CN108512477A - A kind of diagnostic method, device and the equipment of motor rotor position sampling - Google Patents
A kind of diagnostic method, device and the equipment of motor rotor position sampling Download PDFInfo
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- CN108512477A CN108512477A CN201810516885.9A CN201810516885A CN108512477A CN 108512477 A CN108512477 A CN 108512477A CN 201810516885 A CN201810516885 A CN 201810516885A CN 108512477 A CN108512477 A CN 108512477A
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- phase current
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- sampling
- current signal
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Classifications
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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
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
Abstract
The invention discloses diagnostic method, device and the equipment of a kind of sampling of motor rotor position, the diagnostic method of motor rotor position sampling includes：Acquire the motor three-phase current signal and motor rotor position signal in two neighboring period；The angular rate of rotor is calculated according to the three-phase current signal, and, the mechanical angular speed of rotor is calculated according to the rotor-position signal；It is whether normal according to the absolute value of the difference diagnosis rotor-position sampling of the ratio and motor number of pole-pairs between the angular rate and the mechanical angular speed by least two sampling periods.The diagnostic method of the motor rotor position sampling of the embodiment of the present invention, become decoding chip station acquisition for rotation using phase current sensor and verification is provided, additional sensors need not be increased, only need two sampling periods that can obtain a result, real-time is preferable, the case where rotation becomes wrong diagnosis when decoding chip is interfered or do not diagnose is avoided, the stability of electric machine control system is improved.
Description
Technical field
Diagnostic method, the dress sampled the present invention relates to drive and control of electric machine field more particularly to a kind of motor rotor position
It sets and equipment.
Background technology
Vehicle-mounted drive control system of permanent magnet synchronous motor includes mainly motor, electric machine controller and interlock circuit.It is vehicle-mounted forever
Command torque is converted to revolution space voltage vector signal with driving motor by magnetic-synchro motor generally use Field orientable control
Rotation, needs to acquire phase current and rotor-position signal in real time in the process.
Vehicle-mounted electric machine control system is high to the required precision rate of exchange of phase current and rotor-position, and phase current acquisition generally makes
With current sensor, rotor-position acquisition is put english using rotary transformer becomes the mode of decoding chip.Electric vehicle is to ensure height
Grade torque safety demand, existing electric automobile motor drive system mostly uses three current sensors, and (two of which, which is realized, to be turned round
Square control function, third redundancy), using Kirchhoff's current law (KCL) (i.e. motor three-phase current and for 0 principle) solve
The fault diagnosis of single current sensor.And rotor-position sampling can only then come by the diagnosis mechanism of rotating side decoding chip itself
Ensure the reliability of sampled signal, once chip is interfered, it is easy to the case where there is wrong diagnosis or not diagnosing.
Invention content
In order to solve the above technical problem, the present invention provides a kind of diagnostic method of motor rotor position sampling, devices
And equipment, solve the problems, such as that motor rotor position sampling is susceptible to wrong diagnosis or does not diagnose in the prior art.
One side according to the present invention provides a kind of diagnostic method of motor rotor position sampling, including：
Acquire the motor three-phase current signal and motor rotor position signal in two neighboring period；
The angular rate of rotor is calculated according to the three-phase current signal, and, it is calculated according to the rotor-position signal
The mechanical angular speed of rotor；
By at least two sampling periods, according to the ratio and motor between the angular rate and the mechanical angular speed
Whether the absolute value of the difference diagnosis rotor-position sampling of number of pole-pairs is normal.
Optionally, the angular rate of rotor is calculated according to the three-phase current signal, and, believed according to the rotor-position
Number calculate rotor mechanical angular speed the step of include：
According to the three-phase current signal in two neighboring period, the space angle in two neighboring period is calculated；
According to the space angle in two neighboring period, angular rate is calculated；
According to the rotor-position signal in two neighboring period, calculating machine angular speed.
Optionally, according to the three-phase current signal in two neighboring period, the step of the space angle in two neighboring period is calculated
Suddenly include：
Pass through formula：Respectively, the three-phase current letter in two neighboring period is calculated
Number component of the resultant vector on α axis and β axis；
Pass through formula：Respectively, adjacent two are calculated
The space angle in a period；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβIt is sweared for the synthesis of three-phase current signal
Measure the component on β axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
Optionally, according to the space angle in two neighboring period, the step of calculating angular rate, includes：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2It is
The space angle of the three-phase current signal of two cycles, Δ t are the sampling period.
