CN109510542A - A kind of back-emf zero offset angle scaling method based on Intelligent brake system - Google Patents
A kind of back-emf zero offset angle scaling method based on Intelligent brake system Download PDFInfo
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- CN109510542A CN109510542A CN201811534782.1A CN201811534782A CN109510542A CN 109510542 A CN109510542 A CN 109510542A CN 201811534782 A CN201811534782 A CN 201811534782A CN 109510542 A CN109510542 A CN 109510542A
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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
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Abstract
The present invention relates to a kind of back-emf zero offset angle scaling method based on Intelligent brake system, the following steps are included: obtaining current motor position angle by the relative position of reluctive transducer detection and machine shaft end magnet steel under the FOC control strategy using permanent magnet synchronous motor；Using three-phase back-emf signal of the ECU detection motor under high-speed condition, the angle of the rotor axis of magnet with the A phase axis of magnet is obtained using three-phase back-emf signal；The motor position angle that reluctive transducer detects is compared with the angle that three opposite potentials obtain, obtains the offset angle of respective sensor when electrical angle zero-bit.Present invention ensure that motor is accurately and efficiently run in brake system.
Description
Technical field
The present invention relates to intelligent braking technical fields, more particularly to a kind of back-emf zero-bit based on Intelligent brake system
Offset angle scaling method.
Background technique
In Intelligent brake system, needs to be changed according to the stroke of brake pedal, accurately and rapidly realize brake function.
The general FOC control strategy for using permanent magnet synchronous motor makes stator three the basic principle is that applying voltage to stator three-phase coil
The magnetomotive force Advancing Rotor magnetomotive force certain angle of phase current synthesis, to generate turning moment.It therefore, can be according to installation phase
The position sensor MPS answered, relative angle of the real-time detection rotor relative to stator, it is assumed that the rotor axis of magnet is fixed relative to three-phase
The angle of the coordinate system A phase axis of magnet is the position angle of rotor.The uncertainty of magnetizing direction, passes when due to magnet steel installation
The angle that sensor MPS is resolved is also just uncertain, it is therefore desirable to be demarcated to the angle offset of motor, make motor in brake system
It can accurately realize brake function.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of back-emf zero offset angle based on Intelligent brake system
Scaling method, it is ensured that motor is accurately and efficiently run in brake system.
The technical solution adopted by the present invention to solve the technical problems is: providing a kind of anti-electricity based on Intelligent brake system
Gesture zero offset angle scaling method, comprising the following steps:
(1) under the FOC control strategy using permanent magnet synchronous motor, pass through reluctive transducer detection and machine shaft end
The relative position of magnet steel obtains current motor position angle；
(2) the three-phase back-emf signal using ECU detection motor under high-speed condition, is obtained using three-phase back-emf signal
The angle of the rotor axis of magnet and the A phase axis of magnet；
(3) the motor position angle that reluctive transducer detects is compared with the angle that three opposite potentials obtain, is obtained
The offset angle of respective sensor when to electrical angle zero-bit.
Current motor position angle passes through in the step (1)Wherein, MPSsinFor magnetic resistance
The Sin signal value of formula sensor；MPScosFor the Cos signal value of reluctive transducer.
Also the testing result of reluctive transducer is normalized in the step (1), specifically:
MPSnormalize=(MPSsample-MPSoffset)/MPSGain, wherein MPSsampleFor reluctive transducer sampled signal values,
MPSoffsetFor the Sin/Cos signal bias of reluctive transducer, MPSGainIncrease for the Sin/Cos signal of reluctive transducer
Benefit value.
The rotor axis of magnet and the angle of the A phase axis of magnet pass through in the step (2)Its
In, UAB=A*sin θ, UBC=A*sin (θ -120 °), θ are the angle of the middle rotor axis of magnet and the A phase axis of magnet, and A is three opposite electricity
The voltage magnitude of gesture signal.
The offset angle of respective sensor passes through Angle when electrical angle zero-bit in the step (3)offset+ 150 ° of-n* of=θ
Anglemps, wherein θ is the angle of the middle rotor axis of magnet and the A phase axis of magnet, AnglempsFor motor position angle, n is reluctance type
Multiple proportion between the sensor motor position angle measured and electrical angle.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the offset angle fluctuation that the ECU acquisition Based on Back-EMF Method that the present invention uses obtains motor angle zero-bit is small, easy to operate, efficient；
The generation of corresponding back-emf does not need external motor dragging but by acquiring after ECU control motor rotation.The present invention improves motor
Zero offset footmark fixed accuracy and rapidity, efficiency with higher, is intelligent braking system in the actual operation process
The basis that system accurately executes.
