CN109004875A - Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method - Google Patents

Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method Download PDF

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Publication number
CN109004875A
CN109004875A CN201810832686.9A CN201810832686A CN109004875A CN 109004875 A CN109004875 A CN 109004875A CN 201810832686 A CN201810832686 A CN 201810832686A CN 109004875 A CN109004875 A CN 109004875A
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rotor
zero degree
sensor
angle
synchronous motor
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CN201810832686.9A
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CN109004875B (en
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肖志锋
芦勇
罗来军
杜春洋
罗毅
王军
曹晨军
张善
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联创汽车电子有限公司
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18Estimation of position or speed
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage

Abstract

The invention discloses a kind of permanent-magnet synchronous motor rotor position sensing device zero degree calculation method, including defines permanent-magnetic synchronous motor rotor and rotate a circle and have P physics zero degree, forward rotation direction and reverse directions;It is given to calculate the current phasor that each physics zero angle position rotor of motor rotates and reverse;The current phasor rotated and reverse is loaded by motor, each physics zero angle position is obtained and rotates forward rotor-position sensor zero degree and contra-rotating rotor position sensor zero degree;Motor positive and inverse load is measured, weighted calculation eliminates the rotating forward rotor-position sensor zero degree and contra-rotating rotor position sensor zero angle error of each physics zero angle position, obtains each physics zero degree rotor-position sensor zero degree.The invention also discloses a kind of permanent-magnet synchronous motor rotor position sensing device zero degree scaling methods.The invention can avoid load bring errors to obtain more accurate rotor-position sensor zero degree and more acurrate calibration rotor position sensor zero degree.

Description

Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method and scaling method

Technical field

The present invention relates to automotive fields, calculate more particularly to a kind of permanent-magnet synchronous motor rotor position sensing device zero degree Method.The invention further relates to a kind of permanent magnetism using the permanent-magnet synchronous motor rotor position sensing device zero degree calculation method is same Walk motor rotor position sensor zero degree scaling method.

Background technique

According to Field orientable control (FOC) algorithm, permanent magnet synchronous motor (" motor " in the following description, related to Refer both to " permanent magnet synchronous motor ") control parameter (such as: voltage, electric current, inductance) be transformed into straight friendship from three phase static UVW coordinate system After dq coordinate system, rotor electric angle θ as shown in Figure 1 can be introduced.The angle, θ usually by rotor-position sensor ( In being described below, " sensor " related to refers both to " rotor-position sensor " feedback and obtains.One finished product rotor electricity The zero degree of gas angle, θ and the electric angle of sensor feedbackZero degree there are the angles of a constantThis folder AngleIt is referred to as electromechanical transducer zero degree or electromechanical transducer initial angle.In general, electromechanical transducer zero degree It is read-only by the code or electric erazable programmable that are solidificated in controller after motor manufacturer offer or goods producer's self-calibration In memory (EEPROM).

Generally, it is zero degree (θ=0 °) that goods producer's self-calibration, which is by given one direction electric angle of motor, Current phasor Is, current phasor Is q axis current component Iq formed electromagnetic torque.Rotor can be under the action of electromagnetic torque Clockwise, as shown in Figure 2 a;Or, counterclockwise, as shown in Figure 2 b, rotation to q shaft current component is that Iq=0 is locked at zero, i.e., electric Air horn degree is zero θ=0 °, as shown in Figure 2 c.At this point, reading sensor angles is labeled as zero degreeThis patent claims the party Method is current phasor standardization.

In formula (1), TeFor electromagnetic torque, KTFor torque constant, TLFor load torque, B is frictional damping coefficient, and ω is Rotor velocity.When locked rotor, to guarantee that electric angle (θ) approaches 0 °, it is desirable that electric motor load torque (TL) as far as possible Small, i.e., current phasor standardization requires empty load of motor.

As the low cost, high integration, high reliability of mechanical automation product develop, load, motor, controller are no longer It is assembled in the form of monomer, but mechanical load, motor, controller integral type encapsulate.As shown in figure 3, motor rotor magnetic steel is pacified Rotor is used as in mechanical load rotary shaft, stator coil winding combines together with casing, the rotor of electromechanical transducer It is partially installed in mechanical load rotary shaft, the stationary part of sensor is integrated in controller.

