CN107819418A - One kind rotation becomes initial angle rationality checking method and device - Google Patents
One kind rotation becomes initial angle rationality checking method and device Download PDFInfo
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- CN107819418A CN107819418A CN201610822887.1A CN201610822887A CN107819418A CN 107819418 A CN107819418 A CN 107819418A CN 201610822887 A CN201610822887 A CN 201610822887A CN 107819418 A CN107819418 A CN 107819418A
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- rotation
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- position angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
One kind rotation becomes initial angle rationality checking method and device, and methods described comprises the following steps：The current phasor of acquisition motor and the position angle of voltage vector are poor；Determine the mode of operation of the motor；Judge whether the rotation of the motor becomes initial angle reasonable based on position angle difference and the error threshold corresponding with the mode of operation of the motor.By technical scheme provided by the invention can effectively suppress motor initial setting up rotation become initial angle deviation it is larger when, caused by torque output error it is larger the problem of, and the problem of motor control easily dissipates under high speed high pulling torque demand.
Description
Technical field
The present invention relates to electric machines test field, in particular it relates to which a kind of rotation becomes initial angle rationality checking method and dress
Put.
Background technology
With the development of industrial and agricultural production machinery, the motor as driving source can be divided into direct current drive based on operation principle
Machine, asynchronous motor and synchronous motor three major types, and as a kind of hot product in synchronous motor, permanent magnet synchronous electric
The advantages that machine is due to its higher reliability, excellent control performance, less torque ripple, has been widely used in vapour
In car field, especially new-energy automobile.In order to further improve the roadability of automobile and driver comfort, typically
Rotation can be added on permagnetic synchronous motor and becomes device, and the rotation for revolving change device becomes initial angle and is just directly connected to permanent magnet synchronous electric
Whether the output torque of machine is reasonable, and then produces material impact to the control effect of permagnetic synchronous motor.When rotation becomes initial angle
Deviation it is larger when, very big influence will be caused to the control performance of motor, and then in high speed operating mode and high pulling torque work
Cause the problem of automotive system dissipates, motor control is unstable under condition.
At present, the setting for becoming the rotation change initial angle of device for rotation in permagnetic synchronous motor is all using disposable setting
And the mode of open loop operation operates.For example, the rotation for just becoming device to rotation in the production phase of permagnetic synchronous motor becomes initial
Angle is configured, and after permagnetic synchronous motor is installed on automobile and puts into actual use, device will not be become to rotation
Output result is detected, and the quality for not also being directed to output result is modified to rotation change device or permagnetic synchronous motor.Also
That is, once the rotation for becoming device to rotation in the production phase becomes, initial angle setting is unreasonable, and prior art can not be after installation is complete
Effectively diagnosed or made up, this certainly will produce strong influence to the motor control effect in vehicle traveling process.
At this stage, in most cases, the electric machine controller of permagnetic synchronous motor relies only on the production phase once
Property setting rotation become initial angle the torque output of permagnetic synchronous motor be controlled.But such scheme may nothing
Method provides remedial measure when the setting that rotation becomes initial angle produces deviation, is unfavorable for electric machine controller to permagnetic synchronous motor
Control, the risk that motor control dissipates under high speed high pulling torque demand is increased, greatly affected Consumer's Experience.
The content of the invention
Present invention solves the technical problem that it is that the rotation that prior art can not be to motor becomes initial angle progress closed loop detection, no
The problem of beneficial to motor control diverging under high speed high pulling torque demand is suppressed.
In order to solve the above technical problems, the embodiment of the present invention, which provides a kind of rotation, becomes initial angle rationality checking method, bag
Include following steps：The current phasor of acquisition motor and the position angle of voltage vector are poor；Determine the mode of operation of the motor；
The rotation for judging the motor based on position angle difference and the error threshold corresponding with the mode of operation of the motor becomes
Whether initial angle is reasonable.
Optionally, the detection method also comprises the following steps：If judged result shows that the rotation becomes initial angle and do not conformed to
Reason, the then rotating speed based on the motor determine the output torque restriction proportion of the motor；Based on the output torque restriction ratio
Example adjusts the output torque of the motor, to avoid electric system from dissipating.
Optionally, the position angle of the current phasor for obtaining motor and voltage vector is poor, comprises the following steps：Adopt
Collect stator three-phase current caused by the motor rotation；By Coordinate Conversion and calculate under acquisition two-phase synchronous rotating frame
The current phasor, and obtain the voltage vector under the two-phase synchronous rotating frame；The electric current is calculated respectively
The Current Position angle of vector and the voltage location angle of the voltage vector；Based on the Current Position angle and described
Position angle described in voltage location angle-determining is poor.
Optionally, the mode of operation for determining the motor, comprises the following steps：Rotating speed based on the motor with it is pre-
If rotary speed threshold value relation and the motor torque demand and default torque threshold relation, determine the motor
Mode of operation.
