CN108418492B - A kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system - Google Patents
A kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system Download PDFInfo
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- CN108418492B CN108418492B CN201810261577.6A CN201810261577A CN108418492B CN 108418492 B CN108418492 B CN 108418492B CN 201810261577 A CN201810261577 A CN 201810261577A CN 108418492 B CN108418492 B CN 108418492B
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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
- 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
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- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention discloses a kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control systems.The scaling method includes: to generate driving signal according to calibration Setting signal；Permanent magnet synchronous motor is driven according to the driving signal；Obtain the actual angle of permanent magnet synchronous motor；Tachometer value is obtained according to the actual angle of permanent magnet synchronous motor, and calculates the changing value of the tachometer value；And judge whether permanent magnet synchronous motor turns to zero-bit according to the velocity amplitude of the rotation of permanent magnet synchronous motor and the changing value of velocity amplitude, when turning to zero-bit, using the actual angle of permanent magnet synchronous motor as zero-bit, stop driving, when being not rotated to zero-bit, continues to drive, to obtain the zero-bit of permanent magnet synchronous motor, it realizes the Zero positioning of permanent magnet synchronous motor, and judges whether to turn to zero-bit by the velocity amplitude of motor and the changing value of velocity amplitude, ensure that the precision of zero-bit judgement.
Description
Technical field
The present invention relates to Motor Control Field, in particular to a kind of permanent magnet synchronous motor Zero positioning method, caliberating device
And control system.
Background technique
In recent years, permanent magnet synchronous motor is small in size with its, structure is simple, high-efficient, power density is high, torque current ratio
Height is easy to the features such as heat dissipation and maintenance, and is widely paid attention to and study by people.At present to the high-precision of permanent magnet synchronous motor
Control generally uses magnetic field space Vector Pulse Width Modulation strategy (SVPWM).Obtaining accurate rotor-position is to realize permanent-magnet synchronous
The premise of motor high performance vector control, current most of permanent magnet synchronous motor servos are all to obtain electricity using mechanical pick-up device
The location information of machine rotor.
Mechanical pick-up device and permanent magnet synchronous motor PMSM (Permanent Magnet Synchronous Motor) are general
It is coaxially to be fixedly mounted, the physics zero angle of mechanical pick-up device and the electrical angle zero angle of PMSM generally will not be just overlapped, and right
In same motor, being dismounted for multiple times position will not be completely the same；Same batch different mechanical pick-up device and motor, zero angle phase
To position and different, so motor needs to calibrate zero drift before runtime.Zero drift calibration is usual
Using forced positioning calibration method:
One is carrying out energization test to motor triple line using relevant professional equipment such as direct current rifle, A communicates positive electricity, B,
C communicates negative electricity, and after being passed through electricity, then rotor goes to a fixed bit and postpones motionless, then this position is determined as motor
Initial position, that is, zero-bit.But the reluctance torque and rotary inertia due to every kind of magneto are different, required electric current
It is different, therefore the use of DC current rifle there is defect, and the difference on hardware also results in surveyed zero-bit can deviation,
It is poor so as to cause the precision in motor control or lead to that the torque of motor lacks or excessive situation occurs.
Another kind is according to q, d shaft current the control permanent-magnet synchronous for giving the permanent-magnetic synchronous motor stator side in vector controlled
Motor, it is to set the rated current of multiple that the q shaft current for giving permanent-magnetic synchronous motor stator side in vector controlled, which is 0, d shaft current,
Within value, i.e., applies the current phasor of a fixed-direction to motor, rotor is forced to rotate to zero position.This method needs
The input signal of vector controlled is calculated using angle value, the accuracy of angle value is influential on Zero positioning.The party
Time required for method is calibrated is long, and in entire calibration process, rotor rotation amplitude is larger, will cause mechanical punching
It hits, and is rubbed as existing for permanent-magnetic synchronous motor rotor itself, in addition when this method carries out zero adjustment, in close design
The electromagnetic torque meeting very little of motor when zero-bit, so can have biggish error using this method.
Summary of the invention
The object of the present invention is to provide a kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system, with
Improve the precision of permanent magnet synchronous motor Zero positioning and control.
