CN107919830A - The scaling method and device of a kind of motor position sensor - Google Patents

The scaling method and device of a kind of motor position sensor Download PDF

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Publication number
CN107919830A
CN107919830A CN201610887738.3A CN201610887738A CN107919830A CN 107919830 A CN107919830 A CN 107919830A CN 201610887738 A CN201610887738 A CN 201610887738A CN 107919830 A CN107919830 A CN 107919830A
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hall
signal
angle
angular deviation
orthogonal intersection
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CN107919830B (en
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邓念
周中坚
刘咏萱
韩东冬
林龙贤
陈远龙
徐灯福
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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Abstract

The scaling method and device of a kind of motor position sensor, described method includes following steps:Obtain back-emf signal caused by motor rotation;Obtain the hall signal and orthogonal intersection code signal of the motor position sensor;Determine the angular deviation between the hall signal, the orthogonal intersection code signal and the back-emf signal three;The motor position sensor is demarcated based on the angular deviation.The installation deviation of motor position sensor can be demarcated by technical solution provided by the invention, and then reduce current fluctuation and the torque ripple of motor control.

Description

The scaling method and device of a kind of motor position sensor
Technical field
Control and ontology field the present invention relates to motor position sensor, and in particular, to a kind of motor position The scaling method and device of sensor.
Background technology
In current automobile manufacturing field, automobile electric power-assisted steering (Electric Power Steering, abbreviation EPS) in system generally use permanent magnet synchronous motor (Permanent Magnet Synchronous Motor, abbreviation PMSM) Carry out course changing control.Then for the system-level control performance of EPS system, the motor position sensor signal of PMSM relative to The precision of the objective rotor-position of motor just seems most important.In order to ensure the efficient stable of EPS system level control performance, reduce The current fluctuation of motor control or even torque ripple, it is necessary to ensure the motor position detected by motor position sensor in PMSM Confidence ceases and the deviation of real PMSM motor rotor positions therebetween is as far as possible small.
To solve the above-mentioned problems, existing more commonly used method depends on the production work improved on automobile assembly line Skill is horizontal, it is ensured that the Hall (Hall) in the motor position sensor (Motor Position Sensor, abbreviation MPS) of PMSM The installation of sensor and encoder (Encoder) is accurately in place.Although this scheme can constrain motor position biography in theory The installation deviation of Hall sensor and encoder in sensor, by the motor position information detected by motor position sensor with Deviation between the objective rotor-position of real motor is maintained in a smaller range as far as possible.But in actual application In, due to the production technology naturally inconsistency between caused part and part, all motors can not be ensured in production line The upper position for producing and assembling the motor position sensor come is all met the requirements.
At this stage, in most cases, user can only be passed by the improvement of production technology to reduce motor position as far as possible The installation deviation of sensor.But such scheme can not effectively solve the installation deviation of motor position sensor after the completion of assembling Problem, is unfavorable in the control of vehicle assembling and user's driving phase to current fluctuation and torque ripple.
The content of the invention
Present invention solves the technical problem that it is that the prior art can not be to the installation of the motor position sensor after the completion of assembling Deviation is demarcated, and is unfavorable in vehicle assembling and the control current fluctuation of motor of user's driving phase and asking for torque ripple Topic.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of scaling method of motor position sensor, including Following steps:Obtain back-emf signal caused by motor rotation;Obtain the hall signal of the motor position sensor with And orthogonal intersection code signal;Determine between the hall signal, the orthogonal intersection code signal and the back-emf signal three Angular deviation;The motor position sensor is demarcated based on the angular deviation.
Optionally, the scaling method further includes:The result of the calibration is presented to user.
Optionally, the hall signal and orthogonal intersection code signal for obtaining the motor position sensor, including it is as follows Step:Obtain the hall signal collection in multiple continuous Hall periods respectively under different rotating speeds, the hall signal collection includes institute State sampling Hall signal of the Hall sensor of motor position sensor in each Hall period;To the hall signal Concentrate the sampling Hall signal of same type to be averaged, obtain the hall signal, the type is believed by the sampling Hall Number phase and edge state determine;Obtain the orthogonal coding in multiple continuous orthogonal coding cycles respectively under different rotating speeds Signal collection, the orthogonal intersection code signal collection include the encoder of the motor position sensor in each orthogonal coding cycle Interior sampling orthogonal intersection code signal;The sampling orthogonal intersection code signal for concentrating same type to the orthogonal intersection code signal is averaged Value, obtains the orthogonal intersection code signal, and the type is determined by the phase and edge state of the sampling orthogonal intersection code signal.
Optionally, it is described to determine the hall signal, the orthogonal intersection code signal and the back-emf signal three Between angular deviation, include the following steps:Determine the edge and back-emf signal of the different types of hall signal The Hall angular deviation of zero crossing, the type of the hall signal are determined by the phase and edge state of the hall signal; Determine the encoder angular offset at the edge of the different types of orthogonal intersection code signal and the edge of the hall signal, institute The type for stating orthogonal intersection code signal is determined by the phase and edge state of the orthogonal intersection code signal;It is inclined based on the Hall angle Shifting amount and the encoder angular offset determine the angular deviation.
Optionally, it is described that the angle is determined based on the Hall angular deviation and the encoder angular offset Offset, includes the following steps:The Hall angle offset minus is gone into the encoder angular offset, to obtain the angle Spend offset.
Optionally, the Hall at the edge and back-emf signal zero crossing for determining the different types of hall signal Angular deviation, includes the following steps:The edge of the different types of hall signal is measured respectively to the Hall of reference-calibrating Differential seat angle and the back-emf signal zero crossing are to the counter electromotive force differential seat angle of the reference-calibrating, the reference-calibrating base Determined in the orthogonal intersection code signal;The Hall angle is determined based on the Hall differential seat angle and the counter electromotive force differential seat angle Offset.
Optionally, it is described to determine that the Hall angle deviates with the counter electromotive force differential seat angle based on the Hall differential seat angle Amount, includes the following steps:Calculate the standard resolution angle that the difference of the Hall differential seat angle and the counter electromotive force differential seat angle includes The quantity of degree, the standard resolution angle are the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;Based on institute The quantity for stating standard resolution angle determines the Hall angular deviation.
Optionally, the quantity of the standard resolution angle is based on equation below and calculates acquisition:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, for parameter m to be rounded to Immediate integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force angle Difference;α is the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.
The quantity based on the standard resolution angle determines the Hall angular deviation, includes the following steps:Will The quantity of the standard resolution angle is multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, to obtain State Hall angular deviation.
Optionally, the quantity based on the standard resolution angle determines the Hall angular deviation, further include as Lower step:The supplement deflection angle between the Hall differential seat angle and the counter electromotive force differential seat angle is calculated, the supplement is inclined Gyration is used to represent the angular deviation for being less than the standard resolution angle in the Hall angular deviation;Based on the mark Standard differentiates the quantity of angle and the supplement deflection angle determines the Hall angular deviation.
Optionally, the supplement deflection angle is based on equation below and calculates acquisition:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x,;Hall_x for type x institute State the Hall differential seat angle of hall signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α is the orthogonal coding The minimum resolvable angle degree of the level combinations of signal.
Optionally, the quantity based on the standard resolution angle and the supplement deflection angle determine the Hall Angular deviation, includes the following steps:The quantity of the standard resolution angle is multiplied by the level group of the orthogonal intersection code signal After the minimum resolvable angle degree of conjunction, plus the supplement deflection angle, to obtain the Hall angular deviation.