Optionally, according to the rotor-position signal in two neighboring period, the step of calculating machine angular speed, includes：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate second round
Rotor-position signal, Δ t be the sampling period.
Optionally, by least two sampling periods, according to the ratio between the angular rate and the mechanical angular speed
The absolute value of the difference of value and motor number of pole-pairs diagnoses rotor-position sampling, and whether normal step includes：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is just
Often；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
Other side according to the present invention provides a kind of diagnostic device of motor rotor position sampling, including：
Acquisition module, the motor three-phase current signal for acquiring the two neighboring period and motor rotor position signal；
Computing module, the angular rate for calculating rotor according to the three-phase current signal, and, according to the rotor
Position signal calculates the mechanical angular speed of rotor；
Diagnostic module, for by least two sampling periods, according to the angular rate and the mechanical angular speed it
Between ratio and motor number of pole-pairs absolute value of the difference diagnosis rotor-position sampling it is whether normal.
Optionally, the computing module includes：
First computing unit calculates the sky in two neighboring period for the three-phase current signal according to the two neighboring period
Between angle；
Second computing unit calculates angular rate for the space angle according to the two neighboring period；
Third computing unit, for the rotor-position signal according to the two neighboring period, calculating machine angular speed.
Optionally, first computing unit includes：
First computation subunit, for passing through formula：Respectively, adjacent two are calculated
Component of the resultant vector of the three-phase current signal in a period on α axis and β axis；
Second computation subunit, for passing through formula：Point
Not, the space angle in two neighboring period is calculated；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβIt is sweared for the synthesis of three-phase current signal
Measure the component on β axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
Optionally, second computing unit is specifically used for：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2It is
The space angle of the three-phase current signal of two cycles, Δ t are the sampling period.
Optionally, the third computing unit is specifically used for：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate second round
Rotor-position signal, Δ t be the sampling period.
Optionally, the diagnostic module is specifically used for：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is just
Often；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
Another aspect according to the present invention provides a kind of diagnostic device of motor rotor position sampling, including processing
Device, memory and it is stored in the computer program that can be run on the memory and on the processor, the computer journey
Sequence realizes the step of diagnostic method of above-mentioned motor rotor position sampling when being executed by the processor.
The advantageous effect of the embodiment of the present invention is：
The diagnostic method of motor rotor position sampling in said program, by the original phase current sampling for being used for direct torque
Angular rate of the value for estimating rotor samples the angular rate for the rotor being calculated with practical by rotor-position
The mechanical angular speed being calculated compares, and judges whether rotor-position sampling is abnormal, need not increase additional sensors, only needs
Two sampling periods can obtain a result, and real-time is preferable, and inline diagnosis is sampled for rotor-position, avoid rotation and become decoding core
Wrong diagnosis or the case where do not diagnose when piece is interfered, improves the stability of electric machine control system.
Description of the drawings
Fig. 1 shows the flow charts of the diagnostic method of the motor rotor position of embodiment of the present invention sampling；
The idiographic flow schematic diagram of step 12 in Fig. 1 of Fig. 2 expression embodiment of the present invention；
Fig. 3 indicates the structure diagram of the diagnostic device of the motor rotor position sampling of the embodiment of the present invention；
The concrete structure block diagram of computing module in Fig. 3 of Fig. 4 expression embodiment of the present invention.
Specific implementation mode
Exemplary embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to be best understood from the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
Completely it is communicated to those skilled in the art.
As shown in Figure 1, the embodiment provides a kind of diagnostic methods of motor rotor position sampling, including：
Step 11, the motor three-phase current signal and motor rotor position signal in acquisition two neighboring period；
In the embodiment, the three-phase current signal of the motor in two neighboring period is acquired using current sensor, respectively
(Ia1、Ib1、Ic1) and (Ia2、Ib2、Ic2)；Become the rotor-position signal that decoding chip acquires the two neighboring period using rotation, respectively
For：θ1And θ2；Wherein, Ia1、Ib1、Ic1The three-phase current signal of period 1, I are indicated respectivelya2、Ib2、Ic2Second week is indicated respectively
The three-phase current signal of phase, θ1Indicate the rotor-position signal of period 1, θ2Indicate the rotor-position signal of second round.