For the product of this kind of integral type encapsulation, electromechanical transducer zero degreeCalibration must be to product overall package Completion just can be carried out.At this point, motor phase line is connect with controller.In conjunction with Fig. 2 and formula (1) it is found that due to mechanical load In the presence of can introduce biggish calibrated error using conventional current phasor scaling method, influence motor control performance, be not able to satisfy Product demand.

Therefore, it solves the problems, such as that electromechanical transducer zero degree calibration result error caused by motor load is larger, and saves Production cost develops a kind of load-carrying electromechanical transducer zero degreeAutomatic calculating method and a kind of scaling method, It is very important for the product encapsulated for integral type, and significant.

Summary of the invention

The technical problem to be solved in the present invention provides one kind and is avoided that motor load leads to rotor-position sensor zero degree Calculate the permanent-magnet synchronous motor rotor position sensing device zero degree calculation method of error.

Another technical problem to be solved by the invention provides a kind of more accurate permanent-magnet synchronous motor rotor position sensing device Zero degree scaling method.

In order to solve the above technical problems, permanent-magnet synchronous motor rotor position sensing device zero degree calculation method of the present invention, packet Include following steps:

1) defining permanent-magnetic synchronous motor rotor and rotate a circle has P physics zero degree, and each physics zero degree is one corresponding Rotor-position sensor zero degree, P are natural number;0 ° to 360 ° of permanent magnet synchronous motor angle change is defined as rotating forward, motor angle 360 ° to 0 ° of degree variation is reversion, and P is positive integer;

2) it is given to calculate the current phasor that each physics zero angle position rotor of permanent magnet synchronous motor rotates and reverse;

3) pass through permanent magnet synchronous motor load step 2) current phasor that rotates and reverse, obtain each physics zero degree position It sets and rotates forward rotor-position sensor zero degree and contra-rotating rotor position sensor zero degree;

4) measurement permanent magnet synchronous motor positive and negative rotation load, weighted calculation eliminate the rotating forward rotor of each physics zero angle position Position sensor zero degree and contra-rotating rotor position sensor zero angle error, obtain each physics zero degree rotor position sensing Device zero degree.

Wherein, the virtual value (Irms) of a length of Rated motor phase current of current phasor (Is_x) mould, each current phasor are logical It crosses following formula and calculates acquisition;

Wherein, k is current change rate, and t is the function of current time.

Wherein, implementation steps 4) in the following ways:

Measuring permanent magnet synchronous motor positive and negative rotation load is respectively T1And T2, then sensor zero degree can be calculated by formula (3) Out:

It is the corresponding rotor-position sensor zero degree of the P physics zero degree,Be permanent magnet synchronous motor just The corresponding rotor-position sensor zero degree of the P physics zero degree is gone to,It is that permanent magnet synchronous motor is inverted to the P object Manage rotor-position sensor zero degree corresponding to zero degree.

The present invention provides permanent-magnet synchronous motor rotor position sensing device zero degree meter described in a kind of above-mentioned any one of utilization The permanent-magnet synchronous motor rotor position sensing device zero degree scaling method of calculation method, if real electrical machinery locked rotor angle step is not It is abnormal equal to the calibration to fixed step size, is then judged.

It is further improved, count is incremented for anomalous counts device if demarcating exception, when anomalous counts device is greater than the first diagnostic threshold (TH1) when, judge the calibration failure of rotor-position sensor zero degree.

It is further improved, when locked rotor is in physics zero degree, if the rotor-position sensor zero degree fluctuation of sampling Greater than second opinion threshold value (TH2), then judge that the sampling fluctuation of rotor-position sensor zero degree is abnormal.If judging, rotor-position is passed The sampling fluctuation of sensor zero degree is abnormal, and the rotor-position sensor zero degree sampling of present physical zero angle position is rejected, and gives up It abandons counter and adds 1, when giving up counter greater than third diagnostic threshold (TH3), then rotor-position sensor zero degree calibration is lost It loses, if the rotor-position sensor zero degree fluctuation of sampling is less than second opinion threshold value (TH2), records the rotor physically Position sensor angular samples result.