Optionally, the rotating speed based on the motor and the relation of default rotary speed threshold value and the moment of torsion of the motor
The relation of demand and default torque threshold determines the mode of operation of the motor, comprises the following steps：Judge the motor
Whether the absolute value of rotating speed is in the numerical intervals that the default rotary speed threshold value limits, and the torque demand of the motor
Absolute value whether in the numerical intervals that the default torque threshold limits；If judged result shows turning for the motor
The absolute value of speed is in the numerical intervals that the default rotary speed threshold value limits, and the torque demand of the motor is absolute
Value is in the numerical intervals that the default torque threshold limits, then the direction of rotating speed and torque demand based on the motor
Symbol determines the mode of operation of the motor.
Optionally, the direction symbol of the rotating speed and torque demand based on the motor determines the Working mould of the motor
Formula, comprise the following steps：If the rotating speed of the motor is identical with the direction symbol of torque demand, it is determined that the work of the motor
Pattern is electric model；If the rotating speed of the motor is opposite with the direction symbol of torque demand, it is determined that the work of the motor
Pattern is power generation mode.
Optionally, it is described based on position angle difference and the error threshold corresponding with the mode of operation of the motor
Judge whether the rotation change initial angle of the motor is reasonable, comprises the following steps：Mode of operation determination pair based on the motor
The error threshold of mode of operation described in Ying Yu；Compare the absolute value of the position angle difference and the error threshold；Based on comparing
As a result judge whether the rotation change initial angle of the motor is reasonable.
Optionally, it is described to judge whether the rotation change initial angle of the motor is reasonable based on comparative result, including：When described
When the mode of operation of motor is power generation mode, if the absolute value of position angle difference is less than the first error threshold, it is determined that institute
It is unreasonable to state the rotation change initial angle of motor, wherein, first error threshold is the error corresponding with the power generation mode
Threshold value；When the mode of operation of the motor is electric model, if the absolute value of position angle difference is more than the second error threshold
Value, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, second error threshold is and the electric model phase
Corresponding error threshold.
The embodiment of the present invention also provides a kind of rotation and becomes initial angle rationality checking device, including：Acquisition module, for obtaining
The current phasor of power taking machine and the position angle of voltage vector are poor；First determining module, for determining the work of the motor
Pattern；Judge module, for based on position angle difference and the error threshold corresponding with the mode of operation of the motor
Judge whether the rotation change initial angle of the motor is reasonable.
Optionally, the detection means also includes：Second determining module, if judged result shows that the rotation becomes initial angle
Unreasonable, then the rotating speed based on the motor determines the output torque restriction proportion of the motor；Adjusting module, for based on institute
The output torque that output torque restriction proportion adjusts the motor is stated, to avoid electric system from dissipating.
Optionally, the acquisition module includes：Submodule is gathered, for gathering stator three caused by the motor rotation
Phase current；Transform subblock, sweared for obtaining the electric current under two-phase synchronous rotating frame by Coordinate Conversion and calculating
Amount, and obtain the voltage vector under the two-phase synchronous rotating frame；Calculating sub module, for calculating the electricity respectively
The Current Position angle of flow vector and the voltage location angle of the voltage vector；First determination sub-module, for based on institute
It is poor to state position angle described in Current Position angle and the voltage location angle-determining.
Optionally, first determining module includes：Second determination sub-module, for the rotating speed based on the motor and in advance
If rotary speed threshold value relation and the motor torque demand and default torque threshold relation, determine the motor
Mode of operation.
Optionally, second determination sub-module includes：Judging unit, the absolute value of the rotating speed for judging the motor
Whether in the numerical intervals that the default rotary speed threshold value limits, and the absolute value of the torque demand of the motor whether
In the numerical intervals limited positioned at the default torque threshold；First determining unit, if judged result shows the motor
The absolute value of rotating speed is in the numerical intervals that the default rotary speed threshold value limits, and the torque demand of the motor is exhausted
To being worth in the numerical intervals limited positioned at the default torque threshold, then the side of rotating speed and torque demand based on the motor
The mode of operation of the motor is determined to symbol.
Optionally, first determining unit determines the mode of operation of the motor based on following method：If the motor
Rotating speed it is identical with the direction symbol of torque demand, it is determined that the mode of operation of the motor is electric model；If the motor
Rotating speed it is opposite with the direction symbol of torque demand, it is determined that the mode of operation of the motor is power generation mode.
Optionally, the judge module includes：3rd determination sub-module, determined for the mode of operation based on the motor
Corresponding to the error threshold of the mode of operation；Comparison sub-module, for the position angle difference absolute value with it is described
Error threshold；Judging submodule, whether the rotation for judging the motor based on comparative result becomes initial angle reasonable.
Optionally, the judging submodule includes：Second determining unit, for being generating when the mode of operation of the motor
During pattern, if the absolute value of position angle difference is less than the first error threshold, it is determined that the rotation of the motor becomes initial angle
It is unreasonable, wherein, first error threshold is the error threshold corresponding with the power generation mode；3rd determining unit, use
In when the mode of operation of the motor is electric model, if the absolute value of position angle difference is more than the second error threshold,
Then determine that the rotation change initial angle of the motor is unreasonable, wherein, second error threshold is relative with the electric model
The error threshold answered.