Step 12, the angular rate that rotor is calculated according to the three-phase current signal, and, believed according to the rotor-position
Number calculate rotor mechanical angular speed；
In the embodiment, the angular rate of rotor is calculated according to the three-phase current signal, and according to the rotor-position
Signal calculates the mechanical angular speed of rotor, and ideally, motor number of pole-pairs meets：λ=ωe/ ω, wherein ω is rotor
Mechanical angular speed, ωeFor the angular rate of rotor, λ is motor number of pole-pairs, and λ is a constant.
Step 13, by least two sampling periods, according to the ratio between the angular rate and the mechanical angular speed
Whether the diagnosis rotor-position sampling of the absolute value of the difference of value and motor number of pole-pairs is normal.
In the embodiment, in the case where arbitrary two electric currents are normal value, the angular rate being calculated is believed that
It is correct.If the ratio ω of the angular rate being actually calculated and mechanical angular speede/ ω, the difference with motor number of pole-pairs
Absolute value：|ωe/ ω-λ | it is more than some threshold value, then it is assumed that ω is abnormal, i.e. mistake occurs in rotor-position sampling.Wherein, on
It is a calibration value to state threshold value, it is preferable that the threshold value is the numerical value close to zero.
During the driving of vehicle-mounted permanent magnet synchronous motor and control, main control unit needs to acquire motor three-phase current and turn
Command torque is converted to the on off state of six road insulated gate bipolar transistors to control motor rotation by sub- location information.It should
The original phase current sampling value for direct torque is used to estimate the angular rate of rotor by scheme, is not increasing additional biography
In the case of sensor, a kind of computational methods of the angular rate of rotor are obtained, by the electric angle speed for the rotor being calculated
It spends and is compared with the practical mechanical angular speed being calculated by rotor-position sampling, judge whether rotor-position sampling is abnormal,
Only need two sampling periods that can obtain a result, real-time is preferable, and inline diagnosis is sampled for rotor-position, avoids rotation and becomes solution
Code chip wrong diagnosis or the case where do not diagnose when being interfered, improves the stability of electric machine control system.
As shown in Fig. 2, step 12 includes：
Step 121, according to the three-phase current signal in two neighboring period, calculate the space angle in two neighboring period；
Specifically, according to the three-phase current signal in two neighboring period, the step of the space angle in two neighboring period is calculated
Suddenly include：
Pass through formula：Respectively, the three-phase current letter in two neighboring period is calculated
Number component of the resultant vector on α axis and β axis；
In the embodiment, the position of the three-phase current of permanent magnet synchronous motor in space is in 120 ° of distributions, resultant current
Vector is Is, the resultant vector of the three-phase current signal of period 1 is Is1, it is projected on rest frame α, β axis, then
Is1Component on α axis and β axis is respectively：iα1And iβ1, i.e.,
The resultant vector of the three-phase current signal of second round is Is2, it is projected on rest frame α, β axis, then
Is2Component on α axis and β axis is respectively：iα2And iβ2, i.e.,
Pass through formula：Respectively, it calculates two neighboring
The space angle in period；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβIt is sweared for the synthesis of three-phase current signal
Measure the component on β axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
In the embodiment, I is calculated separately using anti-string functions1And Is2Space angle, i.e. the space angle of period 1
For θI1,Wherein, iα1For Is1Component on α axis,
iβ1For Is1Component on β axis；
The space angle of second round is θI2,Its
In, iα2For Is2Component on α axis, iβ2For Is2Component on β axis.
Step 122, the space angle according to the two neighboring period calculate angular rate；
Specifically, step 122 includes：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2It is
The space angle of the three-phase current signal of two cycles, Δ t are the sampling period.
Step 123, according to the rotor-position signal in two neighboring period, calculating machine angular speed.
Specifically, the step of calculating machine angular speed includes：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate second round
Rotor-position signal, Δ t be the sampling period.
In the above embodiment of the present invention, step 13 includes：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is just
Often；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
In the embodiment, the preset value is the threshold value of a calibration, it is preferable that the preset value is the number close to zero
Value.In the case where arbitrary two electric currents are normal value, the angular rate ω that is calculatedeIt is regarded as correct.If
The ratio ω of the angular rate and mechanical angular speed that are actually calculatede/ ω, the absolute value of the difference with motor number of pole-pairs：More than the preset value, then it is assumed that ω is abnormal, i.e. mistake occurs in rotor-position sampling；IfBe less than or
Equal to the preset value, then it is assumed that the error very little of rotor-position sampling, ω is normal, i.e. rotor-position sampling is normal.