Optionally, the edge for determining the different types of orthogonal intersection code signal and the edge of the hall signal Encoder angular offset, includes the following steps:Calculated based on equation below and obtain the encoder angular offset:
EncoderErr_x=Hall_x% α
Wherein, EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x;Hall_x is The Hall differential seat angle of the hall signal of type x;% accords with for complementation;α is the level combinations of the orthogonal intersection code signal Minimum resolvable angle degree.
The embodiment of the present invention also provides a kind of caliberating device of motor position sensor, including:First acquisition module, is used for Obtain back-emf signal caused by motor rotation;Second acquisition module, for obtaining the motor position sensor suddenly That signal and orthogonal intersection code signal;Determining module, for determining the hall signal, the orthogonal intersection code signal and described Angular deviation between back-emf signal three;Demarcating module, for based on the angular deviation to the motor position Sensor is put to be demarcated.
Optionally, the caliberating device further includes:Module is presented, for the result of the calibration to be presented to user.
Optionally, second acquisition module includes:First acquisition submodule is more for being obtained respectively under different rotating speeds Hall signal collection in a continuous Hall period, the hall signal collection include the Hall sensor of the motor position sensor Sampling Hall signal in each Hall period;First processing submodule is identical for being concentrated to the hall signal The sampling Hall signal of type is averaged, and obtains the hall signal, the type by the sampling Hall signal phase And edge state determines;Second acquisition submodule, for obtaining multiple continuous orthogonal coding cycles respectively under different rotating speeds Interior orthogonal intersection code signal collection, the orthogonal intersection code signal collection include the encoder of the motor position sensor each described Sampling orthogonal intersection code signal in the orthogonal coding cycle;Second processing submodule, for concentrating phase to the orthogonal intersection code signal The sampling orthogonal intersection code signal of same type is averaged, and obtains the orthogonal intersection code signal, and the type is orthogonal by the sampling The phase and edge state of encoded signal determine.
Optionally, the determining module includes:First determination sub-module, for determining the different types of hall signal Edge and back-emf signal zero crossing Hall angular deviation, the type of the hall signal is by the hall signal Phase and edge state determine;Second determination sub-module, for determine the edge of the different types of orthogonal intersection code signal with The encoder angular offset at the edge of the hall signal, the type of the orthogonal intersection code signal is by the orthogonal intersection code signal Phase and edge state determine;3rd determination sub-module, for based on the Hall angular deviation and the encoder Angular deviation determines the angular deviation.
Optionally, the 3rd determination sub-module includes:First computing unit, for by the Hall angle offset minus The encoder angular offset is gone, to obtain the angular deviation.
Optionally, first determination sub-module includes:First measuring unit, it is described different types of for measuring respectively The edge of hall signal is to the Hall differential seat angle of reference-calibrating and the back-emf signal zero crossing to the reference-calibrating Counter electromotive force differential seat angle, the reference-calibrating determined based on the orthogonal intersection code signal;First determination unit, for based on institute State Hall differential seat angle and determine the Hall angular deviation with the counter electromotive force differential seat angle.
Optionally, first determination unit includes:First computation subunit, for calculating the Hall differential seat angle and institute The quantity for the standard resolution angle that the difference of counter electromotive force differential seat angle includes is stated, the standard resolution angle is the orthogonal coding The minimum resolvable angle degree of the level combinations of signal;Determination subelement, determines for the quantity based on the standard resolution angle The Hall angular deviation.
Optionally, the quantity of the standard resolution angle is based on equation below and calculates acquisition:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, for parameter m to be rounded to Immediate integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force angle Difference;α is the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.
Optionally, the determination subelement includes:First unit of account, for the quantity of the standard resolution angle to be multiplied With the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, to obtain the Hall angular deviation.
Optionally, the determination subelement further includes:Second unit of account, for calculating the Hall differential seat angle and institute The supplement deflection angle between counter electromotive force differential seat angle is stated, the supplement deflection angle is used to represent the Hall angular deviation In be less than the standard resolution angle angular deviation;Determine unit, for the quantity based on the standard resolution angle with And the supplement deflection angle determines the Hall angular deviation.
Optionally, the supplement deflection angle is based on equation below and calculates acquisition:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x,;Hall_x for type x institute State the Hall differential seat angle of hall signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α is the orthogonal coding The minimum resolvable angle degree of the level combinations of signal.
Optionally, the definite unit includes:Subunit is calculated, for the quantity of the standard resolution angle to be multiplied by institute After the minimum resolvable angle degree for stating the level combinations of orthogonal intersection code signal, plus the supplement deflection angle, with obtain it is described suddenly That angular deviation.
Optionally, second determination sub-module includes:Second computing unit, institute is obtained for being calculated based on equation below State encoder angular offset:
EncoderErr_x=Hall_x% α
Wherein, the EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x; Hall_x is the Hall differential seat angle of the hall signal of type x;% accords with for complementation;α is the orthogonal intersection code signal The minimum resolvable angle degree of level combinations.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that:
By determining the angular deviation between hall signal, orthogonal intersection code signal and back-emf signal three, come The installation deviation of motor position sensor is demarcated, installation deviation is reduced by production technology as far as possible than existing Technical solution is compared, and the objective fact there are deviation can be assembled based on motor position sensor, and the accurate motor position that obtains passes The actual installation misalignment angle of sensor, so as to calculate angular deviation compensation rate, effectively makes up in motor position sensor producing line Influence of the installation deviation to motor control performance.
Further, the edge of different types of hall signal and the Hall angular deviation of back electromotive force zero-crossing are determined, And the encoder angular offset at the edge of different types of orthogonal intersection code signal and the edge of the hall signal, and then really The angular deviation of the fixed motor position sensor.Since motor position sensor includes Hall sensor and encoder two Kind different position detecting devices, by the technical solution of the embodiment of the present invention can accurately obtain the Hall sensor and The respective installation deviation of encoder, and then determine the installation deviation of total motor position sensor.
Further, reference-calibrating is determined based on orthogonal intersection code signal, is measured based on the reference-calibrating and obtain Hall angle Degree difference and counter electromotive force differential seat angle, and then the Hall angular deviation and encoder are obtained by the calculating of specific formulation Angular deviation;The hall signal and the data of code device signal collected by specific formulation to measurement calculates, into And intuitively the installation deviation of motor position sensor is demarcated with numeric form, be conducive to customer analysis, browse.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the scaling method of motor position sensor of the first embodiment of the present invention;
Fig. 2 is a kind of flow chart of the scaling method of motor position sensor of the second embodiment of the present invention;
Fig. 3 is a kind of flow chart of the scaling method of motor position sensor of the third embodiment of the present invention;
Fig. 4 is a kind of structure diagram of the caliberating device of motor position sensor of the fourth embodiment of the present invention;With And
Fig. 5 is the waveform diagram of back-emf signal of the invention, hall signal and orthogonal intersection code signal.
Embodiment
It will be appreciated by those skilled in the art that to reduce the current fluctuation of motor control and torque ripple, the prior art still office It is limited by improving production technology, the mode for improving the installation accuracy of motor position sensor is realized.But in actual producing line In production process, can not ensure that the installation site of all motor position sensors can be accurate, then for assembling after the completion of The installation deviation problem of motor position sensor, the prior art can not provide an effective solution, be unfavorable in vehicle The control of assembling and user's driving phase to current fluctuation and torque ripple.In order to solve this technical problem, institute of the present invention Technical solution is stated by determining the angular deviation between hall signal, orthogonal intersection code signal and back-emf signal three, To be demarcated to the installation deviation of motor position sensor.Objective thing based on motor position sensor assembling there are deviation Real, the accurate actual installation misalignment angle for obtaining motor position sensor, so as to calculate angular deviation compensation rate, effectively makes up Influence of the installation deviation to motor control performance in motor position sensor producing line.
