CN108462423B - Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium - Google Patents
Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium Download PDFInfo
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- 239000013598 vector Substances 0.000 claims abstract description 60
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- 239000007924 injection Substances 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 7
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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Abstract
The invention discloses a permanent magnet brushless motor rotor positioning method, which comprises the following steps: applying a first current vector to a stator winding of a motor, wherein the quadrature axis current of the first current vector is a preset value, and the direct axis current is 0; rotating the first current vector to a preset first electrical angle at a set first angular speed; and fixing the first current vector at the first electrical angle, and staying for a set time to enable the rotor of the motor to be dragged to a preset second electrical angle position, so that the rotor of the permanent magnet brushless motor is positioned. The positioning method of the permanent magnet brushless motor rotor can drag the electronic rotor of the unmanned aerial vehicle to any position to start the motor, solves the technical problems that a position sensor needs to be installed and dead zones exist in positioning when the initial position of the motor of the existing unmanned aerial vehicle is positioned, and realizes smooth and shock-free starting of the motor of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle electronic rotor positioning, and particularly relates to a permanent magnet brushless motor rotor positioning technology without a position sensor and a positioning dead zone, in particular to a permanent magnet brushless motor rotor positioning method, device, equipment and storage medium.
Background
In recent years, the electric unmanned aerial vehicle is rapidly developed and widely used in the fields of military affairs, public security, agriculture, aerial photography and the like. At present, most unmanned aerial vehicles are driven by permanent magnet brushless motors. The permanent magnet brushless motor has the advantages of simple structure, small volume, high operation efficiency, high power factor and small rotational inertia, and is widely applied to driving systems of spaceflight, electric automobiles and the like.
Many rotor unmanned aerial vehicle adopt permanent magnet brushless motor mostly, and unmanned aerial vehicle motor start-up phase is not under the circumstances of circular telegram for the motor winding, and electric motor rotor's position is arbitrary. In order to start the drone smoothly without oscillation, the initial position of the rotor must be predetermined. The accuracy of the permanent magnet brushless motor rotor initial position judgment is related to the starting stability and the acceleration performance of the motor and the control performance in the normal operation process. If the initial position cannot be accurately estimated, the starting torque of the motor is reduced, which may cause step loss to cause motor starting failure, and sudden change and short reversal of the rotor position may occur, which are not allowed in some application fields.
In the prior art, a position sensor is generally adopted to detect the initial position of a permanent magnet brushless motor rotor, but the position sensor is adopted to detect the initial position of the rotor, so that a plurality of technical problems exist. First, multi-rotor drones are not suitable for use with position sensors in application scenarios. Secondly, the adoption of the position sensor has high cost and cannot be widely used. Meanwhile, the existing positioning method for the rotor position of other permanent magnet brushless motors has dead zones for rotor positioning, and the rotor position cannot be positioned at any required electric angle, so that the smooth and shock-free starting of the unmanned aerial vehicle is realized.
Therefore, there is an urgent need to develop a method for positioning a rotor of a permanent magnet brushless motor, and an apparatus, a device and a storage medium using the method. The positioning method can realize the detection and positioning of the initial position of the motor rotor of the unmanned aerial vehicle without adopting a position sensor, and simultaneously can drag the motor rotor of the unmanned aerial vehicle to any required electrical angle position, and then start the motor of the unmanned aerial vehicle from the position so as to realize the smooth and shock-free starting of the unmanned aerial vehicle, thereby solving the problems existing in the prior art.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, an object of the present invention is to provide a method, an apparatus, a device and a storage medium for positioning a rotor of a permanent magnet brushless motor. The permanent magnet brushless motor rotor positioning method, device, equipment and storage medium provided by the invention can realize detection and positioning of the initial position of the motor rotor of the unmanned aerial vehicle without adopting a position sensor, and simultaneously can drag the motor rotor of the unmanned aerial vehicle to any required electrical angle position, and then start the motor of the unmanned aerial vehicle from the position to realize smooth and shock-free starting of the unmanned aerial vehicle, thereby solving the problems in the prior art.
In order to achieve the above object, an embodiment of the present application provides a method for positioning a rotor of a permanent magnet brushless motor, where the method includes the following steps:
applying a first current vector to a stator winding of a motor, wherein the quadrature axis current of the first current vector is a preset value, and the direct axis current is 0;
rotating the first current vector to a preset first electrical angle at a set first angular speed;
and fixing the first current vector at the first electrical angle, and staying for a set time to enable the rotor of the motor to be dragged to a preset second electrical angle position, so that the rotor of the permanent magnet brushless motor is positioned.
Further, the predetermined value I of the quadrature axis current of the first current vectorqComprises the following steps:
wherein, TLLoading torque for the motor of the unmanned aerial vehicle;
p is the number of pole pairs of the motor;
ψfis the rotor flux linkage.
