CN109239635B - Permanent magnet synchronous motor rotary transformer zero calibration system and calibration method - Google Patents

Permanent magnet synchronous motor rotary transformer zero calibration system and calibration method Download PDF

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Publication number
CN109239635B
CN109239635B CN201811159302.8A CN201811159302A CN109239635B CN 109239635 B CN109239635 B CN 109239635B CN 201811159302 A CN201811159302 A CN 201811159302A CN 109239635 B CN109239635 B CN 109239635B
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China
Prior art keywords
motor
zero
value
rotation
electromotive force
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CN201811159302.8A
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Chinese (zh)
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CN109239635A (en
Inventor
刘蕾
方质彬
班建安
张茨
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合肥巨一动力系统有限公司
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Publication of CN109239635A publication Critical patent/CN109239635A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the preceding groups
    • G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references

Abstract

The invention discloses a calibration system and a calibration method for a rotary transformer zero position of a permanent magnet synchronous motor, wherein the system comprises a high-voltage direct current power supply, a motor controller, a relay and the permanent magnet synchronous motor which are sequentially connected, and a three-phase counter electromotive force sampling circuit, a voltage comparison circuit, a rotary transformer value latching mode selection circuit and a relay control circuit are respectively designed on a control panel of the motor controller; the motor controller is also connected with a computer upper computer through a CAN line. According to the scheme, by additionally modifying a control panel circuit and a control program of the motor controller, one-key calibration of the rotary zero position of the motor is realized, an additional circuit and a dynamometer are not required for dragging, a complex rack installation process is omitted, the operation is simple, and the calibration time is short; the method calculates the rotation change zero position by forward rotation and reverse rotation and a filtering averaging method under the condition of setting the same acceleration torque and limited rotating speed, the algorithm is more reasonable and higher in precision, and the problem of circuit delay is not required to be considered.

Description

Permanent magnet synchronous motor rotary transformer zero calibration system and calibration method

Technical Field

The invention relates to a permanent magnet synchronous motor, in particular to a system and a method for calibrating a rotary transformer zero position of a permanent magnet synchronous motor.

Background

The permanent magnet synchronous motor is widely applied to an electric automobile driving system, the speed detection and control of the permanent magnet synchronous motor are inseparable from the position of a motor rotor, and the position detection of the motor rotor is usually realized by adopting a rotary transformer and a corresponding decoding circuit at present. The detection precision of the motor rotary zero can directly influence the working performance, efficiency and other indexes of the permanent magnet synchronous motor. The conventional rotation-change zero-position detection method is generally obtained by adopting a rack calibration mode or a mode of utilizing a dynamometer to drag a motor to collect back electromotive force and the like.

In the prior art, a motor and a corresponding motor controller are required to be installed on a test bench when a rotary transformer zero position is acquired by a bench calibration mode, then an experimenter operates the bench and a related control upper computer, the rotary transformer zero position is required to be acquired by continuous debugging, the operation is complex and time-consuming, and the precision is required to be further verified; the mode that utilizes the dynamometer to drag the motor and gather back electromotive force also needs to install the motor in dynamometer one side, drags the motor through the dynamometer and gathers back electromotive force to certain rotational speed, utilizes back electromotive force zero crossing point angle and the comparison of changeing reading angle and obtains, and this kind of mode relies on the dynamometer to drag on the one hand, needs special device or circuit to realize in addition, and whole operation process is also more time-consuming.

Disclosure of Invention

The invention aims to: the calibration method is simple and reliable, only needs to provide corresponding direct current for a motor controller, a three-phase counter electromotive force sampling circuit, a voltage comparison circuit, a rotation value latching mode selection circuit and a relay control circuit are added on a control panel of the existing motor controller, corresponding control programs are modified, a relay control signal line is connected into the control panel of the motor controller, one-key calibration is controlled by an upper computer, a rotation zero position test result after calibration is directly displayed on the upper computer, the whole calibration time is greatly shortened, and the calibration precision is further improved.

The technical scheme of the invention is as follows:

a system for calibrating a rotary transformer zero position of a permanent magnet synchronous motor comprises a high-voltage direct-current power supply, a motor controller, a relay and the permanent magnet synchronous motor which are sequentially connected, wherein a control board of the motor controller is also respectively provided with a three-phase back electromotive force sampling circuit, a voltage comparison circuit, a rotary transformer value latching mode selection circuit and a relay control circuit;

the three-phase back electromotive force sampling circuit is connected with a three-phase input line of the permanent magnet synchronous motor through a three-phase back electromotive force sampling signal line, and the output end of the sampling circuit is connected with a voltage comparison circuit of the motor controller;

the motor controller is connected with the permanent magnet synchronous motor through a rotary transformer signal wire;

the relay control circuit is connected with the relay through a relay control signal line.

