CN108155844A - A kind of calibration method and device of motor initial position angle - Google Patents
A kind of calibration method and device of motor initial position angle Download PDFInfo
- Publication number
- CN108155844A CN108155844A CN201810161638.1A CN201810161638A CN108155844A CN 108155844 A CN108155844 A CN 108155844A CN 201810161638 A CN201810161638 A CN 201810161638A CN 108155844 A CN108155844 A CN 108155844A
- Authority
- CN
- China
- Prior art keywords
- motor
- initial position
- angle
- phase angle
- phase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/181—Circuit arrangements for detecting position without separate position detecting elements using different methods depending on the speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention provides a kind of calibration method and device of motor initial position angle, this method includes：Determine default motor initial position angle, wherein, motor can rotate forward in voltage mode control according to default motor initial position angle；It is rotated forward with current control mode control motor, phase angle to the first phase angle of regulation motor so that the tachometer value that motor rotates forward reaches target velocity；Motor reversal, phase angle to the second phase angle of regulation motor so that the tachometer value of motor reversal reaches target velocity are controlled with current control mode；Default motor initial position angle is calibrated according to the number of pole-pairs of the rotary transformer of first phase angle, second phase angle, the number of pole-pairs of motor and motor.Solve the problems, such as that the motor initial position angle mechanically got in the prior art is inaccurate.
Description
Technical field
The present invention relates to Motor Control Field more particularly to a kind of calibration methods and device of motor initial position angle.
Background technology
The starting of permanent magnet synchronous motor needs to know the initial position angle of rotor magnetic pole with vector controlled, in the prior art
In, often initial position angle is adjusted using the mode of machinery.
It should be noted that it is often inaccurate by the initial position angle that above-mentioned mechanical system is got, it can serious shadow
The calculating of position, so that other series of algorithms of motor control can not be correctly completed, will cause motor to transport when ringing rotor rotation
The disorder turned, is allowed to cannot be introduced into normal operation, the performance of four-wheel electric motor car can be also influenced under concrete application scene.
Invention content
The present invention provides a kind of calibration method of motor initial position angle, this method includes：Determine that default motor is initial
Position angle, wherein, motor can rotate forward in voltage mode control according to default motor initial position angle；With current control mode
Motor is controlled to rotate forward, phase angle to the first phase angle of regulation motor so that the tachometer value that motor rotates forward reaches target velocity；With
Current control mode controls motor reversal, phase angle to the second phase angle of regulation motor so that the tachometer value of motor reversal reaches
To target velocity；According to the number of pole-pairs pair of the rotary transformer of first phase angle, second phase angle, the number of pole-pairs of motor and motor
Default motor initial position angle is calibrated.
Further, it is rotated forward with current control mode control motor, phase angle to the first phase angle of regulation motor so that
The step of tachometer value that motor rotates forward reaches target velocity includes：Increasing the phase current of motor to the situation of target phase current
Under, adjust phase angle to first phase angle so that the tachometer value that motor rotates forward reaches target velocity；Wherein, with current control mould
Formula controls motor reversal, phase angle to the second phase angle of regulation motor so that the tachometer value of motor reversal reaches target velocity
The step of include：In the case of the phase current to target phase current for increasing motor, phase angle to second phase angle is adjusted so that electricity
The tachometer value of machine reversion reaches target velocity.
Further, according to first phase angle, second phase angle, the number of pole-pairs of motor, motor rotary transformer pole
The step of logarithm calibrates default motor initial position angle includes：According to first phase angle and second phase angle according to such as
Lower formula generates phase angle deviation：Δ θ=(θ1+θ2)/2-90；Wherein, θ1For first phase angle, θ2For second phase angle,
Δ θ is phase angle deviation；According to the number of pole-pairs m of the number of pole-pairs n of motor and the rotary transformer of motor according to following public affairs
Formula generates no-load voltage ratio COEFFICIENT K：K=4096*m/360*n；According to phase angle deviation Δ θ and no-load voltage ratio COEFFICIENT K according to following public affairs
Formula generation motor initial position angle deviation Δ θ0：Δθ0=Δ θ * K；According to motor initial position angle deviation Δ θ0To default
Motor initial position angle is calibrated, the first motor initial position angle after generation calibration.
Further, according to motor initial position angle deviation Δ θ0Motor initial position angle is calibrated, generates school
The step of the first motor initial position angle after standard, includes：According to motor initial position angle deviation Δ θ0And motor initial bit
Angle setting is according to the first initial position angle after equation below generation calibration：θ0±Δθ0=θaOr θb；θaOr θbFor after calibration
One initial position angle, θ0To preset motor initial position angle.