Further, the preset first electrical angle is 1.5 pi.
Further, the set angular velocity is less than or equal to 50 rad/s.
Further, the set time is between 100ms and 500 ms.
Further, the preset second electrical angle is 0.
On the other hand, the embodiment of the present application provides a permanent magnet brushless motor rotor positioning device, wherein, include:
a current injection unit: the method comprises the steps that a first current vector is applied to a stator winding of the motor, the quadrature-axis current of the first current vector is a preset value, and the direct-axis current is 0;
a current rotation unit: the first current vector is configured to rotate to a preset first electrical angle at a set first angular speed;
a rotor positioning unit: and the configuration is used for fixing the first current vector at the first electrical angle and staying for a set time so as to enable the rotor of the motor to be dragged to a preset second electrical angle position and realize the positioning of the permanent magnet brushless motor rotor.
In another aspect, an embodiment of the present application provides a permanent magnet brushless motor rotor positioning apparatus, where the apparatus includes:
one or more processors;
a data storage for storing the set first angular velocity, the first electrical angle, the set time, and one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of the above.
In another aspect, the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method according to any one of the above-mentioned methods.
Compared with the prior art, the invention has the beneficial effects that:
1. the positioning method of the permanent magnet brushless motor rotor can realize the positioning of the position of the motor rotor without installing a position sensor in the unmanned aerial vehicle, thereby solving the problems that the multi-rotor unmanned aerial vehicle in the prior art is not suitable for adopting the position sensor in an application scene and the cost is high when adopting the position sensor.
2. The positioning method of the permanent magnet brushless motor rotor can position the motor rotor at any required electrical angle, and the motor rotor is positioned without a positioning dead zone, so that the problem of the rotor positioning dead zone in the prior art is solved, the rotor position of the unmanned aerial vehicle motor can be positioned at any required electrical angle, and the unmanned aerial vehicle can be started smoothly without vibration.
3. The positioning method of the permanent magnet brushless motor rotor can accurately position the position of the motor rotor of the unmanned aerial vehicle, thereby avoiding the conditions that the starting torque of the motor is reduced, the motor is out of step and the starting of the motor fails or the position of the rotor suddenly changes and is transiently reversed due to the fact that the initial position of the rotor cannot be accurately estimated in the prior art.
4. The positioning method of the permanent magnet brushless motor rotor can realize the accurate positioning of the motor rotor of the unmanned aerial vehicle, ensure the flight safety of the unmanned aerial vehicle, and improve the starting stability and acceleration performance of the motor and the control performance in the flight process.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.
Fig. 1 is a schematic process diagram of a positioning method for a permanent magnet brushless motor rotor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an initial position of a permanent magnet brushless motor rotor between a synchronous rotation coordinate system and a horizontal reference axis in a permanent magnet brushless motor rotor positioning method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a moment when a permanent magnet brushless motor rotor is dragged according to a positioning method of a permanent magnet brushless motor rotor according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a moment when the positioning of the permanent magnet brushless motor rotor is completed by being dragged according to the positioning method of the permanent magnet brushless motor rotor of the embodiment of the present invention;
wherein,
the coordinate system is an injection current vector coordinate system, namely a given rotor position coordinate system; the dp coordinate system is the actual rotor position coordinate system and the dashed line is the horizontal reference coordinate axis coordinate system.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, a method for positioning a rotor of a permanent magnet brushless motor according to an example of the present embodiment includes the following steps: applying a first current vector to a stator winding of a motor, wherein the quadrature axis current of the first current vector is a preset value, and the direct axis current is 0; rotating the first current vector to a preset first electrical angle at a set first angular speed; and fixing the first current vector at the first electrical angle, and staying for a set time to enable the rotor of the motor to be dragged to a preset second electrical angle position, so that the rotor of the permanent magnet brushless motor is positioned.
For the convenience of understanding of the present invention, the following further describes a positioning method of a permanent magnet brushless motor rotor provided by the present invention with the positioning principle of the present invention in combination with the positioning process of the permanent magnet brushless motor rotor in the embodiment:
the drone motor of the present example is a permanent magnet brushless motor, with the motor rotor position being arbitrary without energizing the motor windings. As shown in fig. 2, the synchronous rotation coordinate system (dp coordinate system) in the figure is a coordinate system formed by actual rotor positions, θ is an actual rotor position angle, and at the initial time of starting the motor of the unmanned aerial vehicle, the position of the motor rotor relative to the horizontal reference coordinate axis is arbitrary, that is, the actual rotor position angle θ may be an arbitrary angle.