Preferably, the input of the motor controller is respectively connected with the positive electrode and the negative electrode of the high-voltage direct-current power supply, the three-phase output of the motor controller is connected with the three-phase input of the relay, and the three-phase output of the relay is connected with the three-phase input line of the motor.

Preferably, the relay defaults to a closed state after the system is powered on, and the rotation value latching mode selection circuit defaults to a microprocessor control state.

Preferably, the motor controller is further connected with a computer upper computer through a CAN line.

A permanent magnet synchronous motor rotary transformer zero position calibration method is characterized in that after system connection is completed, a high-voltage direct-current power supply is used for electrifying a system, an upper computer is clicked to start calibration buttons for calibration, and the whole calibration process is divided into the following stages:

the method comprises the following steps that firstly, a system carries out rotary-change self-learning, and a rough rotary-change zero-bit value of a motor is obtained by periodically giving alpha and beta voltages within set time;

in the second stage, a smaller fixed torque value of a given system enables the motor to be accelerated to a limited rotating speed in a forward direction in a torque control mode;

in the third stage, the system gives 0 torque after the motor reaches the limited rotating speed;

in the fourth stage, PWM is closed, the motor is in an idle state at the moment, the motor gradually decelerates due to resistance such as friction wind resistance and the like, a rotation value latch selection signal is switched to back electromotive force falling zero-crossing point latch, three-phase back electromotive force is collected in real time through a control panel three-phase back electromotive force sampling circuit, the sampling circuit adopts a transformer and resistance voltage division mode, a falling edge is generated by a zero-crossing voltage comparison circuit when the back electromotive force falls zero-crossing to serve as a latch signal of a rotation decoding chip, and three back electromotive force falling zero-crossing point rotation values are respectively obtained; converting the angle and the rotary variable value of the three-phase counter electromotive force falling zero-crossing point rotary variable value according to the forward phase difference to obtain a three-phase corresponding rotary variable zero value, and filtering to obtain a current rotary variable zero value;

in the fifth stage, when the motor is decelerated to a stop state, the rotation value latching selection signal is switched to a microprocessor control state;

the sixth stage, the motor rotation direction is set to reverse direction, the system gives the same torque as the forward direction acceleration to make the motor accelerate reversely to the limited rotation speed in the torque control mode;

in the seventh stage, the system gives 0 torque after the motor reaches the limited rotating speed;

an eighth stage, obtaining a rotation zero value when the motor rotates reversely in the same way as the fourth stage;

and in the ninth stage, the relay is disconnected, the rotary zero bit value obtained by positive and negative rotation is subjected to arithmetic mean to eliminate the influence of circuit delay on the test result, and finally the mean value is used as the rotary zero bit value of the motor and is sent to an upper computer through a CAN line to be displayed.

The invention has the advantages that:

1. according to the scheme, by additionally modifying a control panel circuit and a control program of the motor controller, one-key calibration of the rotary zero position of the motor is realized, an additional circuit and a dynamometer are not required for dragging, a complex rack installation process is omitted, the operation is simple, and the calibration time is short;

2. the method calculates the rotation change zero position by forward rotation and reverse rotation and a filtering averaging method under the condition of setting the same acceleration torque and limited rotating speed, the algorithm is more reasonable and has higher precision, and the problem of circuit delay is not required to be considered;

3. the scheme can replace the existing motor rotation change zero position calibration method by the simplicity, the rapidity and the reliability of the operation, and is applied to the calibration of the rotation change zero positions of the motors in batches.

Drawings

The invention is further described with reference to the following figures and examples:

FIG. 1 is a schematic diagram of a permanent magnet synchronous motor resolver zero calibration system according to the present invention;

fig. 2 is a flowchart of the method for calibrating the rotational zero position of the permanent magnet synchronous motor according to the present invention.

Detailed Description

As shown in fig. 1, the system for calibrating a resolver zero position of a permanent magnet synchronous motor of the present invention comprises a high voltage direct current power supply, a motor controller, a relay and a permanent magnet synchronous motor which are connected in sequence, wherein a control board of the motor controller is further respectively provided with a three-phase back electromotive force sampling circuit, a voltage comparison circuit, a resolver latch mode selection circuit and a relay control circuit; the motor controller input is respectively connected with the positive electrode and the negative electrode of the high-voltage direct-current power supply and provides 12V low-voltage power supply, the three-phase output of the motor controller is connected with the three-phase input of the relay, and the three-phase output of the relay is connected with the three-phase input line of the motor.

