CN107894247A - A kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method and system - Google Patents
A kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method and system Download PDFInfo
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- CN107894247A CN107894247A CN201710943723.9A CN201710943723A CN107894247A CN 107894247 A CN107894247 A CN 107894247A CN 201710943723 A CN201710943723 A CN 201710943723A CN 107894247 A CN107894247 A CN 107894247A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention provides a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method and system, wherein, Zero positioning method includes：Permagnetic synchronous motor is controlled to be run according to given the current phasor amplitude and given rotating speed value of reception；In permagnetic synchronous motor stable operation after given rotating speed value, inverter is set to be in three-phase shortcircuit state, the current phasor recorded during the decline of subsequent rotating speed under specific rotation speeds value presets the first angle and the second angle formed by the negative semiaxis of d axles of rotor coordinate with permagnetic synchronous motor, then the average value of the first angle and the second angle is calculated, obtains the zero drift angle of rotary transformer.The beneficial effect of the embodiment of the present invention is：Realize and measured under speed closed loop, can eliminate or suppress frictional force, the non-ideal factor such as cogging torque to the influence to rotary transformer Zero positioning, measurement accuracy is high, can also be demarcated in the case where being calibrated motor and being in vehicle-mounted state.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning
Method and system.
Background technology
Permagnetic synchronous motor control in electric automobile be unable to do without rotor-position signal, and the precision of rotor-position signal is to electricity
The driveability important of machine.Current widely used rotary transformer is as position detecting device.Rotary transformer is determined
Son is arranged on motor stator side, and rotor is fixed on coaxial rotating on rotor, and group of motors is integral.
, it is necessary to know corner of the rotor relative to motor stator, i.e., during controller control permagnetic synchronous motor operating
In Fig. 1But rotary transformer readingIt is the reading of rotary transformer rotor relative stator, between two readings
In the presence of a deviation θ0, i.e.,
Deviation θ0It is relevant with motor assembling, due in motor production process, it is difficult to ensure that deviation θ0Uniformity, therefore
After rotation change is assembled on motor, deviation θ0It is almost random, it is necessary to calibration offset θ one by one0。
Currently used rotary transformer zero adjustment method has following several：
A kind of rotation of Great Wall Automobile, which becomes null method of measurement (CN201510066291.9), needs dragging motor to run on certain
One rotating speed, by oscilloscope measurement winding back emf signal and for representing to revolve the Z signals for becoming zero message.Processor is according to anti-
The zero point of the duration of electric potential signal and the back-emf signal obtains rotor to the difference of the duration of the Z signal pulses signal
Zero-bit.
A kind of rotation of Biyadi Co Ltd, which becomes in Zero positioning method (CN201510204274.7), is divided into static state
Two steps are tested with dynamic.In static test, motor is in the motionless state of open loop, there is provided and Q shaft currents, D shaft currents are zero,
Obtain center zero., it is necessary to which equipment dragging permagnetic synchronous motor is rotated with setting speed, in closed loop states in dynamic is tested
Under, there is provided D shaft currents, Q shaft currents are zero；During D shaft currents are increased, judge whether Motor torque is zero and determines most
Whole zero offset.
A kind of cloud enlightening electric rotation in Zhejiang, which becomes in Zero positioning method (A of CN 106301133), passes through electric machine controller pair
Motor applies different voltage vectors, gathers rotation varied angle corresponding to different motor vectors, obtains different voltage vector angles
With the difference of corresponding rotation varied angle, the average value repeatedly measured is taken to become zero offset as rotation.The problem of the method is present is that do not have
Have and consider that frictional force, influence factor, the measurement accuracy such as cogging torque when motor rotates are not accurate enough.
In such scheme, need other equipment to drag or motor rotates, while need to increase extra measuring apparatus, inconvenience
In vehicle load measurement, or motor is in relative quiescent test, does not rotate persistently, the shadow of the desirable factors such as frictional force can not be eliminated
Ring, measurement accuracy is not accurate enough.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of vehicle-mounted permagnetic synchronous motor rotation with degree of precision
Change depressor Zero positioning method and system.
