CN109951129A - Motor control method, device and the electronic equipment of position-sensor-free - Google Patents
Motor control method, device and the electronic equipment of position-sensor-free Download PDFInfo
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- CN109951129A CN109951129A CN201711396580.0A CN201711396580A CN109951129A CN 109951129 A CN109951129 A CN 109951129A CN 201711396580 A CN201711396580 A CN 201711396580A CN 109951129 A CN109951129 A CN 109951129A
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Abstract
The embodiment of the invention discloses a kind of motor control method of position-sensor-free, device and electronic equipments, this method comprises: obtaining object time observer to the estimated location information of rotor；The theoretical position information of rotor described in the object time is compared with the estimated location information, determines the positional error compensation value of the rotor；The position of the rotor is compensated according to the positional error compensation value.The application can accurately determine the location information of rotor, thereby reduce the cost of control system, improve the reliability of control system in the case where unused position sensor.Meanwhile the present embodiment compensates the position of rotor, improves the accuracy of motor control, further improves the reliability of control system.
Description
Technical field
The present embodiments relate to automatic control technology field more particularly to a kind of motor control sides of position-sensor-free
Method, device and electronic equipment.
Background technique
Stepper motor very easy step-out when frequent acceleration and deceleration start at present causes the position control of control equipment to lose
Effect.
In order to make up this disadvantage, usually come real-time in the shaft end installation site sensor (encoder) of stepper motor at present
It monitors rotor-position and applies the vector control method based on rotor-position, can obtain and preferably be moved than open loop stepper motor
Step response.
It can be seen from the above, the prior art needs to be arranged position sensor, in actual use due to cable, installation accuracy and
The reason of circuit complexity, lead to the cost increase of control system, the reliability of simultaneity factor hardware has a degree of decline.
Summary of the invention
The embodiment of the present invention provides the motor control method, device and electronic equipment of a kind of position-sensor-free, to solve
Existing electric machine control system is at high cost, the low problem of reliability.
In a first aspect, the embodiment of the present invention provides a kind of motor control method of position-sensor-free, comprising:
Object time observer is obtained to the estimated location information of rotor；
The theoretical position information of rotor described in the object time is compared with the estimated location information, really
The positional error compensation value of the fixed rotor；
The position of the rotor is compensated according to the positional error compensation value.
Second aspect, the embodiment of the present invention provide a kind of motor control assembly of position-sensor-free, comprising:
Module is obtained, for obtaining object time observer to the estimated location information of rotor；
Determining module, for believing the theoretical position information of rotor described in the object time and the estimated location
Breath is compared, and determines the positional error compensation value of the rotor；
Compensating module, for being compensated according to the positional error compensation value to the position of the rotor.
The third aspect, the embodiment of the present invention provide a kind of terminal device, comprising: processor and are configured as storage processor
The memory of executable instruction；
The processor is configured to executing the motor control method of position-sensor-free described in first aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer storage medium, store computer in the storage medium
Program, the computer program realize the motor control method of position-sensor-free described in first aspect when being executed.
The embodiment of the present invention has the beneficial effect that:
In embodiments of the present invention, by obtaining object time observer to the estimated location information of rotor, and will
The theoretical position information of rotor described in the object time is compared with the estimated location information, determines the motor
The positional error compensation value of rotor compensates the position of the rotor according to the positional error compensation value.I.e. originally
The method of embodiment can accurately determine the location information of rotor, in turn in the case where unused position sensor
The cost for reducing control system improves the reliability of control system.Meanwhile the present embodiment carries out the position of rotor
Compensation, improves the accuracy of motor control, further improves the reliability of control system.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention one provides；
Fig. 2 is the control system figure of the motor control method of position-sensor-free provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the motor control method of position-sensor-free provided by Embodiment 2 of the present invention；
Fig. 4 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention three provides；
Fig. 5 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention four provides；
Fig. 6 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention five provides；
Fig. 7 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention one provides；
Fig. 8 is the structural schematic diagram of the motor control assembly of position-sensor-free provided by Embodiment 2 of the present invention；
Fig. 9 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention three provides；
Figure 10 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention four provides；
Figure 11 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention five provides；
Figure 12 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the prior art, the vector control method of motor rotor position is not only resulted in this way based on position sensor
Control system it is at high cost, and the reliability of control system is low.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of motor control method of position-sensor-free,
The estimation to motor rotor position is realized using motor model, is thereby reduced the cost of control system, is improved control system
Reliability.Meanwhile the present embodiment compensates the location error of rotor, and then improves the accurate of motor control
Property, further improve the reliability of control system.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention one provides, such as Fig. 1 institute
Show, the method for the present embodiment may include:
S101, object time observer is obtained to the estimated location information of rotor.
