CN109327174B - Automatic zero position identification method for rotary transformer of permanent magnet synchronous motor - Google Patents
Automatic zero position identification method for rotary transformer of permanent magnet synchronous motor Download PDFInfo
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- CN109327174B CN109327174B CN201811350836.9A CN201811350836A CN109327174B CN 109327174 B CN109327174 B CN 109327174B CN 201811350836 A CN201811350836 A CN 201811350836A CN 109327174 B CN109327174 B CN 109327174B
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention provides a zero position automatic identification method of a permanent magnet synchronous motor rotary transformer, which judges whether torque is generated by given direct-axis current or not according to whether free rotation angular acceleration of a no-load motor under the given zero current and the given direct-axis current is equal or not, so that whether the rotary zero position is accurate or not is identified. The upper computer issues an instruction to the motor controller through the CAN device, the motor controller inverts direct current of the battery into three-phase alternating current to supply to the motor, an output shaft of the motor is unloaded, the motor controller collects an internal rotation angle theta of the motor in real time, vector control converts a three-phase static coordinate system into a two-phase static coordinate system through 3/2 transformation, and then converts the two-phase static coordinate system into a two-phase rotation coordinate system through rotation transformation, so that decoupling of excitation and torque is achieved.
Description
Technical Field
The invention relates to the technical field of resolver zero position identification, in particular to a method for automatically identifying a zero position of a resolver of a permanent magnet synchronous motor.
Background
A resolver (hereinafter, referred to as "resolver") is a key sensor for measuring a rotor position in a motor for a new energy vehicle, and a resolver zero position needs to be identified because a resolver output angle is not an actual angle of a rotor due to design angle deviation and installation error. The existing identification method needs a motor to drag a rack, and the identification operation is complex.
Disclosure of Invention
Aiming at the problems, the invention provides a zero position automatic identification method of a permanent magnet synchronous motor rotary transformer, which judges whether the torque is generated by only given direct-axis current according to whether the free rotation angular acceleration of a no-load motor under the given zero current and the given direct-axis current is equal or not, thereby identifying whether the rotary zero position is accurate or not, a user only needs to send a rotary zero position automatic identification instruction through an upper computer, a motor controller can automatically complete the identification of the rotary zero position, and the method is convenient and quick.
The method for automatically identifying the zero position of the rotary transformer of the permanent magnet synchronous motor is characterized by comprising the following steps of: the upper computer issues an instruction to the motor controller through the CAN equipment, the motor controller inverts the direct current of the battery into three-phase alternating current to supply to the motor, the output shaft of the motor is unloaded, the motor controller acquires the internal rotation change angle theta of the motor in real time, vector control converts a three-phase static coordinate system into a two-phase static coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating coordinate system through rotation transformation, so that the decoupling of excitation and torque is realized, the rotation angular acceleration a1 of the unloaded motor under the given zero current condition is calculated, the rotation angular acceleration a1 is compared with the free rotation angular acceleration a2 under the given straight shaft current, if a1 is equal to a2, the given straight shaft current is judged to be not generating torque, so that the rotation change zero position is identified, if a1 is not equal to a2, the electric angle range is adjusted in a stepping mode, the calculation is repeated until the corresponding electric angle value is obtained, so that a1 is equal to a2, thereby obtaining a zero position of the resolver.
It is further characterized in that:
vector control converts a three-phase static abc coordinate system into a two-phase static alpha beta coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating dq coordinate system through rotation transformation, so that decoupling of excitation and torque is realized;
the motor torque equation is as follows:
Te＝p[Φfiq+(Ld-Lq)idiq]
wherein idIs a direct axis current; if the rotation zero position is accurate, the estimated dq coordinate system is coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, the motor outputs torque Te＝0；
If the rotation zero position is inaccurate, the estimated dq coordinate system is not coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, idWill produce a projection on the true q-axis such that the true iqIs not zero, resulting in a motor output torque Te≠0。
It is further characterized in that:
the steps of the automatic identification of the rotary zero position are as follows:
and a, introducing direct current to obtain the initial position of the rotary change zero position. Given i in the stator coordinate system of the machineα0.5 times rated current, iβ0. Sucking the motor rotor to a zero position, and measuring the rotational position theta at the moment as an initial position of the rotational zero position;
b, calculating the angular acceleration a1 of the motor speed reduced from the rated speed to 0.8 times of the rated speed under the no-load zero current. The calculation method is that i is given firstd＝0、iqRated power 0.5 timesAnd (4) driving the unloaded motor to 1.1 times of the rated rotating speed, and then setting zero current. The motor starts to decelerate under the frictional resistance, the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, and the angular acceleration a1 can be calculated;
c calculating the no-load, idRated current iqUnder the condition of 0, the rotating speed of the motor is reduced from the rated rotating speed to the angular acceleration a2 which is 0.8 times of the rated rotating speed. The calculation method is that i is given firstd＝0、iqDriving the no-load motor to 1.1 times rated speed under 0.5 times rated current, and then giving idRated current iq0. The motor starts to decelerate, and the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, so that the angular acceleration a2 can be calculated;
d, judging whether a1 is equal to a2, if a1 is equal to a2, obtaining a rotation zero position, and finishing the identification;
e if a1 is not equal to a2, adjusting the value of the rotary zero bit; and c, enumerating by taking 0.5-degree electrical angle as step length within the range of positive and negative 30-degree electrical angles of the initial value of the rotational zero position identified in the step 1, and repeating the step c.