Further, after the first motor initial position angle after generation is calibrated, method further includes：
It is rotated forward with current control mode control motor according to the first motor initial position angle；Increasing the phase current of motor extremely
Target phase current and in the case of increasing the phase angle to preset phase angle of motor, if the tachometer value for detecting motor is zero,
Judge standard initial position angle of the first motor initial position angle for motor.
According to another aspect of the present invention, a kind of calibrating installation of motor initial position angle is provided, which includes：Really
Order member, for determining default motor initial position angle, wherein, motor in voltage mode control can be according at the beginning of default motor
Beginning position angle rotates forward；First control unit, for being rotated forward with current control mode control motor, the phase angle of regulation motor to the
One phase angle so that the tachometer value that motor rotates forward reaches target velocity；Second control unit, for being controlled with current control mode
Motor reversal, phase angle to the second phase angle of regulation motor so that the tachometer value of motor reversal reaches target velocity；Calibration is single
Member, for the rotary transformer according to first phase angle, second phase angle, the number of pole-pairs of motor and motor number of pole-pairs to default
Motor initial position angle is calibrated.
Further, the first control unit includes：First adjustment module, in the phase current of increase motor to target phase
In the case of electric current, phase angle to first phase angle is adjusted so that the tachometer value that motor rotates forward reaches target velocity；Wherein,
Two control units include：Second adjustment module, in the case of the phase current to target phase current of increase motor, adjusting phase
Parallactic angle is to second phase angle so that the tachometer value of motor reversal reaches target velocity.
Further, which is characterized in that alignment unit includes：First computing module, for according to first phase angle and
Second phase angle generates phase angle deviation according to equation below：Δ θ=(θ1+θ2)/2-90；Wherein, θ1For first phase
Angle, θ2For second phase angle, Δ θ is phase angle deviation；Second computing module, for the number of pole-pairs n according to motor and
The number of pole-pairs m of the rotary transformer of motor generates no-load voltage ratio COEFFICIENT K according to equation below：K=4096*m/360*n；Third calculates mould
Block, for generating motor initial position angle deviation according to equation below according to phase angle deviation Δ θ and no-load voltage ratio COEFFICIENT K
Δθ0：Δθ0=Δ θ * K；
Generation module, for according to motor initial position angle deviation Δ θ0School is carried out to default motor initial position angle
Standard, the first motor initial position angle after generation calibration.
Further, generation module includes：4th computing module, for according to motor initial position angle deviation Δ θ0With
And motor initial position angle is according to the first initial position angle after equation below generation calibration：θ0±Δθ0=θaOr θb；θaOr θb
For the first initial position angle after calibration, θ0To preset motor initial position angle.
Further, device further includes：Third control unit, for electric according to first with current control mode control motor
Machine initial position angle rotates forward；Identifying unit, for target phase current and increasing the phase of motor in the phase current of increase motor
In the case of angle to preset phase angle, if the tachometer value for detecting motor is zero, it is electricity to judge the first motor initial position angle
The standard initial position angle of machine.
The present invention provides a kind of calibration method and device of motor initial position angle, this method includes：Determine default electricity
Machine initial position angle, wherein, motor can rotate forward in voltage mode control according to default motor initial position angle；With electric current control
Scheme control motor processed rotates forward, phase angle to the first phase angle of regulation motor so that the tachometer value that motor rotates forward reaches target
Speed；Motor reversal, phase angle to the second phase angle of regulation motor are controlled with current control mode so that motor reversal turns
Fast value reaches target velocity；According to the pole of the rotary transformer of first phase angle, second phase angle, the number of pole-pairs of motor and motor
Logarithm calibrates default motor initial position angle.At the beginning of solving the motor mechanically got in the prior art
The problem of beginning position angle is inaccurate.
It should be understood that above general description and following detailed description are only exemplary and explanatory, not
The disclosure can be limited.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and for explaining the principle of the disclosure together with specification.
Fig. 1 is the flow chart of the calibration method of according to embodiments of the present invention one motor initial position angle；
Fig. 2 is the flow chart of the calibration method of according to embodiments of the present invention one motor initial position angle；And
Fig. 3 is the structure diagram of the calibrating installation of according to embodiments of the present invention two motor initial position angle.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Embodiment one
The present invention provides a kind of calibration method of motor initial position angle, as shown in Figure 1, this method can include：
Step S12 determines default motor initial position angle, wherein, motor in voltage mode control can be according to default
Motor initial position angle rotates forward.