The three-phase back electromotive force sampling circuit is connected with a three-phase input line of the permanent magnet synchronous motor through a three-phase back electromotive force sampling signal line, and the output end of the sampling circuit is connected with a voltage comparison circuit of the motor controller; the motor controller is connected with the permanent magnet synchronous motor through a rotary transformer signal wire; the relay control circuit is connected with the relay through a relay control signal line. The relay defaults to a closed state after the system is powered on, and the rotation value latching mode selection circuit defaults to a microprocessor control state. The motor controller is also connected with a computer upper computer through a CAN line.

As shown in fig. 2, in the method for calibrating the rotational zero position of the permanent magnet synchronous motor, after the system connection is completed, the system is powered on by the high-voltage direct-current power supply, and the calibration button is started by clicking the upper computer, so that the whole calibration process is divided into the following stages:

the method comprises the following steps that firstly, a system carries out rotary-change self-learning, and a rough rotary-change zero-bit value of a motor is obtained by periodically giving alpha and beta voltages within set time;

in the second stage, a smaller fixed torque value of a given system enables the motor to be accelerated to a limited rotating speed in a forward direction in a torque control mode;

in the third stage, the system gives 0 torque after the motor reaches the limited rotating speed;

in the fourth stage, PWM is closed, the motor is in an idle state at the moment, the motor gradually decelerates due to resistance such as friction wind resistance and the like, a rotation value latch selection signal is switched to back electromotive force falling zero-crossing point latch, three-phase back electromotive force is collected in real time through a control panel three-phase back electromotive force sampling circuit, the sampling circuit adopts a transformer and resistance voltage division mode, a falling edge is generated by a zero-crossing voltage comparison circuit when the back electromotive force falls zero-crossing to serve as a latch signal of a rotation decoding chip, and three back electromotive force falling zero-crossing point rotation values are respectively obtained; converting the angle and the rotary variable value of the three-phase counter electromotive force falling zero-crossing point rotary variable value according to the forward phase difference to obtain a three-phase corresponding rotary variable zero value, and filtering to obtain a current rotary variable zero value;

in the fifth stage, when the motor is decelerated to a stop state, the rotation value latching selection signal is switched to a microprocessor control state;

the sixth stage, the motor rotation direction is set to reverse direction, the system gives the same torque as the forward direction acceleration to make the motor accelerate reversely to the limited rotation speed in the torque control mode;

in the seventh stage, the system gives 0 torque after the motor reaches the limited rotating speed;

an eighth stage, obtaining a rotation zero value when the motor rotates reversely in the same way as the fourth stage;

and in the ninth stage, the relay is disconnected, the rotary zero bit value obtained by positive and negative rotation is subjected to arithmetic mean to eliminate the influence of circuit delay on the test result, and finally the mean value is used as the rotary zero bit value of the motor and is sent to an upper computer through a CAN line to be displayed.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All modifications made according to the spirit of the main technical scheme of the invention are covered in the protection scope of the invention.

Claims (5)