To achieve the above object, the present invention provides following schemes:
A kind of permanent magnet synchronous motor Zero positioning method, the scaling method include the following steps:
Driving signal is generated according to calibration Setting signal；
Permanent magnet synchronous motor is driven according to the driving signal；
Obtain the actual angle of permanent magnet synchronous motor；
The changing value of tachometer value and tachometer value is calculated according to the actual angle of the permanent magnet synchronous motor；
According to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if then will
Zero-bit of the actual angle of the permanent magnet synchronous motor as the permanent magnet synchronous motor, if it is not, then returning described according to
Driving signal drives the step of permanent magnet synchronous motor.
Optionally, described according to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero
Position, if then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, if it is not, then returning to institute
The step of permanent magnet synchronous motor is driven according to the driving signal is stated, is specifically included:
Judge whether the tachometer value is zero, obtains the first judging result；
If first judging result is that the tachometer value is not zero, returns and drive permanent magnetism same according to the driving signal
The step of walking motor；
If it is zero that first judging result, which is the tachometer value, judge whether the changing value is less than preset threshold,
Obtain the second judging result；
If second judging result is that the changing value is not less than the preset threshold, return described according to the drive
The step of dynamic signal driving permanent magnet synchronous motor；
If second judging result is that the changing value is less than the preset threshold, by the permanent magnet synchronous motor
Zero-bit of the actual angle as the permanent magnet synchronous motor.
Optionally, described according to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero
Position, if then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, if it is not, then returning to institute
State according to the driving signal drive permanent magnet synchronous motor the step of after, further includes:
The zero value of the permanent magnet synchronous motor is stored.
Optionally, the Ubeta value of the calibration Setting signal is zero, Ualpha value less than 1.
A kind of permanent magnet synchronous motor Zero positioning device, comprising: position sensor, calibration controller and driver；
The position sensor and permanent magnet synchronous motor are coaxial, and connect with the calibration controller, the position sensing
Device is used to obtain the actual angle of the permanent magnet synchronous motor, and the actual angle is exported to the calibration controller；
The calibration controller is connect with the driver, and the calibration controller is used to be generated according to calibration Setting signal
Driving signal；The changing value of tachometer value and tachometer value is calculated according to the actual angle of the permanent magnet synchronous motor；And according to described
Tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if then by the permanent magnet synchronous motor
Zero-bit of the actual angle as the permanent magnet synchronous motor, if it is not, then the driving signal is exported to the driver；
The driver is connect with the permanent magnet synchronous motor, and the driver is used for according to driving signal driving forever
Magnetic-synchro motor.
Optionally, the calibration controller includes driving signal generation module and zero-bit judgment module；
The driving signal generation module is connect with the position sensor and the zero-bit judgment module respectively, the drive
Dynamic signal generator module is used for according to the calibration Setting signal generation driving signal, and by the driving signal export to
The zero-bit judgment module；
The zero-bit judgment module is connect with the driver, and the zero-bit judgment module is for judging that the tachometer value is
No is zero, obtains the first judging result；If first judging result is that the tachometer value is not zero, by the driving signal
It exports to the driver；If it is zero that first judging result, which is the tachometer value, judge whether the changing value is less than
Preset threshold obtains the second judging result；If second judging result is that the changing value is not less than the preset threshold,
The driving signal is exported to the driver；If second judging result is that the changing value is less than the default threshold
Value stops believing the driving then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor
Number output to the driver.
Optionally, the caliberating device further includes memory, and the memory is connect with the calibration controller, described to deposit
Reservoir is used to store the value of the zero-bit of the permanent magnet synchronous motor.
Optionally, the Ubeta of the input Setting signal in the calibration controller is zero, Ualpha less than 1.