In order to realize smooth and shock-free starting of the unmanned aerial vehicle motor, the initial position of the rotor must be detected and located before starting. The embodiment provides a method for positioning a permanent magnet brushless motor rotor, which can realize the detection and positioning of the initial position of the rotor without adopting a position sensor, and the specific operation scheme is as follows:
when unmanned aerial vehicle motor starts, in order to let the motor can start, electromagnetic torque T that the motor producedeMust be greater than the load torque TL. Applying a current vector in a stator winding of a motor of an unmanned aerial vehicle
The current vector is determined by the current value I of the direct-axis currentdQuadrature axis current value IqAnd (4) forming. Wherein the current value of the direct axis currentIdIs 0, the current value I of the quadrature axis currentqIs a predetermined value.
Electromagnetic torque T in the traction phaseeMagnitude of and given current vector
The current components on the rotor quadrature axis are proportional, and the relationship is as follows:
Te＝1.5pψfIscosφ
wherein p is the number of pole pairs of the motor;
ψfis a rotor flux linkage;
ISfor a given current vector magnitude;
phi is the included angle between the given current vector and the rotor quadrature axis q-axis.
Given current vector magnitude ISMagnitude according to load torque TLThe size is adjusted, and the formula which should be satisfied is as follows:
Te＝1.5pψfIscosφ＞TL，
namely, it is
Since phi is generally unknown, it is generally taken
A good positioning effect can be obtained.
The positioning method of the embodiment example adopts quadrature axis current rotation positioning, i.e. Is＝Iq. Thus, the current vector injected into the synchronous rotating coordinate system
Current value of middle cross axis IqIs a predetermined value and the current value satisfies:
in this embodiment, the positioning method of the permanent magnet brushless motor rotor can obtain a good positioning effect.
Current vector injected into synchronous rotating coordinate system
Then, make the current vector
Rotating from a given 0 electrical angular position to 1.5 pi electrical angle at a very low set angular velocity omega.
The angular velocity set is generally:
ω≤50rad/s。
then make the current vector
The given position angle is fixed at an electrical angle of 1.5 pi and stays for a period of time t. Residence time is generally taken as:
100ms＜t＜500ms。
as shown in figures 3 to 4 of the drawings,
the coordinate system is a given rotor position coordinate system, namely an injection current vector coordinate system; the dp coordinate system is the actual rotor position coordinate system; the dotted line is a horizontal reference coordinate system. As shown in fig. 3 to 4, the current vector
In the staying period, the permanent magnet brushless motor rotor is dragged to a preset second electrical angle position, namely the 0 electrical angle position, so that the permanent magnet brushless motor rotor is positioned.
FIG. 3 is a schematic diagram of a permanent magnet brushless motor rotor at the moment of starting to drag, wherein current vectors are shown
The given position angle is at the 0 position; FIG. 4 shows a rotor cover of a permanent magnet brushless motorSchematic diagram of the moment when drag positioning is completed, current vector in the diagram
The given position angle is fixed at a 1.5 pi electrical angle position.
In FIGS. 3 to 4
The coordinate system is a given rotor position coordinate system, the initial position of which is 0 position, i.e. a given rotor initial position angle thetarotate0, as in fig. 3
The position of the central axis. Starting from the 0 position, rotating counterclockwise at a speed ω given the rotor position angle in θrotateGiven as ω t. When theta isrotate1.5 pi, thetarotateAnd is fixed.
Adjusting the first electrical angle θ of the current vector rotationrotateThe rotor position can be positioned at any desired second electrical angle, and there is no dead band for positioning.
In the present embodiment, the current vector
Although fixed at the predetermined first electrical angle position, the current vector
Electromagnetic torque is still generated, which can drag the rotor of the motor to rotate. If the current vector is not 0, a torque is generated, and the motor rotor can be dragged to rotate. In the present embodiment, the current vector is held
The fixation at the first predetermined electrical angle position is intended to drag the rotor to the position where the given current vector is located.
In the present embodiment, the current vector
Rotating at a very low set angular velocity ω may eliminate dead zones in rotor positioning. Because, when unmanned aerial vehicle motor starts, rotor actual position angle theta can be any angle, and when the contained angle phi of actual rotor quadrature axis and current vector is very small, electromagnetic torque TeSmall, possibly insufficient to overcome the load torque T at start-upLThe included angle phi between the quadrature axis of the rotor and the current vector can be changed through low-speed rotation, so that the rotor cannot be dragged. And once the rotor is dragged, the position of the current vector stop is controlled to drag the rotor to any required position. The positioning dead zone problem can be eliminated by adopting current vector rotation. After the current vector rotates, the current vector can be covered no matter where the rotor is located, and enough electromagnetic torque can be generated to drag the rotor to rotate.
