CN108173465A - Misalignment angle detection method, device and electronic equipment - Google Patents
Misalignment angle detection method, device and electronic equipment Download PDFInfo
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- CN108173465A CN108173465A CN201810120664.XA CN201810120664A CN108173465A CN 108173465 A CN108173465 A CN 108173465A CN 201810120664 A CN201810120664 A CN 201810120664A CN 108173465 A CN108173465 A CN 108173465A
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- misalignment angle
- axis current
- axis
- quadrature
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
Abstract
The present embodiments relate to motor control technology field, in particular to a kind of misalignment angle detection method, device and electronic equipment.This method includes：Obtain the three-phase current of magneto and rotor measurement angle, PARK transformation is carried out to three-phase current according to rotor measurement angle, obtain the direct-axis current and quadrature axis current under dq coordinate systems, obtain direct-axis current set-point and quadrature axis current set-point, according to direct-axis current, quadrature axis current, direct-axis current set-point and quadrature axis current set-point obtain direct-axis voltage and quadrature-axis voltage, according to rotor measurement angle, PARK inverse transformations are carried out to direct-axis voltage and quadrature-axis voltage, and the output voltage of inverter is obtained using SVPWM, direct-axis voltage output valve is obtained according to output voltage, judge whether direct-axis voltage output valve is zero, if direct-axis voltage output valve is not zero, it is calculated using misalignment angle updating formula and obtains misalignment angle.This method can improve accuracy, the operability detected to misalignment angle, reduce equipment cost.
Description
Technical field
The present embodiments relate to Internet technical field, in particular to a kind of misalignment angle detection method, device
And electronic equipment.
Background technology
The rotor-position of magneto is extremely important to motor control, affects the efficiency of motor, output torque, controls at a high speed
System.1 degree of the angular deviation of the rotor can cause torque output under motor high-speed working condition to reduce by 10%.Usually installed with encoder
On rotor, with rotor synchronous rotary, electric machine controller detects the output signal of encoder, obtains rotor position in real time
It puts, to control motor.
Encoder has installed machine error, so measurement position and the actual bit of rotor that controller obtains are equipped with one
A fixed misalignment angle.Before electric machine controller adaptation of motor, need to detect the position deviation angle.
The most accuracy of detection of the existing position deviation angle to rotor is high, operational difference and equipment cost
It is high.
Invention content
In view of this, the present invention provides a kind of misalignment angle detection method, device and electronic equipment, to improve existing skill
When art is detected misalignment angle there are accuracy it is not high, it is operational difference and equipment cost it is high the problem of.
To achieve the above object, an embodiment of the present invention provides a kind of misalignment angle detection method, the method includes：
Obtain the three-phase current of magneto and rotor measurement angle；
PARK transformation is carried out to the three-phase current according to the rotor measurement angle, obtains the d-axis electricity under dq coordinate systems
Stream and quadrature axis current；
Direct-axis current set-point and quadrature axis current set-point are obtained, is obtained according to the direct-axis current set-point and direct-axis current
Direct-axis current difference is obtained, quadrature axis current difference is obtained according to the quadrature axis current set-point and quadrature axis current；Using the first PI tune
The direct-axis current difference and quadrature axis current difference is adjusted in section device, obtains direct-axis voltage and quadrature axis electricity under dq coordinate systems
Pressure；
According to the rotor measurement angle, PARK inverse transformations are carried out, and adopt to the direct-axis voltage and the quadrature-axis voltage
The output voltage of inverter is obtained with SVPWM；
Direct-axis voltage output valve is obtained according to the output voltage under dq coordinate systems, judges the direct-axis voltage output valve
Whether it is zero, if the direct-axis voltage output valve is not zero, is calculated using misalignment angle updating formula and obtain misalignment angle.
Optionally, the direct-axis voltage output valve is Uout-d, the misalignment angle is θc, the misalignment angle updating formula
For：
Uout-d=-ω ψq=-ω ψrsin(-θc)
Wherein：
ω is the frequency of magneto；
ψqStator quadrature axis magnetic linkage for magneto；
ψrRotor flux for magneto.
Optionally, the method further includes：
If the direct-axis voltage output valve is zero, it is zero to judge the misalignment angle.
Optionally, the method further includes：
The rotor measurement angle is modified according to the misalignment angle.
Optionally, the step of being modified according to the misalignment angle to the rotor measurement angle, including：
It inputs to the magneto to offset the offset angle of the misalignment angle using angle demodulator.