A kind of control system for permanent-magnet synchronous motor, the control system include the permanent magnet synchronous motor Zero positioning dress
It sets；The permanent magnet synchronous motor Zero positioning device includes position sensor, calibration controller and driver；
The position sensor and permanent magnet synchronous motor are coaxial, and connect with the calibration controller, the position sensing
Device is used to obtain the actual angle of permanent magnet synchronous motor；
Calibration controller is connect with the driver, and the calibration controller is used to generate driving according to calibration Setting signal
Signal；The changing value of tachometer value and tachometer value is calculated according to the actual angle of permanent magnet synchronous motor；And according to the tachometer value and
The changing value, judges whether the permanent magnet synchronous motor goes to zero-bit, if then by the actual corners of the permanent magnet synchronous motor
The zero-bit as the permanent magnet synchronous motor is spent, if it is not, then exporting the driving signal to the driver；
The calibration controller is also connect with the servo controller, and the calibration controller is also used to the permanent magnetism is same
The zero-bit of step motor is conveyed to the servo controller；
The driver is connect with the permanent magnet synchronous motor, and the driver is used for according to driving signal driving forever
Magnetic-synchro motor；
The control system further includes servo controller, digital signal processor and host computer；
The servo controller is connect with the position sensor and the digital signal processor respectively, the servo control
Device processed is used for the actual angle detected according to the position sensor, calculates tachometer value, and the tachometer value is exported to described
Digital signal processor；
The driver is also connect with the digital signal processor, and the driver is also used to detect permanent magnet synchronous motor
Voltage and current, and the voltage and the electric current are exported to the digital signal processor；
The host computer is connect with the digital signal processor, and the host computer is used to generate mould according to the setting of user
Formula selection signal, and the mode select signal is exported to the digital signal processor；The mode select signal is mark
Mould-fixed or drive mode；
The digital signal processor is connect with the calibration controller, and the digital signal processor is used to work as the mould
When formula selection signal is calibration mode, calibration Setting signal is generated, and the calibration Setting signal is conveyed to the calibration and is controlled
Device processed；When the mode select signal is drive mode, driving is generated according to the voltage, the electric current and the velocity amplitude
Setting signal, and the driving Setting signal is exported to the servo controller；
The servo controller is also connect with the driver, and the servo controller is also used to given according to the driving
The zero-bit of signal and the permanent magnet synchronous motor generates driving signal, and the driving signal is exported to the driver.
Optionally, the digital signal processor uses dsp chip.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system, the calibration sides
Method generates driving signal according to calibration Setting signal, and driving permanent magnet synchronous motor rotates, and according to the rotation of permanent magnet synchronous motor
Velocity amplitude and the changing value of velocity amplitude judge whether permanent magnet synchronous motor turns to zero-bit, when turning to zero-bit, by permanent magnetism
The actual angle of synchronous motor stops driving, when being not rotated to zero-bit, continues to drive as zero-bit, same to obtain permanent magnetism
The zero-bit for walking motor, realizes the Zero positioning of permanent magnet synchronous motor, and sentence by the velocity amplitude of motor and the changing value of velocity amplitude
It is disconnected whether to turn to zero-bit, it ensure that the precision of zero-bit judgement.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of permanent magnet synchronous motor Zero positioning method provided by the invention；
Fig. 2 is a kind of structure chart of permanent magnet synchronous motor Zero positioning device provided by the invention；
Fig. 3 is a kind of structure chart of control system for permanent-magnet synchronous motor provided by the invention；
Fig. 4 is the flow chart of the specific embodiment of Zero positioning method provided by the invention.
Specific embodiment
The object of the present invention is to provide a kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system, with
Improve the precision of permanent magnet synchronous motor Zero positioning and control.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Mode is applied to be described in further detail invention.
As shown in Figure 1, the scaling method includes such as the present invention provides a kind of permanent magnet synchronous motor Zero positioning method
Lower step:
Step 101, driving signal is generated according to calibration Setting signal；In Zero positioning, space voltage arrow is persistently given
Calibration the Setting signal Ualpha and Ubeta for measuring modulation, carry out the signal of whole system to mark change, the maximum of input signal
Value is 1, and by giving the value of different Ualpha and Ubeta, control Vector modulation is in spatially any direction in motor, based on sitting
Shift theory is marked, the A phase winding of motor is axial coaxial with the X-coordinate axle of coordinate, therefore individually given Ualpha signal, makes space
Vector is fixed on inside motor on the axis direction of A phase winding, i.e., the Ubeta value of the described calibration Setting signal is zero, Ualpha
Value is less than 1.