Specifically, in the present solution, above-mentioned motor can be permanent magnet synchronous motor, the number of pole-pairs of above-mentioned permanent magnet synchronous motor
Can be n, the number of pole-pairs of rotary transformer can be m.This programme can be given either default one initially by staff
Position angle, that is, above-mentioned default motor initial position angle θ0So that motor can be rotated forward with voltage mode control.
It should be noted that above-mentioned initial electrical angle can be with self-defined flexible setting, in the present solution, coarse adjustment initial position
Angle makes motor that can rotate forward in voltage mode control, and the section of electrical angle where judgement rotor magnetic pole, motor is in vector controlled
Under algorithm, coordinate conversion is carried out by the three-phase current of each controlling cycle acquisition back, synthesizes two mutually perpendicular components,
Middle one-component direction is extremely parallel with the N-S of rotor permanent magnet (coincidence), which is known as direct-axis component Id, another component side
To perpendicular to the N-S poles of rotor permanent magnet, which is known as quadrature axis component Iq, only the Injection Current in direct-axis component, and quadrature axis
Electric current is not injected on component.Vector control algorithm algorithm known to those skilled in the art, in this not go into detail.
Step S14 is rotated forward, phase angle to the first phase angle of regulation motor with current control mode control motor so that
The tachometer value that motor rotates forward reaches target velocity.
Specifically, after given default motor initial position angle, this programme can use current control mode driving motor,
And phase angle and the phase current of regulation motor, when reaching first phase angle at phase angle, the tachometer value that motor rotates forward can be stablized
In a fixed speed, that is, target velocity.
Optionally, this programme can give phasing current, and phase angle enables motor to rotate forward, and this programme can increase mutually electricity
It flow to I1, adjustment phase place angle is θ1, rotate forward motor and can stablize on fixed rotating speed, it should be noted that above-mentioned fixation
Rotating speed for above-mentioned target velocity, for example, phase current gradually adds to 30A, adjustings phase angle is θ1, make motor speed stabilization+
300 revs/min.After motor stabilizing speed, this programme can record the phase angle θ mixed up1I.e. above-mentioned first phase angle.
Step S16 controls motor reversal, phase angle to the second phase angle of regulation motor with current control mode so that
The tachometer value of motor reversal reaches target velocity.
Specifically, in the present solution, this programme can give phasing current, phase angle enables motor to invert, and this programme can
To increase phase current to I1, adjustment phase place angle is θ2,(i.e. above-mentioned second phase angle), makes motor reversal that can simultaneously stablize in S14 phases
It is above-mentioned target velocity on same rotating speed.For example, phase current gradually adds to 30A, adjusting phase angle is θ2, stablize motor speed
At -300 revs/min, after motor stabilizing speed, this programme can record the phase angle θ mixed up2I.e. above-mentioned second phase angle.
It should be noted that in the present solution, the phase angle of current encoder in motor can be recorded, and by motor
The value of the corresponding register of incremental encoder interface of MCU is set as the numerical value of initial electrical angle.Since encoder is as electricity
The velocity location feedback transducer of machine records the absolute position numerical value of current encoder at this time.The micro-control unit MCU choosings of motor
The MCU of included incremental encoder interface is selected, there are one the clocks for being responsible for counting the incremental encoder interface, are used for
The pulse number that counter incrementing formula encoder interfaces capture, number can be stored in register.Such as encoder rotation is turned around
4096 pulses of output correspond to 360 degree of mechanical angles, then the register will store 4096 (if m double frequency functions, then accordingly
Record be really 4096*n, program code can change into practical angle value automatically according to the pulse number read).
Step S18, according to the pole of the rotary transformer of first phase angle, second phase angle, the number of pole-pairs of motor and motor
Logarithm calibrates default motor initial position angle.
Specifically, in the good above-mentioned θ of record1And θ2Later, this programme can be according to θ1、θ2, motor number of pole-pairs n and
The number of pole-pairs m of rotary transformer is to above-mentioned default motor initial position angle θ0It is calibrated, with initial after tentatively being calibrated
Position angle, it should be noted that by the motor initial position angle after the calibration of this method acquisition compared with prior art, more
Add accurate.
This programme, by determining default motor initial position angle, wherein, motor in voltage mode control can be according to pre-
If motor initial position angle rotates forward；It is rotated forward with current control mode control motor, phase angle to the first phase angle of regulation motor,
So that the tachometer value that motor rotates forward reaches target velocity；Motor reversal, the phase angle of regulation motor are controlled with current control mode
To second phase angle so that the tachometer value of motor reversal reaches target velocity；According to first phase angle, second phase angle, motor
Number of pole-pairs and the number of pole-pairs of rotary transformer of motor default motor initial position angle is calibrated, solve the prior art
In the motor initial position angle that mechanically gets it is inaccurate the problem of.