Optionally, quadrature axis current set-point is obtained by following steps：
Obtain given rotating speed and actual speed；
It is calculated according to the given rotating speed and the actual speed and obtains rotating speed difference；
The rotating speed difference is adjusted using the second pi regulator, obtains quadrature axis current set-point.
The embodiment of the present invention additionally provides a kind of misalignment angle detection device, and described device includes：
Acquisition module, for obtaining the three-phase current of magneto and rotor measurement angle；
Ac-dc axis current calculation module, for carrying out PARK changes to the three-phase current according to the rotor measurement angle
It changes, obtains direct-axis current and quadrature axis current under dq coordinate systems；
Ac-dc axis voltage computing module, for obtaining direct-axis current set-point and quadrature axis current set-point, according to described straight
Shaft current set-point and direct-axis current obtain direct-axis current difference, are handed over according to the quadrature axis current set-point and quadrature axis current
Shaft current difference；The direct-axis current difference and quadrature axis current difference are adjusted using the first pi regulator, dq is obtained and sits
Direct-axis voltage and quadrature-axis voltage under mark system；
Output voltage computing module, for according to the rotor measurement angle, to the direct-axis voltage and quadrature axis electricity
Pressure carries out PARK inverse transformations, and the output voltage of inverter is obtained using SVPWM；
Misalignment angle computing module, for obtaining direct-axis voltage output valve according to the output voltage under dq coordinate systems,
Judge whether the direct-axis voltage output valve is zero, if the direct-axis voltage output valve is not zero, corrected using misalignment angle public
Formula, which calculates, obtains misalignment angle.
The embodiment of the present invention additionally provides a kind of electronic equipment, including memory, processor and storage on a memory
And the computer program that can be run on a processor, the processor realize the above-mentioned angle of deviation when performing the computer program
Spend detection method.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, and the readable storage medium storing program for executing includes computer
Program, the electronic equipment computer program controls the readable storage medium storing program for executing when running where perform above-mentioned misalignment angle inspection
Survey method.
Misalignment angle detection method provided in an embodiment of the present invention, device and electronic equipment, can be according to the phase of magneto
Related parameter obtains the output voltage of inverter by converting and adjusting, and obtains direct-axis voltage output valve, profit according to output voltage
It is calculated with misalignment angle updating formula and obtains misalignment angle, only misalignment angle can be just detected by direct-axis voltage output valve
And calculating, accuracy is high, can rapidly calculate permanent magnet machine rotor position deviation, operability is strong, passes through the defeated of inverter
Go out voltage and obtain direct-axis voltage output valve, do not need to external device and circuit, reduce equipment cost.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
The block diagram of a kind of electronic equipment 10 that Fig. 1 is provided by the embodiment of the present invention.
The flow chart of a kind of misalignment angle detection method that Fig. 2 is provided by the embodiment of the present invention.
The module connection diagram of a kind of drift angle angle detecting method that Fig. 3 is provided by the embodiment of the present invention.
Fig. 4 is lagged behind the schematic diagram of actual angle by a kind of magneto measurement angle that the embodiment of the present invention provides.
Fig. 5 is ahead of the schematic diagram of actual angle by a kind of magneto measurement angle that the embodiment of the present invention provides.
The module frame chart of a kind of misalignment angle detection device 20 that Fig. 6 is provided by the embodiment of the present invention.
Icon：10- electronic equipments；11- memories；12- processors；13- network modules；20- misalignment angle detection devices；
21- acquisition modules；22- ac-dc axis current calculation modules；23- ac-dc axis voltage computing modules；24- output voltage computing modules；
25- misalignment angle computing modules；301- magnetoes；302- decoding chips；303-PARK conversion modules；The first PI of 304- are adjusted
Device；The second pi regulators of 305-；306-PARK inverse transform blocks；307-SVPWM；308- inverters；309- angle demodulators.
Specific embodiment
Further investigation reveals that existing misalignment angle detection method has following three kinds：
(1) DC injection method：One direct current is injected to motor by controller, rotor is attracted to fixed position
(such as 30 °) measure encoder output position at this time, and it is exactly rotor-position deviation which, which subtracts 30 °,.But due to motor tooth
Rotor can not accurately be drawn onto fixed position by slot torque, the presence of winding inserting error, DC injection method, can be existed certain
Deviation, the occasion more demanding to rotor-position do not apply to.