In a preferred embodiment of the invention, when motor rotates, collection obtains back-emf signal, motor position The hall signal and orthogonal intersection code signal of sensor, and determine the edge of different types of hall signal and anti-electricity respectively accordingly The Hall angular deviation of kinetic potential zero crossing, and the edge of the edge of different types of orthogonal intersection code signal and hall signal Encoder angular offset, it is the motor position that the Hall angle offset minus is gone the encoder angular offset The angular deviation of sensor.Further, reference-calibrating is determined based on orthogonal intersection code signal, by measure it is different types of suddenly The edge of your signal to reference-calibrating Hall differential seat angle and back electromotive force zero-crossing to reference-calibrating counter electromotive force angle Difference, calculates and obtains the Hall angular deviation;By measuring the edge of different types of orthogonal intersection code signal to reference-calibrating Hall differential seat angle and orthogonal intersection code signal edge to the orthogonal coding differential seat angle of reference-calibrating, calculate and obtain the coding Device angular deviation.
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 a kind of flow chart of the scaling method of motor position sensor of the first embodiment of the present invention.Wherein, institute State calibration refer to using standard metering instrument to be detected whether meet standard using the precision of instrument, the present invention implement Refer in example and the motor position sensor of motor is detected, accurately obtain the installation deviation angle of the motor position sensor Degree;The motor can be three phase electric machine (motor of threephase stator winding composition), and the embodiment of the present invention is preferably to described three Motor position sensor is demarcated in phase motor, but those skilled in the art also can be according to being actually needed the embodiment of the present invention The technical solution is applied in other kinds of motor and is demarcated, this has no effect on the technology contents of the present invention.
Specifically, in the present embodiment, step S101 is first carried out, obtains counter electromotive force letter caused by motor rotation Number.More specifically, when the back-emf signal rotates for the motor, the electromagnetic coil in motor is affected by magnetic fields And the electromotive force that one produced to former electromotive force is relatively anti-.Preferably, the signal curve of the back-emf signal of acquisition " BEMF_A " corresponding waveform represents in waveform diagram as shown in Figure 5.In a preference, when the motor is with clockwise (Clockwise, CW) direction is rotated to stabilized (steady-state) speed, proceeds by data acquisition, tests the motor terminal voltage A to obtain The A phase back-emf signals of the motor, are recorded in the form of sinusoidal signal waveform.
Performed subsequently into step S102, obtain the hall signal and orthogonal coding letter of the motor position sensor Number.Specifically, the motor position sensor includes Hall sensor and encoder.More specifically, based on the Hall Sensor obtains the hall signal.Further, the orthogonal intersection code signal is obtained based on encoder.In a preference In, for three phase electric machine, after the motor is rotated to stabilized (steady-state) speed, the threephase stator is gathered based on the Hall sensor Hall signal in winding corresponding to each phase, " Hall_A ", " Hall_B ", " Hall_C " institute in waveform diagram as shown in Figure 5 Show and recorded with square;The orthogonal intersection code signal is gathered based on the encoder, Fig. 5 institutes are equally recorded in square Show in waveform diagram, respectively with " QEA " and " QEB " two-way waveform signal.
Next step S103 is performed, determines the hall signal, the orthogonal intersection code signal and the counter electromotive force Angular deviation between signal three.Specifically, based on the hall signal, the orthogonal intersection code signal and the anti-electricity The respective wavy curve of electromotive force signal determines the angular deviation between three.More specifically, the angular deviation is based on The offset in alignment at the edge of the hall signal, the edge of the orthogonal intersection code signal and the back-emf signal zero crossing Amount determines.In a preference, the anti-electromotive signal that the step S101 and the step S102 are collected, institute State hall signal and the corresponding wavy curve of the orthogonal intersection code signal is incorporated into the same coordinate system, as shown in figure 5, By measuring the edge of each phase of the hall signal to the distance of the back electromotive force zero-crossing, and the orthogonal intersection code signal The edge of each phase determines the angular deviation to the distance of the back electromotive force zero-crossing.
Step S104 execution is finally entered, the motor position sensor is demarcated based on the angular deviation. Specifically, calibration includes accurately detecting the installation deviation of the motor position sensor.More specifically, the mark Surely further include and corresponding angular deviation compensation rate is obtained based on the angular deviation.In a preference, based on the angle The relative position of the rotor that degree deviation compensation amount measures the motor position sensor when motor controls into Row is corrected so that revised measured value can be coincide as much as possible with real rotor relative position value.
Further, the motor can also be rotated with (Counter-Clockwise, CCW) direction counterclockwise, this area Technical staff according to actual needs, can control the direction of rotation of servomotor, be revolved with the direction for dragging the motor to need Turn, obtain the back-emf signal.
Further, the back-emf signal can also obtain the B of the motor by testing the motor terminal voltage B Phase back-emf signal, or the C phase back-emf signals of the motor are obtained by testing the motor terminal voltage C, it is right In the motor (for example, two-phase electric machine, five-phase induction motor etc.) of the different numbers of phases, those skilled in the art can also change according to being actually needed Go out more embodiments, it will not be described here.
Further, the back-emf signal is also based on the form record of form, including the institute changed over time State the numerical values recited of back-emf signal.Those skilled in the art can also be remembered using waveform by the way of form is combined Record, this has no effect on the technology contents of the present invention.
Further, the step S102 can also be based on following steps and obtain hall signal and the orthogonal coding letter Number:Obtain the hall signal collection in multiple continuous Hall periods respectively under different rotating speeds, the hall signal collection includes described Sampling Hall signal of the Hall sensor of motor position sensor in each Hall period;To the hall signal collection The sampling Hall signal of middle same type is averaged, and obtains the hall signal, the type is by the sampling Hall signal Phase and edge state determine;Obtain the orthogonal coding letter in multiple continuous orthogonal coding cycles respectively under different rotating speeds Number collection, the encoder of the orthogonal intersection code signal collection including the motor position sensor is within each orthogonal coding cycle Sampling orthogonal intersection code signal;The sampling orthogonal intersection code signal for concentrating same type to the orthogonal intersection code signal is averaged, The orthogonal intersection code signal is obtained, the type is determined by the phase and edge state of the sampling orthogonal intersection code signal.
For example, for three phase electric machine, the phase of the sampling Hall signal includes A phases, B phases and C phases, the edge state Then include rising edge and trailing edge.Correspondingly, the sampling Hall signal that the hall signal is concentrated can be divided into six classes, i.e. A phases Rising edge, A phases trailing edge, B phases rising edge, B phases trailing edge, C phases rising edge and C phase trailing edges.Reach steady in the motor After determining rotating speed (100RPM, 300RPM, 500RPM), data acquisition, the sampling Hall signal warp of each type are proceeded by 9 data can be obtained by crossing the signal acquisition under 3 rotating speeds in each continuous 3 Hall periods, and 9 data are averaged Value, you can obtain the corresponding hall signal of 6 types.Likewise, for orthogonal encoder, the orthogonal volume of sampling The phase of code signal includes A phases and B phases, and the edge state then includes rising edge and trailing edge.The then orthogonal intersection code signal Four classes can be divided into by concentrating the sampling orthogonal intersection code signal of same type, i.e., A phases rising edge, A phases trailing edge, B phases rising edge with And B phase trailing edges, the sampling orthogonal intersection code signal of each type is by each continuous 3 orthogonal coding cycles under 3 rotating speeds Interior signal acquisition can obtain 9 data, then be averaged 9 data, you can it is each right to obtain 4 types The orthogonal intersection code signal answered.
