CN109004875B - Method for calculating zero angle of permanent magnet synchronous motor rotor position sensor and calibration method - Google Patents
Method for calculating zero angle of permanent magnet synchronous motor rotor position sensor and calibration method Download PDFInfo
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- CN109004875B CN109004875B CN201810832686.9A CN201810832686A CN109004875B CN 109004875 B CN109004875 B CN 109004875B CN 201810832686 A CN201810832686 A CN 201810832686A CN 109004875 B CN109004875 B CN 109004875B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
Abstract
The invention discloses a method for calculating the zero angle of a permanent magnet synchronous motor rotor position sensor, which comprises the steps of defining P physical zero angles, forward rotation directions and reverse rotation directions of a permanent magnet synchronous motor rotor rotating for one circle; calculating the current vector given of the positive rotation and the reverse rotation of the rotor at each physical zero-angle position of the motor; loading forward and reverse current vectors through a motor to obtain a zero angle of a forward rotor position sensor and a zero angle of a reverse rotor position sensor at each physical zero-angle position; and measuring the forward and reverse rotation loads of the motor, and performing weighted calculation to eliminate the zero angle error of the forward rotation rotor position sensor and the zero angle error of the reverse rotation rotor position sensor at each physical zero angle position to obtain the zero angle of each physical zero angle rotor position sensor. The invention also discloses a method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor. The invention can avoid the error caused by the load to obtain more accurate rotor position sensor zero angle and more accurately calibrate the rotor position sensor zero angle.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a method for calculating the zero angle of a rotor position sensor of a permanent magnet synchronous motor. The invention also relates to a method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor by utilizing the method for calculating the zero angle of the rotor position sensor of the permanent magnet synchronous motor.
Background
After the control parameters (e.g., voltage, current, inductance) of a permanent magnet synchronous motor (in the following description, all references to "motor" refer to "permanent magnet synchronous motor") are converted from a three-phase stationary UVW coordinate system to an orthogonal dq coordinate system according to a Field Oriented Control (FOC) algorithm, the electrical angle θ of the motor rotor as shown in fig. 1 is introduced. The angle θ is typically obtained by a rotor position sensor (in the following description, all references to "sensor" refer to "rotor position sensor" feedback
Has a constant included angle
This angle
Referred to as the motor sensor zero angle or the motor sensor initial angle. Typically, the motor sensor has a zero angle
The motor is provided by the motor manufacturer or is calibrated by the product manufacturer and then solidified in the code or electrically erasable programmable read-only memory (EEPROM) of the controller.
Generally, a product manufacturer self-calibrates the motor by giving a current vector Is pointing at an electrical angle of zero (θ Is 0 °), and the current vector Is forms an electromagnetic torque at a current component Iq of a q-axis. The rotor will be clockwise under the action of the electromagnetic torque, as shown in fig. 2 a; or, counterclockwise, as shown in fig. 2b, when the q-axis current component is rotated to zero, Iq is 0, and locked, that is, the electrical angle is zero θ is 0 °, as shown in fig. 2 c. At this time, the reading sensor angle flag is zero angle
The patent refers to the field of 'measuring current or current vectors'.
In the formula (1), TeIs an electromagnetic torque, KTIs a torque constant, TLThe load torque, B the friction damping coefficient, and ω the rotor angular velocity. When the rotor is locked, in order to ensure that the electrical angle (theta) approaches 0 DEG, the load torque (T) of the motor is requiredL) As small as possible, i.e. the current vector calibration method requires the motor to be unloaded.
With the development of low cost, high integration and high reliability of mechanical automation products, the load, the motor and the controller are not assembled in a single form any more, but are integrally packaged. As shown in fig. 3, the motor rotor magnetic steel is installed on the mechanical load rotating shaft as the motor rotor, the stator coil winding is integrated with the casing, the rotor part of the motor sensor is installed on the mechanical load rotating shaft, and the stator part of the sensor is integrated with the controller.
For such integrally packaged products, the electromechanical transducer has a zero angle
The calibration must be performed until the entire assembly of the product is completed. At this point, the motor phase lines are already connected to the controller. As can be known from fig. 2 and formula (1), due to the existence of mechanical load, a large calibration error is introduced by using a conventional current vector calibration method, which affects the control performance of the motor and cannot meet the product requirements.
