor control device |
| CN103560724A (en) * | 2013-09-27 | 2014-02-05 | 南车株洲电力机车研究所有限公司 | Method for determining initial position of synchronous motor |
| CN104167971A (en) * | 2014-08-22 | 2014-11-26 | 徐州中矿大传动与自动化有限公司 | Detection device and method of initial position of rotor of electrically excited synchronous motor |
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