The executing subject of the present embodiment is the motor control assembly (hereinafter referred to as motor control assembly) of position-sensor-free,
The motor control assembly can realize by way of software, hardware or soft or hard combination, the device can individual component, can also
To be arranged in any electronic equipment, such as it is arranged in the processor of electronic equipment.
The electronic equipment can be laptop, desktop computer, smart phone, host computer etc., the present embodiment to this not
It is limited.
Fig. 2 is the control system figure of the motor control method of position-sensor-free provided in an embodiment of the present invention.Such as Fig. 2 institute
Show, wherein
DC bus: supplying DC voltage
Vsdref: static d shaft voltage given value
Vsqref: static q shaft voltage given value
Isdref: static d shaft current given value
Isqref: static q shaft current given value
Vs α ref: static α shaft voltage given value
Vs β ref: static β shaft voltage given value
ωr*: motor speed given value
Motor speed feedback
PWMx:PWM signal
α: α axis stator voltage of Vs
β: β axis stator voltage of Vs
α: α axis stator current of is
β: β axis stator current of is
Isq:q axis stator current
Isd:d axis stator current
Isa:a phase stator current
Isb:b phase stator current
θ: the motor rotor position of observer estimation
SM (step motor): stepper motor
As shown in Fig. 2, the present embodiment uses the observation firstly the need of the observer for obtaining estimation motor rotor position information
The location information of device real-time estimation rotor, such as the angular position and the location informations such as speed of estimation rotor.
Then, motor control assembly obtains the estimated location information of object time rotor from observer.
S102, the theoretical position information of rotor described in the object time and the estimated location information are compared
Compared with determining the positional error compensation value of the rotor.
Specifically, motor is under theoretical rotational speed, and the position of rotor can after the operational objective time when due to design motor
To be determined by calculation out, therefore, theoretical position information of the available rotor of motor control assembly in object time.
Then, it is obtained according to the rotor that above-mentioned steps obtain in the estimated location information of object time and this step
The two is compared by the rotor obtained in the theoretical position information of object time, and determines the position of rotor
Error compensation value.
For example, theoretical position information includes the theory of rotor when location information includes the estimated location of rotor
Position, then can positional error compensation value by the difference of theoretical position and estimated location, as rotor.
Optionally, when the estimation revolving speed that location information includes rotor, theoretical position information includes the reason of rotor
By revolving speed, then can by theoretical rotational speed and estimation revolving speed difference multiplied by last time estimate the moment to this object time difference,
Positional error compensation value as rotor.It should be noted that after last time estimation, by compensation adjustment, then rotor
Position deviation very little, can be ignored.
Optionally, the positional error compensation value of rotor can also be determined according to the method for following embodiment, it is specific to join
According to the description of following embodiments.
S103, the position of the rotor is compensated according to the positional error compensation value.
Specifically, using the positional error compensation after according to the positional error compensation value of above-mentioned steps acquisition rotor
Value compensates the position of rotor.
For example, the sum of the position of rotor of the positional error compensation value of rotor and object time estimation is made
For the final position of rotor.
It is optional to starve, the position of rotor can also be compensated according to the method for following embodiments, it is specific to join
According to the description of following embodiments.
The motor control method of position-sensor-free provided in an embodiment of the present invention, by obtaining object time observer pair
The estimated location information of rotor, and by the theoretical position information of rotor described in the object time and the estimation position
Confidence breath is compared, and the positional error compensation value of the rotor is determined, according to the positional error compensation value to described
The position of rotor compensates.That is the method for the present embodiment can accurately really in the case where unused position sensor
The location information for making rotor thereby reduces the cost of control system, improves the reliability of control system.Meanwhile
The present embodiment compensates the position of rotor, improves the accuracy of motor control, further improves control system
The reliability of system.