(2) high-frequency signal injection：The voltage of high frequency is injected to motor by controller, motor stator can generate the electricity of high frequency
Stream, the high frequency voltage of input and the high-frequency current of output have phase difference, with regard to that can obtain rotor-position deviation information in the phase difference.
High-frequency signal injection realizes complexity, and measurement result is affected by the parameter of electric machine.And high frequency Injection Current can generate noise, influence
User experience.
(3) zero crossing mensuration：Motor is rotated, the permanent magnet on rotor can induce sinusoidal electricity in stator terminal
Pressure measures the output sinusoidal voltage of stator voltage and encoder with oscillograph, by the installation position for adjusting encoder manually simultaneously
It puts so that two voltage over zero overlap, and position deviation is eliminated.Zero crossing measurement result precision is high, but needs manually
It participates in.Even if realizing detection with circuit, the cost of equipment is also increased.
The defects of present in above scheme of the prior art, be that inventor is obtaining after putting into practice and carefully studying
As a result, therefore, the solution that the discovery procedure of the above problem and the hereinafter embodiment of the present invention are proposed regarding to the issue above
Scheme all should be the contribution that inventor makes the present invention in process of the present invention.
Based on the studies above, an embodiment of the present invention provides a kind of misalignment angle detection method, device and electronic equipment, energy
Improve the prior art and low existing accuracy during misalignment angle detection, poor operability and equipment cost are carried out to magneto
The problem of high.
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment only
It is the part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings
The component of embodiment can be configured to arrange and design with a variety of different.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.
Fig. 1 shows the block diagram of a kind of electronic equipment 10 that the embodiment of the present invention is provided.The embodiment of the present invention
In electronic equipment 10 can be with data storage, transmission, processing function server-side, as shown in Figure 1, electronic equipment 10 wraps
It includes：Memory 11, processor 12, network module 13 and misalignment angle detection device 20.
It is directly or indirectly electrically connected between memory 11, processor 12 and network module 13, to realize the biography of data
Defeated or interaction.It is electrically connected for example, these elements can be realized from each other by one or more communication bus or signal wire.
Be stored with misalignment angle detection device 20 in memory 11, the misalignment angle detection device 20 include it is at least one can be with software
Or the form of firmware (firmware) is stored in the software function module in the memory 11, the processor 12 passes through operation
Misalignment angle detection device 20 in the software program and module, such as the embodiment of the present invention that are stored in memory 11, from
And perform various functions application and data processing, that is, realize the misalignment angle detection method in the embodiment of the present invention.
Wherein, the memory 11 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, for memory 11 for storing program, the processor 12 performs described program after execute instruction is received.
The processor 12 may be a kind of IC chip, have the processing capacity of data.Above-mentioned processor 12
Can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit
(Network Processor, NP) etc..It can realize or perform each method disclosed in the embodiment of the present invention, step and patrol
Collect block diagram.General processor can be microprocessor or the processor can also be any conventional processor etc..
Network module 13 is used to establish communication connection between electronic equipment 10 and other communication terminal devices by network,
Realize the transmitting-receiving operation of network signal and data.Above-mentioned network signal may include wireless signal or wire signal.
It is appreciated that structure shown in FIG. 1 is only to illustrate, electronic equipment 10 may also include it is more than shown in Fig. 1 or
Less component or with the configuration different from shown in Fig. 1.Each component shown in Fig. 1 may be used hardware, software or its
Combination is realized.
The embodiment of the present invention also provides a kind of computer readable storage medium, and the readable storage medium storing program for executing includes computer journey
Sequence.Electronic equipment 10 where the readable storage medium storing program for executing is controlled to perform following misalignment angle inspection during the computer program operation
Survey method.
In the present embodiment, which is applied to permanent magnet motor controller, it will be understood that this method
Executive agent is permanent magnet motor controller.
Fig. 2 shows the flow charts of a kind of misalignment angle detection method that the embodiment of the present invention is provided.The method has
Method and step defined in the flow of pass is applied to electronic equipment 10, can be realized by the processor 12.It below will be to Fig. 2 institutes
The idiographic flow shown is described in detail：
Step S21 obtains three-phase current, rotor measurement angle and the actual speed of magneto.
Referring to Fig. 3, the module frame chart of a kind of misalignment angle detection method provided by the embodiment of the present invention, it can by figure
See, permanent magnet motor controller detection obtains the three-phase current of magneto 301, and obtains rotor using the detection of decoding chip 302
Measurement angle θ and actual speed s.