Optionally, step S14 is rotated forward with current control mode control motor, the phase angle of regulation motor to first phase
Angle so that the step of tachometer value that motor rotates forward reaches target velocity can include：
Step S141 in the case of the phase current to target phase current of increase motor, adjusts phase angle to first phase
Angle so that the tachometer value that motor rotates forward reaches target velocity.
Wherein, step S16 with current control mode control motor reversal, phase angle to the second phase angle of regulation motor,
The step of tachometer value of motor reversal is allowd to reach target velocity includes：
Step S161 in the case of the phase current to target phase current for increasing motor, adjusts phase angle to second phase angle,
So that the tachometer value of motor reversal reaches target velocity.
Optionally, step S18 according to first phase angle, second phase angle, the number of pole-pairs of motor, motor rotary transformer
Number of pole-pairs the step of being calibrated to default motor initial position angle can include：
Step S181 generates phase angle deviation according to first phase angle and second phase angle according to equation below：
Δ θ=(θ1+θ2)/2-90；Wherein, θ1For first phase angle, θ2For second phase angle, Δ θ is phase angle deviation.
Step S182 gives birth to according to the number of pole-pairs m of the number of pole-pairs n of motor and the rotary transformer of motor according to equation below
Into no-load voltage ratio COEFFICIENT K：K=4096*m/360*n.
Specifically, number of pole-pairs be n motor just have n mechanical zero, the n can be 2,3,4 or other.Number of pole-pairs is
The rotary transformer of m, the m can be 2,3,4 or other.
Step S184 generates motor initial bit according to phase angle deviation Δ θ and no-load voltage ratio COEFFICIENT K according to equation below
Angle setting deviation Δ θ0：Δθ0=Δ θ * K.
Step S185, according to motor initial position angle deviation Δ θ0Default motor initial position angle is calibrated, it is raw
Into the first motor initial position angle after calibration.
Optionally, step S185 is according to motor initial position angle deviation Δ θ0Motor initial position angle is calibrated,
The step of generating the first motor initial position angle after calibration can include：
Step S1851, according to motor initial position angle deviation Δ θ0And motor initial position angle is according to equation below
The first initial position angle after generation calibration：θ0±Δθ0=θaOr θb；θaOr θbFor the first initial position angle after calibration, θ0For
Default motor initial position angle.
Optionally, after the first motor initial position angle after step S185 generation calibrations, this method can also include：
Step S186 is rotated forward with current control mode control motor according to the first motor initial position angle.
Step S187 to target phase current and increases phase angle to the preset phase angle of motor in the phase current of increase motor
In the case of, if the tachometer value for detecting motor is zero, judge standard initial bit of the first motor initial position angle for motor
Angle setting.
Specifically, in the present solution, calibration initial position angle generate the first motor initial position angle after, can be to upper
It states the first motor initial position angle to be verified, this programme can give the initial initial position angle θ of the first motora, still electricity consumption
Flow control pattern gives phase angle phase current, motor is enable to rotate forward, for example, phase current adds to 30A, phase angle adds to 90 degree,
Motor speed can be reduced rapidly to 0, even if again plus current motor can not rotate, illustrate this first motor initial position angle θa
For correct initial position angle, that is, standard initial position angle, it should be noted that if θaIt is incorrect, then give initial position angle θb,
Initial position angle θ is verified again with reference to step S187b。
It should be noted that if motor stalling illustrates current stator field direction and rotor magnetic pole position center line weight
It closes, identification process terminates.If motor rotates clockwise, illustrate that the stator field that the current Id of motor is generated draws rotor up time
Needle direction rotates, and represents that θ is in [θ, θa] between.If motor rotates counterclockwise, illustrate the stator magnet that the current Id of motor is generated
Field is drawn rotor and is counterclockwise rotated, and represents that θ is in [θ, θb] between.
Preferably, the embodiment of the present invention additionally provides a kind of discrimination method of motor initial position angle, and this method is based on pole
Logarithm is the motor of n, and number of pole-pairs is the rotary transformer of m, as shown in Fig. 2, this method may comprise steps of：
Step 210, setting initial position angle θ0。
Step 211, with voltage mode control control motor operating.
Step 212, judge whether motor can rotate forward, where it has, performing step 213, in a case of no, hold
Row step 210.
Step 213, with current control mode control motor operating.