Compared with prior art, the technical scheme of the embodiment of the present invention has the advantages that：
By obtain motor current phasor and voltage vector position angle it is poor, sentence with reference to the mode of operation of motor
Whether the rotation of power machine becomes initial angle reasonable, than it is existing become initial angle for rotation used by disposably set and open
The Setting pattern of inscription of loop is compared, and the rotation that can be directed to motor becomes the larger situation of initial angle deviation, by closed loop detection and
Shi Faxian rotations become the irrationality of initial angle, realize that the rotation to motor becomes the inline diagnosis of initial angle.
Further, when detection finds that the rotation change initial angle of motor is unreasonable, output torque restriction proportion can be based on
To adjust the output torque of motor, so as to effectively suppress the diverging of motor control under high speed high pulling torque demand, can effectively carry
The stability of high electric system.
Further, the torque demand of the relation and motor of the rotating speed based on motor and default rotary speed threshold value is with presetting
Torque threshold relation, determine the mode of operation of motor, and then determine the error threshold corresponding with the mode of operation of motor,
The comparative result for being based ultimately upon error threshold and position angle difference judges that the rotation of motor under different working modes becomes initial angle
Reasonability.Make full use of under different working modes, the reasonability degree that rotation becomes initial angle becomes with the change of position angle difference
The rule of change not identical characteristic, the possibility that system is reported by mistake is eliminated by distinguishing the mode of operation of motor.
Brief description of the drawings
Fig. 1 is that a kind of rotation of the first embodiment of the present invention becomes the flow chart of initial angle rationality checking method；
Fig. 2 is that a kind of rotation of the second embodiment of the present invention becomes the flow chart of initial angle rationality checking method；
Fig. 3 is that a kind of rotation of the third embodiment of the present invention becomes the flow chart of initial angle rationality checking method；And
Fig. 4 is that a kind of rotation of the fourth embodiment of the present invention becomes the structural representation of initial angle rationality checking device.
Embodiment
It will be appreciated by those skilled in the art that be all that disposable setting produces because the rotation of existing motor becomes initial angle, and
Open loop situations are in mostly, the online inspection that the rotation to the motor becomes initial angle is lacked during the motor control of reality
Survey.
In order to solve this technical problem, technical scheme of the present invention is by obtaining the current phasor and voltage of motor
The position angle of vector is poor, judges whether the rotation of motor change initial angle is reasonable with reference to the mode of operation of motor, than existing
Become initial angle for rotation used by the Setting pattern of disposable setting and open loop operation compare, the rotation of motor can be directed to
Become the larger situation of initial angle deviation, detected by closed loop and find that rotation becomes the irrationality of initial angle in time, realized to electricity
The rotation of machine becomes the inline diagnosis of initial angle.Further, once detection finds that the rotation change initial angle of motor is unreasonable, that is, it is based on
Output torque restriction proportion adjusts the output torque of motor, so as to effectively suppress motor control under high speed high pulling torque demand
Diverging, drastically increase the stability of electric system.
In a preferred embodiment of the invention, stator three-phase current caused by gathering motor rotation, passes through coordinate
The current phasor of the motor vector control algorithms such as conversion acquisition motor and the position angle of voltage vector are poor；Turned based on motor
The relation of fast torque demand and default torque threshold with the relation of default rotary speed threshold value and motor, determine the work of motor
Operation mode, and then the error threshold corresponding with the mode of operation of motor is determined, it is poor with position angle to be based ultimately upon error threshold
Comparative result judge that the rotation of motor under different working modes becomes the reasonability of initial angle.Further, in judged result table
When the rotation change initial angle of bright motor is unreasonable, the output torque restriction proportion of motor can be determined based on the rotating speed of motor, with
The output torque of motor is adjusted, avoids electric system from dissipating.
It is understandable to enable above-mentioned purpose, feature and the beneficial effect of the present invention to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Fig. 1 is that a kind of rotation of the first embodiment of the present invention becomes the flow chart of initial angle rationality checking method.Wherein,
It can become with rotation in the motor of device that the rotation, which becomes initial angle, and the rotation for becoming device setting to the rotation in advance becomes initial angle
Degree；The motor can be magneto, such as permagnetic synchronous motor.
Specifically, in the present embodiment, it is first carried out step S101, obtains the current phasor and voltage vector of motor
Position angle is poor.More specifically, the Current Position angle of the current phasor and the voltage under polar coordinates are calculated respectively
The voltage location angle of vector, and then determine that the position angle is poor.Preferably, the polar coordinates are sat based on two-phase synchronous rotary
Mark system (coordinate system based on d-q axles) represents.In a preference, the current phasor can be decomposed into d shaft currents, q axles
Electric current, the voltage vector can be decomposed into d shaft voltages, q shaft voltages, based on formula θIs=arctan (Isq/Isd) calculate acquisition
The Current Position angle, wherein θIsFor the Current Position angle, IsqFor q shaft currents, IsdFor d shaft currents；Based on formula θUs
=arctan (Usq/Usd) calculate the acquisition voltage location angle, wherein θUsFor the voltage location angle, UsqFor q axles electricity
Pressure, UsdFor d shaft voltages, the Current Position angle and voltage location angle are switched into 0-360 ° of scope, and based on formula θ=
θIs-θUsIt is poor to calculate the acquisition position angle.