1. The utility model provides a PMSM rotary transformer zero-position calibration system, includes high voltage direct current power, machine controller, relay and the PMSM who connects gradually, its characterized in that: a three-phase counter electromotive force sampling circuit, a voltage comparison circuit, a rotary variable value latching mode selection circuit and a relay control circuit are respectively designed on a control panel of the motor controller;
the three-phase back electromotive force sampling circuit is connected with a three-phase input line of the permanent magnet synchronous motor through a three-phase back electromotive force sampling signal line, and the output end of the sampling circuit is connected with a voltage comparison circuit of the motor controller;
the motor controller is connected with the permanent magnet synchronous motor through a rotary transformer signal wire;
the relay control circuit is connected with the relay through a relay control signal line;
the motor controller firstly controls the motor to carry out rotation self-learning to obtain a rough rotation zero-bit value of the motor, a smaller fixed torque value of a given system enables the motor to be accelerated to a limited rotating speed in a forward direction under a torque control mode, the system gives 0 torque and closes PWM after the motor reaches the limited rotating speed, a rotation value latch selection signal is switched to back electromotive force falling zero-crossing point latch, three-phase back electromotive force is collected in real time through a control panel three-phase back electromotive force sampling circuit, the sampling circuit adopts a transformer and resistance voltage division mode, a voltage comparison circuit generates a falling edge as a latch signal of a rotation decoding chip when the back electromotive force falls zero-crossing, and three opposite electromotive force falling zero-crossing point rotation values are respectively obtained; converting the angle and the rotary variable value of the three-phase counter electromotive force falling zero-crossing point rotary variable value according to the forward phase difference to obtain a three-phase corresponding rotary variable zero value, and filtering to obtain a current rotary variable zero value; when the motor is decelerated to a stop state, the rotation value latching selection signal is switched to a microprocessor control state.
2. The system for calibrating the rotational zero position of the permanent magnet synchronous motor according to claim 1, wherein: the motor controller input links to each other with the positive negative pole of high voltage direct current power respectively, and motor controller three-phase output links to each other with relay three-phase input, and relay three-phase output links to each other with the motor three-phase input line.
3. The system for calibrating the rotational zero position of the permanent magnet synchronous motor according to claim 2, wherein: the relay defaults to a closed state after the system is powered on, and the rotation value latching mode selection circuit defaults to a microprocessor control state.
4. The system for calibrating the rotational zero position of the permanent magnet synchronous motor according to claim 3, wherein: the motor controller is also connected with a computer upper computer through a CAN line.
5. A permanent magnet synchronous motor rotary transformer zero position calibration method adopts the permanent magnet synchronous motor rotary transformer zero position calibration system of claim 1, and is characterized in that after system connection is completed, a high-voltage direct-current power supply is used for electrifying the system, an upper computer is clicked to start calibration, and the whole calibration process is divided into the following stages:
the method comprises the following steps that firstly, a system carries out rotary-change self-learning, and a rough rotary-change zero-bit value of a motor is obtained by periodically giving alpha and beta voltages within set time;
in the second stage, a smaller fixed torque value of a given system enables the motor to be accelerated to a limited rotating speed in a forward direction in a torque control mode;
in the third stage, the system gives 0 torque after the motor reaches the limited rotating speed;
in the fourth stage, PWM is closed, the motor is in an idle state at the moment, the motor gradually decelerates due to resistance such as friction wind resistance and the like, a rotation value latch selection signal is switched to back electromotive force falling zero-crossing point latch, three-phase back electromotive force is collected in real time through a control panel three-phase back electromotive force sampling circuit, the sampling circuit adopts a transformer and resistance voltage division mode, a voltage comparison circuit generates a falling edge when the back electromotive force falls zero-crossing to serve as a latch signal of a rotation decoding chip, and three back electromotive force falling zero-crossing rotation values are respectively obtained; converting the angle and the rotary variable value of the three-phase counter electromotive force falling zero-crossing point rotary variable value according to the forward phase difference to obtain a three-phase corresponding rotary variable zero value, and filtering to obtain a current rotary variable zero value;
in the fifth stage, when the motor is decelerated to a stop state, the rotation value latching selection signal is switched to a microprocessor control state;
the sixth stage, the motor rotation direction is set to reverse direction, the system gives the same torque as the forward direction acceleration to make the motor accelerate reversely to the limited rotation speed in the torque control mode;
in the seventh stage, the system gives 0 torque after the motor reaches the limited rotating speed;
an eighth stage, obtaining a rotation zero value when the motor rotates reversely in the same way as the fourth stage;
and in the ninth stage, the relay is disconnected, the rotary zero bit value obtained by positive and negative rotation is subjected to arithmetic mean to eliminate the influence of circuit delay on the test result, and finally the mean value is used as the rotary zero bit value of the motor and is sent to an upper computer through a CAN line to be displayed.
CN201811159302.8A 2018-09-30 2018-09-30 Permanent magnet synchronous motor rotary transformer zero calibration system and calibration method CN109239635B (en)

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CN109995297A (en) * 2019-05-06 2019-07-09 一巨自动化装备（上海）有限公司 A kind of initial rotation varied angle scaling method for permanent magnet synchronous electric electromechanical bridge assembly
CN110266219A (en) * 2019-06-25 2019-09-20 合肥巨一动力系统有限公司 A kind of permanent magnet synchronous motor rotation change Zero positioning circuit

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US5665897A (en) * 1996-08-09 1997-09-09 Delco Electronics Corporation Method of calibrating and zeroing stepper motor gauges
CN201307842Y (en) * 2008-09-27 2009-09-09 潘亚君 Opposing electromotive force zero crossing detection circuit of sensorless and brushless DC motor
CN101615825B (en) * 2009-05-18 2012-08-22 奇瑞汽车股份有限公司 Calibration and zero adjustment system of rotating transformer of permanent magnet synchronous motor and operation method thereof
CN102545761B (en) * 2010-12-30 2015-06-24 上海大郡动力控制技术有限公司 Automatic calibrating device for initial zero-position angle of permanent magnet synchronous motor and using method of automatic calibrating device
CN107404272B (en) * 2016-05-16 2019-08-23 广州汽车集团股份有限公司 Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system
CN108196213A (en) * 2018-02-02 2018-06-22 中国第汽车股份有限公司 Zero-bit angle test device, the method and system of a kind of rotary transformer

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