Compared with the step S102, the technical program is preferably by obtaining under different rotating speeds in multiple continuous cycles Sampling Hall signal and sampling orthogonal intersection code signal, and in a manner of being averaged to the sampling Hall signal of same type with And sampling orthogonal intersection code signal is handled, and avoids influence of the single measurement error to calibration result so that eventually for true Determine angular deviation hall signal and orthogonal intersection code signal numerical value it is more accurate, data acquisition phase may be occurred Influence of the uncontrollable factors such as measurement error to final calibration result is eliminated to minimum so that final to calculate the angular deviation obtained Compensation rate is consistent as much as possible with actual conditions.
In a change case of the present embodiment, step is further included " by the result of the calibration after the step S104 It is presented to user ".The result of the calibration can include the end-state of this calibration, can also include in this calibration process The hall signal, the waveform of the orthogonal intersection code signal and the back-emf signal or the data letter collected Breath, for the process situation of minute book time calibration, and shows whether this calibration succeeds, for example, if demarcating successfully to user Show " demarcate successfully ", otherwise, then display " demarcate fail " and send prompt message to warn user, the prompt message can be with For auditory tone cues information and/or flashing lamp prompt message etc., those skilled in the art can also dissolve more according to change is actually needed Embodiment, it will not be described here.
It will be appreciated by those skilled in the art that the calibration principle of the embodiment of the present invention is made using the zero crossing of counter electromotive force of motor For the electric angle zero point of motor, motor position sensor is demarcated.This is the unexistent technical solution of the prior art, if The installation site of the motor position sensor is accurate, then the zero crossing of back-emf signal should caused by motor rotation Overlapped with the hall signal edge of motor position sensor;If conversely, the installation site of the motor position sensor is not very Precisely, then the zero crossing of back-emf signal caused by motor rotation will exist inclined between the hall signal edge Shifting amount.The embodiment of the present invention, which is exactly based on, measures the installation deviation angle that this offset obtains motor position sensor, calculates Go out angle deviation compensation amount, so as to effectively make up installation deviation of the motor position sensor in producing line to motor control performance Influence.
Fig. 2 is a kind of flow chart of the scaling method of motor position sensor of the second embodiment of the present invention.Specifically, In the present embodiment, step S201 is first carried out, obtains back-emf signal caused by motor rotation.More specifically, institute State back-emf signal for the motor rotation when, the electromagnetic coil in motor is affected by magnetic fields and former electromotive force is produced A relatively anti-electromotive force.Further, those skilled in the art may be referred to described in above-mentioned embodiment illustrated in fig. 1 Step S101, it will not be described here.
Performed subsequently into step S202, obtain the hall signal and orthogonal coding letter of the motor position sensor Number.Specifically, the motor position sensor includes Hall sensor and encoder.More specifically, people in the art Member may be referred to step S102 described in above-mentioned embodiment illustrated in fig. 1, and it will not be described here.
Next step S203 is performed, determines the edge and back electromotive force zero-crossing of the different types of hall signal Hall angular deviation.Specifically, the type is determined by the phase and edge state of the hall signal.Specifically Ground, the Hall angular deviation are used for the installation deviation situation for weighing the Hall sensor of the motor position sensor.It is excellent Selection of land, for three phase electric machine, the phase of the hall signal includes A phases, B phases and C phases, and the edge state then includes rising edge And trailing edge.Correspondingly, the hall signal can be divided into six classes, i.e. A phases rising edge, A phases trailing edge, B phases rising edge, B phases Trailing edge, C phases rising edge and C phase trailing edges.In a preference, by the edge of the 6 class hall signal respectively at institute State back electromotive force zero-crossing to compare, determine corresponding Hall angular deviation.
Performed subsequently into step S204, the edge and the Hall for determining the different types of orthogonal intersection code signal are believed Number edge encoder angular offset.Specifically, the type is by the phase and edge for sampling orthogonal intersection code signal State determines.More specifically, the encoder angular offset is used for the encoder for weighing the motor position sensor Installation deviation situation.Preferably for orthogonal encoder, the phase of the sampling orthogonal intersection code signal includes A phases and B phases, institute Stating edge state then includes rising edge and trailing edge.Correspondingly, the orthogonal intersection code signal can be divided into four classes, i.e. A phases rise Edge, A phases trailing edge, B phases rising edge and B phase trailing edges.In a preference, due to the A phases of the orthogonal intersection code signal Be in 90 ° of deflection angles with B phases, then only need to be by the edge of the 6 class hall signal respectively in the 4 class orthogonal intersection code signal Any sort compares, you can determines the encoder angular offset.
Next step S205 is performed, is determined based on the Hall angular deviation and the encoder angular offset The angular deviation.Specifically, the angular deviation with by the Hall angular deviation and the encoder angular Offset is associated.More specifically, by being carried out to the Hall angular deviation and the encoder angular offset Computing, obtains the angular deviation.In a preference, the Hall angle offset minus is removed into the encoder angular Offset, to obtain the angular deviation.
Step S206 execution is finally entered, the motor position sensor is demarcated based on the angular deviation. Specifically, the calibration includes accurately detecting the installation deviation of the motor position sensor.More specifically, originally Field technology personnel may be referred to step S104 described in above-mentioned embodiment illustrated in fig. 1, and it will not be described here.
By upper, using the scheme of second embodiment, step S203, the step S204 and the step described in the present embodiment Rapid S205 can be understood as an embodiment of step S103 described in above-mentioned embodiment illustrated in fig. 1, based on it is described suddenly Your angular deviation determines the installation deviation angle of the Hall sensor of the motor position sensor, based on the encoder angle Degree offset determines the installation deviation angle of the encoder of the motor position sensor, is based ultimately upon the Hall angle offset Amount subtracts the mode of the encoder angular offset to obtain the angular deviation, completes to the motor position sensor Calibration.
Fig. 3 is a kind of flow chart of the scaling method of motor position sensor of the third embodiment of the present invention.Specifically, In the present embodiment, step S301 is first carried out, obtains back-emf signal caused by motor rotation.More specifically, institute State back-emf signal for the motor rotation when, the electromagnetic coil in motor is affected by magnetic fields and former electromotive force is produced A relatively anti-electromotive force.Further, those skilled in the art may be referred to described in above-mentioned embodiment illustrated in fig. 1 Step S101, it will not be described here.
Performed subsequently into step S302, obtain the hall signal and orthogonal coding letter of the motor position sensor Number.Specifically, the motor position sensor includes Hall sensor and encoder.More specifically, people in the art Member may be referred to step S102 described in above-mentioned embodiment illustrated in fig. 1, and it will not be described here.
Next step S303 is performed, measures the edge of the different types of hall signal respectively to reference-calibrating suddenly The counter electromotive force differential seat angle of your differential seat angle and the back electromotive force zero-crossing to the reference-calibrating.Specifically, the calibration Benchmark is determined based on the orthogonal intersection code signal.More specifically, the type by the hall signal phase and edge State determines.Preferably for three phase electric machine, the phase of the hall signal includes A phases, B phases and C phases, the edge state Then include rising edge and trailing edge.In a preference, using the A phases trailing edge of the orthogonal intersection code signal as the calibration Benchmark, is represented in waveform diagram shown in Fig. 5 with " 0State ", correspondingly, the Hall differential seat angle is included on " Hall_A " Rise along the Hall differential seat angle " Hall_1 " for arriving " 0State ", the Hall differential seat angle " Hall_ of " Hall_A " trailing edge to " 0State " 2 ", the Hall differential seat angle " Hall_3 " of " Hall_B " rising edge to " 0State ", " Hall_B " trailing edge to " 0State " suddenly That differential seat angle " Hall_4 ", the Hall differential seat angle " Hall_5 " of " Hall_C " rising edge to " 0State " and " Hall_C " decline Along the Hall differential seat angle " Hall_6 " for arriving " 0State ", the counter electromotive force angle of the back electromotive force zero-crossing to the reference-calibrating Degree difference is represented in waveform diagram shown in Fig. 5 with " bemfA ".