Performed subsequently into step S102, determine the mode of operation of the motor.Specifically, the mode of operation includes hair
Power mode and electric model.The current operating state for being preferably based on the motor determines the mode of operation of the motor.It is preferred that
Ground, the current operating state of the motor include the rotating speed of the motor, torque demand etc..It is it will be appreciated by those skilled in the art that electric
The working characteristics of machine causes when motor is in different working modes, and the rotation becomes the reasonability degree of initial angle with institute's rheme
The rule put the change of differential seat angle and changed is different, thus be able to may be gone out to eliminate by distinguishing the mode of operation of motor
Existing system wrong report.
Step S103 is finally performed, based on position angle difference and the mistake corresponding with the mode of operation of the motor
Whether the rotation of motor described in poor threshold decision becomes initial angle reasonable.Specifically, the error threshold is based on user and sets generation
And stored in advance.More specifically, the mode of operation of different motors can correspond to different error thresholds respectively.It is preferred that
Ground, in the preference of one, place, after the step S102 determines the mode of operation of the motor, that is, transfer and the motor
The corresponding error threshold of mode of operation, and the position angles that obtain of the step S101 are poor with the error threshold
Value, so as to judge that it is whether reasonable that the rotation of the motor becomes initial angle.
Further, the Current Position angle and voltage location angle are switched into 0-360 ° of model in the step S101
It is that specific angular range is determined based on the quadrant of the current phasor and the voltage vector, and then obtain reality when enclosing
The angle on border.
It is possible to further obtained based on motor vector control algorithm the current phasor in the step S101 and
Voltage vector.For example, stator three-phase current caused by gathering the motor rotation first, then passes through Coordinate Conversion and calculating
Obtain the current phasor under the d-q axles.Preferably, the Coordinate Conversion can be included the stator under three phase coordinate systems
The equivalent two-phase alternating current under two-phase rest frame of three-phase current, it can also include under the two-phase rest frame
The equivalent synchronous rotating frame into two-phase of alternating current under two-phase DC current, the two-phase DC current be can divide
Solve the current phasor for d shaft currents and q shaft currents.Further, by forming closed loop proportional to the d-q shaft currents
Integral adjustment (PI regulations) obtains the voltage vector, and the voltage vector can equally be decomposed into d shaft voltages and q axles electricity
Pressure.
Further, the step S101 and the step S102 execution sequence can become according to being actually needed
Change, for example, the mode of operation that the step S102 determines the motor can be first carried out, then perform the step S101 again and obtain
Take the position angle poor；Or the step S101 and the step S102 can also be carried out side by side, to improve the present invention
The speed of service of detection method described in embodiment.
Further, when the motor is in different working modes, it is described rotation become initial angle reasonability degree with
The change of position angle difference and the rule that changes includes, under electric model, the reasonability that the rotation becomes initial angle is poorer,
The position angle difference is bigger；Under the power generation mode, the reasonability that the rotation becomes initial angle is poorer, and position angle difference is on the contrary
It is smaller.
By upper, the scheme of first embodiment provides a kind of rotation for motor and becomes the rational on-line checking of initial angle
Method, compared with prior art, by motor in real time rotate caused by stator three-phase current and the position angle that obtains
Degree is poor, with reference to the mode of operation of the motor, judges whether the rotation change initial angle of the motor is reasonable, can effectively suppress to revolve
Motor control caused by change initial angle is unreasonable is out of control, drastically increases the stability of electric system.
Fig. 2 is that a kind of rotation of the second embodiment of the present invention becomes the flow chart of initial angle rationality checking method.Specifically
Ground, in the present embodiment, step S201 is first carried out, obtain motor current phasor and voltage vector position angle it is poor.
More specifically, the Current Position angle of the current phasor and the voltage position of the voltage vector under polar coordinates are calculated respectively
Angle setting degree, and then determine that the position angle is poor.Further, those skilled in the art may be referred to real shown in above-mentioned Fig. 1
Step S101 described in example is applied, will not be described here.
Performed subsequently into step S202, the relation of rotating speed based on the motor and default rotary speed threshold value and described
The torque demand of motor and the relation of default torque threshold, determine the mode of operation of the motor.Preferably, the rotating speed threshold
Value can limit specific numerical intervals, then the rotating speed of the motor and the relation of default rotary speed threshold value can be expressed as institute
State the rotating speed of motor and the relation of numerical intervals that the rotary speed threshold value is limited.Accordingly, the torque threshold can also limit
Fixed specific numerical intervals, then the torque demand of the motor and the relation of default torque threshold can be expressed as the electricity
The relation for the numerical intervals that the torque demand of machine is limited with the torque threshold.