Therefore, the problem of large error of the zero angle calibration result of the motor sensor caused by motor load is solved, the production cost of the product is saved, and the zero angle calibration method for the motor sensor with the load is developed
Automatic calculation method and calibration method for integrated typeThe packaged product is very important and significant.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for calculating the zero angle degree of a rotor position sensor of a permanent magnet synchronous motor, which can avoid the calculation error of the zero angle degree of the rotor position sensor caused by the load of the motor.
The invention provides a more accurate calibration method for the zero angle of the rotor position sensor of the permanent magnet synchronous motor.
In order to solve the technical problem, the method for calculating the zero angle of the permanent magnet synchronous motor rotor position sensor comprises the following steps of:
1) defining P physical zero angles of a permanent magnet synchronous motor rotor rotating for one circle, wherein each physical zero angle corresponds to a rotor position sensor zero angle, and P is a natural number; defining that the angle change of a permanent magnet synchronous motor is positive rotation from 0 degree to 360 degrees, the angle change of the motor is negative rotation from 360 degrees to 0 degrees, and P is a positive integer;
2) calculating the current vector setting of the positive rotation and the reverse rotation of the rotor at each physical zero-angle position of the permanent magnet synchronous motor;
3) loading the forward rotation and reverse rotation current vectors in the step 2) through a permanent magnet synchronous motor to obtain the zero angle of each physical zero-angle position forward rotation rotor position sensor and the zero angle of each physical zero-angle position reverse rotation rotor position sensor;
4) and measuring the positive and negative rotation load of the permanent magnet synchronous motor, and performing weighted calculation to eliminate the zero angle error of the positive rotation rotor position sensor and the zero angle error of the negative rotation rotor position sensor at each physical zero angle position to obtain the zero angle of each physical zero angle rotor position sensor.
The modular length of the current vector (Is _ x) Is an effective value (Irms) of rated phase current of the motor, and each current vector Is obtained by calculation through the following formula;
wherein k is the current change rate, and t is the current action time.
Wherein, the implementation of the step 4) adopts the following mode:
determining the positive and negative rotation loads of the permanent magnet synchronous motor to be T respectively1And T2Then the zero angle of the sensor can be calculated by equation (3):
The invention provides a method for calibrating the zero angle of a rotor position sensor of a permanent magnet synchronous motor by using the calculation method of the zero angle of the rotor position sensor of the permanent magnet synchronous motor, which judges that the calibration is abnormal if the actual step length of the locking angle of the rotor of the motor is not equal to the given step length.
In a further improvement, the counting number of the abnormal counter is increased by 1 if the calibration is abnormal, and when the abnormal counter is greater than a first diagnosis threshold (TH1), the zero-angle calibration of the rotor position sensor is judged to fail.
In a further improvement, when the rotor is locked at a physical zero angle, if the zero-angle fluctuation of the sampled rotor position sensor is greater than a second diagnosis threshold (TH2), the zero-angle sampling fluctuation of the rotor position sensor is judged to be abnormal. If the zero-angle sampling fluctuation of the rotor position sensor is judged to be abnormal, the zero-angle sampling of the rotor position sensor at the current physical zero-angle position is abandoned, the abandon counter is added with 1, when the abandon counter is larger than a third diagnosis threshold (TH3), the zero-angle calibration of the rotor position sensor fails, and if the zero-angle fluctuation of the sampled rotor position sensor is smaller than a second diagnosis threshold (TH2), the angle sampling result of the physical rotor position sensor is recorded.
Further improvement, if all the current vectors of the positive rotation and the negative rotation of the rotor at all the physical zero-angle positions are completely output, if the detection result shows that the current vectors of the positive rotation and the negative rotation of the rotor at all the physical zero-angle positions are completely output
And judging that the rotor position sensor at the current physical zero-angle position has abnormal zero-angle sampling, and discarding the sampling result. And if the rotor position sensor zero-angle sampling at the current physical zero-angle position is abnormal, discarding the sampling result, adding 1 to the discard counter, and when the discard counter is greater than a fourth diagnostic threshold (TH4), failing to calibrate the rotor position sensor zero-angle.