In order to solve the above-mentioned technical problem, the present invention provides a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning
Method, including：
Permagnetic synchronous motor is controlled to be run according to the given forward current vector magnitude of reception and given forward rotational speed value；
When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set and the permanent-magnet synchronous
The connected inverter of motor is in three-phase shortcircuit state；
During rotating speed decline, forward current vector corresponding to calculating and the permanent magnetism when reaching the first setting speed value
The d axles that synchronous motor presets rotor coordinate bear the first angle formed by semiaxis；
When motor speed loss and after be stable at zero, given reverse current vector of the permagnetic synchronous motor according to reception is controlled
Amplitude and the operation of given reverse speed value；
When the permagnetic synchronous motor reaches and is stable at the given reverse speed value, set and the permanent-magnet synchronous
The connected inverter of motor is in three-phase shortcircuit state；
During rotating speed decline, reverse current vector corresponding to calculating and the permanent magnetism when reaching the second setting speed value
The d axles that synchronous motor presets rotor coordinate bear the second angle formed by semiaxis；
The average value of first angle and second angle is calculated, obtains the zero drift angle of rotary transformer.
Wherein, the Zero positioning method also includes：
First angle to calculating and second angle carry out LPF respectively, and it is low to obtain first angle
Pass filtered value and the second angle low-pass filter value；
The average value of the first angle low-pass filter value and the second angle low-pass filter value is calculated, rotation is obtained and becomes
The zero drift angle of depressor.
Wherein, first angle is specifically d axles when reaching the first setting speed value according to permagnetic synchronous motor rotating speed
Electric current and q shaft currents are calculated and obtained, and second angle is specifically to reach the second setting speed according to permagnetic synchronous motor rotating speed
D shaft currents and q shaft currents during value are calculated and obtained.
Wherein, the default rotor coordinate is progress Park using the original reading of rotary transformer as coordinate conversion parameter
Conversion obtains, and its d axle is positive and permanent-magnetic synchronous motor stator coordinate A phases angle is the original reading of rotary transformer.
Wherein, the given forward current vector magnitude and the given reverse current vector magnitude are equal, and described first
Setting speed value amplitude is equal with the second setting speed value amplitude.
The present invention also provides a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning system, including：
Control module, for controlling permagnetic synchronous motor according to the given forward current vector magnitude of reception and giving just
Run to tachometer value；When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set with it is described forever
The connected inverter of magnetic-synchro motor is in three-phase shortcircuit state；And during rotating speed decline, reach the first setting speed value
When calculate corresponding to forward current vector and the permagnetic synchronous motor preset the d axles of rotor coordinate and bear first formed by semiaxis
Angle；It is additionally operable to, when motor speed loss and after be stable at zero, control given reverse current of the permagnetic synchronous motor according to reception
Vector magnitude and the operation of given reverse speed value；Reach in the permagnetic synchronous motor and be stable at the given reverse speed
During value, the inverter being connected with the permagnetic synchronous motor is set to be in three-phase shortcircuit state；And during rotating speed decline, reach
The d axles of rotor coordinate are preset with the permagnetic synchronous motor to reverse current vector corresponding to calculating during the second setting speed value
Second angle formed by negative semiaxis；And for calculating the average value of first angle and second angle, rotated
The zero drift angle of transformer.
Wherein, the Zero positioning system also includes：
Low pass filter, LPF is carried out for first angle and second angle, obtain first folder
Angle low-pass filter value and the second angle low-pass filter value；
The control module is additionally operable to calculate the first angle low-pass filter value and the second angle low-pass filter value
Average value, obtain the zero drift angle of rotary transformer.
Wherein, first angle is specifically d axles when reaching the first setting speed value according to permagnetic synchronous motor rotating speed
Electric current and q shaft currents are calculated and obtained, and second angle is specifically to reach the second setting speed according to permagnetic synchronous motor rotating speed
D shaft currents and q shaft currents during value are calculated and obtained.
Wherein, the default rotor coordinate is progress Park using the original reading of rotary transformer as coordinate conversion parameter
Conversion obtains, and its d axle is positive and permanent-magnetic synchronous motor stator coordinate A phases angle is the original reading of rotary transformer.
Wherein, the given forward current vector magnitude and the given reverse current vector magnitude are equal, and described first
Setting speed value amplitude is equal with the second setting speed value amplitude.