It is further improved, is finished if the current phasor that all physics zero angle position rotors rotate and reverse all exports Afterwards, if detectingThen judge that the rotor-position sensor zero degree sampling of present physical zero angle position is abnormal, The sampled result is rejected.If the rotor-position sensor zero degree of present physical zero angle position samples abnormal, the sampling knot Fruit is rejected, then gives up counter and add 1, when giving up counter greater than the 4th diagnostic threshold (TH4), then rotor-position sensor Zero degree calibration failure.

It is further improved, if give up counter less than the 4th diagnostic threshold (TH4), is calculated according to formula (3) each The rotor-position sensor zero angle angle value of physics zero angle positionJudge that the rotor-position of all physics zero angle positions passes Whether sensor zero degree is all given up, if being all rejected, the calibration failure of rotor-position sensor zero degree;

The rotor-position sensor zero degree of at least two effective physics zero angle positions if it exists, by all each physics The rotor-position sensor zero degree of zero degree sorts, and judges whether rotor-position sensor zero degree maxima and minima is big It in the 5th diagnostic threshold (TH5), then demarcates and fails if more than the 5th diagnostic threshold (TH5), if less than the 5th diagnostic threshold (TH5) Then demarcate success;

As soon as this is only then deposited rotor if only existing a rotor-position sensor zero degree for effective physics zero angle position Position sensor zero degree is demarcated successfully as the permanent-magnet synchronous motor rotor position sensing device zero degree.

It is further improved, there are when the rotor-position sensor zero degree of at least two effective physics zero angle positions, if It demarcates successfully, calculates and obtain the permanent-magnet synchronous motor rotor position sensing device zero degree

According to Field orientable control (FOC) algorithm, permanent-magnetic synchronous motor rotor number of magnetic pole pairs are P, then, rotor rotation one Just there be P electrical angle period in week, i.e. rotor physically has P sensor zero degree These Zero degree is equal, and equal part rotor mechanical circumferential.The present invention gives a series of electricity of permanent magnet synchronous motor by controller Flow vector obtains two position sensor zero angle angle value of positive and negative rotation in each physics zero degree of motor respectively.In the mistake of acquisition Cheng Zhong, in conjunction with corresponding calibration Diagnostic Strategy, it is ensured that two sensor zero angle angle value of positive and negative rotation are correctly effective.Finally, introducing electricity Machine load, calibrated error is eliminated in a manner of weighted calculation, obtains final sensor zero angle angle value.

As shown in Figure 2, it is intended to for rotor to be locked in some angle (x °), need to only give the electricity for being directed toward the angle (x °) Flow vector (Is_x).In the present invention, it is loaded since motor exists, the sensor zero degree of all rotors physicallyIt requires to demarcate.So, the sensor zero degree of rotor physically and sensor zero angle A series of current phasor of directed at non-zero angles degree is just needed to carry out transition between degree.The angle of this potline current vector is continuously to pass Increase or successively decrease variation (incremental steps are variable steps), rotates rotor, and then go to from present physical zero angle position Next zero angle position physically.The present invention defines motor angle and changes 0 ° to 360 ° to rotate forward, and motor angle changes 360 ° to 0 ° are reversion.By formula (1) it is found that the current phasor (Is_x) of x ° of orientation angle is given, due to depositing on rotor It is loading, the current component (Iq) of q axis is not 0, and rotor-position cannot be overlapped with x ° of angle, and there are an angular deviations.If It rotates forward load and reversion load is inconsistent, then, the sensor zero degree and actual sensor zero for causing forward and reverse to be demarcated The error deviation of angle is inconsistent, as shown in figure 5,Therefore, zero degree is demarcated in positive and negative rotation of the present invention, The given sequence of current phasor is as shown in table 1.

1 current phasor of table gives sequence list

In table 1,300≤a < 360,60≤b < 90,90≤c < 150,150≤d < 240,240≤e < 300.Due to first The position that beginning rotor is in is random, so demarcating steps 1.0 are possible to rotate forward, it is also possible to invert.In Fig. 2 and table 1,The sensor zero degree that P (P=1,2,3 ..., P) a physics zero degree is demarcated just is being gone to for motor;For motor It is inverted to the sensor zero degree that the P physics zero degree is demarcated.Controller is according to a series of current phasors of 1 Sequential output of table (Is_x), current phasor (Is_x) mould is long changes according to formula (2).