The embodiment provides a permanent magnet brushless motor rotor positioner, includes:
a current injection unit: the method comprises the steps that a first current vector is applied to a stator winding of the motor, the quadrature-axis current of the first current vector is a preset value, and the direct-axis current is 0;
a current rotation unit: the first current vector is configured to rotate to a preset first electrical angle at a set first angular speed;
a rotor positioning unit: and the configuration is used for fixing the first current vector at the first electrical angle and staying for a set time so as to enable the rotor of the motor to be dragged to a preset second electrical angle position and realize the positioning of the permanent magnet brushless motor rotor.
The embodiment provides a permanent magnet brushless motor rotor positioning device, includes:
one or more processors;
a data storage for storing the set first angular velocity, the first electrical angle, the set time, and one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of the above.
The present embodiment provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the method as described in any one of the above.
In addition to the embodiments described in the first embodiment, the exemplary method, apparatus, device and storage medium for rotor positioning of a permanent magnet brushless dc motor (BLDCM) of the present invention can be used to measure rotor positioning of a permanent magnet brushless dc motor (PMSM).
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. A permanent magnet brushless motor rotor positioning method is characterized by comprising the following steps:
applying a first current vector to a stator winding of a motor, wherein the quadrature axis current of the first current vector is a preset value, and the direct axis current is 0;
rotating the first current vector to a preset first electrical angle at a set first angular speed;
fixing the first current vector at the preset first electrical angle, and staying for a set time to enable the rotor of the motor to be dragged to a preset second electrical angle position, so as to realize positioning of the rotor of the permanent magnet brushless motor, wherein the second electrical angle position is any position;
the set first angular velocity is less than or equal to 50 rad/s.
2. According to the rightMethod for positioning a rotor of a permanent magnet brushless electric machine according to claim 1, characterized in that the predetermined value I of the quadrature current of the first current vectorqComprises the following steps:
wherein, TLLoading torque for the motor of the unmanned aerial vehicle;
p is the number of pole pairs of the motor;
ψfis the rotor flux linkage.
3. The method according to claim 1, wherein the predetermined first electrical angle is 2 pi.
4. The method according to claim 1, wherein the set time is between 100ms and 500 ms.
5. The method according to claim 1, wherein the predetermined second electrical angle is 0.
6. A permanent magnet brushless motor rotor positioning device, characterized by comprising:
a current injection unit: the method comprises the steps that a first current vector is applied to a stator winding of the motor, the quadrature-axis current of the first current vector is a preset value, and the direct-axis current is 0;
a current rotation unit: the first current vector is configured to rotate to a preset first electrical angle at a set first angular speed;
a rotor positioning unit: the permanent magnet brushless motor rotor positioning device is configured and used for enabling the first current vector to be fixed at the first electrical angle and stay for a set time so as to enable the rotor of the motor to be dragged to a preset second electrical angle position, and positioning of the permanent magnet brushless motor rotor is achieved, wherein the second electrical angle position is an arbitrary position;
whereinThe current rotating unit injects current vector into the synchronous rotating coordinate system
Then, make the current vector
Rotates from a given 0 electrical angular position to 2 pi electrical angle at a set angular velocity omega,
the set angular velocity values are:
ω≤50rad/s。
7. a permanent magnet brushless motor rotor positioning apparatus, the apparatus comprising:
one or more processors;
a data storage for storing the set first angular velocity, the first electrical angle, the set time, and one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method recited in any of claims 1-5.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| CN201810102431.7A CN108462423B (en) | 2018-02-01 | 2018-02-01 | Permanent magnet brushless motor rotor positioning method, device, equipment and storage medium |
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| JP5464788B2 (en) * | 2007-02-28 | 2014-04-09 | キヤノン株式会社 | Motor drive device |
| US8217601B2 (en) * | 2009-07-29 | 2012-07-10 | Parker-Hannifin Corporation | Robust rotational position alignment using a relative position encoder |
| US8976556B2 (en) * | 2012-07-12 | 2015-03-10 | Mitsubishi Electric Research Laboratories, Inc. | Space vector modulation for multilevel inverters |
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| CN104270054A (en) * | 2014-10-24 | 2015-01-07 | 哈尔滨工业大学 | Anti-rest Windup smooth nonsingular terminal sliding mode control method for permanent magnet synchronous motor based on relative order |
| CN104753430A (en) * | 2015-04-03 | 2015-07-01 | 东南大学 | Electromobile driving system vector control method using double inverters |
| CN105024606A (en) * | 2015-07-13 | 2015-11-04 | 东菱技术有限公司 | Intelligent motor driving method for high-voltage circuit breaker |
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| Title |
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Effective date of registration: 20210720 Address after: 518063 5th floor, block B, building 1, software industry base, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Fengyi Technology (Shenzhen) Co.,Ltd. Address before: 518061 Intersection of Xuefu Road (south) and Baishi Road (east) in Nanshan District, Shenzhen City, Guangdong Province, 6-13 floors, Block B, Shenzhen Software Industry Base Patentee before: SF TECHNOLOGY Co.,Ltd. |