After the invention is adopted, whether the torque is generated only by the given direct-axis current is judged according to whether the free rotation angular acceleration of the no-load motor under the given zero current and the given direct-axis current is equal or not, so that whether the rotation zero position is accurate or not is identified, a motor dragging rack is not needed, and the detected motor can be automatically identified when no-load. A user only needs to send a rotation zero position automatic identification instruction through an upper computer, and the motor controller can automatically complete the identification of the rotation zero position, so that the rotation zero position identification is convenient and fast.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous motor control of the present invention;
FIG. 2 is a schematic diagram of the coordinate variation of the present invention;
FIG. 3 is a flow chart of the present invention for automatic identification of a rotationally-changed zero position.
Detailed Description
The method for automatically identifying the zero position of the permanent magnet synchronous motor rotary transformer is shown in the figures 1-3: the upper computer issues an instruction to the motor controller through the CAN equipment, the motor controller inverts the direct current of the battery into three-phase alternating current to supply to the motor, the output shaft of the motor is unloaded, the motor controller acquires the internal rotation change angle theta of the motor in real time, vector control converts a three-phase static coordinate system into a two-phase static coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating coordinate system through rotation transformation, so that the decoupling of excitation and torque is realized, the rotation angular acceleration a1 of the unloaded motor under the given zero current condition is calculated, the rotation angular acceleration a1 is compared with the free rotation angular acceleration a2 under the given straight shaft current, if a1 is equal to a2, the given straight shaft current is judged to be not generating torque, so that the rotation change zero position is identified, if a1 is not equal to a2, the electric angle range is adjusted in a stepping mode, the calculation is repeated until the corresponding electric angle value is obtained, so that a1 is equal to a2, thereby obtaining a zero position of the resolver.
The specific implementation mode is as follows: vector control converts a three-phase static abc coordinate system into a two-phase static alpha beta coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating dq coordinate system through rotation transformation, so that decoupling of excitation and torque is realized;
the motor torque equation is as follows:
Te＝p[Φfiq+(Ld-Lq)idiq]
wherein idIs a direct axis current; if the rotation zero position is accurate, the estimated dq coordinate system is coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, the motor outputs torque Te＝0；
If the rotation zero position is inaccurate, the estimated dq coordinate system is not coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, idWill produce a projection on the true q-axis such that the true iqIs not zero, resulting in a motor output torque Te≠0。
The flow chart of the automatic identification of the rotation zero position is shown in fig. 3, and the steps are as follows:
a, introducing direct current to obtain an initial position of a rotary-change zero position, and giving i in a motor stator coordinate systemα0.5 times rated current, iβ0; the motor rotor is attracted to the zero position, and the current is measuredThe rotary position theta is the initial position of the rotary zero position;
b, calculating the angular acceleration a1 of the motor speed reduced to 0.8 times of the rated speed from the rated speed under the no-load zero current; the calculation method is that i is given firstd＝0、iqThe idling motor is driven to 1.1 times the rated speed at 0.5 times the rated current, and then zero current is given. The motor starts to decelerate under the frictional resistance, the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, and the angular acceleration a1 can be calculated;
c calculating the no-load, idRated current iqUnder the working condition of 0, the rotating speed of the motor is reduced from the rated rotating speed to the angular acceleration a2 which is 0.8 times of the rated rotating speed; the calculation method is that i is given firstd＝0、iqDriving the no-load motor to 1.1 times rated speed under 0.5 times rated current, and then giving idRated current iq0. The motor starts to decelerate, and the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, so that the angular acceleration a2 can be calculated;
d, judging whether a1 is equal to a2, if a1 is equal to a2, obtaining a rotation zero position, and finishing the identification;
e if a1 is not equal to a2, adjusting the value of the rotary zero bit; and c, enumerating by taking 0.5-degree electrical angle as step length within the range of positive and negative 30-degree electrical angles of the initial value of the rotational zero position identified in the step 1, and repeating the step c.