Step 102, permanent magnet synchronous motor is driven according to the driving signal；
Step 103, the actual angle of permanent magnet synchronous motor is obtained；
Step 104, the changing value of tachometer value and tachometer value is calculated according to the actual angle of permanent magnet synchronous motor；
Step 105, according to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit,
If then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, if it is not, described in then returning
The step of driving permanent magnet synchronous motor according to the driving signal, specifically includes:
Judge whether the tachometer value is zero, obtains the first judging result；If first judging result is the revolving speed
Value is not zero, then returns to the step of driving permanent magnet synchronous motor according to the driving signal；If first judging result is institute
Stating tachometer value is zero, then judges whether the changing value is less than preset threshold, obtains the second judging result；If second judgement
As a result it is not less than preset threshold for the changing value, then returns to the step of permanent magnet synchronous motor is driven according to the driving signal；
If second judging result be the changing value be less than preset threshold, using the actual angle of the permanent magnet synchronous motor as
The zero-bit of the permanent magnet synchronous motor.
Optionally, described according to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero
Position, if then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, if it is not, then returning to institute
State according to the driving signal drive permanent magnet synchronous motor the step of after, further includes:
The zero value of the permanent magnet synchronous motor is stored.
Optionally, the Ubeta value of the calibration Setting signal is zero, Ualpha value less than 1.
As shown in Fig. 2, the present invention also provides a kind of permanent magnet synchronous motor Zero positioning devices, comprising: position sensor
201, controller 202 and driver 203 are demarcated.
The position sensor 201 and permanent magnet synchronous motor are coaxial, and connect with the calibration controller 202, institute's rheme
Sensor 201 is set for obtaining the actual angle of permanent magnet synchronous motor, and the actual angle is exported and is controlled to the calibration
Device 202；The position sensor 201 be mechanical pick-up device, permanent magnet synchronous motor rotating square to 201 angle of mechanical pick-up device
It is consistent to increase direction.
The calibration controller 202 is connect with the driver 203, and the calibration controller 202 is used for according to the mark
Determine Setting signal and generates the driving signal.The variation of tachometer value and tachometer value is calculated according to the actual angle of permanent magnet synchronous motor
Value；And according to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if then will be described
Zero-bit of the actual angle of permanent magnet synchronous motor as the permanent magnet synchronous motor, if it is not, then by the driving signal export to
The driver 203.
The driver 203 is connect with the permanent magnet synchronous motor, and the driver 203 is used for according to the driving signal
Drive permanent magnet synchronous motor.
Optionally, the calibration controller 202 includes driving signal generation module and zero-bit judgment module.
The driving signal generation module is connect with the position sensor 201 and the zero-bit judgment module respectively, institute
Driving signal generation module is stated for generating driving signal according to calibration Setting signal, and the driving signal is exported to described
Zero-bit judgment module.
The zero-bit judgment module is connect with the driver 203, and the zero-bit judgment module is for judging the revolving speed
Whether value is zero, obtains the first judging result；If first judging result is that the tachometer value is not zero, by the driving
Signal is exported to the driver；If it is zero that first judging result, which is the tachometer value, whether the changing value is judged
Less than preset threshold, the second judging result is obtained；If second judging result is that the changing value is not less than the default threshold
Value, then export the driving signal to the driver；If second judging result is the changing value less than described pre-
If threshold value, then using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, stop the drive
Dynamic signal is exported to the driver.
Optionally, the caliberating device further includes memory 204, and the memory 204 connects with the calibration controller 202
It connects, the memory 204 is used to store the value of the zero-bit of the permanent magnet synchronous motor.
Optionally, the Ubeta of the input Setting signal in the calibration controller 202 is zero, Ualpha less than 1.
A kind of control system for permanent-magnet synchronous motor, the control system include the permanent magnet synchronous motor Zero positioning dress
It sets；The permanent magnet synchronous motor Zero positioning device includes position sensor 201, calibration controller 202 and driver 203.
The position sensor 201 and permanent magnet synchronous motor are coaxial, and connect with the calibration controller 202, institute's rheme
Sensor 201 is set for obtaining the actual angle of permanent magnet synchronous motor, and the actual angle is exported and is controlled to the calibration
Device 202.
Calibration controller 202 is connect with the driver 203, and the calibration controller 202 is used for according to the given letter of calibration
Number generate driving signal；The changing value of tachometer value and tachometer value is calculated according to the actual angle of permanent magnet synchronous motor；And according to institute
Tachometer value and the changing value are stated, judges whether the permanent magnet synchronous motor goes to zero-bit, if then by the permanent magnet synchronous electric
Zero-bit of the actual angle of machine as the permanent magnet synchronous motor, if it is not, then exporting the driving signal to the driver
203。
The calibration controller 202 is also connect with the servo controller 301, the calibration controller 202 be also used to by
The zero-bit of the permanent magnet synchronous motor is conveyed to the servo controller 301.