The virtual value (Irms) of a length of Rated motor phase current of current phasor (Is_x) mould.Current phasor must slowly act on to Motor avoids motor from abnormal shake occur, is respectively at true zero degree to ensure to rotate forward latched position and invert latched position The both sides of position, as shown in figure 4, electric angle (θ) approaches 0 ° counterclockwise when i.e. rotor rotating forward is locked in zero angle position;Turn When son reversion is locked in zero angle position, electric angle (θ) approaches 0 ° clockwise.In addition, each current phasor has one section to remove The time is sold, to guarantee that next current phasor can normally apply.Each current phasor (Is_x) applies formula (2):

In formula (2), k is current change rate, unit:T is function of current time, unit: ms.As 0 < t When≤t1, current phasor (Is_x) is slowly applied on motor.As t1 < t≤t2, current phasor (Is_x) is steadily acted on On motor.As t2 < t≤t3, current phasor (Is_x) is cancelled from motor, so as to the application of next current phasor.

After output 1 current phasor sequence of table, controller learns two sensings in each motor physics zero angle position Device zero degree, i.e.,(P=1,2,3 ..., P).The two sensor zero degrees contain calibration caused by motor load Error can be eliminated by measurement motor positive and inverse load, weighted calculation.

Known measurement motor positive and inverse load is respectively T1And T2(unit: Nm), then sensor zero degree can be by formula (3) It is calculated:

In all sensor zero degrees physicallyAfter calculating, it is arranged Sequence, and whether diagnostic sensor zero degree maxima and minima exceeds diagnostic threshold.If without departing from diagnostic threshold, calibration at Function, final sensor zero degreeIt is obtained by formula (4).

Note that must by diagnosing effective sensor zero degree physically, could participatory (4) operation, therefore, P in formula (4) is really less than or equal to rotor number of magnetic pole pairs.In addition, when only one sensor zero degree physically When effective, just without diagnostic sensor zero degree maximum value and minimum value deviation again after sequence.

To guarantee sensor zero degreeCalibration accuracy, system must calibration process diagnosed.

In table 1, the angle step for providing current phasor of demarcating steps is known, for example, from demarcating steps 1.5 to mark Determine step 1.6, it is d °-c ° that current phasor angle, which rotates step-length, then, electromechanical transducer actual rotation angle theory should be d °- c°.(diagnosis step-length is not needed forward or reverse for the first time) in addition to demarcating steps 1.0, and each demarcating steps must be right in table 1 Real electrical machinery locked rotor angle step is diagnosed.Therefore, if real electrical machinery locked rotor angle step exceed or less than to Fixed step size (i.e. not equal to fixed step size), then the calibration is abnormal.Locked rotor angle step anomalous counts device counts, when abnormal meter Number device is greater than the first diagnostic threshold (TH1) constantly, then sensor zero degree calibration failure.

For the validity for guaranteeing the sampling of sensor zero degree, when locked rotor is in motor physics zero degree, controller palpus The stability of diagnostic sensor zero degree sampling.If the current phasor of demarcating steps is that (locked rotor is in physics zero angle by Is_0 When spending), then locked rotor stability must be diagnosed.After locked rotor is stablized, that is, it is in the t1 < t≤t2 of formula (2) When, if the sensor zero degree fluctuation of sampling is greater than second opinion threshold value (TH2), demarcating steps sensor zero degree sampling Abnormal, the sensor zero degree sampled result of the zero angle position on present physical is rejected.Give up counter and add 1, when giving up When counter is greater than third diagnostic threshold (TH3), then sensor zero degree calibration failure.It is examined if sensor angles fluctuation is less than Disconnected threshold value (TH2), then record the sensor angles sampled result physically.

It, must be to positive and negative rotation two of each sensor zero degree physically after the current phasor output in table 1 Value is diagnosed, in two sensor zero degrees that each zero angle position physically obtainsWithAs shown in figure 4,If detectedWhen, then the calibration of sensor zero degree is abnormal, and sampled result is rejected.Give up counting Device adds 1, when giving up counter greater than the 4th diagnostic threshold (TH4), then sensor zero degree calibration failure.If giving up counting Device is less than diagnostic threshold (TH4), then calculates each sensor zero angle angle value physically according to formula (3)

In all sensor zero degrees physicallyAfter calculating, judgement is all Whether sensor zero degree physically is all given up, if being all rejected, the calibration failure of sensor zero degree.