Fig. 3 is the flow chart of the motor control method of position-sensor-free provided by Embodiment 2 of the present invention, in above-mentioned reality
On the basis of applying example, as shown in figure 3, the method for the present embodiment may include:
S201, according to the static models of the motor, establish the dynamic model of the observer.
The corresponding static models of different types of motor are different in the present embodiment, and then the dynamic analog of constructed observer
Type is not also identical.
Optionally, when the motor of the present embodiment is stepper motor, then the static models of the motor of the present embodiment can be as
Under:
Wherein, Ls stator inductance, Rs are electric motor resistance, and ω r motor speed, Eq is q axis back-emf, and Ed is d axis back-emf,
Vq is q axis input voltage, and Vd is d axis input voltage.Iq, id are that q axis and d shaft current are fed back.
Above-mentioned static models are converted into state-space model:
Definition x is state vector, and u is input vector, and y is output vector, then above formula (1) can be expressed as formula (2):
X state vector is decomposed into xn and xu two parts, xn is that can measure part, and xu is that can not survey part, then above formula (2)
It can be analyzed to formula (3):
Wherein:
Based on above-mentioned model, the influence of noise is considered, the dynamic model of the observer of building is as follows:
For solution noise allocation, new vector z is introduced,
Wherein,
G=-LB1
-LA11+A21+ DL=F
-LA12+A22- D=0
Wherein, d is the estimation yield value of the observer,For the estimated value of the motor speed.
S202, the control observer dynamic model according to the biphase current of the motor and two-phase voltage to estimate
Rotor is stated in the location information of object time, and obtains the estimated location information of the rotor.
With continued reference to shown in Fig. 2, such as α axis stator voltage Vs α, β axis stator electricity are inputted into the dynamic model of observer
Vs β, α axis stator current is α and β axis stator current is β are pressed, the dynamic analog of control observation device is estimated according to the parameter of above-mentioned input
The location information for counting rotor, obtains the position estimation value and velocity estimation value of rotor.
Wherein, location estimation are as follows:
Wherein, describedIt is described for the estimated location of rotorCounter electromotive force is estimated for a phase stator, it is describedFor b
Phase stator estimates counter electromotive force.
Velocity estimation are as follows:
keFor back EMF coefficient, whereinWithIt can detecte acquisition.
The present embodiment, constructs the dynamic model of observer, and the dynamic model of control observation device to rotor in target
The location information at moment is estimated, the position estimation value and velocity estimation value of rotor are obtained.
Fig. 4 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention three provides, in above-mentioned reality
On the basis of applying example, the present embodiment is described what is involved is the position estimation value for when estimated location information including the rotor
When theoretical position information includes target location value, by the theoretical position information of rotor described in the object time and estimation position
Confidence breath is compared, and determines the detailed process of the positional error compensation value of the rotor.As shown in figure 4, above-mentioned S102
It can specifically include:
S301, rotor first step number required for from present position values to the position estimation value is obtained.
Specifically, obtaining the positional value of current time rotor, which is denoted as to the current location of rotor
Value.Meanwhile according to the above method obtain observer dynamic model to rotor object time position estimation value, in turn
When obtaining rotor and going to from present position values to target location value, the first required step number.
For example, P1 is the present position values of rotor, P2 is the position estimation value of rotor, and V is rotor
Step-length, in this way, obtaining the first step number required when rotor is gone to from present position values to position estimation value are as follows: T1=(P2-
P1)/V。
S302, obtain the rotor from present position values to target location value required for the second step number.
Wherein, the target location value is the rotor in the theoretical position value where object time.
Similarly, referring to foregoing description, it is assumed that P1 is the present position values of rotor, and P3 is the target position of rotor
Value, V are the step-length of rotor, in this way, can obtain required when rotor is gone to from present position values to target location value
The second step number are as follows: T2=(P3-P1)/V.
S303, second step number and first step number are made poor, obtains the step-out number of the motor.
With continued reference to it is above-mentioned it is assumed that motor step-out number i=T2-T1.
S304, according to the micro-stepping number and the step-out number in a sine wave period, determine the position of the rotor
Error compensation value.