Step 214, phase current is increased into 30A.
Step 215, phase angle is adjusted.
Step 216, judge whether motor at the uniform velocity rotates forward 300 revs/min, where it has, step 217 is performed, no
In the case of, perform step 215.
Step 217, record phase angle is θ1。
Step 218, motor reversal is controlled with current control mode.
Step 219, increase phase current to 30A.
Step 220, phase angle is adjusted.
Step 221, judge whether motor at the uniform velocity inverts 300 revs/min, where it has, step 222 is performed, no
In the case of, perform step 220.
Step 222, record current phase angle θ2。
Step 223, motor number of pole-pairs n is determined, rotation becomes number of pole-pairs m.
Step 224, according to above-mentioned motor number of pole-pairs n, rotation becomes number of pole-pairs m and COEFFICIENT K is calculated.
Step 225, by θ0、θ1、θ2, COEFFICIENT K calculate initial position angle θaOr θb。
Step 226, it verifies angle, sets initial position angle.
Step 227, phase current is adjusted to 30A, adjusts phase angle to 90 °.
Step 228, judge whether motor speed is reduced to 0, where it has, step 229 is performed, in no situation system
Under, perform step 229.
Step 229, initial position angle is calibrated successfully.
Embodiment two
A kind of calibrating installation of motor initial position angle is present embodiments provided, above device can be used for performing above-mentioned reality
The method for applying example one, as shown in figure 3, the device can include：
Determination unit 32, for determining default motor initial position angle, wherein, motor in voltage mode control can be by
It is rotated forward according to default motor initial position angle.First control unit 34 for being rotated forward with current control mode control motor, adjusts electricity
The phase angle of machine to first phase angle so that the tachometer value that motor rotates forward reaches target velocity.Second control unit 36, for
Current control mode controls motor reversal, phase angle to the second phase angle of regulation motor so that the tachometer value of motor reversal reaches
To target velocity.Alignment unit 38, for the rotation according to first phase angle, second phase angle, the number of pole-pairs of motor and motor
The number of pole-pairs of transformer calibrates default motor initial position angle.
This programme by above device, determines default motor initial position angle, wherein, motor is in voltage mode control
It can be rotated forward according to default motor initial position angle；It is rotated forward with current control mode control motor, the phase angle of regulation motor is extremely
First phase angle so that the tachometer value that motor rotates forward reaches target velocity；Motor reversal is controlled with current control mode, adjusts electricity
The phase angle of machine to second phase angle so that the tachometer value of motor reversal reaches target velocity；According to first phase angle, the second phase
The number of pole-pairs of the rotary transformer of parallactic angle, the number of pole-pairs of motor and motor calibrates default motor initial position angle, solves
The problem of motor initial position angle mechanically got in the prior art is inaccurate.
Optionally, the first control unit can include：First adjustment module, in the phase current of increase motor to target
In the case of phase current, phase angle to first phase angle is adjusted so that the tachometer value that motor rotates forward reaches target velocity；Wherein,
Second control unit can include：Second adjustment module, for increase motor phase current to target phase current in the case of,
Adjust phase angle to second phase angle so that the tachometer value of motor reversal reaches target velocity.
Optionally, alignment unit can include：First computing module, for according to first phase angle and second phase angle
Phase angle deviation is generated according to equation below：Δ θ=(θ1+θ2)/2-90；Wherein, θ1For first phase angle, θ2It is second
Phase angle, Δ θ are phase angle deviation；Second computing module becomes for the rotation of the number of pole-pairs n according to motor and motor
The number of pole-pairs m of depressor generates no-load voltage ratio COEFFICIENT K according to equation below：K=4096*m/360*n；Third computing module, for basis
Phase angle deviation Δ θ and no-load voltage ratio COEFFICIENT K are according to equation below generation motor initial position angle deviation Δ θ0：Δθ0=
Δθ*K；Generation module, for according to motor initial position angle deviation Δ θ0Default motor initial position angle is calibrated,
The first motor initial position angle after generation calibration.
Optionally, generation module can include：4th computing module, for according to motor initial position angle deviation Δ θ0
And motor initial position angle is according to the first initial position angle after equation below generation calibration：θ0±Δθ0=θaOr θb；θaOr
θbFor the first initial position angle after calibration, θ0To preset motor initial position angle.
Optionally, device can also include：Third control unit, for controlling motor according to first with current control mode
Motor initial position angle rotates forward；Identifying unit, for target phase current and increasing the phase of motor in the phase current of increase motor
In the case of parallactic angle to preset phase angle, if the tachometer value for detecting motor is zero, judge that the first motor initial position angle is
The standard initial position angle of motor.