In a further refinement, if the discard counter is less than the fourth diagnostic threshold (TH4), the rotor position sensor zero angle value for each physical zero angle position is calculated according to equation (3)
Judging whether the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, and if the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, the calibration of the zero angles of the rotor position sensors fails;
if the rotor position sensors at least two effective physical zero-angle positions have zero angles, sequencing the zero angles of all the rotor position sensors at each physical zero angle, judging whether the maximum value and the minimum value of the zero angles of the rotor position sensors are greater than a fifth diagnosis threshold (TH5), if so, failing to calibrate, and if not, successfully calibrating;
if only one rotor position sensor zero angle at an effective physical zero angle position exists, the rotor position sensor zero angle only stored is taken as the rotor position sensor zero angle of the permanent magnet synchronous motor, and the calibration is successful.
Further improvement, when the rotor position sensor has zero angle of at least two effective physical zero angle positions, if the calibration is successful, the calculation is carried outObtaining the zero angle of the rotor position sensor of the permanent magnet synchronous motor
According to a Field Oriented Control (FOC) algorithm, the number of magnetic pole pairs of the rotor of the permanent magnet synchronous motor is P, so that P electric angle periods exist when the rotor rotates for one circle, namely the rotor physically has P sensors with zero angle
These zero angles are equal and bisect the rotor mechanical circumference. According to the invention, a series of current vectors of the permanent magnet synchronous motor are given by the controller, and zero angle values of two positive and negative rotation position sensors at each physical zero angle of the motor are respectively obtained. In the process of obtaining, the zero angle values of the two sensors rotating positively and negatively are ensured to be correct and effective by combining with a corresponding calibration diagnosis strategy. And finally, introducing motor load, and eliminating calibration errors in a weighting calculation mode to obtain a final sensor zero angle value.
As can be seen from fig. 2, to lock the motor rotor at a certain angle (x °), only the current vector (Is _ x) pointing to the angle (x °) needs to be given. In the invention, all the physical sensors of the rotor have zero angle due to the load of the motor
Calibration is required. A series of current vectors pointing at non-zero angles are then required to transition between the rotor physical sensor null angle and the sensor null angle. The angle of the series of current vectors is continuously changed in an increasing or decreasing manner (the increasing step is changed in steps), so that the rotor of the motor rotates to further rotate from the current physical zero-angle position to the next physical zero-angle position. The invention defines the angle change of the motorThe rotation is carried out when the angle is changed from 0 degree to 360 degrees, and the rotation is carried out when the angle of the motor is changed from 360 degrees to 0 degrees. As can be seen from equation (1), given a current vector (Is _ x) pointing at an angle x °, the q-axis current component (Iq) Is not 0 due to the load on the motor rotor, the rotor position cannot coincide with the angle x °, and there Is an angular deviation. If the forward rotation load and the reverse rotation load are not consistent, the error deviation of the zero angle of the sensor calibrated in the forward rotation and the reverse rotation from the zero angle of the real sensor is not consistent, as shown in figure 5,
therefore, the present invention has zero angle calibration in both forward and reverse rotation, and the current vector given sequence is shown in table 1.
Table 1 current vector given sequence table
In Table 1, a is more than or equal to 300 and less than 360, b is more than or equal to 60 and less than 90, c is more than or equal to 90 and less than 150, d is more than or equal to 150 and less than 240, and e is more than or equal to 240 and less than or equal to 300. Since the initial rotor is at random positions, calibration step 1.0 may be either forward or reverse. In figure 2 and in table 1 there is shown,
a sensor zero angle calibrated for the positive rotation of the motor to the No. P (P ═ 1,2,3, …, P) physical zero angle;
and the zero angle of the sensor is calibrated for the motor to reversely rotate to the Pth physical zero angle. The controller sequentially outputs a series of current vectors (Is _ x) according to table 1, and the modular length of the current vectors (Is _ x) Is changed according to formula (2).