Wherein, three-phase current and rotor measurement angle, θ and actual speed s are as data basis, for magneto
Relevant parameter is calculated.
Step S22 carries out PARK transformation to three-phase current, obtains direct-axis current and quadrature axis current under dq coordinate systems.
Please continue to refer to Fig. 3, permanent magnet motor controller is according to rotor measurement angle, θ using PARK conversion modules 303 to three
Phase current carries out PARK transformation, obtains the direct-axis current i under dq coordinate systemsdWith quadrature axis current iq。
Wherein, direct-axis current idWith quadrature axis current iqFor calculating the direct-axis voltage and quadrature-axis voltage under dq coordinate systems.
Step S23 calculates the direct-axis voltage and quadrature-axis voltage obtained under dq coordinate systems according to direct-axis current and quadrature axis current.
Please continue to refer to Fig. 3, permanent magnet motor controller obtains direct-axis current set-pointWith quadrature axis current set-pointIts
In, quadrature axis current set-pointIt can be calculated by following steps：
Permanent magnet motor controller obtains given rotating speed s*, calculate given rotating speed s*With the difference of actual speed s, and by the difference
Value is adjusted by the second pi regulator 305, obtains quadrature axis current set-point
Further, it calculatesAnd idDifference DELTA id, calculateAnd iqDifference DELTA iq, two the first PI tune are respectively adopted
Device 304 is saved to Δ idWith Δ iqIt is adjusted, obtains the direct-axis voltage U under dq coordinate systemsdWith quadrature-axis voltage Uq。
It is appreciated that Δ idFor direct-axis current difference, Δ iqFor quadrature axis current difference.
Step S24, carries out direct-axis voltage and quadrature-axis voltage PARK inverse transformations, and exports three-phase PWM to inverse using SVPWM
Become device, obtain the output voltage of inverter.
Please continue to refer to Fig. 3, permanent magnet motor controller is using PARK inverse transform blocks 306 to UdAnd UqCarry out PARK contravariant
It changes, obtains intermediate variable UαAnd Uβ, and by UαAnd UβSVPWM307 is inputted, three-phase PWM is exported to inverter using SVPWM307
308, and then obtain the output voltage U of inverter 308out
Step S25, direct-axis voltage output valve is obtained according to output voltage, and misalignment angle is used according to direct-axis voltage output valve
Updating formula, which calculates, obtains misalignment angle.
In the present embodiment, direct-axis voltage output valve is Uout-d, misalignment angle θc, misalignment angle updating formula is：
Uout-d=-ω ψq=-ω ψrsin(-θc)
Wherein,
ω is the frequency of magneto；
ψqStator quadrature axis magnetic linkage for magneto；
ψrRotor flux for magneto.
It is appreciated that according to formula above, it is only necessary to obtain Uout-d, with regard to θ can be calculatedc, accuracy height is calculated, it is operable
Property it is strong, and entire method does not need to additional device and circuit, reduces equipment cost.
Optionally, pass through Uout-dCalculate θcPrinciple it is as follows：
Referring to Fig. 4, actual angle is lagged behind by a kind of magneto measurement angle that the embodiment of the present invention provides
Schematic diagram.
From fig. 4, it can be seen that if measurement angle lags behind actual angle, UoutIt is projected as bearing in D axis, i.e. Uout-dIt is negative, passes through
Formula calculates：
Referring to Fig. 5, actual angle is ahead of by a kind of magneto measurement angle that the embodiment of the present invention provides
Schematic diagram.
From fig. 4, it can be seen that if measurement angle is ahead of actual angle, UoutIn being projected as just for D axis, i.e. Uout-dJust, to pass through
Above-mentioned public affairs can also calculate θc。
Optionally, θ is being calculatedcLater, permanent magnet motor controller is according to θcθ is modified.For example, magneto control
Device processed inputs to offset θ to magneto using angle demodulator 309cOffset angle.In another example the offset angle of input
Can be-θc, the rotor seat of magneto can be corrected in this way.
To illustrate how misalignment angle detection and correction are carried out to magneto with one below.
First, permanent magnet motor controller is not modified θ, but is rotated by rotating speed outer shroud by magneto.
After magneto rotating speed is steady, breaking speed outer shroud, dq shaft currents are given as 0, and inverter is to Permanent Magnet and Electric at this time
Machine applies 0 torque, and magneto is since inertia, rotating speed can be reduced slowly, it is considered that magneto invariablenes turning speed in the short time.