The driver 203 is connect with the permanent magnet synchronous motor, and the driver 203 is used for according to the driving signal
Drive permanent magnet synchronous motor.
The control system further includes servo controller 301, digital signal processor 302 and host computer 303.
The servo controller 301 is connect with the position sensor 201 and the digital signal processor 302 respectively,
The servo controller 301 is used for the actual angle that detect according to the position sensor, calculating tachometer value, and by the revolving speed
Value output is to the digital signal processor 302.
The driver 203 is also connect with the digital signal processor 302, and the driver 203 is also used to detect forever
The voltage and current of magnetic-synchro motor, and the voltage and the electric current are exported to the digital signal processor 302.
The host computer 303 is connect with the digital signal processor 302, and the host computer 303 is used for according to user's
Setting generates mode select signal, and the mode select signal is exported to the digital signal processor 302；The mode
Selection signal is calibration mode or drive mode.
The digital signal processor 302 is connect with the calibration controller 202, and the digital signal processor 302 is used
In when the mode select signal is calibration mode, calibration Setting signal is generated, and the calibration Setting signal is conveyed to
The calibration controller 202；When the mode select signal is drive mode, according to the voltage, the electric current and described
Velocity amplitude generates driving Setting signal, and the driving Setting signal is exported to the servo controller 301；I.e. according to motor
Actual angle and velocity amplitude SP, the voltage and current of motor, calculate space vector pulse width modulation input signal Ualpha and
Ubeta。
The servo controller 301 is also connect with the driver 203, and the servo controller 301 is also used to according to institute
The zero-bit for stating driving Setting signal and the permanent magnet synchronous motor generates driving signal, and the driving signal is exported to described
Driver 203.For control Vector Pulse Width Modulation (SVPWM) driving Setting signal Ualpha and Ubeta, generate corresponding
Driving signal PS.
Optionally, the digital signal processor uses dsp chip.
The present invention also provides a kind of specific embodiments of permanent magnet synchronous motor Zero positioning method as shown in Figure 4: into
Enter Zero positioning mode, persistently gives the input signal Ualpha of SVPWM.Signal feeding is provided in a manner of marking and changing, i.e., defeated
Entering signal Ualpha or Ubeta maximum value is 1 (operation S410).
Speed signal SP is judged.If speed is not zero, keep input signal size Ualpha constant, Ubeta
It is 0；If speed is zero, next judgement (operation S420) is carried out.
If velocity variations value DTSP, continuously less than 10^-3, recorded electricity of the current angle signal P as motor in two seconds
Angle zero-bit ZD, and cut off the output (operation S450) (operation S440) of servo-driver.
Then giving input signal Ualpha is 0, Ubeta 0, and stops driver output；Conversely, continuing judgement (operation
S430)。
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The invention discloses a kind of permanent magnet synchronous motor Zero positioning method, caliberating device and control system, the calibration sides
Method generates driving signal according to calibration Setting signal, and driving permanent magnet synchronous motor rotates, and according to the rotation of permanent magnet synchronous motor
Velocity amplitude and the changing value of velocity amplitude judge whether permanent magnet synchronous motor turns to zero-bit, when turning to zero-bit, by permanent magnetism
The actual angle of synchronous motor stops driving, when being not rotated to zero-bit, continues to drive as zero-bit, same to obtain permanent magnetism
The zero-bit for walking motor, realizes the Zero positioning of permanent magnet synchronous motor, and sentence by the velocity amplitude of motor and the changing value of velocity amplitude
It is disconnected whether to turn to zero-bit, it ensure that the precision of zero-bit judgement.
This invention ensures that being applied to the accurate reliability of the electrical angle data of high precision electro machine control system, while also protecting
The stability of electric machine control system work is demonstrate,proved.
The present invention applies in a kind of ground detection mechanism, New Satellite load scanning servo mechanism, follows in high and low temperature
Under the conditions of long-time continuous operation etc., the normal operation and complete machine safety of electric machine control system is effectively guaranteed in ring.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Specific examples are used herein to describe the principles and implementation manners of the present invention, the explanation of above embodiments
Method and its core concept of the invention are merely used to help understand, described embodiment is only that a part of the invention is real
Example is applied, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not making creation
Property labour under the premise of every other embodiment obtained, shall fall within the protection scope of the present invention.