If give up counter less than the 4th diagnostic threshold (TH4), each physics zero degree position is calculated according to formula (3) The rotor-position sensor zero angle angle value setJudging the rotor-position sensor zero degree of all physics zero angle positions is No whole is given up, if being all rejected, the calibration failure of rotor-position sensor zero degree;

The rotor-position sensor zero degree of at least two effective physics zero angle positions if it exists, by all each physics The rotor-position sensor zero degree of zero degree sorts, and judges whether rotor-position sensor zero degree maxima and minima is big In the 5th diagnostic threshold (TH5), then demarcates and fail if more than the 5th diagnostic threshold (TH5), if being less than diagnostic threshold (TH5), Final electromechanical transducer zero degree is calculated according to formula (4)It demarcates successfully.

Permanent-magnet synchronous motor rotor position sensing device zero degree calculation method of the invention, can effectively overcome motor load Influence to the calibration of sensor zero degree realizes that sensor zero degree accurately calculates.Sensor zero degree computational accuracy is high, can Meet product practical application request.Permanent-magnet synchronous motor rotor position sensing device zero degree scaling method of the invention, Neng Goushi Existing sensor zero degree accurate calibration, is avoided that calibrated error.The present invention is developed based on electric machine controller, and motor control is passed through Device can be automatically performed the calibration of sensor zero degree.Therefore, when production, without increasing additional calibration facility, life is saved Cost is produced, it is easy to operate, have higher economic benefit.

Detailed description of the invention

Present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:

Fig. 1 is the electric angle and sensor angles relation schematic diagram of Field orientable control.

Fig. 2 a is that rotor clockwise (rotating forward) rotation electric angle shows with sensor angles relationship after giving current phasor Is It is intended to.

Fig. 2 b is that (reversion) rotation electric angle shows rotor with sensor angles relationship counterclockwise after giving current phasor Is It is intended to.

Fig. 2 c is that rotor is rotated to locking electric angle and sensor angles relation schematic diagram after giving current phasor Is.

Fig. 3 mechanical load, motor, controller integral type package structure diagram.

The result that Fig. 4 motor load locks x ° of angle to current phasor positive and negative rotation influences schematic diagram.

Fig. 5 scaling method flow diagram of the present invention.

Appended drawing reference

1 casing

2 loads

3 rotary shafts

4 motor stators

5 controllers

6 rotor-position sensor rotor portions

7 rotor-position sensor stationary parts

8 rotors

Specific embodiment

The present invention provides a specific embodiment, it is known that a load, motor, controller integrated product, permanent magnet synchronous electric Machine structure is 6 pole, 9 slot, and specified phase current virtual value is 30A.It is 0.71Nm that product, which rotates forward load, and reversion load is 0.78Nm.

For 6 pole, 9 slot permanent magnet synchronous motor, there are within rotor rotating machinery one week 3 electrical angle periods, i.e., has 3 within rotor one week A physics zero angle position.Therefore, the current phasor sequence of controller output is as shown in table 2 below.

Table 2

It is directed toward a length of specified phase current virtual value of x ° of current phasor of locked rotor angle (Is_x) mould, i.e. 30A.Current phasor According in formula (5) slowly output to motor.

In formula (5), current change rate k isT is output action time, unit: ms.When 0ms < t≤ When 900ms, current phasor (Is_x) is slowly applied on motor.As 900ms < t≤1800ms, current phasor (Is_x) is flat Surely act on motor.As 1800ms < t≤2000ms, current phasor (Is_x) is cancelled from motor, so as to next electricity Flow vector applies.Therefore, each current phasor action time in table 1 is 1800ms, cancels 200ms.

Each sensor zero degree physically calculates as follows:

In formula (6), P=1,2,3.All sensor zero degrees physically are calculated when passing through formula (6)Afterwards, it is ranked up, then, whether the difference of diagnosis angle maxima and minima exceeds threshold value (TH5), if without departing from threshold value (TH5), final transducer zeroing angle is calculated by formula (4)Note that each Sensor zero degree physically must diagnose normally, could participate in operation, otherwise, be rejected.When the sensing on actual physics When device zero degree quantity is less than or equal to 1, then above-mentioned diagnosis can not be carried out.