Due to magneto to constant current be 0, at this time inverter output voltage UoutIt is anti-electronic equal to magneto
Gesture, if permanent magnet machine rotor seat is correct, the U of inverter outputout-dShould be 0, therefore, according to Uout-dValue, and use
Above-mentioned misalignment angle updating formula carries out position with regard to that can obtain misalignment angle, and according to the misalignment angle to the rotor of magneto
Correction.
On the basis of the above, it is described as shown in fig. 6, an embodiment of the present invention provides a kind of misalignment angle detection device 20
Misalignment angle detection device 20 includes：Acquisition module 21, ac-dc axis current calculation module 22, ac-dc axis voltage computing module 23,
Output voltage computing module 24 and misalignment angle computing module 25.
Acquisition module 21, for obtaining the three-phase current of magneto and rotor measurement angle.
Since acquisition module 21 is similar with the realization principle of step S21 in Fig. 2, do not illustrate more herein.
Ac-dc axis current calculation module 22, for carrying out PARK changes to the three-phase current according to the rotor measurement angle
It changes, obtains direct-axis current and quadrature axis current under dq coordinate systems.
Since ac-dc axis current calculation module 22 is similar with the realization principle of step S22 in Fig. 2, do not make herein more
Explanation.
Ac-dc axis voltage computing module 23, for obtaining direct-axis current set-point and quadrature axis current set-point, according to described
Direct-axis current set-point and direct-axis current obtain direct-axis current difference, are obtained according to the quadrature axis current set-point and quadrature axis current
Quadrature axis current difference；The direct-axis current difference and quadrature axis current difference are adjusted using the first pi regulator, obtain dq
Direct-axis voltage and quadrature-axis voltage under coordinate system.
Since ac-dc axis voltage computing module 23 is similar with the realization principle of step S23 in Fig. 2, do not make herein more
Explanation.
Output voltage computing module 24, for according to the rotor measurement angle, to the direct-axis voltage and the quadrature axis
Voltage carries out PARK inverse transformations, and the output voltage of inverter is obtained using SVPWM.
Since output voltage computing module 24 is similar with the realization principle of step S24 in Fig. 2, do not speak more more herein
It is bright.
Misalignment angle computing module 25, for obtaining direct-axis voltage output according to the output voltage under dq coordinate systems
Value, is judged whether the direct-axis voltage output valve is zero, if the direct-axis voltage output valve is not zero, is corrected using misalignment angle
Formula, which calculates, obtains misalignment angle.
Since misalignment angle computing module 25 is similar with the realization principle of step S25 in Fig. 2, do not speak more more herein
It is bright.
To sum up, misalignment angle detection method, device and the electronic equipment that the embodiment of the present invention is provided, can be according to inverter
The direct-axis voltage output valve and misalignment angle updating formula of output, which calculate, obtains misalignment angle, and accuracy is high, operability is strong,
And additional device and circuit are not needed to, equipment cost is low.
In the several embodiments provided in the embodiment of the present invention, it should be understood that disclosed device and method also may be used
To realize by another way.Device and method embodiment described above is only schematical, for example, in attached drawing
Flow chart and block diagram show the device of multiple embodiments according to the present invention, the possibility of method and computer program product is realized
Architectural framework, function and operation.In this regard, each box in flow chart or block diagram can represent module, a program
A part for section or code, a part for the module, program segment or code are used to implement defined patrol comprising one or more
Collect the executable instruction of function.It should also be noted that at some as the function of in the realization method replaced, being marked in box
It can be occurred with being different from the sequence marked in attached drawing.For example, two continuous boxes can essentially be held substantially in parallel
Row, they can also be performed in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and/or flow chart can use function or dynamic as defined in performing
The dedicated hardware based system made is realized or can be realized with the combination of specialized hardware and computer instruction.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point or modules individualism, can also two or more modules be integrated to form an independent part.
