CN108900130B - Motor position angle processing method and device and motor driver - Google Patents
Motor position angle processing method and device and motor driver Download PDFInfo
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- CN108900130B CN108900130B CN201810857737.3A CN201810857737A CN108900130B CN 108900130 B CN108900130 B CN 108900130B CN 201810857737 A CN201810857737 A CN 201810857737A CN 108900130 B CN108900130 B CN 108900130B
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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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Abstract
The invention provides a motor position angle processing method, a motor position angle processing device and a motor driver, wherein the method comprises the following steps: a signal acquisition step of acquiring a detection angle signal of the motor position angle currently detected by a position sensor and a first estimation angle signal obtained by performing the position angle processing last time; an arithmetic processing step of performing preset arithmetic processing on the acquired detection angle signal and the first estimation angle signal to obtain a first processed signal; and an angle estimation step, configured to perform preset adjustment processing on the obtained first processed signal to obtain a current second estimated angle signal. The scheme provided by the invention can eliminate the sudden change of the angle of the position angle of the motor, thereby inhibiting the sudden change of the torque, and eliminating the generation of jitter.
Description
Technical Field
The invention relates to the field of control, in particular to a motor position angle processing method and device and a motor driver.
Background
At present, the rapid development of electric automobiles, electric buses and the like, the research and development of new energy automobiles and the market become one of the sustainable development directions of the automobile industry. The research of the pure electric vehicle focuses on the integrated control of the power system and the development of key components of the power system. When main motor drivers of an electric automobile and an electric bus control the automobile to run, transmission structures of motors are basically in rigid connection, compared with the mass of the whole automobile, the inertia of a motor rotor is very small, but electromagnetic torque response is fast, and when the motor rotor and the motor rotor are matched with each other, gear tooth beating can be caused in a starting stage, a reversing stage and a low-speed feeding stage, so that the vibration and mechanical abnormal sound of the whole automobile can be caused, and the comfort of the electric automobile can be influenced.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provides a motor position angle processing method, a motor position angle processing device and a motor driver, so as to solve the problem that the motor of an electric vehicle in the prior art generates a gear tooth beating phenomenon to cause the shaking of the whole vehicle.
The invention provides a motor position angle processing method on one hand, which comprises the following steps: a signal acquisition step of acquiring a detection angle signal of the motor position angle currently detected by a position sensor and a first estimation angle signal obtained by performing the position angle processing last time; an arithmetic processing step of performing preset arithmetic processing on the acquired detection angle signal and the first estimation angle signal to obtain a first processed signal; and an angle estimation step, configured to perform preset adjustment processing on the obtained first processed signal to obtain a current second estimated angle signal.
Optionally, the operation processing step includes: a sine and cosine processing step, configured to perform sine calculation and cosine calculation on the detected angle signal and the first estimated angle signal, respectively, to obtain a first sine value and a first cosine value of the detected angle signal, and a second sine value and a second cosine value of the first estimated angle signal; a multiplication processing step, configured to perform multiplication operation on the first sine value and the second cosine value to obtain a first multiplication processing signal, and perform multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal; a subtraction processing step of performing subtraction processing on the first multiplication processed signal and the second multiplication processed signal to obtain the first processed signal.
Optionally, the angle estimating step includes: a proportional integral step, which is used for carrying out proportional integral adjustment on the first processing signal to obtain a current rotating speed signal; and integrating the rotation speed signal to obtain a current second estimated angle signal.
Optionally, the detected angle signal detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time.
Optionally, the method further comprises: and a signal output step of outputting the obtained second estimated angle signal to a driver of the motor for controlling the motor.
In another aspect, the present invention provides a device for processing a position angle of a motor, including: the signal acquisition unit is used for acquiring a detection angle signal of the motor position angle currently detected by the position sensor and a first estimation angle signal obtained by processing the position angle last time; the operation processing unit is used for carrying out preset operation processing on the detection angle signal and the first estimation angle signal acquired by the signal acquisition unit to obtain a first processing signal; and the angle estimation unit is used for carrying out preset adjustment processing on the first processing signal obtained by the operation processing unit so as to obtain a current second estimation angle signal.