The beneficial effect of the embodiment of the present invention is：Realize and measured under speed closed loop, can eliminate or suppress frictional force,
For the non-ideal factors such as cogging torque to the influence to rotary transformer Zero positioning, measurement accuracy is high, can also be in permanent-magnet synchronous
Motor is demarcated in the case of being in vehicle-mounted state.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the relation schematic diagram of permanent-magnetic synchronous motor rotor corner and rotary transformer reading.
Fig. 2 is that a kind of flow of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method of the embodiment of the present invention one is shown
It is intended to.
Fig. 3 is the control principle block diagram for implementing the embodiment of the present invention
Fig. 4 is the system block diagram for implementing the embodiment of the present invention.
Fig. 5 is the operation principle schematic diagram of the embodiment of the present invention one.
Fig. 6 is that permagnetic synchronous motor rotating speed changes over time schematic diagram in the embodiment of the present invention one.
Fig. 7 is that current phasor changes over time schematic diagram in the embodiment of the present invention one.
Embodiment
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
It refer to shown in Fig. 2, the embodiment of the present invention one provides a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor zero-bit mark
Determine method, including：
Permagnetic synchronous motor is controlled to be run according to the given forward current vector magnitude of reception and given forward rotational speed value；
When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set and the permanent-magnet synchronous
The connected inverter of motor is in three-phase shortcircuit state；
During rotating speed decline, forward current vector corresponding to calculating and the permanent magnetism when reaching the first setting speed value
The d axles that synchronous motor presets rotor coordinate bear the first angle formed by semiaxis；
When motor speed loss and after be stable at zero, given reverse current vector of the permagnetic synchronous motor according to reception is controlled
Amplitude and the operation of given reverse speed value；
When the permagnetic synchronous motor reaches and is stable at the given reverse speed value, set and the permanent-magnet synchronous
The connected inverter of motor is in three-phase shortcircuit state；
During rotating speed decline, reverse current vector corresponding to calculating and the permanent magnetism when reaching the second setting speed value
The d axles that synchronous motor presets rotor coordinate bear the second angle formed by semiaxis；
The average value of first angle and second angle is calculated, obtains the zero drift angle of rotary transformer.
Specifically, the vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method of the present embodiment is applied to electric vehicle,
Need to lift electric vehicle using suspension before implementation, four-wheel is hanging, and hangs neutral, in order to directly carry out under automobile scenarios
The demarcation at rotary transformer zero drift angle.
Subsequently into rotary transformer Zero positioning pattern, forward current vector magnitude I is givens+With given forward rotational speed value
ω+, brought into operation using control block diagram shown in Fig. 3 by system shown in Figure 4.
Treat that permagnetic synchronous motor rotating speed reaches ω+And it is stable at ω+When, set U, V, W three-phase of inverter to be in short-circuit shape
State：As shown in figure 4, three-phase bridge arm upper tube Q1, Q3, Q5 is normally opened, down tube Q2, Q4, Q6 are normally closed；Or upper tube Q1, Q3, Q5 are normally closed,
Down tube pipe Q2, Q4, Q6 is normally opened.
Three-phase shortcircuit state is placed in when inverter is triggered, permagnetic synchronous motor is no longer influenced by the control of system shown in Figure 4,
Permagnetic synchronous motor equivalent inpnt voltage is zero.Referring again to shown in Fig. 5, D in figure0Q0Represent real permagnetic synchronous motor
Rotor dq direction of principal axis, DQ represent to convert obtained permanent magnetism using the original reading of rotary transformer as coordinate conversion parameter progress Park
The default rotor coordinate of synchronous motor, its d axle is positive and permanent-magnetic synchronous motor stator coordinate A phases angle is rotation transformation
The original reading of device, DQ coordinate systems and D0Q0Angle theta between coordinate system0For the zero drift angle of rotary transformer.
The rotating speed of permagnetic synchronous motor now is in decline during, respectively as shown in Figure 6, Figure 7, when reaching the first setting
Tachometer value ω+ *When, its corresponding current phasor Is+ *It is in θ that can be stable at and bear semiaxis with the d axles of foregoing default rotor coordinate+Folder
The position at angle (i.e. the first angle).Control module in Fig. 3 will be according to now d shaft currents IdWith q shaft currents IqCalculate and obtain the θ+
Angle.
When motor speed loss and after be stable at zero, equally given reverse current vector magnitude Is—And given reverse speed value
ω—, brought into operation using control block diagram shown in Fig. 3 by system shown in Figure 4.Forward current vector magnitude Is+With reverse current vector
Amplitude Is—It is equal.