The embodiment becomes decoding chip station acquisition for rotation using phase current sensor and provides verification, is not increasing hardware
In the case of, become position sampling for rotation and provide a kind of additional diagnostic method, avoids rotation and become decoding chip and be interfered mistiming
Whether diagnosis or not, improves the safety of system.
As shown in figure 3, the embodiments of the present invention also provide a kind of diagnostic devices of motor rotor position sampling, including：
Acquisition module 31, the motor three-phase current signal for acquiring the two neighboring period and motor rotor position signal；
In the embodiment, the three-phase current signal of the motor in two neighboring period is acquired using current sensor, respectively
(Ia1、Ib1、Ic1) and (Ia2、Ib2、Ic2)；Become the rotor-position signal that decoding chip acquires the two neighboring period using rotation, respectively
For：θ1And θ2；Wherein, Ia1、Ib1、Ic1The three-phase current signal of period 1, I are indicated respectivelya2、Ib2、Ic2Second week is indicated respectively
The three-phase current signal of phase, θ1Indicate the rotor-position signal of period 1, θ2Indicate the rotor-position signal of second round.
Computing module 32, the angular rate for calculating motor according to the three-phase current signal, and, according to described turn
Sub- position signal calculates the mechanical angular speed of motor；
In the embodiment, the angular rate of rotor is calculated according to the three-phase current signal, and according to the rotor-position
Signal calculates the mechanical angular speed of rotor, and ideally, motor number of pole-pairs meets：λ=ωe/ ω, wherein ω is rotor
Mechanical angular speed, ωeFor the angular rate of rotor, λ is motor number of pole-pairs, and λ is a constant.
Diagnostic module 33, for passing through at least two sampling periods, according to the angular rate and the mechanical angular speed
Between ratio and motor number of pole-pairs absolute value of the difference diagnosis rotor-position sampling it is whether normal.
In the embodiment, in the case where arbitrary two electric currents are normal value, the angular rate being calculated is believed that
It is correct.If the ratio ω of the angular rate being actually calculated and mechanical angular speede/ ω, the difference with motor number of pole-pairs
Absolute value：|ωe/ ω-λ | it is more than some threshold value, then it is assumed that ω is abnormal, i.e. mistake occurs in rotor-position sampling.Wherein, on
It is a calibration value to state threshold value, it is preferable that the threshold value is the numerical value close to zero.
During the driving of vehicle-mounted permanent magnet synchronous motor and control, main control unit needs to acquire motor three-phase current and turn
Command torque is converted to the on off state of six road insulated gate bipolar transistors to control motor rotation by sub- location information.It should
The original phase current sampling value for direct torque for estimating motor angular rate, is not being increased additional sensors by scheme
In the case of, obtained a kind of electrical angle computational methods of rotor, by the electrical angle for the rotor being calculated with actually pass through
The mechanical angular speed that rotor-position sampling is calculated compares, and judges whether rotor-position sampling is abnormal, only needs two samplings
Period can obtain a result, and real-time is preferable, and inline diagnosis is sampled for rotor-position, avoid rotation and become decoding chip by dry
Wrong diagnosis or the case where do not diagnose when disturbing, improves the stability of electric machine control system.
As shown in figure 4, the computing module 32 includes：
First computing unit 321 calculates the two neighboring period for the three-phase current signal according to the two neighboring period
Space angle；
Specifically, first computing unit 321 includes：
First computation subunit, for passing through formula：Respectively, adjacent two are calculated
Component of the resultant vector of the three-phase current signal in a period on α axis and β axis；
In the embodiment, the position of the three-phase current of permanent magnet synchronous motor in space is in 120 ° of distributions, resultant current
Vector is Is, the resultant vector of the three-phase current signal of period 1 is Is1, it is projected on rest frame α, β axis, then
Is1Component on α axis and β axis is respectively：iα1And iβ1, i.e.,
The resultant vector of the three-phase current signal of second round is Is2, it is projected on rest frame α, β axis, then
Is2Component on α axis and β axis is respectively：iα2And iβ2, i.e.,
Second computation subunit, for passing through formula：Point
Not, the space angle in two neighboring period is calculated；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβIt is sweared for the synthesis of three-phase current signal
Measure the component on β axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
In the embodiment, I is calculated separately using anti-string functions1And Is2Space angle, i.e. the space angle of period 1
For θI1,Wherein, iα1For Is1Component on α axis,
iβ1For Is1Component on β axis；
The space angle of second round is θI2,Its
In, iα2For Is2Component on α axis, iβ2For Is2Component on β axis.