Optionally, the operation processing unit includes: the sine and cosine processing unit is used for respectively carrying out sine calculation and cosine calculation on the detected angle signal and the estimated angle signal to obtain a first sine value and a first cosine value of the detected angle signal and a second sine value and a second cosine value of the estimated angle signal; the multiplication processing unit is used for performing multiplication operation on the first sine value and the second cosine value obtained by the sine and cosine processing unit to obtain a first multiplication processing signal, and performing multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal; a subtraction processing unit, configured to perform subtraction processing on the first multiplication processing signal and the second multiplication processing signal obtained by the multiplication processing unit to obtain the first processing signal.
Optionally, the angle estimation unit includes: the proportional-integral unit is used for carrying out proportional-integral adjustment on the first processing signal to obtain a current rotating speed signal; and the integral processing unit is used for carrying out integral processing on the rotating speed signal obtained by the proportional integral unit so as to obtain a current second estimated angle signal.
Optionally, the detected angle signal detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time.
Optionally, the method further comprises: and the signal output unit is used for outputting the second estimated angle signal obtained by the angle estimation unit to a driver of the motor so as to control the motor.
The invention further provides a motor driver, which comprises the motor position angle processing device.
According to the technical scheme of the invention, the sudden change of the angle of the position angle of the motor can be eliminated, so that the sudden change of the torque can be inhibited, the generation of the shaking can be eliminated, the acceleration starting process and the sudden braking process of the motor of the electric vehicle can be smoothly and smoothly transited, the mechanical impact of the motor is reduced, and the shaking amplitude of the vehicle is effectively inhibited.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for processing a position angle of a motor according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating one embodiment of the steps of the calculation process according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram illustrating one embodiment of the angle estimation step according to an embodiment of the present invention;
FIG. 4 is a block diagram of processing logic for an embodiment of the apparatus for processing position and angle of a motor provided by the present invention;
FIG. 5 is a schematic structural diagram of an embodiment of a device for processing a position angle of a motor according to the present invention;
FIG. 6 is a block diagram of an embodiment of an arithmetic processing unit according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an embodiment of an angle estimation unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a motor position angle processing method which is suitable for a driver of a motor with a position sensor. The method can be used for a motor driver, an industrial inverter and a servo driver of the electric vehicle.
Fig. 1 is a schematic method diagram of an embodiment of a method for processing a position angle of a motor according to the present invention. As shown in fig. 1, according to an embodiment of the present invention, the motor position and angle processing method includes at least a signal acquiring step S110, an arithmetic processing step S120, and an angle estimating step S130.
The signal acquiring step S110 is configured to acquire a detection angle signal of a position angle of the motor currently detected by the position sensor and a first estimation angle signal obtained by performing the position angle processing last time; an arithmetic processing step S120 is configured to perform preset arithmetic processing on the acquired detected angle signal and the first estimated angle signal to obtain a first processed signal; the angle estimation step S130 is configured to perform a preset adjustment process on the obtained first processed signal to obtain a current second estimated angle signal.
In the signal obtaining step 110, an angle signal θ for the phase-locked loop system, that is, a detected angle signal θ of the position angle of the motor, may be obtained by a position sensor and an angle calculator, and a first estimated angle signal obtained by performing the position angle processing last time may be obtainedWherein the detected angle signal θ detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time
FIG. 2 is a flowchart illustrating an embodiment of the operation processing steps according to the embodiment of the invention. As shown in fig. 2, the arithmetic processing step S120 specifically includes a sine and cosine processing step S121, a multiplication processing step S122, and a subtraction processing step S123.