In a preference, first determine whether the absolute value of the rotating speed of the motor is located at the default rotating speed threshold
It is worth in the numerical intervals limited, and whether the absolute value of the torque demand of the motor is positioned at the default torque threshold limit
In fixed numerical intervals, if judged result shows that the absolute value of the rotating speed of the motor limits positioned at the default rotary speed threshold value
Numerical intervals in, and the absolute value of the torque demand of the motor is positioned at the numerical value area that the default torque threshold limits
In, then the direction symbol of rotating speed and torque demand based on the motor determines the mode of operation of the motor.Further,
If the rotating speed of the motor is identical with the direction symbol of torque demand, it is determined that the mode of operation of the motor is electric model；
If the rotating speed of the motor is opposite with the direction symbol of torque demand, it is determined that the mode of operation of the motor is power generation mode.
Step S203 is finally performed, based on position angle difference and the mistake corresponding with the mode of operation of the motor
Whether the rotation of motor described in poor threshold decision becomes initial angle reasonable.Specifically, the error threshold is based on user and sets generation
And stored in advance.More specifically, those skilled in the art may be referred to step described in above-mentioned embodiment illustrated in fig. 1
S101, it will not be described here.
Further, the rotary speed threshold value and the torque threshold can be based on user and set generation, and pre- advanced
Row storage.
Further, if the judged result of the step S202 shows the absolute value of the rotating speed of the motor positioned at described pre-
If the numerical intervals that limit of rotary speed threshold value outside, and/or the torque demand of the motor absolute value positioned at described default
Outside the numerical intervals that torque threshold limits, then the follow-up step of the embodiment of the present invention is not performed, to lower electric system load
Rate.
By upper, using the scheme of second embodiment, compared with above-mentioned embodiment illustrated in fig. 1, step described in the present embodiment
S202 can be understood as an embodiment of step S102 described in above-mentioned embodiment illustrated in fig. 1, respectively according to default
Rotary speed threshold value and torque threshold come specifically to distinguish the mode of operation of the motor be power generation mode or electric model, so as to
The corresponding error threshold of the mode of operation that is presently according to the motor judges that it is whether reasonable that the rotation becomes initial angle,
Improve the degree of accuracy that the rotation is become initial angle reasonability and judged.
Fig. 3 is that a kind of rotation of the third embodiment of the present invention becomes the flow chart of initial angle rationality checking method.Specifically
Ground, in the present embodiment, step S301 is first carried out, obtain motor current phasor and voltage vector position angle it is poor.
More specifically, the Current Position angle of the current phasor and the voltage position of the voltage vector under polar coordinates are calculated respectively
Angle setting degree, and then determine that the position angle is poor.Further, those skilled in the art may be referred to real shown in above-mentioned Fig. 1
Step S101 described in example is applied, will not be described here.
Performed subsequently into step S302, the relation of rotating speed based on the motor and default rotary speed threshold value and described
The torque demand of motor and the relation of default torque threshold, determine the mode of operation of the motor.Specifically, the rotating speed threshold
Value and the torque threshold can correspond to specific numerical intervals respectively.More specifically, those skilled in the art can join
It is admitted to and states step S202 described in embodiment illustrated in fig. 2, will not be described here.
Next step S303 is performed, the mode of operation based on the motor determines the error corresponding to the mode of operation
Threshold value.Specifically, the mode of operation of the motor and the error threshold corresponding with the mode of operation can be pre- by user
First set and store.In a preference, if the step S302 determines that the mode of operation of the motor is power generation mode,
Transfer criterion of the corresponding error threshold of the power generation mode as the present embodiment subsequent step；If the step S302
The mode of operation of the motor determined is electric model, then transfers the corresponding error threshold of the electric model and be used as this reality
Apply the criterion of a subsequent step.
Performed subsequently into step S304, the absolute value and the error threshold of the position angle difference.This area
Technical staff understands that the position angle difference is based on formula θ=θIs-θUsCalculate and obtain, then for θIs<θUsSituation, having very much can
It is poor that the position angle of negative value can be obtained, it is then desired to be taken absolute value to the position angle difference with unified benchmark.Wherein,
On θIsAnd θUsRefer to Fig. 1 associated description.In a preference, pass through the absolute value of position angle difference
With the error threshold, to obtain the magnitude relationship of the absolute value and the error threshold of position angle difference.
Step S305 is finally performed, judges whether the rotation of the motor becomes initial angle reasonable based on comparative result.Specifically
Ground, the comparative result include the magnitude relationship of the absolute value and the error threshold of position angle difference.At one preferably
In example, when the mode of operation of the motor is power generation mode, if the absolute value of position angle difference is less than the first error threshold
Value, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, first error threshold is and the power generation mode phase
Corresponding error threshold；When the mode of operation of the motor is electric model, if the absolute value of position angle difference is more than
Second error threshold, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, second error threshold be with it is described
The corresponding error threshold of electric model.