The micro-step control principle of stepper motor are as follows: stepper motor is that electric impulse signal is changed into angular displacement or displacement of the lines
Opened loop control member stepper motor part.In the case where non-overload, the revolving speed of motor, the position of stopping are solely dependent upon pulse signal
Frequency and umber of pulse, without being influenced by load variation, as soon as when step actuator receives a pulse signal, it drives stepping
Motor rotates a fixed angle by the direction of setting, and referred to as " step angle ", its rotation is with fixed one step one of angle
Step operation.Angular displacement can be controlled by control pulse number, to achieve the purpose that accurate positionin；It can lead to simultaneously
Control pulse frequency is crossed to control the velocity and acceleration of motor rotation, to achieve the purpose that speed regulation.
It can be seen from the above, microcontroller can be carried out to stepper motor according to the micro-step control principle of stepper motor.
Specifically, above-mentioned S304 can be according to formula: Es=iMn is realized；
Wherein, the Es is the compensation rate of location error, and Mn is the micro-stepping number in a sine wave period, and the i is to lose
Step number.
For example, the micro-stepping number Mn=500 in a sine wave period, step-out number i=3 are obtained in this way according to above-mentioned formula
The positional error compensation value Es=1500 micro-stepping of rotor.
On the basis of the above embodiments, above-mentioned S103 is according to the positional error compensation value to the position of the rotor
It sets to compensate and following S305 replacements can be used.
S305, the position command pulse by the motor in object time are added with the positional error compensation value, are determined
The compensated position command pulse of rotor.
It can be seen from the above, step-out once occurs, it is necessary to which product can add offset, i.e. step-out angle on present position
Degree, the position Lai Gengxin.
It specifically can be according to formula: Pnew=Pold+Es
Wherein, PoldFor the position command umber of pulse of object time, PnewFor compensated position command umber of pulse, Es is position
Set error compensation value.At this point it is possible to according to compensated position command umber of pulse PnewMotor is controlled, to eliminate the mistake of motor
Error is walked, and then realizes and motor is precisely controlled.
The motor control method of position-sensor-free provided in an embodiment of the present invention, by obtaining rotor from present bit
The first step number required for value to position estimation value is set, required for obtaining rotor from present position values to target location value
Second step number；It is poor that second step number and the first step number are made, and obtains the step-out number of motor；Then, according in a sine wave period
Micro-stepping number and step-out number, determine the positional error compensation value of rotor, finally by motor object time position command
Pulse is added with positional error compensation value, determines the compensated position command pulse of rotor, and then realize to motor position
Accurate compensation, realization motor is precisely controlled.
Fig. 5 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention four provides, in above-mentioned reality
On the basis of applying example, S202 control the dynamic model of the observer according to the biphase current and two-phase voltage of the motor come
Estimate the rotor in the location information of object time, and before obtaining the estimated location information of the rotor, this
The method of embodiment may include:
S400, judge whether the dynamic model of the observer restrains.
In actual use, the requirement of the high frequency point thin tail sheep of sewing device motion control must will be complete in several ms
At if location information (such as the position estimation value and speed of rotor of the rotor in the output of secondary process observation device
Estimated value) it does not restrain also, it is a transition value (falsity), then will affect the use scope of observer.Therefore motor is different
Startup stage obtains stable convergence value in the shortest time and is particularly important, and needs the convergence to the dynamic model of observer at this time
Property is judged.
If judge the dynamic model convergence of observer, the step of executing following S402, if judging the dynamic analog of observer
When not restraining of type, the step of executing following S403.
In one possible implementation, above-mentioned S401 can specifically include:
S401, judge the observer dynamic model estimated value and actual value between difference it is whether pre- less than first
If threshold value.
For example, the dynamic model of observer turns the estimated location value of rotor at a time with the moment motor
The theoretical position value (wherein, the theoretical position value of the moment rotor is given value) of son is compared, and judges rotor
Estimated location value and rotor theoretical position value difference whether less than the first preset threshold, if so, determining building
Observer dynamic model convergence, the step of executing following S402.If not, it is determined that the dynamic model of the observer of building is not
The step of restraining, executing following S403.
S402, the control observer dynamic model according to the biphase current of the motor and two-phase voltage to estimate
Rotor is stated in the location information of object time, and obtains the estimated location information of the rotor.