The current vector (Is _ x) has a modular length equal to the effective value (Irms) of the rated phase current of the motor. The current vector needs to be slowly acted on the motor to avoid abnormal shaking of the motor so as to ensure that the forward rotation locking position and the reverse rotation locking position are respectively positioned at two sides of the real zero-angle position, as shown in figure 4, namely when the rotor is positively locked at the zero-angle position, the electric angle (theta) approaches 0 degree anticlockwise; when the rotor is reversely locked at the zero angle position, the electrical angle (theta) approaches 0 degree clockwise. In addition, each current vector has a period of revocation time to ensure that the next current vector can be applied properly. Applying equation (2) to each current vector (Is _ x):
in equation (2), k is the rate of change of current in units:
t is the current action time in ms. When t Is more than 0 and less than or equal to t1, the current vector (Is _ x) Is slowly applied to the motor. When t Is more than t1 and less than t2, the current vector (Is _ x) acts on the motor smoothly. When t2 < t ≦ t3, the current vector (Is _ x) Is removed from the motor for application of the next current vector.
After the current vector sequence of the table 1 is output, the controller learns the zero angle of the two sensors at the physical zero angle position of each motor, namely
The zero angle of the two sensors contains a calibration error caused by motor load, and the calibration error can be eliminated by measuring the positive and negative rotation load of the motor and weighting calculation.
It is known to determine the forward and reverse load of a motor as T1And T2(unit: Nm), the zero sensor angle can be calculated from equation (3):
zero angle of the sensor in all physical conditions
And after the calculation is finished, sorting the sensors, and diagnosing whether the maximum value and the minimum value of the zero angle of the sensor exceed a diagnosis threshold value. If the diagnostic threshold value is not exceeded, the calibration is successful, and the final sensor has zero angle
Is obtained from the formula (4).
Note that the calculation of equation (4) must be performed by diagnosing a valid physical sensor zero angle, and therefore P in equation (4) is actually equal to or less than the motor rotor pole pair number. In addition, when only one physical sensor null angle is active, there is no post-sequencing re-diagnosis of sensor null angle maximum and minimum deviations.
To ensure zero angle of the sensor
The system must be diagnosed in a calibration process with calibration accuracy.
In table 1, the angular step of the calibration step giving the current vector is known, e.g. from calibration step 1.5 to calibration step 1.6, the current vector angular rotation step is d ° -c °, then the actual rotation angle of the electromechanical transducer should theoretically be d ° -c °. Except for calibration step 1.0 (i.e. no diagnostic step is needed for the first forward or reverse rotation), each calibration step in table 1 has to diagnose the actual motor rotor locking angle step. Therefore, if the actual motor rotor locking angle step exceeds or is less than a given step (i.e., is not equal to the given step), the calibration is abnormal. The rotor lock angle step anomaly counter counts and when the anomaly counter is greater than a first diagnostic threshold (TH1), the sensor zero angle calibration fails.
To ensure the effectiveness of the zero angle sampling of the sensor, the controller must diagnose the stability of the zero angle sampling of the sensor when the rotor is locked at the physical zero angle of the motor. If the current vector in the calibration step Is _0 (when the rotor Is locked at a physical zero angle), the rotor locking stability needs to be diagnosed. When the rotor is locked stably, namely t is greater than t1 and less than or equal to t2 in formula (2), if the sampled sensor zero-angle fluctuation is greater than a second diagnosis threshold (TH2), the sensor zero-angle sampling in the calibration step is abnormal, and the sensor zero-angle sampling result at the current physical zero-angle position is discarded. The discard counter is incremented by 1 and when the discard counter is greater than the third diagnostic threshold (TH3), the sensor zero angle calibration fails. If the sensor angle fluctuation is less than the diagnostic threshold (TH2), the physical sensor angle sampling is recorded.
When the current vector in table 1 is output, the two values of the zero angle of each physical sensor, which are positive and negative, are diagnosed, and the zero angle of the two sensors is obtained at each physical zero angle position
And
as shown in figure 4 of the drawings,
if it is detected
And if so, calibrating the sensor to be abnormal at the zero angle, and discarding the sampling result. The discard counter is incremented by 1 and when the discard counter is greater than the fourth diagnostic threshold (TH4), the sensor zero angle calibration fails. If the discard counter is less than the diagnostic threshold (TH4), then each physical sensor zero angle value is calculated according to equation (3)
Zero angle of the sensor in all physical conditions
And after the calculation is finished, judging whether all the physical sensor zero angles are discarded, and if all the physical sensor zero angles are discarded, the calibration of the sensor zero angles fails.