It will be appreciated by those skilled in the art that when the motor is in electric model, the rotation becomes the reasonability of initial angle
Poorer, the position angle difference is bigger, thus, once position angle difference is more than the critical of second error threshold setting
Numerical value, it both can confirm that the rotation change initial angle of the motor was unreasonable；Accordingly, when the motor is in the power generation mode
When, the reasonability that the rotation becomes initial angle is poorer, and position angle difference is smaller on the contrary, thus, once the position angle difference is small
In the critical numerical value of first error threshold setting, it both can confirm that the rotation change initial angle of the motor was unreasonable.
By upper, using the scheme of 3rd embodiment, with technical scheme described in above-mentioned Fig. 1 and above-mentioned embodiment illustrated in fig. 2
Compare, step S303, the step S304 and the step S305 described in the present embodiment can be understood as real shown in above-mentioned Fig. 1
An embodiment of step S203 described in the example step S103 or above-mentioned embodiment illustrated in fig. 2 is applied, according to described
Error threshold corresponding to the presently described mode of operation of motor, and the criterion corresponding with the mode of operation, judge institute
Whether reasonable state the rotation change initial angle of motor, improve the precision of judged result, avoid the situation of fault misdescription.
In above-mentioned Fig. 1 to a Fig. 3 common implementing example, if step S103 described in above-mentioned embodiment illustrated in fig. 1 or
Step S305 judged result shows described in step S203 described in above-mentioned embodiment illustrated in fig. 2 or above-mentioned embodiment illustrated in fig. 3
The rotation change initial angle is unreasonable, then the rotating speed based on the motor determines the output torque restriction proportion of the motor, and
The output torque of the motor is adjusted based on the output torque restriction proportion, reduces or stop the output torque of the motor,
To avoid electric system from dissipating.Preferably, the output torque restriction proportion is represented based on percents.It is if for example, described
Output torque restriction proportion is 10%, then it represents that the output torque of the motor is restricted into 10 from 100 Ns of original rice (Nm)
Ox rice, if the output torque restriction proportion is 90%, then it represents that limit the output torque of the motor from 100 Ns of original rice
Make to 90 Ns of rice.
Further, the output torque restriction proportion can also be divided into electronic defeated according to the mode of operation of the motor
Go out torque limit ratio and generating output torque restriction proportion.
Fig. 4 is that a kind of rotation of the fourth embodiment of the present invention becomes the structural representation of initial angle rationality checking device.
It will be appreciated by those skilled in the art that control device 4 described in the present embodiment is used to implement above-mentioned Fig. 1 into above-mentioned embodiment illustrated in fig. 3
Described method and technology scheme.Specifically, in the present embodiment, the detection means 4 includes acquisition module 41, for obtaining electricity
The current phasor of machine and the position angle of voltage vector are poor；First determining module 42, for determining the Working mould of the motor
Formula；Judge module 43, for based on position angle difference and the error threshold corresponding with the mode of operation of the motor
Judge whether the rotation change initial angle of the motor is reasonable.
Further, the detection means 4 also includes the second determining module 44, if judged result shows that the rotation becomes initial
Angle is unreasonable, then the rotating speed based on the motor determines the output torque restriction proportion of the motor；And adjusting module 45,
For adjusting the output torque of the motor based on the output torque restriction proportion, to avoid electric system from dissipating.
Preferably, the acquisition module 41 includes collection submodule 411, fixed caused by the motor rotation for gathering
Sub- three-phase current；Transform subblock 412, described in being obtained by Coordinate Conversion and calculating under two-phase synchronous rotating frame
Current phasor, and obtain the voltage vector under the two-phase synchronous rotating frame；Calculating sub module 413, for respectively
Calculate the Current Position angle of the current phasor and the voltage location angle of the voltage vector；And first determine submodule
Block 414, for poor based on position angle described in the Current Position angle and the voltage location angle-determining.
Preferably, first determining module 42 includes the second determination sub-module 421, for the rotating speed based on the motor
With the relation of default rotary speed threshold value and the torque demand of the motor and the relation of default torque threshold, the electricity is determined
The mode of operation of machine.
Preferably, second determination sub-module 421 includes judging unit 4211, for judging the rotating speed of the motor
Whether absolute value is in the numerical intervals that the default rotary speed threshold value limits, and the torque demand of the motor is absolute
Whether value is in the numerical intervals that the default torque threshold limits；And first determining unit 4212, if judged result
Show the absolute value of the rotating speed of the motor in the numerical intervals that the default rotary speed threshold value limits, and the motor
Torque demand absolute value in the numerical intervals that the default torque threshold limits, then the rotating speed based on the motor
The mode of operation of the motor is determined with the direction symbol of torque demand.