Detailed process is referring to the description of above-described embodiment, and details are not described herein.
That is the present embodiment carries out the convergence of the dynamic model of observer after having established the dynamic model of observer
Judgement, in the dynamic model convergence of observer, the rotor estimated using the dynamic model of the observer is in mesh
The estimated location information at moment is marked, and then realizes the accurate estimation to motor rotor position information.
S403, increase the observer dynamic model yield value, update the dynamic model of the observer, and obtain
The estimated value of the dynamic model of updated observer.
It returns and executes S401, until the dynamic model convergence of the observer.
In the present embodiment, when the dynamic model of observer is not restrained, this needs to carry out more the dynamic model of observer
Newly, specifically, the yield value for increasing the dynamic model of observer updates the dynamic model of observer.Then, after obtaining the update
Observer dynamic model estimated value, for example, estimating rotor using the dynamic model of the updated observer
Position.
Judge whether the difference between the estimated value and actual value of the dynamic model of updated observer is pre- less than first
If threshold value.If it is default that the difference between the estimated value and actual value of the dynamic model of updated observer is greater than or equal to first
Threshold value then illustrates that the dynamic model of updated observer is not restrained.At this time, it may be necessary to continue the dynamic model of increase observer
Yield value, until the dynamic model convergence of the observer.
The motor control method of position-sensor-free provided in an embodiment of the present invention judges the receipts of the dynamic model of observer
Holding back property estimates rotor in target when the convergence of the dynamic model of observer using the dynamic model of convergent observer
The location information at moment then increases the yield value of the dynamic model of observer, more when the dynamic model of observer is not when restraining
The dynamic model of new observer, until the dynamic model convergence of the observer.I.e. the present embodiment uses convergent observation
The dynamic model of device estimates the location information of rotor, not only realizes the accurate estimation of location information, while improving sight
Survey the use reliability of the dynamic model of device.
Fig. 6 is the flow chart of the motor control method for the position-sensor-free that the embodiment of the present invention five provides, in above-mentioned reality
On the basis of applying example, what is involved is the opened loop controls to motor and the handoff procedure between closed loop feedback control for the present embodiment.Such as
Shown in Fig. 6, the method for the present embodiment may include:
S501, from preset voltage compensation table, from preset voltage compensation table, obtain the positional error compensation value
Corresponding target voltage offset.
Wherein, saved in preset voltage compensation table different positional error compensation value and different voltage compensation values it
Between corresponding relationship, which obtained according to a large amount of historical data.
It is default from this in this way when motor control assembly obtains the positional error compensation value of rotor according to above-mentioned steps
Voltage compensation table in search the corresponding target voltage offset of positional error compensation value.
S502, judge whether the target voltage offset is greater than or equal to the second preset threshold.
S503, if so, switched on central link, to carry out opened loop control to the motor.
S504, if it is not, then switch to closed loop feedback link, to carry out closed loop feedback control to the motor.
Specifically, illustrating that the speed of motor is lower, not when target voltage offset is greater than or equal to the second preset threshold
Reach pre-set velocity value, at this point, switched on central link.Due to carrying out the dragging of open loop rotational voltage to motor using opened loop control
Control, motor, which can be stabilized, is reliably dragged to fair speed.
It is corresponding, when target voltage offset is less than the second preset threshold, illustrate that the speed of motor is higher, the electricity of motor
The presumption precision of gas phase and rotation speed is higher.At this point, switching to closed loop feedback link.Due to using closed loop feedback control can
Load shock is resisted, motor, which can be stabilized, is reliably dragged to fair speed.
In the present embodiment, the switching mode between open loop link and closed loop link can be hard handover, be also possible to soft cut
It changes, wherein hard handover is directly to be converted into the control of closed loop feedback link from pure open loop link.Soft handover is one control of design
Device, controller persistently adjust the size of the power angle of motor according to operating condition, to greatest extent trace command, and design a limited shape
State machine describes state switching and adjustment in the entire dynamic process of system with the state machine, and it is long to can satisfy small needle, large needle
It is long, a wide range of mobile, the entire operating condition of single step.