Those skilled in the art will readily occur to the disclosure its after considering specification and putting into practice disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principle of the disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.Description and embodiments are considered only as illustratively, and the true scope and spirit of the disclosure are by following
Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claim.
Claims (10)
1. a kind of calibration method of motor initial position angle, which is characterized in that the method includes：
Determine default motor initial position angle, wherein, the motor in voltage mode control can be according to the default motor
Initial position angle rotates forward；
It is rotated forward with current control mode control motor, adjusts phase angle to the first phase angle of the motor so that the motor
The tachometer value of rotating forward reaches target velocity；
Motor reversal is controlled with current control mode, adjusts phase angle to the second phase angle of the motor so that the motor
The tachometer value of reversion reaches the target velocity；
According to the rotary transformer of the first phase angle, the second phase angle, the number of pole-pairs of the motor and the motor
Number of pole-pairs the default motor initial position angle is calibrated.
2. it according to the method described in claim 1, it is characterized in that, is rotated forward with current control mode control motor, described in adjusting
The phase angle of motor to first phase angle so that the step of tachometer value that the motor rotates forward reaches target velocity includes：
In the case of the phase current to target phase current for increasing the motor, the phase angle is adjusted to the first phase
Angle so that the tachometer value that the motor rotates forward reaches the target velocity；
Wherein, motor reversal is controlled with current control mode, adjusts phase angle to the second phase angle of the motor so that described
The step of tachometer value of motor reversal reaches the target velocity includes：
In the case of the phase current to target phase current for increasing the motor, the phase angle to the second phase angle is adjusted,
So that the tachometer value of the motor reversal reaches the target velocity.
3. method according to claim 1 or 2, which is characterized in that according to the first phase angle, the second phase
Angle, the number of pole-pairs of the motor, the number of pole-pairs of rotary transformer of the motor carry out the default motor initial position angle
The step of calibration, includes：
Phase angle deviation is generated according to equation below according to the first phase angle and the second phase angle：Δ θ=
(θ1+θ2)/2-90；Wherein, θ1For the first phase angle, θ2For the second phase angle, Δ θ is the phase angle deviation
Value；
It is generated and become according to equation below according to the number of pole-pairs m of the number of pole-pairs n of the motor and the rotary transformer of the motor
Compare COEFFICIENT K：K=4096*m/360*n；
Motor initial position angle is generated according to equation below according to the phase angle deviation Δ θ and the no-load voltage ratio COEFFICIENT K
Deviation Δ θ0：Δθ0=Δ θ * K；
According to the motor initial position angle deviation Δ θ0The default motor initial position angle is calibrated, generation calibration
The first motor initial position angle afterwards.
4. according to the method described in claim 3, it is characterized in that, according to the motor initial position angle deviation Δ θ0To institute
The step of stating motor initial position angle to be calibrated, generating the first motor initial position angle after calibration includes：
According to the motor initial position angle deviation Δ θ0And the motor initial position angle is generated according to equation below and is calibrated
The first initial position angle afterwards：
θ0±Δθ0=θaOr θb；θaOr θbFor first initial position angle after calibration, θ0For the default motor initial position
Angle.
5. according to the method described in claim 4, it is characterized in that, generation calibrate after the first motor initial position angle it
Afterwards, the method further includes：
The motor is controlled to be rotated forward according to the first motor initial position angle with current control mode；
Increase the phase current of the motor to the target phase current and increase phase angle to the preset phase angle of the motor
In the case of, if the tachometer value for detecting the motor is zero, it is the motor to judge the first motor initial position angle
Standard initial position angle.
6. a kind of calibrating installation of motor initial position angle, which is characterized in that described device includes：
Determination unit, for determining default motor initial position angle, wherein, the motor in voltage mode control can be according to
The default motor initial position angle rotates forward；
First control unit for being rotated forward with current control mode control motor, adjusts the phase angle of the motor to the first phase
Parallactic angle so that the tachometer value that the motor rotates forward reaches target velocity；
Second control unit for controlling motor reversal with current control mode, adjusts the phase angle of the motor to the second phase
Parallactic angle so that the tachometer value of the motor reversal reaches the target velocity；
Alignment unit, for according to the first phase angle, the second phase angle, the number of pole-pairs of the motor and the motor
The number of pole-pairs of rotary transformer the default motor initial position angle is calibrated.