Detailed description of the invention
Fig. 1 is motor bench schematic diagram；
Fig. 2 is the positional diagram of the rotor axis of magnet with A phase；
Fig. 3 is AB line induced electromotive force schematic diagram；
Fig. 4 is MPS signal normalization flow chart；
Fig. 5 is MPS signal decoding process figure；
Fig. 6 is back-emf zero offset angle demarcation flow figure.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of back-emf zero offset angle scaling method based on Intelligent brake system, packet
Include following steps: under the policy condition using field-oriented vector control, as shown in Figure 1, A is sensor MPS, by lazy
Wheel is engaged with the gear on motor shaft；B is motor mounting rack；C is ECU, is linked together with motor rack-mount；D
For magneto.Back-emf signal is acquired after rotating by ECU driving motor.When IBS motor carries out Zero positioning, ECU
Control motor interrupts control after reaching certain speed, motor three-phase back-emf signal and sensor MPS signal is acquired, to above-mentioned
Signal value carries out multi collect and is averaged, and the difference of back-emf signal and sensor signal is zero offset value, is being not required to
It wants to generate back-emf in the case of extraneous dragging, this method motor calibration horse structure is simple, and calibration result fluctuation is small, can be improved
The accuracy and efficiency of motor zero calibration.
Therefore, in electronic brake system,electronic antiskid system brushless motor Zero positioning as a result, on the one hand motor will be directly influenced
The performance of control system, to influence the performance of entire IBS system；On the other hand the accurate of motor operation position can be improved
Property, motor quickly and efficiently realizes the calibration of position under debugging mode, to guarantee the stability of IBS system.
As shown in figure 4, the Zero positioning of IBS motor, is to provide the rotation of current control amount driving motor by electric current loop first
Complete two periods, sensor MPS export sin/cos value, it is therefore desirable to the angle for calculating MPS, due to the sin/ of MPS
Cos signal is simultaneously nonideal between -1~1, needs that signal value is normalized operation, then calculate by antitrigonometric function
MPS angle.The multi collect sin/cos signal value within two periods finds out the maximum value and minimum value in each period, corresponding
It sums and is averaged.
By the average value of above-mentioned acquisition, the biasing and gain of Sin/Cos signal are determined:
Operation is normalized according to sampled signal:
MPSnormalize=(MPSsample-MPSoffset)/MPSGain
Wherein, MPSsampleFor reluctive transducer sampled signal values.
Calculate motor angle:
Wherein, MPSsinFor the Sin signal value of reluctive transducer；MPScosFor the Cos signal value of reluctive transducer.
According to above-mentioned analysis, correctly calculate motor angle position, needed under the premise of sampled signal is correct by
Normalized and antitrigonometric function calculate.Normalized mode is as follows: motor can be by learning and demarcating in test
The peak-to-peak value of Sin/Cos is stored in EEPROM as the initial default value powered on every time, since sensor MPS is in temperature difference
In the case where output signal have small deviation, therefore, motor can learn a peak-to-peak value automatically for each revolution and update,
And EEPROM will not be written when lower electricity.
The mode tabled look-up has been used to solve the antitrigonometric function of motor angle, since the codomain of arctan function is at ± 90 degree
Between and the mutual remaining relationship of arc cotangent function be therefore divided into 9 regions (including origin) for 360 °, be converted to (0,45 °) range
It is interior and formulate its table of tabling look-up, it is specifically shown in Fig. 5.
According to MPSsinβAnd MPScosβPositive-negative relationship determine quadrant locating for β, convert it to first quartile.
First quartile:
Second quadrant:
Third quadrant:
Fourth quadrant:
X positive axis: sin β=0, cos β > 0, β=0 °；
Y positive axis: sin β > 0, cos β=0, β=90 °；
The negative semiaxis of x: sin β=0, cos β < 0, β=180 °；
The negative semiaxis of y: sin β < 0, cos β=0, β=270 °；
After being transformed into first quartile, ifThe table look-at in (0 °, 45 °) range, if its value exists
In (45 °, 90 °) range, pass throughIt tables look-up after conversion.Therefore, electricity is obtained according to sensor MPS signal value
The angle of machine rotation.
After completing normalization calibration to sensor MPS, ECU control motor reaches 2000rpm, after running 200ms, interrupts
Control of the ECU to motor acquires motor A, B, C three-phase back-emf signal, as shown in Figures 2 and 3, according to the phase voltage value of acquisition
Calculate the rotor permanent magnet axis of magnet and A phase axis of magnet angleWherein, UAB=A*sin θ, UBC=
A*sin (θ -120 °), θ are the angle of the middle rotor axis of magnet and the A phase axis of magnet, and A is the voltage magnitude of three-phase back-emf signal.
According to the rotor permanent magnet axis of magnet and A phase axis of magnet angle formulae, needs to be decoded antitrigonometric function and table look-up,
Specific operation tabling look-up such as MPS signal.