Performed subsequently into step S304, based on the Hall differential seat angle and the counter electromotive force differential seat angle determine it is described suddenly That angular deviation.Preferably, the standard scores that the difference of the Hall differential seat angle and the counter electromotive force differential seat angle includes are calculated Distinguish the quantity of angle, and the quantity based on the standard resolution angle determines the Hall angular deviation, wherein, the standard Differentiate minimum resolvable angle degree of the angle for the level combinations of the orthogonal intersection code signal.In a preference, the standard The quantity for differentiating angle is based on equation below calculating acquisition:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, for parameter m to be rounded to Immediate integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force angle Difference;α is the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.Preferably, For three phase electric machine, the value range of the type x is 1~6;The α is 7.5 °;The β is 4.Preferably, by the standard The quantity of resolution angle is multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, to obtain the Hall angle Spend offset.
Next step S305 is performed, determines the edge of the different types of orthogonal intersection code signal and the hall signal Edge encoder angular offset.Specifically, the type is by the phase and edge shape for sampling orthogonal intersection code signal State determines.Preferably for orthogonal encoder, the phase of the sampling orthogonal intersection code signal includes A phases and B phases, the edge State then includes rising edge and trailing edge, since A phases and the B phases of the orthogonal intersection code signal are in 90 ° of deflection angles, then only need by The edge of the 6 class hall signal compares respectively at any sort in the 4 class orthogonal intersection code signal, you can determines the volume Code device angular deviation.In a preference, due in the step S303 by the A phase trailing edges of the orthogonal intersection code signal As reference-calibrating, then the edge of the orthogonal intersection code signal and the edge of the hall signal are the reference-calibrating and institute The edge of hall signal is stated, thus, the encoder angular offset can be based on equation below and calculate acquisition:
EncoderErr_x=Hall_x% α
Wherein, EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x;Hall_x is The Hall differential seat angle of the hall signal of type x;% accords with for complementation;α is the level combinations of the orthogonal intersection code signal Minimum resolvable angle degree.
Performed subsequently into step S306, it is true based on the Hall angular deviation and the encoder angular offset The fixed angular deviation.Specifically, by being carried out to the Hall angular deviation and the encoder angular offset Computing, obtains the angular deviation.In a preference, calculated based on equation below and obtain the angular deviation:
θ=N* α-EncoderErr_x
Wherein, θ is the angular deviation;N is the quantity of the standard resolution angle;α is the orthogonal intersection code signal Level combinations minimum resolvable angle degree;EncoderErr_x is encoder angular offset.
Step S307 is finally performed, the motor position sensor is demarcated based on the angular deviation.Specifically Ground, the calibration include accurately detecting the installation deviation of the motor position sensor.More specifically, this area Technical staff may be referred to step S104 described in above-mentioned embodiment illustrated in fig. 1, and it will not be described here.
Further, the reference-calibrating is also based on other edge states of the orthogonal intersection code signal and determines, example Such as, B phases trailing edge, B phase rising edges etc., those skilled in the art can dissolve more embodiments according to change is actually needed, herein It will not go into details.
Further, the characteristic based on the motor position sensor, the motor is often rotated by 360 ° mechanical angle, described The orthogonal intersection code signal of motor position sensor will obtain 144 level combinations.For three phase electric machine, since electric angle is The number of pole-pairs of motor and the product of mechanical angle, thus three phase electric machine rotates a circle and corresponds to 360 ° × 3=1080 ° electric angle, Then the minimum resolvable angle degree of the level combinations of each orthogonal intersection code signal is 1080 °/144=7.5 °.
Further, the default initialization quantity β can also be 0, it will be appreciated by those skilled in the art that the present invention is implemented The example default initialization quantity β is used to carry out the angular deviation of the motor position sensor of initial phase pre- Compensation, reduces estimation error.For example, initial phase while not starting to walk (such as automotive ignition but), motor may not rotate, The data message that the Hall sensor and the encoder are collected at this time is insufficient, it is impossible to be used in rotor is specific Position angle determines, then needs to carry out a preresearch estimates to the angle of rotor of motor, in order to avoid it is based on the embodiment of the present invention When the angular deviation of acquisition carries out angle compensation, since angle estimation is not allowed to cause minus effect.
Preferably, the deviation maximum of the preresearch estimates is 30 °, thus is based on formula ROUND (30/7.5,0)=4, Determine that the default initialization quantity β is 4, the Hall differential seat angle and counter electromotive force of the motor based on historical record Differential seat angle, calculates with reference to the default initialization quantity and obtains corresponding angular deviation, motor position sensor is carried out Compensation so that the motor can normally rotate.And after the motor rotates, the motor position sensor Hall sensor and encoder can obtain the Hall differential seat angle caused by this described motor rotation and anti-electronic Gesture differential seat angle, then default initialization angle beta described at this time is 0, and the motor is based on the Hall differential seat angle and anti-electronic Gesture differential seat angle can calculate acquisition more accurately angular deviation.
Further, for the ease of calculating, step can also be included between the step S304 and the step S305: " the Hall differential seat angle obtained will be measured based on equation below and the counter electromotive force differential seat angle is converted to corresponding calculating Data:
Wherein, X is the Hall differential seat angle or counter electromotive force differential seat angle that the measurement obtains;Y is to be obtained with the measurement The corresponding calculating data of Hall differential seat angle, or with the corresponding calculating data of the counter electromotive force differential seat angle;δ is Hall The theoretical maximum of differential seat angle and counter electromotive force differential seat angle;σ be and the theoretical maximum it is corresponding calculate data maximum Value, the Hall angular deviation are to calculate what is determined based on the calculating data being converted to." preferably, the δ is 360 °, The σ is 6144.
It will be appreciated by those skilled in the art that since the Hall differential seat angle of measurement acquisition and the anti-electronic differential seat angle are equal Possible non-integer, then in order in follow-up calculating process, especially calculate convenience during ROUND (m, 0) function, will can survey Measure the Hall differential seat angle obtained and the counter electromotive force differential seat angle is respectively converted into the calculating data of integer form, and base The formula in the step S305 and step S306 is carried out in the calculating data to calculate.Preferably, the orthogonal volume The corresponding data that calculate of the minimum resolvable angle degree α of the level combinations of code signal are 128.
In a change case of the present embodiment, " the number based on the standard resolution angle described in the step S304 Amount determines the Hall angular deviation ", further include step and " calculate the Hall differential seat angle and the counter electromotive force differential seat angle Between supplement deflection angle, it is described supplement deflection angle be used for represent to be less than the standard scores in the Hall angular deviation Distinguish the angular deviation of angle;Quantity and the supplement deflection angle based on the standard resolution angle determine the Hall Angular deviation ".Preferably, the supplement deflection angle is based on equation below and calculates acquisition:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x;Hall_x is the described of type x The Hall differential seat angle of hall signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α believes for the orthogonal coding Number level combinations minimum resolvable angle degree.Preferably, the quantity of the standard resolution angle is multiplied by the orthogonal coding After the minimum resolvable angle degree of the level combinations of signal, plus the supplement deflection angle, deviated with obtaining the Hall angle Amount.