Treat that permagnetic synchronous motor rotating speed reaches ω—And it is stable at ω—When, same U, V, W three-phase for setting inverter is in
Short-circuit condition：As shown in figure 4, three-phase bridge arm upper tube Q1, Q3, Q5 is normally opened, down tube Q2, Q4, Q6 are normally closed；Or upper tube Q1, Q3, Q5
Normally closed, down tube pipe Q2, Q4, Q6 is normally opened.
Three-phase shortcircuit state is placed in when inverter is triggered, permagnetic synchronous motor is no longer influenced by the control of system shown in Figure 4,
Permagnetic synchronous motor equivalent inpnt voltage is zero.The rotating speed of permagnetic synchronous motor now be in decline during, respectively as Fig. 6,
Shown in Fig. 7, when reaching the second setting speed value ω— *When, its corresponding current phasor Is— *It can be stable at and foregoing default rotor
It is in θ that the d axles of coordinate system, which bear semiaxis,—The position of angle (i.e. the second angle).Control module in Fig. 3 will be according to now d shaft currents
IdWith q shaft currents IqCalculate and obtain the θ—Angle.
It should be noted that the first setting speed value ω+ *Amplitude and the second setting speed value ω— *Amplitude is equal.
Calculate the first angle theta+With the second angle theta—Average value, you can obtain the zero drift angle θ of rotary transformer0's
Principle is：
Permagnetic synchronous motor equivalent inpnt voltage is zero, now D0Q0Real d shaft currents I under coordinate systemd, q shaft currents Iq
Electric current meets following relation：
Wherein r be permagnetic synchronous motor stator resistance, LqFor q axle inductances, ωeFor the angular rate of permagnetic synchronous motor.
When permagnetic synchronous motor is in the first setting speed value ω rotated forward+ *Shi Zeyou：
Equally, when permagnetic synchronous motor is in the second setting speed value ω of reversion— *Shi Zeyou：
Due to ω+ *=ω— *, therefore have：θ0-θ+=θ—-θ0
Arrange：θ0=(θ++θ—)/2, that is, obtain the first angle theta+With the second angle theta—Afterwards, the average value of the two is sought, i.e.,
The zero drift angle θ of rotary transformer can be obtained0.Because above-mentioned calculating obtains the zero drift angle θ of rotary transformer0Process
Only influenceed (stator internal resistance r, q axle inductance) by permagnetic synchronous motor itself electric parameter, therefore such as vehicle drive system
The factor such as frictional force hardly become the precision of Zero positioning to rotation and impact.
Because permagnetic synchronous motor is rotating in calibration process, therefore after stabilization of speed, due to factors such as cogging torques
Influence can make current phasor IsAzimuth produce cyclic fluctuation, these fluctuation pass through LPF after almost can be complete
Eliminate.Therefore, the present embodiment is further to the first angle theta+With the second angle theta—LPF is carried out, obtains the first angle low pass
Filter value and the second angle low-pass filter value, then calculate the flat of the first angle low-pass filter value and the second angle low-pass filter value
Average, obtain the zero drift angle of rotary transformer.Using by LPF when due to calculating zero drift angle
Azimuth afterwards, therefore calibration result is almost no longer influenceed by cogging torque.Thus it can also be seen that the zero of the present embodiment
Position scaling method can eliminate influence of the non-ideal factors such as frictional force, cogging torque to rotary transformer Zero positioning, can
Realize high-precision demarcation.Further, since the scaling method of the present embodiment except electric machine controller and motor in itself in addition to, need to only move
Power battery, therefore zero-bit mark can be directly carried out in the case of actual vehicle in electric machine controller and motor all normal mountings
It is fixed.