If the discard counter is less than the fourth diagnostic threshold (TH4), then the rotor position sensor zero angle value for each physical zero angle position is calculated according to equation (3)
Judging whether the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, and if the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, the calibration of the zero angles of the rotor position sensors fails;
if the rotor position sensors at least two effective physical zero-angle positions have zero angles, sorting the zero angles of all the rotor position sensors at each physical zero angle, judging whether the maximum value and the minimum value of the zero angle of the rotor position sensors are greater than a fifth diagnosis threshold (TH5), if so, failing to calibrate, and if not, calculating the final zero angle of the motor sensor according to a formula (4) and if so, calculating the zero angle of the motor sensor according to a formula (4) and judging whether the maximum value and the minimum value of the zero angle of the rotor position sensors are greater than a fifth diagnosis threshold (TH
And (5) successfully calibrating.
The method for calculating the zero angle of the permanent magnet synchronous motor rotor position sensor can effectively overcome the influence of motor load on the zero angle calibration of the sensor and realize accurate calculation of the zero angle of the sensor. The zero angle degree calculation accuracy of the sensor is high, and the actual application requirements of products can be met. The zero angle calibration method for the permanent magnet synchronous motor rotor position sensor can realize accurate calibration of the zero angle of the sensor and avoid calibration errors. The invention is developed based on a motor controller, and the zero-angle calibration of the sensor can be automatically completed through the motor controller. Therefore, when the product is produced, additional calibration equipment is not needed, the production cost is saved, the operation is simple and convenient, and the economic benefit is higher.
Drawings
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
FIG. 1 is a schematic diagram of the electrical angle versus sensor angle for magnetic field orientation control.
Fig. 2a Is a schematic diagram showing the relationship between the clockwise (forward rotation) rotation electrical angle of the rotor and the sensor angle after the current vector Is given.
Fig. 2b Is a schematic diagram of the relationship between the electrical angle of counterclockwise (reverse) rotation of the rotor and the sensor angle after a given current vector Is.
FIG. 2c Is a schematic representation of the relationship between rotor rotation to locked electrical angle and sensor angle given current vector Is.
Fig. 3 is a schematic view of an integrated packaging structure of the mechanical load, the motor and the controller.
Fig. 4 is a schematic diagram showing the resulting effect of motor load on the forward and reverse lock angle x ° of the current vector.
FIG. 5 is a schematic flow chart of the calibration method of the present invention.
Reference numerals
Casing
Load (c)
③ rotating shaft
Stator of motor
Controller
Rotor part of rotor position sensor
Stator part of rotor position sensor
And (8) driving the motor rotor.
Detailed Description
The invention provides a specific embodiment, and discloses a product integrating a load, a motor and a controller, wherein the permanent magnet synchronous motor is 6-pole 9-slot structure, and the effective value of rated phase current is 30A. The forward load of the product is 0.71Nm, and the reverse load is 0.78 Nm.
For a 6-pole 9-slot permanent magnet synchronous motor, 3 electrical angle periods exist in one circle of a rotor rotating machine, namely 3 physical zero-angle positions exist in one circle of the rotor. Thus, the current vector sequence output by the controller is shown in table 2 below.
TABLE 2
The current vector (Is _ x) modulo the rotor locking angle x deg. Is the nominal phase current effective value, i.e. 30A. The current vector is slowly output to the motor according to the formula (5).
In the formula (5), the current change rate k is
t is output action time, unit: ms. When t Is more than 0ms and less than or equal to 900ms, the current vector (Is _ x) Is slowly applied to the motor. When t Is more than 900ms and less than or equal to 1800ms, the current vector (Is _ x) stably acts on the motor. When 1800ms < t ≦ 2000ms, the current vector (Is _ x) Is removed from the motor for the next current vector to apply. Thus, each current vector in Table 1 has an action time of 1800ms, withdrawn 200 ms.
The zero angle for each physical sensor is calculated as follows:
in formula (6), P is 1,2, and 3. When all the physical sensor zero angles are calculated by the formula (6)
Then, the angles are sequenced, whether the difference between the maximum value and the minimum value of the angles exceeds a threshold value (TH5) is diagnosed, and if the difference does not exceed the threshold value (TH5), the final zero angle of the sensor is calculated by the formula (4)
Note that each physical sensor zero angle must be diagnosed as normal to participate in the calculation, otherwise, it is discarded. When the actual physical sensor zero angle number is 1 or less, the above diagnosis cannot be performed.