Claims (8)
1. a kind of permanent magnet synchronous motor Zero positioning method, which is characterized in that the scaling method includes the following steps:
Driving signal is generated according to calibration Setting signal；
Permanent magnet synchronous motor is driven according to the driving signal；
Obtain the actual angle of permanent magnet synchronous motor；
The changing value of tachometer value and tachometer value is calculated according to the actual angle of the permanent magnet synchronous motor；
According to the tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if then will be described
Zero-bit of the actual angle of permanent magnet synchronous motor as the permanent magnet synchronous motor, if it is not, then returning described according to the driving
Signal drives the step of permanent magnet synchronous motor, specifically includes:
Judge whether the tachometer value is zero, obtains the first judging result；
If first judging result is that the tachometer value is not zero, return described same according to driving signal driving permanent magnetism
The step of walking motor；
If it is zero that first judging result, which is the tachometer value, judge whether the changing value is less than preset threshold, obtains
Second judging result；
If second judging result is that the changing value is not less than the preset threshold, return described according to driving letter
The step of number driving permanent magnet synchronous motor；
If second judging result is that the changing value is less than the preset threshold, by the reality of the permanent magnet synchronous motor
Zero-bit of the angle as the permanent magnet synchronous motor.
2. a kind of permanent magnet synchronous motor Zero positioning method according to claim 1, which is characterized in that described according to
Tachometer value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if then by the permanent magnet synchronous motor
Zero-bit of the actual angle as the permanent magnet synchronous motor, described permanent magnetism is driven according to the driving signal if it is not, then returning
After the step of synchronous motor, further includes:
The zero value of the permanent magnet synchronous motor is stored.
3. a kind of permanent magnet synchronous motor Zero positioning method according to claim 1, which is characterized in that the calibration is given
The Ubeta value of signal is zero, Ualpha value less than 1.
4. a kind of permanent magnet synchronous motor Zero positioning device characterized by comprising position sensor, calibration controller and drive
Dynamic device；
The position sensor and permanent magnet synchronous motor are coaxial, and connect with the calibration controller, and the position sensor is used
In the actual angle of the acquisition permanent magnet synchronous motor, and the actual angle is exported to the calibration controller；
The calibration controller is connect with the driver, and the calibration controller is used to generate driving according to calibration Setting signal
Signal；The changing value of tachometer value and tachometer value is calculated according to the actual angle of the permanent magnet synchronous motor；And according to the revolving speed
Value and the changing value, judge whether the permanent magnet synchronous motor goes to zero-bit, if so, by the reality of the permanent magnet synchronous motor
Zero-bit of the border angle as the permanent magnet synchronous motor, if it is not, then exporting the driving signal to the driver；
The driver is connect with the permanent magnet synchronous motor, and the driver is used to drive permanent magnetism same according to the driving signal
Walk motor；
The calibration controller includes driving signal generation module and zero-bit judgment module；
The driving signal generation module is connect with the position sensor and the zero-bit judgment module respectively, the driving letter
Number generation module is used for according to the calibration Setting signal generation driving signal, and the driving signal is exported to described
Zero-bit judgment module；
The zero-bit judgment module is connect with the driver, the zero-bit judgment module for judge the tachometer value whether be
Zero, obtain the first judging result；If first judging result is that the tachometer value is not zero, the driving signal is exported
To the driver；If it is zero that first judging result, which is the tachometer value, it is default to judge whether the changing value is less than
Threshold value obtains the second judging result；If second judging result is that the changing value is not less than the preset threshold, by institute
Driving signal is stated to export to the driver；If second judging result is that the changing value is less than the preset threshold,
Using the actual angle of the permanent magnet synchronous motor as the zero-bit of the permanent magnet synchronous motor, stopping exports the driving signal
To the driver.
5. permanent magnet synchronous motor Zero positioning device according to claim 4, which is characterized in that the caliberating device also wraps
Memory is included, the memory is connect with the calibration controller, and the memory is for storing the permanent magnet synchronous motor
The value of zero-bit.