Second computing unit 322 calculates angular rate for the space angle according to the two neighboring period；
Specifically, second computing unit 322 is specifically used for：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2It is
The space angle of the three-phase current signal of two cycles, Δ t are the sampling period.
Third computing unit 323, for the rotor-position signal according to the two neighboring period, calculating machine angular speed.
Specifically, the third computing unit 323 is specifically used for：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate second round
Rotor-position signal, Δ t be the sampling period.
In the above embodiment of the present invention, the diagnostic module 33 is specifically used for：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is just
Often；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
In the embodiment, the preset value is the threshold value of a calibration, it is preferable that the preset value is the number close to zero
Value.In the case where arbitrary two electric currents are normal value, the angular rate ω that is calculatedeIt is regarded as correct.If
The ratio ω of the angular rate and mechanical angular speed that are actually calculatede/ ω, the absolute value of the difference with motor number of pole-pairs：More than the preset value, then it is assumed that ω is abnormal, i.e. mistake occurs in rotor-position sampling；IfBe less than or
Equal to the preset value, then it is assumed that the error very little of rotor-position sampling, ω is normal, i.e. rotor-position sampling is normal.
The embodiment becomes decoding chip station acquisition for rotation using phase current sensor and provides verification, is not increasing hardware
In the case of, become position sampling for rotation and provide a kind of additional diagnostic method, avoids rotation and become decoding chip and be interfered mistiming
Whether diagnosis or not, improves the safety of system.
It should be noted that the device is device corresponding with above-mentioned individual recommendation method, institute in above method embodiment
There is realization method suitable for the embodiment of the device, can also reach identical technique effect.
The embodiments of the present invention also provide a kind of diagnostic devices of motor rotor position sampling, including processor, storage
Device and it is stored in the computer program that can be run on the memory and on the processor, the computer program is described
Processor realizes the step of diagnostic method of above-mentioned motor rotor position sampling when executing.It should be noted that the equipment is
Equipment corresponding with above-mentioned individual recommendation method, all realization methods are suitable for the implementation of the equipment in above method embodiment
In example, it can also reach identical technique effect.
Embodiment of the present invention, by the original phase current sampling value for direct torque for estimating motor electric angle speed
Degree, in the case where not increasing additional sensors, has obtained a kind of computational methods of the angular rate of rotor, will calculate
To the angular rate of rotor compared with the practical mechanical angular speed being calculated by rotor-position sampling, judge rotor position
It whether abnormal sets sampling, only needs two sampling periods that can obtain a result, real-time is preferable, is examined online for rotor-position sampling
It is disconnected, the case where rotation becomes wrong diagnosis when decoding chip is interfered or do not diagnose is avoided, the stabilization of electric machine control system is improved
Property.
Above-described is the preferred embodiment of the present invention, it should be pointed out that the ordinary person of the art is come
It says, can also make several improvements and retouch under the premise of not departing from principle of the present invention, these improvements and modifications also exist
In protection scope of the present invention.
Claims (13)
1. a kind of diagnostic method of motor rotor position sampling, which is characterized in that including：
Acquire the motor three-phase current signal and motor rotor position signal in two neighboring period；
The angular rate of rotor is calculated according to the three-phase current signal, and, rotor is calculated according to the rotor-position signal
Mechanical angular speed；
By at least two sampling periods, according between the angular rate and the mechanical angular speed ratio and motor it is extremely right
Whether several absolute value of the difference diagnosis rotor-position samplings is normal.
2. the diagnostic method of motor rotor position sampling according to claim 1, which is characterized in that according to the three-phase electricity
Flow signal calculate rotor angular rate, and, according to the rotor-position signal calculate rotor mechanical angular speed the step of
Including：
According to the three-phase current signal in two neighboring period, the space angle in two neighboring period is calculated；
According to the space angle in two neighboring period, angular rate is calculated；
According to the rotor-position signal in two neighboring period, calculating machine angular speed.