Further, the angular deviation is based on equation below and calculates acquisition:
θ=N* α+HallErr_x-EncoderErr_x
Wherein, θ is the angular deviation;N is the quantity of the standard resolution angle;α is the orthogonal intersection code signal Level combinations minimum resolvable angle degree;HallErr_x is the supplement deflection angle;EncoderErr_x is encoder angle Spend offset.
It will be appreciated by those skilled in the art that with the step S304 to the computational methods phase of the Hall angular deviation Than numerical procedure described in this change case is preferably adapted for the feelings that the Hall angular deviation is less than the standard resolution angle Shape, since ROUND (m, 0) function in the step S304 can only try to achieve standard scores included in the Hall angular deviation The integer amount of angle is distinguished, if the Hall angular deviation is less than the standard resolution angle, based on the step S304 Described in formula result of calculation N=0, if no small error will certainly be produced by carrying out follow-up angle compensation accordingly.Thus, need Complementation is carried out to the Hall angular deviation less than the standard resolution angle based on technical solution described in this change case, The supplement deflection angle is obtained, to obtain the more accurate angular deviation.
Further, technical solution described in this change case applies also for the Hall angular deviation and is more than standard resolution angle The situation of degree but non-integer.Although it will be appreciated by those skilled in the art that the Hall angular deviation is more than the standard resolution angle Spend, the result of calculation N in the step S304>0, but the specific of non-integer fraction in the Hall angular deviation can not be embodied Numerical value, then by technical solution described in this change case to the Hall angular deviation remainder, two is superimposed, you can obtains accurate The Hall angular deviation, and then obtain the accurately angular deviation.
It will be appreciated by those skilled in the art that compared with above-mentioned embodiment illustrated in fig. 2, step S303 described in the present embodiment and institute The embodiment that step S304 can be understood as step S203 described in above-mentioned embodiment illustrated in fig. 2 is stated, by pre- If reference-calibrating, influence of the measurement error to calibration result can be effectively eliminated, improve the precision of calibration;By calculating The quantity for the standard resolution angle that the difference of Hall differential seat angle and the counter electromotive force differential seat angle includes is stated, it is described to determine Hall angular deviation.Further, 7.5 ° of situation, and the Hall angle are less than for the Hall angular deviation The situation of offset non-integer, with reference to the knot of the difference remainder to the Hall differential seat angle and the counter electromotive force differential seat angle Fruit, accurately obtains the Hall angular deviation, and then obtains the angle offset of the more accurately motor position sensor Amount, improves the calibration precision to the motor position sensor installation deviation, is conducive to reduce the current wave of motor control Dynamic and moment of torsion control, optimizes user experience.
Fig. 4 is a kind of structure diagram of the caliberating device of motor position sensor of the fourth embodiment of the present invention.This Field technology personnel understand that control device 4 described in the present embodiment can be used for implementing above-mentioned Fig. 1 to above-mentioned embodiment illustrated in fig. 3 Described in method and technology scheme.Specifically, in the present embodiment, the caliberating device 4 includes the first acquisition module 41, is used for Obtain back-emf signal caused by motor rotation;Second acquisition module 42, for obtaining the motor position sensor Hall signal and orthogonal intersection code signal;Determining module 43, for determine the hall signal, the orthogonal intersection code signal and Angular deviation between the back-emf signal three;Demarcating module 44, for based on the angular deviation to described Motor position sensor is demarcated;And module 45 is presented, for the result of the calibration to be presented to user.
Preferably, second acquisition module 42 includes:First acquisition submodule 421, for distinguishing under different rotating speeds The hall signal collection in multiple continuous Hall periods is obtained, the hall signal collection includes the Hall of the motor position sensor Sampling Hall signal of the sensor in each Hall period;First processing submodule 422, for the hall signal Concentrate the sampling Hall signal of same type to be averaged, obtain the hall signal, the type is believed by the sampling Hall Number phase and edge state determine;Second acquisition submodule 423, for obtained respectively under different rotating speeds it is multiple it is continuous just The orthogonal intersection code signal collection in code period is handed over, the orthogonal intersection code signal collection includes the encoder of the motor position sensor Sampling orthogonal intersection code signal within each orthogonal coding cycle;Second processing submodule 424, for the orthogonal volume Code signal concentrates the sampling orthogonal intersection code signal of same type to be averaged, and obtains the orthogonal intersection code signal, the type by The phase and edge state of the sampling orthogonal intersection code signal determine.
Preferably, the determining module 43 includes:First determination sub-module 431, for determine it is different types of it is described suddenly The edge of your signal and the Hall angular deviation of back-emf signal zero crossing, the type of the hall signal is by the Hall The phase and edge state of signal determine;Second determination sub-module 432, for determining the different types of orthogonal intersection code signal Edge and the hall signal edge encoder angular offset, the type of the orthogonal intersection code signal is by described orthogonal The phase and edge state of encoded signal determine;3rd determination sub-module 433, for based on the Hall angular deviation and The encoder angular offset determines the angular deviation.
Preferably, the 3rd determination sub-module 433 includes:First computing unit 4331, for by the Hall angle Offset subtracts the encoder angular offset, to obtain the angular deviation.
Preferably, first determination sub-module 431 includes:First measuring unit 4311, for measure respectively it is described not The edge of the hall signal of same type is to the Hall differential seat angle of reference-calibrating and the back-emf signal zero crossing described in The counter electromotive force differential seat angle of reference-calibrating, the reference-calibrating are determined based on the orthogonal intersection code signal;First determination unit 4312, for determining the Hall angular deviation based on the Hall differential seat angle and the counter electromotive force differential seat angle.
Preferably, first determination unit 4312 includes:First computation subunit 43121, for calculating the Hall The quantity for the standard resolution angle that the difference of differential seat angle and the counter electromotive force differential seat angle includes, the standard resolution angle is institute State the minimum resolvable angle degree of the level combinations of orthogonal intersection code signal;Determination subelement 43122, for based on the standard resolution The quantity of angle determines the Hall angular deviation.Preferably, the quantity of the standard resolution angle is based on equation below meter Calculate and obtain:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, for parameter m to be rounded to Immediate integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force angle Difference;α is the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.
Preferably, the determination subelement 43122 includes:First unit of account 431221, for by the standard resolution The quantity of angle is multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, inclined to obtain the Hall angle Shifting amount.
In a change case of the present embodiment, the determination subelement 43122 further includes:Second unit of account 431222, for calculating the supplement deflection angle between the Hall differential seat angle and the counter electromotive force differential seat angle, the benefit Fill the angular deviation that deflection angle is used to represent to be less than the standard resolution angle in the Hall angular deviation;Determine single Position 431223, determines that the Hall angle is inclined for the quantity based on the standard resolution angle and the supplement deflection angle Shifting amount.Preferably, the supplement deflection angle is based on equation below and calculates acquisition:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x,;Hall_x for type x institute State the Hall differential seat angle of hall signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α is the orthogonal coding The minimum resolvable angle degree of the level combinations of signal.
Preferably, the definite unit 431223 includes:Subunit 4312231 is calculated, for by the standard resolution angle After the quantity of degree is multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, plus the supplement deflection angle Degree, to obtain the Hall angular deviation.