In conclusion can determine electricity by comparing the reality output angle of induced electromotive force zero crossing and sensor MPS
Machine zero offset angle are as follows: Angleoffset+ 150 ° of-n*Angle of=θmps, wherein θ is the middle rotor axis of magnet and A phase magnetic axis
The angle of line, AnglempsFor motor position angle, n is between the reluctive transducer motor position angle measured and electrical angle
Multiple proportion.
Anti- solution operation is carried out by the back-emf and MPS signal of ECU acquisition, calculates offset angle according to their relationship
Degree adds up after multiple angle of eccentricity to take average as final angle of eccentricity.
Based on a kind of available back-emf zero offset angle scaling method based on Intelligent brake system of above procedure
Implementation process, the main anti-solution operation including sensor MPS signal and back-emf signal, detailed process are as shown in Figure 6.
It is not difficult to find that the calibration of motor zero angle of eccentricity must be completed before the work of IBS system, it is necessary first to MPS
Signal is normalized, and recycles ECU control motor high-speed rotation acquisition back-emf signal and MPS signal, can be with
Corresponding angle is solved according to these signals are counter, finally calculates zero offset angle, it is ensured that the realization that motor can be simple and quick
The calibration at zero offset angle, i.e. motor can complete staking-out work, and the effect demarcated in the case where producing line is more complicated
Error is small, guarantees that IBS system can accurately be run safely.
Claims (5)
1. a kind of back-emf zero offset angle scaling method based on Intelligent brake system, which comprises the following steps:
(1) under the FOC control strategy using permanent magnet synchronous motor, pass through reluctive transducer detection and machine shaft end magnet steel
Relative position obtain current motor position angle；
(2) the three-phase back-emf signal using ECU detection motor under high-speed condition, obtains rotor using three-phase back-emf signal
The angle of the axis of magnet and the A phase axis of magnet；
(3) the motor position angle that reluctive transducer detects is compared with the angle that three opposite potentials obtain, obtains electricity
The offset angle of respective sensor when air horn zero-bit.
2. the back-emf zero offset angle scaling method according to claim 1 based on Intelligent brake system, feature exist
In current motor position angle passes through in the step (1)Wherein, MPSsinFor reluctance type biography
The Sin signal value of sensor；MPScosFor the Cos signal value of reluctive transducer.
3. the back-emf zero offset angle scaling method according to claim 1 based on Intelligent brake system, feature exist
In, also the testing result of reluctive transducer is normalized in the step (1), specifically: MPSnormalize=
(MPSsample-MPSoffset)/MPSGain, wherein MPSsampleFor reluctive transducer sampled signal values, MPSoffsetFor reluctance type
The Sin/Cos signal bias of sensor, MPSGainFor the Sin/Cos signal gain value of reluctive transducer.
4. the back-emf zero offset angle scaling method according to claim 1 based on Intelligent brake system, feature exist
In the rotor axis of magnet and the angle of the A phase axis of magnet pass through in the step (2)Wherein, UAB=
A*sin θ, UBC=A*sin (θ -120 °), θ are the angle of the middle rotor axis of magnet and the A phase axis of magnet, and A is three-phase back-emf signal
Voltage magnitude.
5. the back-emf zero offset angle scaling method according to claim 1 based on Intelligent brake system, feature exist
In the offset angle of respective sensor passes through Angle when electrical angle zero-bit in the step (3)offset+ 150 ° of-n* of=θ
Anglemps, wherein θ is the angle of the middle rotor axis of magnet and the A phase axis of magnet, AnglempsFor motor position angle, n is reluctance type
Multiple proportion between the sensor motor position angle measured and electrical angle.
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| CN201811534782.1A CN109510542A (en) | 2018-12-14 | 2018-12-14 | A kind of back-emf zero offset angle scaling method based on Intelligent brake system |
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| CN201811534782.1A CN109510542A (en) | 2018-12-14 | 2018-12-14 | A kind of back-emf zero offset angle scaling method based on Intelligent brake system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112865647A (en) * | 2021-01-08 | 2021-05-28 | 深圳博用科技有限公司 | Full-automatic calibration system and method for motor rotor position |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112865647A (en) * | 2021-01-08 | 2021-05-28 | 深圳博用科技有限公司 | Full-automatic calibration system and method for motor rotor position |
| CN112865647B (en) * | 2021-01-08 | 2022-12-30 | 深圳博用科技有限公司 | Full-automatic calibration system and method for motor rotor position |
| CN113063345A (en) * | 2021-04-07 | 2021-07-02 | 上海拿森汽车电子有限公司 | Motor zero position angle calibration method and device and computer storage medium |
| CN113063345B (en) * | 2021-04-07 | 2023-01-10 | 拿森汽车科技(杭州)有限公司 | Motor zero position angle calibration method and device and computer storage medium |
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Application publication date: 20190322 |