As shown in Fig. 2, the open loop link of the present embodiment may include:
First pi regulator, for the speed command ω that the input of q axis is givenr* it is adjusted to isqref；
Second pi regulator, for isqref to be adjusted to Vsqref；
Third pi regulator, the isdref for inputting d axis are adjusted to Vsdref；
Park inverter, the Vsdref for inputting d axis are converted into Vs α ref, the Vsqref that q axis inputs are converted into
Vsβref；
Space vector pulse width modulation generator for Vs α ref and Vs β ref to be converted into PMW control signal, and is input to
Voltage source inverter, so that voltage source inverter control motor rotation.
As shown in Fig. 2, the closed loop feedback link of the present embodiment may include:
First subtracter, for from given speed command ωr* velocity estimation value is subtracted inAfter obtain velocity deviation；
First pi regulator, for velocity deviation to be adjusted to Isqref；
Second subtracter obtains the current difference of q axis for subtracting q axis stator current isq from isqref；
Second pi regulator, for the current difference of q axis to be adjusted to Vsqref；
Third subtracter obtains the electricity of d axis for subtracting d axis stator current isd from the electric current isdref that d axis gives
It is poor to flow；
Second pi regulator, for the current difference of d axis to be adjusted to Vsdref；
Park inverter and space vector pulse width modulation generator；
Stator voltage reconstructed module, voltage Vdc and space vector pulse width modulation for being exported according to voltage source inverter
PWM1, PWM3 and PWM5 of generator output, generate α axis stator voltage Vs α and β axis stator voltage Vs β；
Clarke converter, a phase stator current isa for exporting voltage source inverter are converted into α axis stator current
B phase stator current isb is converted into β axis stator current is β by is α respectively；
Rotor position estimate device based on observer, for the position according to Vs α, Vs β, is α and is β estimation rotor
θ；
Revolving speed calculator based on rotor-position, for generating the speed of rotor according to the estimated location θ of rotor
Spend estimated value
Park converter, for is α and is β to be converted to q axis stator current isq.
The present embodiment can be cut between open loop link and closed loop feedback link according to the size of positional error compensation value
It changes, and then realizes and motor is precisely controlled.
Fig. 7 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention one provides, the nothing
The motor control assembly of position sensor can be realized in such a way that software, hardware or soft/scleroma are closed.As shown in fig. 7, this reality
The motor control assembly 100 for applying the position-sensor-free of example may include:
Module 110 is obtained, for obtaining object time observer to the estimated location information of rotor；
Determining module 120, for by the theoretical position information of rotor described in the object time and the estimation position
Confidence breath is compared, and determines the positional error compensation value of the rotor；
Compensating module 130, for being compensated according to the positional error compensation value to the position of the rotor.
Fig. 8 is the structural schematic diagram of the motor control assembly of position-sensor-free provided by Embodiment 2 of the present invention, upper
On the basis of stating embodiment, the motor control assembly 100 of the position-sensor-free of the present embodiment can also include:
Module 140 is established, for the static models according to the motor, establishes the dynamic model of the observer.
In a kind of possible implementation of the present embodiment, the acquisition module 110 is specifically used for controlling the observation
The dynamic model of device estimates the rotor in the position of object time according to the biphase current of the motor and two-phase voltage
Confidence breath, and obtain the estimated location information of the rotor.
Fig. 9 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention three provides, upper
On the basis of stating embodiment, the determining module 120 of the present embodiment includes: acquiring unit 121 and determination unit 122；
The acquiring unit 121, for including the position estimation value of the rotor, institute in the estimated location information
When to state theoretical position information include target location value, the rotor is obtained from present position values to the position estimation value institute
The first step number needed, the second step number required for obtaining the rotor from present position values to target location value are described
Target location value is the rotor in the theoretical position value where object time, and by second step number and described first
It is poor that step number is made, and obtains the step-out number of the motor；
The determination unit 122, described in determining according to the micro-stepping number and the step-out number in a sine wave period
The positional error compensation value of rotor.
In a kind of possible implementation of the present embodiment, the compensating module 130 is specifically used for existing in the motor
The position command pulse of object time is added with the positional error compensation value, determines the compensated position life of the rotor
Enable pulse.