Corresponding to the embodiment of the present invention one, the embodiment of the present invention two provides a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor
Zero positioning system, including：
Control module, for controlling permagnetic synchronous motor according to the given forward current vector magnitude of reception and giving just
Run to tachometer value；When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set with it is described forever
The connected inverter of magnetic-synchro motor is in three-phase shortcircuit state；And during rotating speed decline, reach the first setting speed value
When calculate corresponding to forward current vector and the permagnetic synchronous motor preset the d axles of rotor coordinate and bear first formed by semiaxis
Angle；It is additionally operable to, when motor speed loss and after be stable at zero, control given reverse current of the permagnetic synchronous motor according to reception
Vector magnitude and the operation of given reverse speed value；Reach in the permagnetic synchronous motor and be stable at the given reverse speed
During value, the inverter being connected with the permagnetic synchronous motor is set to be in three-phase shortcircuit state；And during rotating speed decline, reach
The d axles of rotor coordinate are preset with the permagnetic synchronous motor to reverse current vector corresponding to calculating during the second setting speed value
Second angle formed by negative semiaxis；And for calculating the average value of first angle and second angle, rotated
The zero drift angle of transformer.
Wherein, the Zero positioning system also includes：
Low pass filter, LPF is carried out for first angle and second angle, obtain first folder
Angle low-pass filter value and the second angle low-pass filter value；
The control module is additionally operable to calculate the first angle low-pass filter value and the second angle low-pass filter value
Average value, obtain the zero drift angle of rotary transformer.
Wherein, first angle is specifically d axles when reaching the first setting speed value according to permagnetic synchronous motor rotating speed
Electric current and q shaft currents are calculated and obtained, and second angle is specifically to reach the second setting speed according to permagnetic synchronous motor rotating speed
D shaft currents and q shaft currents during value are calculated and obtained.
Wherein, the default rotor coordinate is progress Park using the original reading of rotary transformer as coordinate conversion parameter
Conversion obtains, and its d axle is positive and permanent-magnetic synchronous motor stator coordinate A phases angle is the original reading of rotary transformer.
Wherein, the given forward current vector magnitude and the given reverse current vector magnitude are equal, and described first
Setting speed value amplitude is equal with the second setting speed value amplitude.
By described above, the beneficial effect that the present invention is brought is, realizes and is measured under speed closed loop, can be disappeared
Remove or suppress frictional force, the non-ideal factor such as cogging torque to the influence to rotary transformer Zero positioning, measurement accuracy is high, also
It can be demarcated in the case where permagnetic synchronous motor is in vehicle-mounted state.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (10)
1. a kind of vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning method, including：
Permagnetic synchronous motor is controlled to be run according to the given forward current vector magnitude of reception and given forward rotational speed value；
When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set and the permagnetic synchronous motor
Connected inverter is in three-phase shortcircuit state；
During rotating speed decline, forward current vector corresponding to calculating and the permanent-magnet synchronous when reaching the first setting speed value
The d axles that motor presets rotor coordinate bear the first angle formed by semiaxis；
When motor speed loss and after be stable at zero, given reverse current vector magnitude of the permagnetic synchronous motor according to reception is controlled
And given reverse speed value operation；
When the permagnetic synchronous motor reaches and is stable at the given reverse speed value, set and the permagnetic synchronous motor
Connected inverter is in three-phase shortcircuit state；
During rotating speed decline, reverse current vector corresponding to calculating and the permanent-magnet synchronous when reaching the second setting speed value
The d axles that motor presets rotor coordinate bear the second angle formed by semiaxis；
The average value of first angle and second angle is calculated, obtains the zero drift angle of rotary transformer.
2. Zero positioning method according to claim 1, it is characterised in that also include：
First angle to calculating and second angle carry out LPF respectively, obtain the first angle low pass filtered
Wave number and the second angle low-pass filter value；
The average value of the first angle low-pass filter value and the second angle low-pass filter value is calculated, obtains rotary transformer
Zero drift angle.
3. Zero positioning method according to claim 1, it is characterised in that first angle is specifically same according to permanent magnetism
D shaft currents and q shaft currents when step motor speed reaches the first setting speed value are calculated and obtained, and second angle is specifically root
D shaft currents and q shaft currents when reaching the second setting speed value according to permagnetic synchronous motor rotating speed are calculated and obtained.
4. Zero positioning method according to claim 1, it is characterised in that the default rotor coordinate is become with rotating
The original reading of depressor carries out Park as coordinate conversion parameter and converts to obtain, its d axle forward direction and permanent-magnetic synchronous motor stator coordinate A
Phase angle is the original reading of rotary transformer.
5. Zero positioning method according to claim 1, it is characterised in that the given forward current vector magnitude and institute
It is equal to state given reverse current vector magnitude, the first setting speed value amplitude and the second setting speed value amplitude phase
Deng.