Preferably, second determination sub-module 432 includes:Second computing unit 4321, based on based on equation below Calculate and obtain the encoder angular offset:
EncoderErr_x=Hall_x% α
Wherein, the EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x; Hall_x is the Hall differential seat angle of the hall signal of type x;% accords with for complementation;α is the orthogonal intersection code signal The minimum resolvable angle degree of level combinations.
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 relevant hardware to complete by program, which 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, are not departing from this 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 Subject to the scope of restriction.

Claims (26)

1. a kind of scaling method of motor position sensor, it is characterised in that include the following steps:
Obtain back-emf signal caused by motor rotation;
Obtain the hall signal and orthogonal intersection code signal of the motor position sensor;
Determine the angle offset between the hall signal, the orthogonal intersection code signal and the back-emf signal three Amount;
The motor position sensor is demarcated based on the angular deviation.
2. scaling method according to claim 1, it is characterised in that further include following steps:
The result of the calibration is presented to user.
3. scaling method according to claim 1, it is characterised in that the Hall for obtaining the motor position sensor Signal and orthogonal intersection code signal, include the following steps:
Obtain the hall signal collection in multiple continuous Hall periods respectively under different rotating speeds, the hall signal collection includes described Sampling Hall signal of the Hall sensor of motor position sensor in each Hall period;
The sampling Hall signal for concentrating same type to the hall signal is averaged, and obtains the hall signal, the class Type is determined by the phase and edge state of the sampling Hall signal;
Obtain the orthogonal intersection code signal collection in multiple continuous orthogonal coding cycles, the orthogonal coding letter respectively under different rotating speeds Number collection includes the sampling orthogonal intersection code signal of the encoder of the motor position sensor within each orthogonal coding cycle;
The sampling orthogonal intersection code signal for concentrating same type to the orthogonal intersection code signal is averaged, and obtains the orthogonal coding Signal, the type are determined by the phase and edge state of the sampling orthogonal intersection code signal.
4. scaling method according to any one of claim 1 to 3, it is characterised in that the definite hall signal, Angular deviation between the orthogonal intersection code signal and the back-emf signal three, includes the following steps:
Determine the edge of the different types of hall signal and the Hall angular deviation of back-emf signal zero crossing, it is described The type of hall signal is determined by the phase and edge state of the hall signal;
Determine that the encoder angular at the edge of the different types of orthogonal intersection code signal and the edge of the hall signal deviates Amount, the type of the orthogonal intersection code signal are determined by the phase and edge state of the orthogonal intersection code signal;
The angular deviation is determined based on the Hall angular deviation and the encoder angular offset.
5. scaling method according to claim 4, it is characterised in that described to be based on the Hall angular deviation and institute State encoder angular offset and determine the angular deviation, include the following steps:
The Hall angle offset minus is gone into the encoder angular offset, to obtain the angular deviation.
6. scaling method according to claim 4, it is characterised in that the definite different types of hall signal The Hall angular deviation at edge and back-emf signal zero crossing, includes the following steps:Measure respectively described different types of The edge of hall signal is to the Hall differential seat angle of reference-calibrating and the back-emf signal zero crossing to the reference-calibrating Counter electromotive force differential seat angle, the reference-calibrating determined based on the orthogonal intersection code signal;
The Hall angular deviation is determined based on the Hall differential seat angle and the counter electromotive force differential seat angle.
7. scaling method according to claim 6, it is characterised in that described based on the Hall differential seat angle and the anti-electricity Kinetic potential differential seat angle determines the Hall angular deviation, includes the following steps:
The quantity for the standard resolution angle that the difference of the Hall differential seat angle and the counter electromotive force differential seat angle includes is calculated, it is described Standard resolution angle is the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;
Quantity based on the standard resolution angle determines the Hall angular deviation.
8. scaling method according to claim 7, it is characterised in that the quantity of the standard resolution angle is based on following public Formula, which calculates, to be obtained:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, is most connect for parameter m to be rounded to Near integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force differential seat angle;α For the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.
9. the scaling method according to claim 7 or 8, it is characterised in that the number based on the standard resolution angle Amount determines the Hall angular deviation, includes the following steps:
The quantity of the standard resolution angle is multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, with Obtain the Hall angular deviation.
10. scaling method according to claim 7, it is characterised in that the quantity based on the standard resolution angle Determine the Hall angular deviation, further include following steps:
Calculate the supplement deflection angle between the Hall differential seat angle and the counter electromotive force differential seat angle, the supplement deflection angle Degree is used to represent the angular deviation for being less than the standard resolution angle in the Hall angular deviation;
Quantity and the supplement deflection angle based on the standard resolution angle determine the Hall angular deviation.
11. scaling method according to claim 10, it is characterised in that the supplement deflection angle is based on equation below meter Calculate and obtain:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x;Hall_x is the Hall of type x The Hall differential seat angle of signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α is the orthogonal intersection code signal The minimum resolvable angle degree of level combinations.
12. the scaling method according to claim 10 or 11, it is characterised in that described based on the standard resolution angle Quantity and the supplement deflection angle determine the Hall angular deviation, include the following steps:
After the quantity of the standard resolution angle to be multiplied by the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal, Plus the supplement deflection angle, to obtain the Hall angular deviation.
13. scaling method according to claim 6, it is characterised in that described to determine the different types of orthogonal coding The encoder angular offset at the edge of signal and the edge of the hall signal, includes the following steps:
Calculated based on equation below and obtain the encoder angular offset:
EncoderErr_x=Hall_x% α
Wherein, EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x;
Hall_x is the Hall differential seat angle of the hall signal of type x;% accords with for complementation;α believes for the orthogonal coding Number level combinations minimum resolvable angle degree.
A kind of 14. caliberating device of motor position sensor, it is characterised in that including:
First acquisition module, for obtaining back-emf signal caused by motor rotation;
Second acquisition module, for obtaining the hall signal and orthogonal intersection code signal of the motor position sensor;
Determining module, for determine the hall signal, the orthogonal intersection code signal and the back-emf signal three it Between angular deviation;
Demarcating module, for being demarcated based on the angular deviation to the motor position sensor.
15. caliberating device according to claim 14, it is characterised in that further include:
Module is presented, for the result of the calibration to be presented to user.
16. caliberating device according to claim 14, it is characterised in that second acquisition module includes:
First acquisition submodule, for obtaining the hall signal collection in multiple continuous Hall periods, institute respectively under different rotating speeds Stating hall signal collection includes sampling Hall of the Hall sensor of the motor position sensor in each Hall period Signal;
First processing submodule, the sampling Hall signal for concentrating same type to the hall signal are averaged, obtain The hall signal, the type are determined by the phase and edge state of the sampling Hall signal;
Second acquisition submodule, for obtaining the orthogonal coding letter in multiple continuous orthogonal coding cycles respectively under different rotating speeds Number collection, the encoder of the orthogonal intersection code signal collection including the motor position sensor is within each orthogonal coding cycle Sampling orthogonal intersection code signal;
Second processing submodule, the sampling orthogonal intersection code signal for concentrating same type to the orthogonal intersection code signal are averaged Value, obtains the orthogonal intersection code signal, and the type is determined by the phase and edge state of the sampling orthogonal intersection code signal.
17. the caliberating device according to any one of claim 14 to 16, it is characterised in that the determining module includes:
First determination sub-module, for determining the edge and back-emf signal zero crossing of the different types of hall signal Hall angular deviation, the type of the hall signal are determined by the phase and edge state of the hall signal;
Second determination sub-module, for determining the edge of the different types of orthogonal intersection code signal and the side of the hall signal The encoder angular offset on edge, the type of the orthogonal intersection code signal by the orthogonal intersection code signal phase and edge state Determine;
3rd determination sub-module, it is described for being determined based on the Hall angular deviation and the encoder angular offset Angular deviation.