Further, first determining unit 4212 determines the mode of operation of the motor based on following method, if institute
The rotating speed for stating motor is identical with the direction symbol of torque demand, it is determined that the mode of operation of the motor is electric model；If institute
The rotating speed for stating motor is opposite with the direction symbol of torque demand, it is determined that the mode of operation of the motor is power generation mode.
Preferably, the judge module 43 includes the 3rd determination sub-module 431, for the mode of operation based on the motor
It is determined that the error threshold corresponding to the mode of operation；Comparison sub-module 432, the absolute value for position angle difference
With the error threshold；And judging submodule 433, the rotation for judging the motor based on comparative result, which becomes initial angle, is
It is no reasonable.
Preferably, the judging submodule 433 includes the second determining unit 4331, for when the mode of operation of the motor
For power generation mode when, if the absolute value of position angle difference is less than the first error threshold, it is determined that at the beginning of the rotation of the motor becomes
Beginning angle is unreasonable, wherein, first error threshold is the error threshold corresponding with the power generation mode；And the 3rd is true
Order member 4332, for when the mode of operation of the motor is electric model, if the absolute value of position angle difference is more than
Second error threshold, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, second error threshold be with it is described
The corresponding error threshold of electric model.
More contents of operation principle, working method on the control device 4, it is referred to Fig. 1 to Fig. 3 correlation
Description, is repeated no more here.
The control device 4 can be integrated in motor, such as is integrated in the controller of motor；Or the control
Device 4 can also be placed on motor.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in computer-readable recording medium, to store
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, the present invention is not limited to this.Any those skilled in the art, this is not being departed from
In the spirit and scope of invention, it can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
The scope of restriction is defined.
Claims (16)
1. one kind rotation becomes initial angle rationality checking method, it is characterised in that comprises the following steps：
The current phasor of acquisition motor and the position angle of voltage vector are poor；
Determine the mode of operation of the motor；
The motor is judged based on position angle difference and the error threshold corresponding with the mode of operation of the motor
Whether rotation becomes initial angle reasonable.
2. detection method according to claim 1, it is characterised in that also comprise the following steps：
If judged result shows that the rotation change initial angle is unreasonable, the rotating speed based on the motor determines the defeated of the motor
Go out torque limit ratio；
The output torque of the motor is adjusted based on the output torque restriction proportion, to avoid electric system from dissipating.
3. detection method according to claim 1, it is characterised in that the current phasor for obtaining motor and the voltage arrow
The position angle of amount is poor, comprises the following steps：
Gather stator three-phase current caused by the motor rotation；
By Coordinate Conversion and the current phasor obtained under two-phase synchronous rotating frame is calculated, and it is identical to obtain described two
Walk the voltage vector under rotating coordinate system；
The Current Position angle of the current phasor and the voltage location angle of the voltage vector are calculated respectively；
It is poor based on position angle described in the Current Position angle and the voltage location angle-determining.
4. detection method according to any one of claim 1 to 3, it is characterised in that the work for determining the motor
Operation mode, comprise the following steps：
Rotating speed and the relation of default rotary speed threshold value and the torque demand of the motor and default torsion based on the motor
The relation of square threshold value, determine the mode of operation of the motor.
5. detection method according to claim 4, it is characterised in that the rotating speed based on the motor and default turn
The relation of the torque demand of the relation of fast threshold value and the motor and default torque threshold determines the Working mould of the motor
Formula, comprise the following steps：
The absolute value of the rotating speed of the motor is judged whether in the numerical intervals that the default rotary speed threshold value limits, and
Whether the absolute value of the torque demand of the motor is in the numerical intervals that the default torque threshold limits；
If judged result shows the numerical intervals that the absolute value of the rotating speed of the motor limits positioned at the default rotary speed threshold value
It is interior, and the absolute value of the torque demand of the motor is in the numerical intervals that the default torque threshold limits, then base
The mode of operation of the motor is determined in the rotating speed of the motor and the direction symbol of torque demand.
6. detection method according to claim 5, it is characterised in that the rotating speed and torque demand based on the motor
Direction symbol determine the mode of operation of the motor, comprise the following steps：
If the rotating speed of the motor is identical with the direction symbol of torque demand, it is determined that the mode of operation of the motor is electronic mould
Formula；
If the rotating speed of the motor is opposite with the direction symbol of torque demand, it is determined that the mode of operation of the motor is generating mould
Formula.
7. detection method according to any one of claim 1 to 3, it is characterised in that described to be based on the position angle
Difference and the error threshold corresponding with the mode of operation of the motor judge whether the rotation change initial angle of the motor is reasonable,
Comprise the following steps：
Mode of operation based on the motor determines the error threshold corresponding to the mode of operation；
Compare the absolute value of the position angle difference and the error threshold；
Judge whether the rotation of the motor becomes initial angle reasonable based on comparative result.