The sine and cosine processing step S121 is configured to perform sine calculation and cosine calculation on the detected angle signal and the first estimated angle signal respectively to obtain a first sine value and a first cosine value of the detected angle signal, and a second sine value and a second cosine value of the first estimated angle signal. Specifically, the sine calculation and the cosine calculation are respectively carried out on the detected angle signal theta through a sine angle calculator and a cosine angle calculator, so as to obtain a first sine value sin theta and a first cosine value cos theta; the first estimated angle signal
Respectively carrying out sine calculation and cosine calculation by a sine angle calculator and a cosine angle calculator to obtain a second sine value
And a second cosine value
The multiplication processing step S122 is configured to perform multiplication operation on the first sine value and the second cosine value to obtain a first multiplication processing signal, and perform multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal. Specifically, the second one is processed by a multiplierA sine value sin θ and the second cosine value
Performing multiplication to obtain a first multiplication signal
Multiplying the second sine value by a multiplier
Multiplying the first cosine value cos theta to obtain a second multiplication signal
The subtraction processing step S123 is configured to perform subtraction processing on the first multiplication processed signal and the second multiplication processed signal to obtain the first processed signal. Specifically, the first multiplication signal is processed by a subtractorAnd the second multiplication processing signal
Performing subtraction to obtain the first processed signal
FIG. 3 is a flowchart illustrating an embodiment of the angle estimation step according to an embodiment of the present invention. As shown in fig. 3, the angle estimation step S130 specifically includes a proportional-integral step S131 and an integral processing step S132.
The proportional integral step 131 is configured to perform proportional integral adjustment on the first processed signal to obtain a current rotation speed signal. Specifically, the first processed signal is processed
By passingAnd the PI regulator is used for carrying out proportional integral regulation processing to obtain a rotating speed signal w.
An integration processing step 132 is used for performing integration processing on the rotation speed signal to obtain a current second estimated angle signal. Specifically, the rotation speed signal w is integrated by an integrator to obtain a second estimated angle signal output value
The output valueFirst estimated angle signal for processing as the position angle next time
Optionally, the method further comprises a signal output step of outputting the obtained second estimated angle signal to a driver of the motor for controlling the motor.
According to the technical scheme of the invention, when
When the difference is large, convergence is carried out through the system, so that the output of the next time is realizedThe value being compared with the previous output
The value difference is small, so that the estimated angle difference is not large, and the torque sudden change is probably caused by the sudden change of the angle, so that the sudden change of the angle can be eliminated through the technical scheme of the invention, so that the sudden change of the torque can be inhibited, the generation of the jitter, such as the jitter of the electric vehicle, can be eliminated, the acceleration starting process and the emergency braking process of the motor of the electric vehicle can be smoothly transited, the mechanical impact of the motor is reduced, and the jitter amplitude of the vehicle is effectively inhibited.
The invention also provides a motor position angle processing device which is suitable for a driver of the motor with the position sensor. The device can be used for a motor driver, an industrial inverter and a servo driver of an electric vehicle.
Fig. 4 is a processing logic block diagram of an embodiment of the device for processing a position angle of a motor provided by the present invention. Fig. 5 is a schematic structural diagram of an embodiment of a motor position angle processing apparatus provided in the present invention.
As shown in fig. 5, the motor position angle processing apparatus 100 includes: a signal acquisition unit 110, an arithmetic processing unit 120, and an angle estimation unit 130.
The signal acquiring unit 110 is configured to acquire a detection angle signal of the motor position angle currently detected by the position sensor and a first estimation angle signal obtained by performing the position angle processing last time; the arithmetic processing unit 120 is configured to perform preset arithmetic processing on the detected angle signal and the first estimated angle signal obtained by the signal obtaining unit to obtain a first processed signal; the angle estimation unit 130 is configured to perform preset adjustment processing on the first processed signal obtained by the arithmetic processing unit to obtain a current second estimated angle signal.
As shown in fig. 4, the signal acquiring unit 110 may specifically include a position sensor 1 and an angle calculator 2. An angle signal theta for a phase-locked loop system, namely a detection angle signal theta of a position angle of the motor is obtained through a position sensor 1 and an angle calculator 2, and a first estimation angle signal obtained by performing the position angle processing last time is obtained
And detecting the angle signal theta and the first estimated angle signal
Input to the arithmetic processing unit 120. Wherein the detected angle signal θ detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time
The preset operation processing may specifically include sine and cosine processing, multiplication processing, and subtraction processing. Fig. 6 is a schematic structural diagram of an implementation of an arithmetic processing unit according to an embodiment of the present invention. As shown in fig. 6, the arithmetic processing unit 120 specifically includes a sine and cosine processing unit 121, a multiplication processing unit 122, and a subtraction processing unit 123.