Figure 10 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention four provides, upper
On the basis of stating embodiment, the motor control assembly 100 of the position-sensor-free of the present embodiment can also include:
Judgment module 150, for judging whether the dynamic model of the observer restrains；
The acquisition module 110, specifically for controlling the observer in the dynamic model convergence of the observer
Dynamic model estimates that the rotor is believed in the position of object time according to the biphase current of the motor and two-phase voltage
Breath, and obtain the estimated location information of the rotor.
In a kind of possible implementation of the present embodiment, the judgment module 150 is specifically used for judging the observation
Whether the difference between the estimated value and actual value of the dynamic model of device is less than the first preset threshold；
The determining module 120 is also used to judge the estimation of the dynamic model of the observer in the judgment module 150
When being worth the difference between actual value less than the first preset threshold, the observer convergence is determined；Sentence in the judgment module 150
Break the observer dynamic model estimated value and actual value between difference be greater than or equal to the first preset threshold when, determine
The observer is not restrained.
Figure 11 is the structural schematic diagram of the motor control assembly for the position-sensor-free that the embodiment of the present invention five provides, upper
On the basis of stating embodiment, the motor control assembly 100 of the position-sensor-free of the present embodiment can also include: update module
160 and loop module 170:
The update module 160, the yield value of the dynamic model for increasing the observer, updates the observer
Dynamic model；
The judgment module 150, between the estimated value and actual value for judging the dynamic model of updated observer
Difference whether less than the first preset threshold；
The loop module 170 is also used to judge the dynamic analog of the updated observer in the judgment module 150
When difference between the estimated value and actual value of type is greater than or equal to the first preset threshold, the step for executing update module 160 is returned
Suddenly, until the dynamic model convergence of the observer.
In a kind of possible implementation of the present embodiment, the acquisition module 110 is also used to mend from preset voltage
It repays in table, obtains the corresponding target voltage offset of the positional error compensation value；
The judgment module 150, is also used to judge whether the target voltage offset is greater than or equal to the second default threshold
Value；
The determining module 120 is also used to judge that the target voltage offset is greater than or waits in the judgment module 150
When the second preset threshold, then switched on central link, to carry out opened loop control to the motor；
The determining module 120 is also used to judge the target voltage offset less than second in the judgment module 150
When preset threshold, then closed loop link is switched to, to carry out closed loop feedback control to the motor.
It should be understood that the motor control assembly of position-sensor-free provided by the above embodiment pass without position
It, only the example of the division of the above functional modules, can basis in practical application when the motor control processing of sensor
It needs and is completed by different functional modules above-mentioned function distribution, i.e., the internal structure of device is divided into different function moulds
Block, to complete all or part of the functions described above.In addition, the motor control of position-sensor-free provided by the above embodiment
The motor control method embodiment of device and position-sensor-free processed belongs to same design, and specific implementation process is detailed in method reality
Example is applied, which is not described herein again.
Figure 12 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention, as shown in figure 11, the electronic equipment 800
It include: processor 820 and the memory 804 for being configured as 820 executable instruction of storage processor.
Wherein, processor 820 be configured as executing it is above-mentioned shown in position-sensor-free motor control method.
The embodiment of the present invention also provides a kind of computer storage medium, and computer program is stored in the storage medium, described
Computer program realize when being executed it is above-mentioned shown in position-sensor-free motor control method.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of motor control method of position-sensor-free characterized by comprising
Object time observer is obtained to the estimated location information of rotor；
The theoretical position information of rotor described in the object time is compared with the estimated location information, determines institute
State the positional error compensation value of rotor；
The position of the rotor is compensated according to the positional error compensation value.
2. the method according to claim 1, wherein the acquisition object time observer estimates rotor
Before counting location information, the method also includes:
According to the static models of the motor, the dynamic model of the observer is established；
The acquisition object time observer specifically includes the estimated location information of rotor:
The dynamic model for controlling the observer estimates that the motor turns according to the biphase current of the motor and two-phase voltage
Son and obtains the estimated location information of the rotor in the location information of object time.
3. according to the method described in claim 2, it is characterized in that, the estimated location information includes the position of the rotor
Estimated value is set, the theoretical position information includes target location value, the theory by rotor described in the object time
Location information is compared with the estimated location information, is determined the positional error compensation value of the rotor, is specifically included:
It obtains the rotor and goes to the first step number required for the position estimation value from present position values；
It obtains the rotor and goes to the second step number required for the target location value, the target position from present position values
Setting value is the rotor in the theoretical position value where object time；
It is poor that second step number and first step number are made, and obtains the step-out number of the motor；
According to the micro-stepping number and the step-out number in a sine wave period, the positional error compensation of the rotor is determined
Value.