8. detection method according to claim 7, it is characterised in that the rotation that the motor is judged based on comparative result
Whether reasonable become initial angle, including：
When the mode of operation of the motor is power generation mode, if the absolute value of position angle difference is less than the first error threshold
Value, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, first error threshold is and the power generation mode phase
Corresponding error threshold；
When the mode of operation of the motor is electric model, if the absolute value of position angle difference is more than the second error threshold
Value, it is determined that it is unreasonable that the rotation of the motor becomes initial angle, wherein, second error threshold is and the electric model phase
Corresponding error threshold.
9. one kind rotation becomes initial angle rationality checking device, it is characterised in that including：
Acquisition module, for obtain motor current phasor and voltage vector position angle it is poor；
First determining module, for determining the mode of operation of the motor；
Judge module, for being sentenced based on position angle difference and the error threshold corresponding with the mode of operation of the motor
Whether the rotation of the disconnected motor becomes initial angle reasonable.
10. detection means according to claim 9, it is characterised in that also include：
Second determining module, if judged result shows that the rotation change initial angle is unreasonable, the rotating speed based on the motor is true
The output torque restriction proportion of the fixed motor；
Adjusting module, for adjusting the output torque of the motor based on the output torque restriction proportion, to avoid department of electrical engineering
System diverging.
11. detection means according to claim 9, it is characterised in that the acquisition module includes：
Submodule is gathered, for gathering stator three-phase current caused by the motor rotation；
Transform subblock, for obtaining the current phasor under two-phase synchronous rotating frame by Coordinate Conversion and calculating,
And obtain the voltage vector under the two-phase synchronous rotating frame；
Calculating sub module, for calculating the Current Position angle of the current phasor and the voltage position of the voltage vector respectively
Angle setting degree；
First determination sub-module, for based on position angle described in the Current Position angle and the voltage location angle-determining
Degree is poor.
12. the detection means according to any one of claim 9 to 11, it is characterised in that the first determining module bag
Include：
Second determination sub-module, relation and the motor for the rotating speed based on the motor and default rotary speed threshold value
Torque demand and the relation of default torque threshold, determine the mode of operation of the motor.
13. detection means according to claim 12, it is characterised in that second determination sub-module includes：
Judging unit, for judging whether the absolute value of rotating speed of the motor is located at the number that the default rotary speed threshold value limits
It is worth in section, and whether the absolute value of the torque demand of the motor is positioned at the numerical value area that the default torque threshold limits
In；
First determining unit, if judged result shows the absolute value of the rotating speed of the motor positioned at the default rotary speed threshold value limit
In fixed numerical intervals, and the numerical value that the absolute value of the torque demand of the motor limits positioned at the default torque threshold
In section, then the direction symbol of rotating speed and torque demand based on the motor determines the mode of operation of the motor.
14. detection means according to claim 13, it is characterised in that it is true that first determining unit is based on following method
The mode of operation of the fixed motor：
If the rotating speed of the motor is identical with the direction symbol of torque demand, it is determined that the mode of operation of the motor is electronic mould
Formula；
If the rotating speed of the motor is opposite with the direction symbol of torque demand, it is determined that the mode of operation of the motor is generating mould
Formula.
15. the detection means according to any one of claim 9 to 11, it is characterised in that the judge module includes：
3rd determination sub-module, the error threshold corresponding to the mode of operation is determined for the mode of operation based on the motor
Value；
Comparison sub-module, absolute value and the error threshold for position angle difference；
Judging submodule, whether the rotation for judging the motor based on comparative result becomes initial angle reasonable.
16. detection means according to claim 15, it is characterised in that the judging submodule includes：
Second determining unit, for when the mode of operation of the motor is power generation mode, if position angle difference is absolute
Value is less than the first error threshold, it is determined that and the rotation change initial angle of the motor is unreasonable, wherein, first error threshold is
The error threshold corresponding with the power generation mode；
3rd determining unit, for when the mode of operation of the motor is electric model, if position angle difference is absolute
Value is more than the second error threshold, it is determined that and the rotation change initial angle of the motor is unreasonable, wherein, second error threshold is
The error threshold corresponding with the electric model.
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| CN201610822887.1A CN107819418B (en) | 2016-09-13 | 2016-09-13 | Method and device for detecting rationality of initial rotating angle |
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| CN201610822887.1A CN107819418B (en) | 2016-09-13 | 2016-09-13 | Method and device for detecting rationality of initial rotating angle |
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| CN108418490A (en) * | 2018-03-30 | 2018-08-17 | 成都富临精工新能源动力有限公司 | A kind of permanent magnet synchronous motor rotation change relative angle on-line correction method |
| CN109586250A (en) * | 2018-12-03 | 2019-04-05 | 中冶南方（武汉）自动化有限公司 | A kind of detection and guard method becoming initial angular displacement for rotation |
| WO2020038107A1 (en) * | 2018-08-22 | 2020-02-27 | 广州小鹏汽车科技有限公司 | Electric vehicle, method and device for diagnosing rotary transformer initial position |
| CN112964985A (en) * | 2021-02-24 | 2021-06-15 | 重庆长安新能源汽车科技有限公司 | Combined test system and method for electric drive system and power battery system |
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