A kind of 6. vehicle-mounted rotating transformer of permanent magnet synchronous motor Zero positioning system, it is characterised in that including：
Control module, for controlling permagnetic synchronous motor to turn according to the given forward current vector magnitude of reception and given forward direction
Speed value operation；When the permagnetic synchronous motor reaches and is stable at the given forward rotational speed value, set same with the permanent magnetism
The connected inverter of step motor is in three-phase shortcircuit state；And during rotating speed decline, counted when reaching the first setting speed value
The d axles that forward current vector corresponding to calculation presets rotor coordinate with the permagnetic synchronous motor bear the first folder formed by semiaxis
Angle；It is additionally operable to when motor speed loss and after be stable at zero, control the permagnetic synchronous motor to swear according to the given reverse current of reception
Measure amplitude and the operation of given reverse speed value；Reach in the permagnetic synchronous motor and be stable at the given reverse speed value
When, set the inverter being connected with the permagnetic synchronous motor to be in three-phase shortcircuit state；And during rotating speed decline, reach
The d axles that reverse current vector corresponding to being calculated during the second setting speed value presets rotor coordinate with the permagnetic synchronous motor are born
Second angle formed by semiaxis；And for calculating the average value of first angle and second angle, obtain rotation and become
The zero drift angle of depressor.
7. Zero positioning system according to claim 6, it is characterised in that also include：
Low pass filter, LPF is carried out for first angle and second angle, it is low to obtain first angle
Pass filtered value and the second angle low-pass filter value；
The control module is additionally operable to calculate the flat of the first angle low-pass filter value and the second angle low-pass filter value
Average, obtain the zero drift angle of rotary transformer.
8. Zero positioning system according to claim 7, it is characterised in that first angle is specifically same according to permanent magnetism
D shaft currents and q shaft currents when step motor speed reaches the first setting speed value are calculated and obtained, and second angle is specifically root
D shaft currents and q shaft currents when reaching the second setting speed value according to permagnetic synchronous motor rotating speed are calculated and obtained.
9. Zero positioning system according to claim 6, it is characterised in that the default rotor coordinate is become with rotating
The original reading of depressor carries out Park as coordinate conversion parameter and converts to obtain, its d axle forward direction and permanent-magnetic synchronous motor stator coordinate A
Phase angle is the original reading of rotary transformer.
10. Zero positioning system according to claim 6, it is characterised in that the given forward current vector magnitude and
The given reverse current vector magnitude is equal, the first setting speed value amplitude and the second setting speed value amplitude phase
Deng.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109004875A (en) * | 2018-07-26 | 2018-12-14 | 联创汽车电子有限公司 | Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method |
| CN110365270A (en) * | 2018-12-25 | 2019-10-22 | 格至控智能动力科技（上海）有限公司 | Rotation for AC magnetoelectric machine becomes zero bias setting method |
| CN110784132A (en) * | 2018-07-27 | 2020-02-11 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110784133A (en) * | 2018-07-27 | 2020-02-11 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110855194A (en) * | 2018-07-27 | 2020-02-28 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN111313784A (en) * | 2018-12-11 | 2020-06-19 | 广州汽车集团股份有限公司 | Method and system for measuring initial zero position of rotary transformer of permanent magnet synchronous motor |
| CN112671296A (en) * | 2020-12-17 | 2021-04-16 | 电子科技大学 | Method for detecting zero position of rotor of permanent magnet synchronous motor |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
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| CN110784132A (en) * | 2018-07-27 | 2020-02-11 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110855194A (en) * | 2018-07-27 | 2020-02-28 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110784132B (en) * | 2018-07-27 | 2021-07-20 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN110855194B (en) * | 2018-07-27 | 2021-11-12 | 比亚迪股份有限公司 | Method and device for determining zero position of motor |
| CN111313784A (en) * | 2018-12-11 | 2020-06-19 | 广州汽车集团股份有限公司 | Method and system for measuring initial zero position of rotary transformer of permanent magnet synchronous motor |
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| CN112671296B (en) * | 2020-12-17 | 2023-03-24 | 电子科技大学 | Method for detecting zero position of rotor of permanent magnet synchronous motor |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
| CN113063345B (en) * | 2021-04-07 | 2023-01-10 | 拿森汽车科技(杭州)有限公司 | Motor zero position angle calibration method and device and computer storage medium |
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