If the function is realized in the form of software function module and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, electronic equipment 10 or the network equipment etc.) perform all or part of step of each embodiment the method for the present invention
Suddenly.And aforementioned storage medium includes：USB flash disk, read-only memory (ROM, Read-Only Memory), is deposited mobile hard disk at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to the packet of nonexcludability
Contain so that process, method, article or equipment including a series of elements not only include those elements, but also including
It other elements that are not explicitly listed or further includes as elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, also there are other identical elements in article or equipment.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of misalignment angle detection method, which is characterized in that the method includes：
Obtain the three-phase current of magneto and rotor measurement angle；
PARK transformation is carried out to the three-phase current according to the rotor measurement angle, obtains the d-axis electricity under 307 system of dq coordinates
Stream and quadrature axis current；
Direct-axis current set-point and quadrature axis current set-point are obtained, is obtained according to the direct-axis current set-point and direct-axis current straight
Shaft current difference obtains quadrature axis current difference according to the quadrature axis current set-point and quadrature axis current；Using the first pi regulator
The direct-axis current difference and quadrature axis current difference are adjusted, obtain direct-axis voltage and quadrature-axis voltage under dq coordinate systems；
According to the rotor measurement angle, PARK inverse transformations are carried out, and use to the direct-axis voltage and the quadrature-axis voltage
SVPWM obtains the output voltage of inverter；
Direct-axis voltage output valve is obtained according to the output voltage under dq coordinate systems, whether judges the direct-axis voltage output valve
It is zero, if the direct-axis voltage output valve is not zero, is calculated using misalignment angle updating formula and obtain misalignment angle.
2. misalignment angle detection method according to claim 1, which is characterized in that the direct-axis voltage output valve is
Uout-d, the misalignment angle is θc, the misalignment angle updating formula is：
Uout-d=-ω ψq=-ω ψrsin(-θc)
Wherein：
ω is the frequency of magneto；
ψqStator quadrature axis magnetic linkage for magneto；
ψrRotor flux for magneto.
3. misalignment angle detection method according to claim 1, which is characterized in that the method further includes：
If the direct-axis voltage output valve is zero, it is zero to judge the misalignment angle.
4. misalignment angle detection method according to claim 1, which is characterized in that the method further includes：
The rotor measurement angle is modified according to the misalignment angle.
5. misalignment angle detection method according to claim 4, which is characterized in that according to the misalignment angle to described turn
The step of sub- measurement angle is modified, including：
It inputs to the magneto to offset the offset angle of the misalignment angle using angle demodulator.
6. misalignment angle detection method according to claim 1, which is characterized in that quadrature axis current set-point passes through following step
It is rapid to obtain：
Obtain given rotating speed and actual speed；
It is calculated according to the given rotating speed and the actual speed and obtains rotating speed difference；
The rotating speed difference is adjusted using the second pi regulator, obtains quadrature axis current set-point.
7. a kind of misalignment angle detection device, which is characterized in that described device includes：
Acquisition module, for obtaining the three-phase current of magneto and rotor measurement angle；
Ac-dc axis current calculation module for carrying out PARK transformation to the three-phase current according to the rotor measurement angle, obtains
Obtain the direct-axis current and quadrature axis current under dq coordinate systems；
Ac-dc axis voltage computing module, for obtaining direct-axis current set-point and quadrature axis current set-point, according to d-axis electricity
It flows set-point and direct-axis current obtains direct-axis current difference, quadrature axis electricity is obtained according to the quadrature axis current set-point and quadrature axis current
Flow difference；The direct-axis current difference and quadrature axis current difference are adjusted using the first pi regulator, obtain dq coordinate systems
Under direct-axis voltage and quadrature-axis voltage；
Output voltage computing module, for according to the rotor measurement angle, to the direct-axis voltage and the quadrature-axis voltage into
Row PARK inverse transformations, and using the output voltage of SVPWM acquisition inverters；
Misalignment angle computing module for obtaining direct-axis voltage output valve according to the output voltage under dq coordinate systems, judges
Whether the direct-axis voltage output valve is zero, if the direct-axis voltage output valve is not zero, using misalignment angle updating formula meter
It calculates and obtains misalignment angle.
8. misalignment angle detection device according to claim 7, which is characterized in that the misalignment angle detection device is also wrapped
Include misalignment angle correcting module；
The misalignment angle correcting module is used to be modified the rotor measurement angle according to the misalignment angle.
9. a kind of electronic equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor is realized when performing the computer program described in any one of claim 1~6
Misalignment angle detection method.
10. a kind of computer readable storage medium, which is characterized in that the readable storage medium storing program for executing includes computer program, described
Electronic equipment perform claim requires 1~6 any one of them computer program controls the readable storage medium storing program for executing when running where
Misalignment angle detection method.
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Application publication date: 20180615 |