4. according to the method described in claim 3, it is characterized in that, it is described according to the positional error compensation value to the motor
The position of rotor compensates, and specifically includes:
Position command pulse by the motor in object time is added with the positional error compensation value, determines that the motor turns
The compensated position command pulse of son.
5. according to the method described in claim 3, it is characterized in that, the dynamic model of the control observer is according to
The biphase current of motor and two-phase voltage estimate that the rotor in the location information of object time, and obtains the motor
Before the estimated location information of rotor, the method also includes:
Judge whether the dynamic model of the observer restrains；
The dynamic model of the control observer estimates the electricity according to the biphase current of the motor and two-phase voltage
Machine rotor and obtains the estimated location information of the rotor in the location information of object time, specifically includes:
In the dynamic model convergence of the observer, the dynamic model of the observer is controlled according to the two-phase electricity of the motor
Stream and two-phase voltage estimate that the rotor in the location information of object time, and obtains the estimation position of the rotor
Confidence breath.
6. according to the method described in claim 5, it is characterized in that, whether the dynamic model for judging the observer is received
It holds back, specifically includes:
Judge the difference between the estimated value and actual value of the dynamic model of the observer whether less than the first preset threshold；
If so, determining the observer convergence；
If not, it is determined that the observer is not restrained；
When determining that the observer is not restrained, the method also includes:
A, the yield value for increasing the dynamic model of the observer, updates the dynamic model of the observer；
B, judge whether the difference between the estimated value and actual value of the dynamic model of updated observer is default less than first
Threshold value；
C, A is executed if it is not, returning, until the dynamic model convergence of the observer.
7. the method according to claim 1, wherein the positional error compensation value of the determination rotor
Later, the method also includes:
From preset voltage compensation table, the corresponding target voltage offset of the positional error compensation value is obtained；
Judge whether the target voltage offset is greater than or equal to the second preset threshold；
If so, switched on central link, to carry out opened loop control to the motor；
If it is not, switching to closed loop link, then to carry out closed loop feedback control to the motor.
8. a kind of motor control assembly of position-sensor-free characterized by comprising
Module is obtained, for obtaining object time observer to the estimated location information of rotor；
Determining module, for by the theoretical position information of rotor described in the object time and the estimated location information into
Row compares, and determines the positional error compensation value of the rotor；
Compensating module, for being compensated according to the positional error compensation value to the position of the rotor.
9. a kind of computer storage medium, which is characterized in that
Computer program is stored in computer storage medium, when the computer program is executed by processor, perform claim
It is required that the motor control method of 1~7 described in any item position-sensor-frees.
10. a kind of electronic equipment, which is characterized in that including processor and memory, wherein
The memory is for storing program instruction；
The processor is used to read the program instruction in the memory, and is executed according to the program instruction in the memory
The motor control method of the described in any item position-sensor-frees of claim 1~7.
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| CN201711396580.0A CN109951129A (en) | 2017-12-21 | 2017-12-21 | Motor control method, device and the electronic equipment of position-sensor-free |
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| CN201711396580.0A CN109951129A (en) | 2017-12-21 | 2017-12-21 | Motor control method, device and the electronic equipment of position-sensor-free |
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| CN111425155A (en) * | 2020-03-31 | 2020-07-17 | 三一集团有限公司湖南分公司 | Power tong control method and system |
| CN112965439A (en) * | 2021-02-01 | 2021-06-15 | 华侨大学 | Control method, device, equipment and storage equipment of electronic cam |
| CN113644855A (en) * | 2021-06-07 | 2021-11-12 | 深圳市维京驱动有限公司 | High-frequency converter |
| CN113659889A (en) * | 2021-08-12 | 2021-11-16 | 飞瑞医疗器械(嘉兴)有限公司 | Control method and system of electric beam limiter, readable storage medium and electric beam limiter |
| WO2022248777A1 (en) | 2021-05-26 | 2022-12-01 | Echopen Factory | Ultrasound probe and method for implementing same |
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Application publication date: 20190628 |