According to whether the free rotation angular acceleration of the no-load motor under the given zero current and the given direct-axis current is equal or not, whether the given direct-axis current generates the torque or not is judged, and therefore whether the rotation zero position is accurate or not is identified. A user only needs to send a rotation zero position automatic identification instruction through an upper computer, and the motor controller can automatically complete the identification of the rotation zero position, so that the rotation zero position identification is convenient and fast.
The detailed description of the embodiments of the present invention is provided above, but the present invention is only the preferred embodiments of the present invention, and should not be considered as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the invention as claimed should be covered by this patent.
Claims (1)
1. The method for automatically identifying the zero position of the rotary transformer of the permanent magnet synchronous motor is characterized by comprising the following steps of: the upper computer issues an instruction to the motor controller through the CAN equipment, the motor controller inverts the direct current of the battery into three-phase alternating current to supply to the motor, the output shaft of the motor is unloaded, the motor controller acquires the internal rotation change angle theta of the motor in real time, vector control converts a three-phase static coordinate system into a two-phase static coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating coordinate system through rotation transformation, so that the decoupling of excitation and torque is realized, the rotation angular acceleration a1 of the unloaded motor under the given zero current condition is calculated, the rotation angular acceleration a1 is compared with the free rotation angular acceleration a2 under the given straight shaft current, if a1 is equal to a2, the given straight shaft current is judged to be not generating torque, so that the rotation change zero position is identified, if a1 is not equal to a2, the electric angle range is adjusted in a stepping mode, the calculation is repeated until the corresponding electric angle value is obtained, so that a1 is equal to a2, thereby obtaining a zero position of the resolver;
vector control converts a three-phase static abc coordinate system into a two-phase static alpha beta coordinate system through 3/2 transformation, and converts the two-phase static coordinate system into a two-phase rotating dq coordinate system through rotation transformation, so that decoupling of excitation and torque is realized;
the motor torque equation is as follows,
Te＝p[Φfiq+(Ld-Lq)idiq]
wherein idIs a direct axis current; if the rotation zero position is accurate, the estimated dq coordinate system is coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, the motor outputs torque Te＝0；
If the rotation zero position is inaccurate, the estimated dq coordinate system is not coincident with the actual dq axis coordinate system, idRated current and iqWhen equal to 0, idWill produce a projection on the true q-axis such that the true iqIs not zero, resulting in a motor output torque Te≠0；
The steps of the automatic identification of the rotation zero position are as follows,
a, introducing direct current to obtain an initial position of a rotary-change zero position, and giving i in a motor stator coordinate systemα0.5 times rated current, iβ0; sucking the motor rotor to a zero position, and measuring the rotational position theta at the moment as an initial position of the rotational zero position;
b, calculating the angular acceleration a1 of the motor speed reduced to 0.8 times of the rated speed from the rated speed under the no-load zero current; the calculation method is that i is given firstd＝0、iqDriving the no-load motor to 1.1 times of rated rotation speed and then giving zero current as 0.5 times of rated current; the motor starts to decelerate under the frictional resistance, the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, and the angular acceleration a1 can be calculated;
c calculating the no-load, idRated current iqUnder the working condition of 0, the rotating speed of the motor is reduced from the rated rotating speed to the angular acceleration a2 which is 0.8 times of the rated rotating speed; the calculation method is that i is given firstd＝0、iqDriving the no-load motor to 1.1 times rated speed under 0.5 times rated current, and then giving idRated current iq0; the motor starts to decelerate, and the time for reducing the rotating speed from the rated rotating speed to 0.8 time of the rated rotating speed is recorded, so that the angular acceleration a2 can be calculated;
d, judging whether a1 is equal to a2, if a1 is equal to a2, obtaining a rotation zero position, and finishing the identification;
e if a1 is not equal to a2, adjusting the value of the rotary zero bit; and c, enumerating by taking 0.5-degree electrical angle as step length within the range of positive and negative 30-degree electrical angles of the initial value of the rotational zero position identified in the step 1, and repeating the step c.
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| CN110601610B (en) * | 2019-09-20 | 2021-05-18 | 潍柴动力股份有限公司 | Method and device for identifying zero offset of permanent magnet synchronous motor and rotary transformer |
| CN112665531B (en) * | 2020-11-30 | 2023-07-14 | 天津津航技术物理研究所 | Multi-pair-level rotation-transformation coordinate transformation angle solving method |
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| CN102818952B (en) * | 2012-07-31 | 2014-11-05 | 西北工业大学 | Method and device for automatically detecting and compensating zero position deviation of rotary transformer |
| CN104065319B (en) * | 2013-12-30 | 2018-12-14 | 上海大郡动力控制技术有限公司 | The scaling method of permanent magnet synchronous motor zero-bit initial angle |
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