3. the diagnostic method of motor rotor position sampling according to claim 2, which is characterized in that according to two neighboring week
The step of three-phase current signal of phase, the space angle for calculating the two neighboring period includes：
Pass through formula：Respectively, the three-phase current signal in two neighboring period is calculated
Component of the resultant vector on α axis and β axis；
Pass through formula：Respectively, two neighboring week is calculated
The space angle of phase；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβFor three-phase current signal resultant vector in β
Component on axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
4. the diagnostic method of motor rotor position sampling according to claim 2, which is characterized in that according to two neighboring week
The space angle of phase, calculate angular rate the step of include：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2For second week
The space angle of the three-phase current signal of phase, Δ t are the sampling period.
5. the diagnostic method of motor rotor position sampling according to claim 2, which is characterized in that according to two neighboring week
The step of rotor-position signal of phase, calculating machine angular speed includes：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate turning for second round
Sub- position signal, Δ t are the sampling period.
6. the diagnostic method of motor rotor position sampling according to claim 1, which is characterized in that adopted by least two
The sample period diagnoses according to the absolute value of the difference of ratio and motor number of pole-pairs between the angular rate and the mechanical angular speed
Whether normal step includes for rotor-position sampling：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is normal；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
7. a kind of diagnostic device of motor rotor position sampling, which is characterized in that including：
Acquisition module, the motor three-phase current signal for acquiring the two neighboring period and motor rotor position signal；
Computing module, the angular rate for calculating rotor according to the three-phase current signal, and, according to the rotor-position
Signal calculates the mechanical angular speed of rotor；
Diagnostic module, for passing through at least two sampling periods, according between the angular rate and the mechanical angular speed
Whether the absolute value of the difference of ratio and motor number of pole-pairs diagnoses rotor-position sampling normal.
8. the diagnostic device of motor rotor position sampling according to claim 7, which is characterized in that the computing module packet
It includes：
First computing unit calculates the Space Angle in two neighboring period for the three-phase current signal according to the two neighboring period
Degree；
Second computing unit calculates angular rate for the space angle according to the two neighboring period；
Third computing unit, for the rotor-position signal according to the two neighboring period, calculating machine angular speed.
9. the diagnostic device of motor rotor position sampling according to claim 8, which is characterized in that described first calculates list
Member includes：
First computation subunit, for passing through formula：Respectively, two neighboring week is calculated
Component of the resultant vector of the three-phase current signal of phase on α axis and β axis；
Second computation subunit, for passing through formula：
Respectively, the space angle in two neighboring period is calculated；
Wherein, iαFor component of the resultant vector on α axis of three-phase current signal, iβFor three-phase current signal resultant vector in β
Component on axis, Ia、Ib、IcThe respectively three-phase current signal of motor, θIFor the space angle of three-phase current signal.
10. the diagnostic device of motor rotor position sampling according to claim 8, which is characterized in that described second calculates
Unit is specifically used for：
According to formula：ωe=(θI2-θI1)/Δ t, calculates the angular rate of rotor；
Wherein, ωeFor the angular rate of rotor, θI1For the space angle of the three-phase current signal of period 1, θI2For second week
The space angle of the three-phase current signal of phase, Δ t are the sampling period.
11. the diagnostic device of motor rotor position sampling according to claim 8, which is characterized in that the third calculates
Unit is specifically used for：
According to formula：ω=(θ2-θ1The mechanical angular speed of rotor is calculated in)/Δ t；
Wherein, ω is the mechanical angular speed of rotor, θ1Indicate the rotor-position signal of period 1, θ2Indicate turning for second round
Sub- position signal, Δ t are the sampling period.
12. the diagnostic device of motor rotor position sampling according to claim 7, which is characterized in that the diagnostic module
It is specifically used for：
JudgeWhether preset value is more than；
IfMore than preset value, it is determined that rotor-position sampling is abnormal, otherwise, it determines rotor-position sampling is normal；
Wherein, ωeFor the angular rate of rotor, ω is the mechanical angular speed of rotor, and λ is motor number of pole-pairs.
13. a kind of diagnostic device of motor rotor position sampling, which is characterized in that including processor, memory and be stored in institute
The computer program that can be run on memory and on the processor is stated, when the computer program is executed by the processor
The step of realizing the diagnostic method such as motor rotor position according to any one of claims 1 to 6 sampling.
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