Before the current vector (Is _ x2) was applied, the current sensor angle was read, which was the actual angle after the last current vector (Is _ x1) was applied, y1 °, and y1 ° was approximately equal to x1 °. For example, from calibration of step 1.4 to step 1.5 in Table 1, then Is _ x2 Is _90 and Is _ x1 Is _60, the current angle being about 60.
The current vector (Is _ x2) Is applied according to equation (5).
The read current position sensor angle is y2 deg., which is approximately equal to x2 deg.. For example, from the calibration steps 1.4 to 1.5 in Table 1, the current angle is about 90.
Calculating the deviation (Z) of the actual absolute value of step | y2-y1| from the absolute value of current vector lock step | x2-x1|, namely: z | | | y2-y1| - | x2-x1 |.
And when the deviation Z is larger than the diagnostic threshold value by 10 degrees, the actual rotation angle step length of the calibration step does not accord with the given step length, and the abnormal counter of the rotor locking angle step length is increased by 1. When the anomaly counter is greater than the diagnostic threshold (TH 1-3), then the calibration fails.
And judging whether the current vector (Is _ x) Is the current vector (Is _0) of which the rotor Is locked at the zero-angle position. If yes, carrying out the subsequent steps; if not, the diagnosis is skipped.
After the current vector (Is _0) Is stabilized, i.e., when the time Is 900ms < t.ltoreq.1800 ms according to equation (4), the rotor position Is continuously read and the angular fluctuation (θ _ Rip) Is calculated.
When the angle fluctuation (θ _ Rip) is greater than the diagnostic threshold (TH2 ═ 0.5 °), then the physical sensor zero angle sample is discarded.
The rejected counter is incremented by 1 and when the rejected counter is greater than the diagnostic threshold (TH3 ═ 1), the sensor zero angle self-learning fails.
If when it is used
At the physical zero angle position, the sensor zero angle calibration is abnormal and the calibration data is discarded. The rejected counter is incremented by 1 and when the rejected counter is greater than the diagnostic threshold (TH4 ═ 1), the sensor zero angle calibration fails. If when it is used
Then, the zero angle of the sensor is calculated according to the formula (5)
The value is obtained.
When the number of the effective sensor zero angle calibration data is equal to 0, no data is calculated to obtain a final value, and the calibration fails; when the number of the effective sensor zero angle calibration data is equal to 1, the only self-learning data is the final value of the sensor zero angle calibration; and when the number of the effective sensor zero-angle calibration data is more than or equal to 2, sequencing the effective sensor zero-angle calibration data.
And subtracting the minimum value from the maximum value of the zero angle of the sensor to obtain the angle deviation. If the deviation is less than the diagnostic threshold (TH5 ═ 3 °), the final sensor zero angle is calculated according to equation (4)
If the deviation is larger than the diagnosis threshold (TH 5-3 deg.), the zero-angle calibration of the motor sensor fails.
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (9)
1. A method for calculating the zero angle of a rotor position sensor of a permanent magnet synchronous motor is characterized by comprising the following steps:
1) defining P physical zero angles of a permanent magnet synchronous motor rotor rotating for one circle, wherein each physical zero angle corresponds to a rotor position sensor zero angle, and P is a natural number; defining that the angle change of a permanent magnet synchronous motor is positive rotation from 0 degree to 360 degrees, the angle change of the motor is negative rotation from 360 degrees to 0 degrees, and P is a positive integer;
2) calculating the current vector setting of the positive rotation and the reverse rotation of the rotor at each physical zero-angle position of the permanent magnet synchronous motor;
the current vector modular length is an effective value of rated phase current of the motor, and each current vector is obtained by calculation through the following formula;
k Is the current change rate, t Is the current action time, Is _ x Is the current vector, and Irms Is the effective value of the rated phase current of the motor;
3) loading the forward rotation and reverse rotation current vectors in the step 2) through a permanent magnet synchronous motor to obtain the zero angle of each physical zero-angle position forward rotation rotor position sensor and the zero angle of each physical zero-angle position reverse rotation rotor position sensor;
4) measuring positive and negative rotation loads of the permanent magnet synchronous motor, and performing weighted calculation to eliminate zero-angle errors of a positive rotation rotor position sensor and a negative rotation rotor position sensor at each physical zero-angle position to obtain a zero angle of each physical zero-angle rotor position sensor;
wherein, the positive and negative rotation loads of the permanent magnet synchronous motor are respectively determined to be T1And T2Then the zero angle of the sensor can be calculated by equation (3):
2. A method for calibrating a zero angle of a rotor position sensor of a permanent magnet synchronous motor using the method for calculating a zero angle of a rotor position sensor of a permanent magnet synchronous motor according to claim 1, characterized in that: and if the actual motor rotor locking angle step length is not equal to the given step length, judging that the calibration is abnormal.
3. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 2, characterized in that: and if the calibration is abnormal, the count of the abnormal counter is increased by 1, and when the abnormal counter is greater than a first diagnosis threshold value, the zero-angle calibration failure of the rotor position sensor is judged.
4. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 3, characterized in that: when the rotor is locked at a physical zero angle, if the zero-angle fluctuation of the sampled rotor position sensor is greater than a second diagnosis threshold value, the zero-angle sampling fluctuation of the rotor position sensor is judged to be abnormal.
5. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 4, characterized in that: and if the zero-angle sampling fluctuation of the rotor position sensor is judged to be abnormal, the zero-angle sampling of the rotor position sensor at the current physical zero-angle position is abandoned, the abandon counter is added with 1, when the abandon counter is greater than a third diagnosis threshold value, the zero-angle calibration of the rotor position sensor fails, and if the zero-angle fluctuation of the sampled rotor position sensor is less than a second diagnosis threshold value, the angle sampling result of the physical rotor position sensor is recorded.
6. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 4, characterized in that: after all the current vectors of the positive rotation and the negative rotation of the rotor at all the physical zero-angle positions are completely output, if the current vectors are detected
And judging that the rotor position sensor at the current physical zero-angle position has abnormal zero-angle sampling, and discarding the sampling result.
7. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 6, characterized in that: and if the zero-angle sampling of the rotor position sensor at the current physical zero-angle position is abnormal, discarding the sampling result, adding 1 to the discard counter, and if the discard counter is greater than the fourth diagnosis threshold, failing to calibrate the zero angle of the rotor position sensor.
8. The method for calibrating the zero angle of a rotor position sensor of a permanent magnet synchronous motor according to any one of claims 5 to 7, characterized in that: if the discard counter is less than the fourth diagnostic threshold, then the rotor position sensor zero angle value for each physical zero angle position is calculated according to equation (3)
Judging whether the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, and if the zero angles of the rotor position sensors at all physical zero angle positions are all abandoned, the calibration of the zero angles of the rotor position sensors fails;
if the rotor position sensors at least two effective physical zero-angle positions have zero angles, sorting the zero angles of all the rotor position sensors at each physical zero angle, judging whether the maximum value and the minimum value of the zero angles of the rotor position sensors are greater than a fifth diagnosis threshold value, if so, failing to calibrate, and if not, successfully calibrating;
if only one rotor position sensor zero angle at an effective physical zero angle position exists, the rotor position sensor zero angle only stored is taken as the rotor position sensor zero angle of the permanent magnet synchronous motor, and the calibration is successful.
9. The method for calibrating the zero angle of the rotor position sensor of the permanent magnet synchronous motor according to claim 8, characterized in that: when the rotor position sensor has zero angles of at least two effective physical zero angle positions, if the calibration is successful, the zero angle of the rotor position sensor of the permanent magnet synchronous motor is calculated and obtained
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| CN109951130B (en) * | 2019-03-29 | 2020-07-31 | 四川虹美智能科技有限公司 | Control method and control device for positive and negative rotation of motor |
| CN113865516B (en) * | 2021-08-17 | 2023-10-27 | 中国北方车辆研究所 | Method for measuring load pointing angle of vehicle-mounted turntable |
| CN114499290A (en) * | 2021-12-22 | 2022-05-13 | 上海微创医疗机器人（集团）股份有限公司 | Position deviation calibration method, motor driving method, system and equipment |
| CN114427830A (en) * | 2021-12-29 | 2022-05-03 | 中国航天空气动力技术研究院 | Wide-temperature-range high-precision servo positioning system and positioning method |
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