18. caliberating device according to claim 17, it is characterised in that the 3rd determination sub-module includes:First meter Unit is calculated, for the Hall angle offset minus to be gone the encoder angular offset, to obtain the angular deviation.
19. caliberating device according to claim 17, it is characterised in that first determination sub-module includes:First surveys Unit is measured, for measuring the edge of the different types of hall signal respectively to the Hall differential seat angle of reference-calibrating and described For back-emf signal zero crossing to the counter electromotive force differential seat angle of the reference-calibrating, the reference-calibrating is based on the orthogonal coding Signal determines;
First determination unit, for determining that the Hall angle is inclined with the counter electromotive force differential seat angle based on the Hall differential seat angle Shifting amount.
20. caliberating device according to claim 19, it is characterised in that first determination unit includes:First calculates Subelement, the number for the standard resolution angle that the difference for calculating the Hall differential seat angle and the counter electromotive force differential seat angle includes Amount, the standard resolution angle are the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;
Determination subelement, the Hall angular deviation is determined for the quantity based on the standard resolution angle.
21. caliberating device according to claim 20, it is characterised in that the quantity of the standard resolution angle is based on as follows Formula, which calculates, to be obtained:
N=ROUND ((Hall_x-bemfA)/α, 0)+β
Wherein, N is the quantity of the standard resolution angle;ROUND (m, 0) is function, is most connect for parameter m to be rounded to Near integer;Hall_x is the Hall differential seat angle of the hall signal of type x;BemfA is the counter electromotive force differential seat angle;α For the minimum resolvable angle degree of the level combinations of the orthogonal intersection code signal;β is default initialization quantity.
22. the caliberating device according to claim 20 or 21, it is characterised in that the determination subelement includes:
First unit of account, for the quantity of the standard resolution angle to be multiplied by the level combinations of the orthogonal intersection code signal Minimum resolvable angle degree, to obtain the Hall angular deviation.
23. caliberating device according to claim 20, it is characterised in that the determination subelement further includes:Second calculates Unit, for calculating the supplement deflection angle between the Hall differential seat angle and the counter electromotive force differential seat angle, the supplement Deflection angle is used to represent the angular deviation for being less than the standard resolution angle in the Hall angular deviation;
Determine unit, the Hall angle is determined for the quantity based on the standard resolution angle and the supplement deflection angle Spend offset.
24. caliberating device according to claim 23, it is characterised in that the supplement deflection angle is based on equation below meter Calculate and obtain:
HallErr_x=(Hall_x-bemfA) % α
Wherein, HallErr_x is the supplement deflection angle of the hall signal of type x;Hall_x is the Hall of type x The Hall differential seat angle of signal;BemfA is the counter electromotive force differential seat angle;% is complementation;α is the orthogonal intersection code signal The minimum resolvable angle degree of level combinations.
25. the caliberating device according to claim 23 or 24, it is characterised in that the definite unit includes:It is single to calculate son Position, the minimum resolvable angle degree of the level combinations for the quantity of the standard resolution angle to be multiplied by the orthogonal intersection code signal Afterwards, plus the supplement deflection angle, to obtain the Hall angular deviation.
26. caliberating device according to claim 19, it is characterised in that second determination sub-module includes:Second meter Unit is calculated, the encoder angular offset is obtained for being calculated based on equation below:
EncoderErr_x=Hall_x% α
Wherein, EncoderErr_x is the encoder angular offset of the orthogonal intersection code signal of type x;Hall_x is type The Hall differential seat angle of the hall signal of x;% accords with for complementation;α be the orthogonal intersection code signal level combinations most I differentiates angle.
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CN109373945A (en) * 2018-09-20 2019-02-22 北京海纳川汽车部件股份有限公司 The position sensor test device and vehicle testing system of pedal of vehicles
CN109546903A (en) * 2018-11-14 2019-03-29 哈尔滨工程大学 A kind of compensation method of brushless DC motor without position sensor voltage sample offset
CN109842329A (en) * 2018-11-13 2019-06-04 浙江航驱汽车科技有限公司 Method for electric direction varying device brushless DC motor offset angular measurement
CN110086399A (en) * 2019-05-13 2019-08-02 郑州大学 A kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method
CN110829950A (en) * 2019-11-13 2020-02-21 上海电动工具研究所(集团)有限公司 Brushless motor position enhancement detection circuit and method for electric tool
CN111049456A (en) * 2020-01-06 2020-04-21 江苏科技大学 Hall sensor installation deviation identification and compensation method and device
CN111245304A (en) * 2018-11-29 2020-06-05 安徽美芝精密制造有限公司 Compensation method, compensation device, motor and storage medium
CN112910332A (en) * 2021-04-08 2021-06-04 杭州爱科科技股份有限公司 Method and device for determining initial electrical angle of permanent magnet synchronous motor and storage medium
CN113078854A (en) * 2019-12-18 2021-07-06 珠海格力电器股份有限公司 Motor control method and device and motor
EP3852264A4 (en) * 2018-10-12 2021-12-22 Gree Electric Appliances, Inc. of Zhuhai Method, system, and motor for measuring motor rotor logic level
CN113848998A (en) * 2021-11-30 2021-12-28 普宙科技(深圳)有限公司 Method and device for self-checking position angle of micro holder

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Cited By (14)

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CN109373945A (en) * 2018-09-20 2019-02-22 北京海纳川汽车部件股份有限公司 The position sensor test device and vehicle testing system of pedal of vehicles
CN109245641A (en) * 2018-09-29 2019-01-18 中国人民解放军海军工程大学 Permanent magnet synchronous motor square wave field weakening control method
CN109245641B (en) * 2018-09-29 2021-11-02 中国人民解放军海军工程大学 Square wave flux weakening control method for permanent magnet synchronous motor
EP3852264A4 (en) * 2018-10-12 2021-12-22 Gree Electric Appliances, Inc. of Zhuhai Method, system, and motor for measuring motor rotor logic level
CN109842329A (en) * 2018-11-13 2019-06-04 浙江航驱汽车科技有限公司 Method for electric direction varying device brushless DC motor offset angular measurement
CN109546903A (en) * 2018-11-14 2019-03-29 哈尔滨工程大学 A kind of compensation method of brushless DC motor without position sensor voltage sample offset
CN109546903B (en) * 2018-11-14 2021-09-28 哈尔滨工程大学 Compensation method for voltage sampling offset of brushless direct current motor without position sensor
CN111245304A (en) * 2018-11-29 2020-06-05 安徽美芝精密制造有限公司 Compensation method, compensation device, motor and storage medium
CN110086399A (en) * 2019-05-13 2019-08-02 郑州大学 A kind of permanent-magnet synchronous motor rotor position compound detection and starting operation method
CN110829950A (en) * 2019-11-13 2020-02-21 上海电动工具研究所(集团)有限公司 Brushless motor position enhancement detection circuit and method for electric tool
CN113078854A (en) * 2019-12-18 2021-07-06 珠海格力电器股份有限公司 Motor control method and device and motor
CN111049456A (en) * 2020-01-06 2020-04-21 江苏科技大学 Hall sensor installation deviation identification and compensation method and device
CN112910332A (en) * 2021-04-08 2021-06-04 杭州爱科科技股份有限公司 Method and device for determining initial electrical angle of permanent magnet synchronous motor and storage medium
CN113848998A (en) * 2021-11-30 2021-12-28 普宙科技(深圳)有限公司 Method and device for self-checking position angle of micro holder

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