Before current phasor (Is_x2) applies, current sensor angle is read, which is a upper current phasor (Is_ X1 the actual angle after) applying is y1 °, and y1 ° is approximately equal to x1 °.For example, from table 1 demarcating steps 1.4 to step 1.5, then, Is_x2 is Is_90, and Is_x1 Is_60, current angular is about 60 °.

Apply current phasor (Is_x2) according to formula (5).

Reading current location sensor angle is y2 °, is approximately equal to x2 °.For example, the demarcating steps 1.4 to 1.5 from table 1, Current angular is about 90 °.

Calculate actual step size absolute value | y2-y1 | and current phasor lock step absolute value | x2-x1 | deviation (Z), it may be assumed that Z=| | y2-y1 |-| x2-x1 | |.

When deviation Z is greater than 10 ° of diagnostic threshold, which is not consistent with to fixed step size It closes, then locked rotor angle step anomalous counts device adds 1.When anomalous counts device is greater than diagnostic threshold (TH1=3), then demarcate Failure.

Judge whether current phasor (Is_x) is current phasor (Is_0) of the locked rotor in zero angle position.If so, Carry out subsequent step;If it is not, then skipping the diagnosis.

Current phasor (Is_0) apply stablize after, i.e., according to formula (4), the time in 900ms < t≤1800ms, continuously Rotor-position is read, and calculates angle fluctuation (θ _ Rip).

When angle fluctuation (θ _ Rip) is greater than diagnostic threshold (TH2=0.5 °), then the sensor zero degree physically is adopted Sample value is rejected.

It is rejected counter and adds 1, when giving up counter greater than diagnostic threshold (TH3=1), then sensor zero degree is learnt by oneself Practise failure.

If working asWhen, the physics zero angle position, the calibration of sensor zero degree is abnormal, calibration Data are rejected.It is rejected counter and adds 1, when being rejected counter greater than diagnostic threshold (TH4=1), then sensor zero angle Scale fails surely.If working asWhen, sensor zero degree is calculated according to formula (5)Value.

When effective sensor zero degree nominal data quantity is equal to 0, then no data calculates end value, calibration failure; When effective sensor zero degree nominal data quantity is equal to 1, then unique self study data are sensor zero degree The end value of calibration;When effective sensor zero degree nominal data quantity is more than or equal to 2, then it is ranked up.

Sensor zero degree maximum value subtracts minimum value, obtains angular deviation.If when deviation is less than diagnostic threshold (TH5= 3 °) when, then final sensor zero degree is calculated according to formula (4)If when deviation is greater than diagnostic threshold (TH5=3 °), The calibration failure of electromechanical transducer zero degree.

Above by specific embodiment and embodiment, invention is explained in detail, but these are not composition pair Limitation of the invention.Without departing from the principles of the present invention, those skilled in the art can also make many deformations and change Into these also should be regarded as protection scope of the present invention.

Claims (11)