The sine and cosine processing unit 121 is configured to perform sine calculation and cosine calculation on the detected angle signal and the estimated angle signal respectively to obtain a first sine value and a first cosine value of the detected angle signal, and a second sine value and a second cosine value of the estimated angle signal. Specifically, as shown in fig. 4, the signal acquisition unit 110 acquires the detected angle signal θ and the first estimated angle signal
The detection angle signal θ is input to a sine and cosine processing unit 123, and the sine and cosine processing unit 123 may specifically include sine angle calculators 3 and 5 and cosine angle calculators 4 and 6, and the sine calculation and the cosine calculation are respectively performed on the detection angle signal θ through the sine angle calculator 3 and the cosine angle calculator 4 to obtain a first sine value sin θ and a first cosine value cos θ; the first estimated angle signal
The sine angle calculator 5 and the cosine angle calculator 6 respectively perform sine calculation and cosine calculation to obtain a second sine value
And a second cosine value
The obtained first sine value sin theta, the first cosine value cos theta and the second sine value
And a second cosine value
Input to the multiplication processing unit 122.
The multiplication processing unit 122 is configured to perform multiplication operation on the first sine value and the second cosine value obtained by the sine and cosine processing unit 121 to obtain a first multiplication processing signal, and perform multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal. As shown in fig. 4, specifically, the multiplication processing unit 122 may include multipliers 7 and 8, and the multiplier 7 is used for multiplying the first sine value sin θ and the second cosine value input by the sine-cosine processing unit 121
Performing multiplication to obtain a first multiplication signalThe second sine value is multiplied by the multiplier 8
Multiplying the first cosine value cos theta to obtain a second multiplication signalThe obtained first multiplication signalAnd a second multiplication processing signal
Input to the subtraction processing unit 123.
The subtraction processing unit 123 is configured to subtract the first multiplication processing signal and the second multiplication processing signal obtained by the multiplication processing unit 122 to obtain the first processing signal. As shown in figure 4 of the drawings,specifically, the subtraction processing unit 123 may include a subtractor 9, and the first multiplication processing signal input to the multiplication processing unit 122 through the subtractor 9
And the second multiplication processing signal
Performing subtraction to obtain the first processed signal
And inputs the first processed signal to the angle estimation unit 130.
Fig. 7 is a schematic structural diagram of an embodiment of an angle estimation unit according to an embodiment of the present invention. As shown in fig. 7, the angle estimation unit 130 specifically includes a proportional-integral unit 131 and an integral processing unit 132.
The proportional-integral unit 131 is configured to perform proportional-integral adjustment on the first processing signal to obtain a current rotation speed signal. As shown in fig. 4, the proportional-integral unit 131 may specifically include a PI regulator 10, which is used to input the first processed signal from the subtraction processing unit 123
The PI regulator 10 performs proportional-integral regulation processing to obtain a rotation speed signal W, and the obtained rotation speed signal W is input to the integral processing unit 132.
The integral processing unit 132 is configured to perform integral processing on the rotation speed signal obtained by the proportional-integral unit to obtain a current second estimated angle signal. As shown in fig. 4, the integration processing unit 132 may specifically include an integrator 11, through which the rotation speed signal w is integrated to obtain a second estimated angle signal output value
The output value being used for the next processing of the position angleFirst estimated angle signal
Optionally, the apparatus 100 further includes a signal output unit, configured to output the second estimated angle signal obtained by the angle estimation unit to a driver of the motor, so as to control the motor.
The invention also provides a motor driver corresponding to the motor position angle processing device, which comprises any one of the motor position angle processing devices.