7. device according to claim 6, which is characterized in that first control unit includes：
First adjustment module, in the case of the phase current to target phase current for increasing the motor, adjusting the phase
Angle to the first phase angle so that the tachometer value that the motor rotates forward reaches the target velocity；
Wherein, second control unit includes：
Second adjustment module, in the case of the phase current to target phase current for increasing the motor, adjusting the phase
Angle to the second phase angle so that the tachometer value of the motor reversal reaches the target velocity.
8. the device described according to claim 6 or 7, which is characterized in that the alignment unit includes：
First computing module, for generating phase according to equation below according to the first phase angle and the second phase angle
Angu-lar deviation：Δ θ=(θ1+θ2)/2-90；Wherein, θ1For the first phase angle, θ2For the second phase angle, Δ θ is
The phase angle deviation；
Second computing module is pressed for the number of pole-pairs n according to the motor and the number of pole-pairs m of the rotary transformer of the motor
No-load voltage ratio COEFFICIENT K is generated according to equation below：K=4096*m/360*n；
Third computing module, for being given birth to according to the phase angle deviation Δ θ and the no-load voltage ratio COEFFICIENT K according to equation below
Into motor initial position angle deviation Δ θ0：Δθ0=Δ θ * K；
Generation module, for according to the motor initial position angle deviation Δ θ0The default motor initial position angle is carried out
Calibration, the first motor initial position angle after generation calibration.
9. device according to claim 8, which is characterized in that the generation module includes：
4th computing module, for according to the motor initial position angle deviation Δ θ0And the motor initial position angle is pressed
According to the first initial position angle after equation below generation calibration：
θ0±Δθ0=θaOr θb；θaOr θbFor first initial position angle after calibration, θ0For the default motor initial position
Angle.
10. device according to claim 9, which is characterized in that described device further includes：
Third control unit, for current control mode control the motor according to the first motor initial position angle just
Turn；
Identifying unit, for increasing the phase current of the motor to the target phase current and increasing the phase angle of the motor
To preset phase angle, if the tachometer value for detecting the motor is zero, the first motor initial position is judged
Angle is the standard initial position angle of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161638.1A CN108155844B (en) | 2018-02-27 | 2018-02-27 | Method and device for calibrating initial position angle of motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810161638.1A CN108155844B (en) | 2018-02-27 | 2018-02-27 | Method and device for calibrating initial position angle of motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108155844A true CN108155844A (en) | 2018-06-12 |
| CN108155844B CN108155844B (en) | 2020-01-24 |
Family
ID=62456024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810161638.1A Expired - Fee Related CN108155844B (en) | 2018-02-27 | 2018-02-27 | Method and device for calibrating initial position angle of motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108155844B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110112982A (en) * | 2019-06-27 | 2019-08-09 | 阳光电源股份有限公司 | A kind of initial position angle of rotor of permanent magnet synchronous motor detection method and device |
| 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 |
| 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 |
| CN111038514A (en) * | 2019-12-30 | 2020-04-21 | 潍柴动力股份有限公司 | Vehicle speed control method and related device |
| 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 |
| CN111697894A (en) * | 2020-05-28 | 2020-09-22 | 格至控智能动力科技（上海）有限公司 | Zero calibration method for hybrid excitation synchronous motor |
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN113676107A (en) * | 2021-08-24 | 2021-11-19 | 山东交通学院 | Method and system for calibrating original point of rotor position detection device of switched reluctance motor |
| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
| CN113759247A (en) * | 2021-07-19 | 2021-12-07 | 东风汽车集团股份有限公司 | Motor zero point adjusting method, electronic device and computer readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101459406A (en) * | 2008-12-25 | 2009-06-17 | 三一电气有限责任公司 | Automatic detection method and apparatus for double feeding motor rotor initial position angle |
| CN101702606A (en) * | 2009-11-13 | 2010-05-05 | 华中科技大学 | Method for designing change pole of rotor in salient pole synchronous generator |
| CN104485859A (en) * | 2014-12-30 | 2015-04-01 | 北京经纬恒润科技有限公司 | Method and device for determining zero initial angle of motor |
| US20160373041A1 (en) * | 2014-09-24 | 2016-12-22 | Texas Instruments Incorporated | Input vector set for position detection of pm motors |
| CN106849810A (en) * | 2017-03-31 | 2017-06-13 | 深圳市伟创电气有限公司 | The initial position detection method and device of AC permanent magnet synchronous motor rotor |