6. permanent magnet synchronous motor Zero positioning device according to claim 4, which is characterized in that in the calibration controller
The Ubeta of input Setting signal be zero, Ualpha less than 1.
7. a kind of control system for permanent-magnet synchronous motor, which is characterized in that the control system includes any one of claim 4-6 institute
The permanent magnet synchronous motor Zero positioning device stated；The permanent magnet synchronous motor Zero positioning device includes position sensor, calibration
Controller and driver；
The control system further includes servo controller, digital signal processor and host computer；
The position sensor and permanent magnet synchronous motor are coaxial, and connect with the calibration controller, and the position sensor is used
In the actual angle for obtaining permanent magnet synchronous motor；
Calibration controller is connect with the driver, and the calibration controller is used to generate driving letter according to calibration Setting signal
Number；The changing value of tachometer value and tachometer value is calculated according to the actual angle of permanent magnet synchronous motor；And according to the tachometer value and institute
Changing value is stated, judges whether the permanent magnet synchronous motor goes to zero-bit, if then by the actual angle of the permanent magnet synchronous motor
As the zero-bit of the permanent magnet synchronous motor, if it is not, then the driving signal is exported to the driver；
The calibration controller is also connect with the servo controller, and the calibration controller is also used to the permanent magnet synchronous electric
The zero-bit of machine is conveyed to the servo controller；
The driver is connect with the permanent magnet synchronous motor, and the driver is used to drive permanent magnetism same according to the driving signal
Walk motor；
The servo controller is connect with the position sensor and the digital signal processor respectively, the servo controller
Actual angle for being detected according to the position sensor calculates tachometer value, and the tachometer value is exported to the number
Signal processor；
The driver is also connect with the digital signal processor, and the driver is also used to detect the permanent magnet synchronous motor
Voltage and current, and the voltage and the electric current are exported to the digital signal processor；
The host computer is connect with the digital signal processor, and the host computer is used to generate mode choosing according to the setting of user
Signal is selected, and the mode select signal is exported to the digital signal processor；The mode select signal is calibration mold
Formula or drive mode；
The digital signal processor is connect with the calibration controller, and the digital signal processor is used to select when the mode
When to select signal be calibration mode, calibration Setting signal is generated, and the calibration Setting signal is conveyed to the calibration controller；
When the mode select signal is drive mode, it is given that driving is generated according to the voltage, the electric current and the tachometer value
Signal, and the driving Setting signal is exported to the servo controller；
The servo controller is also connect with the driver, and the servo controller is also used to according to the driving Setting signal
Driving signal is generated with the zero-bit of the permanent magnet synchronous motor, and the driving signal is exported to the driver.
8. a kind of control system for permanent-magnet synchronous motor according to claim 7, which is characterized in that the Digital Signal Processing
Device uses dsp chip.
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| CN109546917B (en) * | 2018-11-29 | 2020-09-18 | 北京精密机电控制设备研究所 | Multi-path adjusting system and method for alternating current permanent magnet synchronous motor actuating mechanism |
| CN109581888B (en) * | 2018-12-04 | 2021-12-07 | 上海航天控制技术研究所 | Test method and system for static calibration and dynamic zero compensation of servo system |
| CN110581681B (en) * | 2019-08-26 | 2021-06-08 | 南京越博动力系统股份有限公司 | Zero calibration method and device for permanent magnet synchronous motor position sensor |
| CN113824366A (en) * | 2021-10-12 | 2021-12-21 | 上海致控驱动技术有限公司 | Automatic zero setting device for multiple permanent magnet synchronous motors |
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| CN101651442A (en) * | 2008-08-15 | 2010-02-17 | 深圳市汇川技术股份有限公司 | Method and system for correcting electrical angle of motor rotor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN107404272A (en) * | 2016-05-16 | 2017-11-28 | 广州汽车集团股份有限公司 | Permagnetic synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101651442A (en) * | 2008-08-15 | 2010-02-17 | 深圳市汇川技术股份有限公司 | Method and system for correcting electrical angle of motor rotor |
| CN104836506A (en) * | 2015-05-29 | 2015-08-12 | 许继集团有限公司 | Zero-position correction system and method of PMSM rotor |
| CN107404272A (en) * | 2016-05-16 | 2017-11-28 | 广州汽车集团股份有限公司 | Permagnetic synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system |
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