Therefore, the scheme provided by the invention can eliminate the sudden change of the angle of the position angle of the motor, thereby inhibiting the sudden change of the torque, eliminating the generation of the shake, enabling the acceleration starting process and the sudden braking process of the motor of the electric vehicle to be in smooth transition, reducing the mechanical impact of the motor and effectively inhibiting the shake amplitude of the vehicle.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (11)
1. A motor position angle processing method, comprising:
a signal acquisition step of acquiring a detection angle signal of the motor position angle currently detected by a position sensor and a first estimation angle signal obtained by performing the position angle processing last time;
an arithmetic processing step of performing preset arithmetic processing on the acquired detection angle signal and the first estimation angle signal to obtain a first processed signal;
an angle estimation step, configured to perform preset adjustment processing on the obtained first processed signal to obtain a current second estimated angle signal;
the angle estimating step includes:
a proportional integral step, which is used for carrying out proportional integral adjustment on the first processing signal to obtain a current rotating speed signal;
and integrating the rotation speed signal to obtain a current second estimated angle signal.
2. The method according to claim 1, wherein the arithmetic processing step includes:
a sine and cosine processing step, configured to perform sine calculation and cosine calculation on the detected angle signal and the first estimated angle signal, respectively, to obtain a first sine value and a first cosine value of the detected angle signal, and a second sine value and a second cosine value of the first estimated angle signal;
a multiplication processing step, configured to perform multiplication operation on the first sine value and the second cosine value to obtain a first multiplication processing signal, and perform multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal;
a subtraction processing step of performing subtraction processing on the first multiplication processed signal and the second multiplication processed signal to obtain the first processed signal.
3. The method according to claim 1 or 2, characterized in that the detected angle signal detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time.
4. The method of claim 1 or 2, further comprising:
and a signal output step of outputting the obtained second estimated angle signal to a driver of the motor for controlling the motor.
5. The method of claim 3, further comprising:
and a signal output step of outputting the obtained second estimated angle signal to a driver of the motor for controlling the motor.
6. A motor position angle processing device, comprising:
the signal acquisition unit is used for acquiring a detection angle signal of the motor position angle currently detected by the position sensor and a first estimation angle signal obtained by processing the position angle last time;
the operation processing unit is used for carrying out preset operation processing on the detection angle signal and the first estimation angle signal acquired by the signal acquisition unit to obtain a first processing signal;
the angle estimation unit is used for carrying out preset adjustment processing on the first processing signal obtained by the operation processing unit so as to obtain a current second estimation angle signal;
the angle estimation unit includes:
the proportional-integral unit is used for carrying out proportional-integral adjustment on the first processing signal to obtain a current rotating speed signal;
and the integral processing unit is used for carrying out integral processing on the rotating speed signal obtained by the proportional integral unit so as to obtain a current second estimated angle signal.
7. The apparatus according to claim 6, wherein the arithmetic processing unit includes:
the sine and cosine processing unit is used for respectively carrying out sine calculation and cosine calculation on the detected angle signal and the estimated angle signal to obtain a first sine value and a first cosine value of the detected angle signal and a second sine value and a second cosine value of the estimated angle signal;
the multiplication processing unit is used for performing multiplication operation on the first sine value and the second cosine value obtained by the sine and cosine processing unit to obtain a first multiplication processing signal, and performing multiplication operation on the second sine value and the first cosine value to obtain a second multiplication processing signal;
a subtraction processing unit, configured to perform subtraction processing on the first multiplication processing signal and the second multiplication processing signal obtained by the multiplication processing unit to obtain the first processing signal.
8. The apparatus according to claim 6 or 7, characterized in that the detected angle signal detected by the position sensor is taken as the first estimated angle signal when the position angle processing is performed for the first time.
9. The apparatus of claim 6 or 7, further comprising:
and the signal output unit is used for outputting the second estimated angle signal obtained by the angle estimation unit to a driver of the motor so as to control the motor.
10. The apparatus of claim 8, further comprising:
and the signal output unit is used for outputting the second estimated angle signal obtained by the angle estimation unit to a driver of the motor so as to control the motor.
11. A motor driver comprising a motor position angle processing apparatus according to any one of claims 6 to 10.
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