1. a kind of permanent-magnet synchronous motor rotor position sensing device zero degree calculation method, which comprises the following steps:
1) defining permanent-magnetic synchronous motor rotor and rotate a circle has P physics zero degree, the corresponding rotor of each physics zero degree Position sensor zero degree, P are natural number;0 ° to 360 ° of permanent magnet synchronous motor angle change is defined to rotate forward, motor angle becomes Change 360 ° to 0 ° as reversion, P is positive integer;
2) it is given to calculate the current phasor that each physics zero angle position rotor of permanent magnet synchronous motor rotates and reverse;
3) pass through permanent magnet synchronous motor load step 2) current phasor that rotates and reverse, obtaining each physics zero angle position just Turn rotor-position sensor zero degree and contra-rotating rotor position sensor zero degree;
4) measurement permanent magnet synchronous motor positive and negative rotation load, weighted calculation eliminate the rotating forward rotor-position of each physics zero angle position Sensor zero degree and contra-rotating rotor position sensor zero angle error obtain each physics zero degree rotor-position sensor zero Angle.
2. permanent-magnet synchronous motor rotor position sensing device zero degree calculation method as described in claim 1, it is characterised in that:
The virtual value (Irms) of a length of Rated motor phase current of current phasor (Is_x) mould, each current phasor pass through following formula It calculates and obtains;
Wherein, k is current change rate, and t is the function of current time.
3. permanent-magnet synchronous motor rotor position sensing device zero degree calculation method as claimed in claim 2, it is characterised in that: implement Step 4) is in the following ways:
Measuring permanent magnet synchronous motor positive and negative rotation load is respectively T1And T2, then sensor zero degree can be calculated by formula (3):
It is the corresponding rotor-position sensor zero degree of the P physics zero degree,It is that permanent magnet synchronous motor is just gone to The corresponding rotor-position sensor zero degree of the P physics zero degree,It is that permanent magnet synchronous motor is inverted to the P physics zero Rotor-position sensor zero degree corresponding to angle.
4. a kind of utilize permanent-magnet synchronous motor rotor position sensing device zero degree calculation method described in claim 1-3 any one Permanent-magnet synchronous motor rotor position sensing device zero degree scaling method, it is characterised in that: if real electrical machinery locked rotor angle Step-length is not equal to fixed step size, then judges calibration exception.
5. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 4, it is characterised in that: if mark Then count is incremented for anomalous counts device for fixed exception, when anomalous counts device is greater than the first diagnostic threshold (TH1), judges that rotor-position passes The calibration failure of sensor zero degree.
6. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 4, it is characterised in that: when turn When son is locked in physics zero degree, if the rotor-position sensor zero degree fluctuation of sampling is greater than second opinion threshold value (TH2), Judge that the sampling fluctuation of rotor-position sensor zero degree is abnormal.
7. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 6, it is characterised in that: if sentencing Disconnected rotor-position sensor zero degree sampling fluctuation is abnormal, and the rotor-position sensor zero degree of present physical zero angle position is adopted Sample is rejected, and is given up counter and is added 1, when giving up counter greater than third diagnostic threshold (TH3), then rotor-position sensor zero Angle calibration failure records the object if the rotor-position sensor zero degree fluctuation of sampling is less than second opinion threshold value (TH2) Rotor-position sensor angular samples result in reason.
8. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 6, it is characterised in that: all After the current phasor that physics zero angle position rotor rotates and reverse all exports, if detectingThen judge The rotor-position sensor zero degree of present physical zero angle position samples exception, which is rejected.
9. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 8, it is characterised in that: if working as The rotor-position sensor zero degree of preceding physics zero angle position samples exception, which is rejected, then gives up counter Add 1, when giving up counter greater than the 4th diagnostic threshold (TH4), then rotor-position sensor zero degree calibration failure.
10. the permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as described in claim 7-9 any one, special Sign is: if give up counter less than the 4th diagnostic threshold (TH4), calculating each physics zero degree position according to formula (3) The rotor-position sensor zero angle angle value setJudging the rotor-position sensor zero degree of all physics zero angle positions is No whole is given up, if being all rejected, the calibration failure of rotor-position sensor zero degree;
The rotor-position sensor zero degree of at least two effective physics zero angle positions if it exists, by all each physics zero angles The rotor-position sensor zero degree of degree sorts, and judges whether rotor-position sensor zero degree maxima and minima is greater than the Five diagnostic thresholds (TH5) are then demarcated if more than the 5th diagnostic threshold (TH5) and fail, and mark if less than the 5th diagnostic threshold (TH5) Fixed success;
As soon as this is only then deposited rotor-position if only existing a rotor-position sensor zero degree for effective physics zero angle position Sensor zero degree is demarcated successfully as the permanent-magnet synchronous motor rotor position sensing device zero degree.
11. permanent-magnet synchronous motor rotor position sensing device zero degree scaling method as claimed in claim 10, it is characterised in that: deposit In the rotor-position sensor zero degree of at least two effective physics zero angle positions, if demarcating successfully, calculates and obtain this forever Magnetic-synchro motor rotor position sensor zero degree
CN201810832686.9A 2018-07-26 2018-07-26 Method for calculating zero angle of permanent magnet synchronous motor rotor position sensor and calibration method CN109004875B (en)

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