-
2018
- 2018-02-27 CN CN201810161638.1A patent/CN108155844B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101459406A (en) * | 2008-12-25 | 2009-06-17 | 三一电气有限责任公司 | Automatic detection method and apparatus for double feeding motor rotor initial position angle |
| CN101702606A (en) * | 2009-11-13 | 2010-05-05 | 华中科技大学 | Method for designing change pole of rotor in salient pole synchronous generator |
| US20160373041A1 (en) * | 2014-09-24 | 2016-12-22 | Texas Instruments Incorporated | Input vector set for position detection of pm motors |
| CN104485859A (en) * | 2014-12-30 | 2015-04-01 | 北京经纬恒润科技有限公司 | Method and device for determining zero initial angle of motor |
| CN106849810A (en) * | 2017-03-31 | 2017-06-13 | 深圳市伟创电气有限公司 | The initial position detection method and device of AC permanent magnet synchronous motor rotor |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| 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 |
| CN111313784B (en) * | 2018-12-11 | 2021-04-06 | 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 |
| CN110112982A (en) * | 2019-06-27 | 2019-08-09 | 阳光电源股份有限公司 | A kind of initial position angle of rotor of permanent magnet synchronous motor detection method and device |
| CN111038514A (en) * | 2019-12-30 | 2020-04-21 | 潍柴动力股份有限公司 | Vehicle speed control method and related device |
| CN111697894A (en) * | 2020-05-28 | 2020-09-22 | 格至控智能动力科技（上海）有限公司 | Zero calibration method for hybrid excitation synchronous motor |
| CN113067524A (en) * | 2021-03-09 | 2021-07-02 | 深圳市弦动科技有限公司 | Position information processing method of hub servo motor |
| CN113759247A (en) * | 2021-07-19 | 2021-12-07 | 东风汽车集团股份有限公司 | Motor zero point adjusting method, electronic device and computer readable storage medium |
| CN113759247B (en) * | 2021-07-19 | 2023-09-19 | 东风汽车集团股份有限公司 | Motor zero point adjustment method, electronic device and computer readable storage medium |
| CN113670358A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Compensation method, compensation device and storage medium |
| CN113676107A (en) * | 2021-08-24 | 2021-11-19 | 山东交通学院 | Method and system for calibrating original point of rotor position detection device of switched reluctance motor |
| CN113676107B (en) * | 2021-08-24 | 2023-06-20 | 山东交通学院 | Origin calibration method and system for rotor position detection device of switched reluctance motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108155844B (en) | 2020-01-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108155844A (en) | A kind of calibration method and device of motor initial position angle | |
| US20100060210A1 (en) | Method and apparatus for automatically identifying electrical parameters in a sensor-less pmsm | |
| CN110224652A (en) | Based on incremental encoder correction rotor magnetic pole position method, system and medium | |
| CN101630938A (en) | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor | |
| CN106160594B (en) | Method and system for permanent magnet synchronous motor zero measurement | |
| WO2018090782A1 (en) | Online identification method and apparatus for motor stator resistance, and motor control system | |
| CN211429147U (en) | Rotary-transformation zero-adjusting system for permanent magnet synchronous motor | |
| CN114123879B (en) | Phase detection method, device, electronic equipment and storage medium | |
| JP2012110215A (en) | Synchronous motor controller | |
| CN111464105A (en) | Method for detecting initial position of permanent magnet synchronous motor | |
| US7622882B2 (en) | Position detection device for permanent magnetic machines | |
| WO2018090783A1 (en) | Method for online identification of motor stator resistance, apparatus, and motor control system | |
| US20120074887A1 (en) | Back EMF Measuring Method for Multi-Phase BLDC Motor | |
| JP2003520011A (en) | Load angle determination for electric motors | |
| JP6721177B2 (en) | Automatic measurement system and automatic measurement method | |
| CN104734589B (en) | The method that deviation angle is demarcated in permagnetic synchronous motor | |
| CN111478638A (en) | Method and device for identifying initial position of permanent magnet synchronous motor rotor | |
| CN110323987A (en) | A kind of parameter verification method and system for permanent magnet synchronous motor | |
| CN109391189B (en) | Stepping motor rotation angle compensation method and device | |
| CN108450052A (en) | Method and related device for controlling the synchronous machine with permanent magnet | |
| TW201806305A (en) | Control device for rotating electrical machine | |
| CN109428530A (en) | The method for diagnosing permanent-magnetic synchronous motor rotor initial position detection result | |
| CN110635742B (en) | Initial position angle calibration method for permanent magnet synchronous motor and motor controller | |
| CN108306557A (en) | A kind of double-rotary brushless direct current motor commutation phase Self-regulation track method | |
| JP7435904B2 (en) | Three-phase signal generator and three-phase signal generation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200124 Termination date: 20210227 |