CN110492818B - Zero correction method and correction device for motor and motor control system - Google Patents
Zero correction method and correction device for motor and motor control system Download PDFInfo
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- CN110492818B CN110492818B CN201910874850.7A CN201910874850A CN110492818B CN 110492818 B CN110492818 B CN 110492818B CN 201910874850 A CN201910874850 A CN 201910874850A CN 110492818 B CN110492818 B CN 110492818B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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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 correction method and a correction device for a motor and a motor control system, wherein the method comprises the following steps: sequentially controlling a rotor of the motor to attract to a position of a shaft C and a position of a shaft A under a three-phase coordinate system of the motor; acquiring the current rotor position of the motor to obtain a first rotor position; sequentially controlling a rotor of the motor to attract to a B axis position and an A axis position under a three-phase coordinate system of the motor; acquiring the current rotor position of the motor to obtain a second rotor position; and calculating the zero error of the motor according to the first rotor position and the second rotor position. Therefore, the zero correction method of the motor provided by the embodiment of the invention is suitable for motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power of the motor.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a zero correction method of a motor, a zero correction device of the motor, a motor control system and a readable storage medium.
Background
In general, a permanent magnet synchronous motor adopts a magnetic field orientation control method to realize accurate and rapid tracking of the motor speed and current, however, the real-time rotor position information must be obtained through a corresponding rotor position sensor on the motor in both motor speed and current control. At present, a rotor position sensor for a permanent magnet synchronous motor comprises an absolute value encoder, an incremental encoder and a rotary transformer, wherein the rotary transformer is widely applied to a motor control system of a new energy automobile due to the advantages of high and low temperature resistance, moisture resistance, vibration resistance and the like.
When the real-time rotor position information of the motor is obtained through the rotary transformer, in order to obtain the absolute position of the rotor of the motor, the voltage signal output by the rotary transformer can be resolved through the rotary transformer decoding chip, however, due to the error of the installation process of the rotary transformer, the resolved absolute zero position is not the zero position of the motor, and therefore the zero position needs to be corrected. In the method, an alpha axis (or a three-phase coordinate system a axis) of a stator coordinate system of the permanent magnet synchronous motor is generally defined as a zero position of the motor.
In the related technology, a zero position is usually corrected by adopting a zero suction method, the method applies a continuous alpha shaft voltage to the motor through the inverter, the rotor of the motor is sucked to the position near an alpha shaft, and the more the applied alpha shaft voltage is, the more accurate the zero position obtained by calibration is. However, the related art has problems in that an excessively large alpha axis voltage generates a phase current exceeding a rated current of the motor, thereby causing the motor to burn out, and the maximum voltage applicable to the alpha axis is also different for motors of different parameters, so that the method is less versatile.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a zero calibration method for a motor, so as to identify a zero error of the motor without performing an experiment on a towing platform and a large power of the motor.
The second purpose of the invention is to provide a zero correction device of the motor.
A third object of the present invention is to provide a motor control system.
A fourth object of the invention is to propose a readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a zero calibration method for an electric machine, including: sequentially controlling a rotor of the motor to attract to a position of a shaft C and a position of a shaft A under a three-phase coordinate system of the motor; acquiring the current rotor position of the motor to obtain a first rotor position; sequentially controlling a rotor of the motor to attract to a B axis position and an A axis position under a three-phase coordinate system of the motor; acquiring the current rotor position of the motor to obtain a second rotor position; and calculating the zero position error of the motor according to the first rotor position and the second rotor position.
According to the zero correction method of the motor provided by the embodiment of the invention, the rotor of the motor is sequentially controlled to be attracted to the position of the shaft C and the position of the shaft A under the three-phase coordinate system of the motor, the current rotor position of the motor is obtained to obtain the position of the first rotor, then the rotor of the motor is sequentially controlled to be attracted to the position of the shaft B and the position of the shaft A under the three-phase coordinate system of the motor, the current rotor position of the motor is obtained to obtain the position of the second rotor, and the zero error of the motor is calculated according to the position of the first rotor and the position of the second rotor. Therefore, the zero correction method of the motor provided by the embodiment of the invention is suitable for motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power of the motor.
According to one embodiment of the present invention, controlling the rotor of the motor to be attracted to the a-axis position includes: acquiring the maximum duty ratio of the phase A, and controlling the motor by the maximum duty ratio of the phase A so as to attract the rotor of the motor to the position of the shaft A; controlling the rotor of the motor to be attracted to the B axis position comprises: acquiring the maximum duty ratio of a phase B, and controlling the motor by the maximum duty ratio of the phase B so as to attract the rotor of the motor to the position of the shaft B; controlling the rotor of the motor to be attracted to the C-axis position comprises: and acquiring the C-phase maximum duty ratio, and controlling the motor according to the C-phase maximum duty ratio so as to attract the rotor of the motor to the C-axis position.
According to an embodiment of the present invention, obtaining the a-phase maximum duty ratio, the B-phase maximum duty ratio, and the C-phase maximum duty ratio includes: collecting the current A equivalent to the front current, the current B equivalent to the front current and the current C equivalent to the front current of the motor; determining a single-phase maximum current of the motor; obtaining the A-phase maximum duty ratio according to the A equivalent front current and the single-phase maximum current of the motor; obtaining the maximum duty ratio of the B phase according to the equivalent B current of the motor and the maximum single-phase current; and acquiring the C-phase maximum duty ratio according to the C equivalent front current and the single-phase maximum current of the motor.
According to an embodiment of the present invention, obtaining the a-phase maximum duty ratio from the a-phase equivalent front current and the single-phase maximum current of the motor includes: obtaining a first difference value between the single-phase maximum current and the current before A is equivalent, and adjusting the first difference value through an A-phase controller to obtain the A-phase maximum duty ratio; obtaining the B-phase maximum duty cycle according to the B-phase equivalent front current and the single-phase maximum current of the motor comprises the following steps: obtaining a second difference value between the single-phase maximum current and the current before the phase B is equivalent, and adjusting the second difference value through a phase B controller to obtain the phase B maximum duty ratio; obtaining the C-phase maximum duty cycle from the C-equivalent front current and the single-phase maximum current of the motor comprises: and acquiring a third difference between the single-phase maximum current and the current before C is equivalent, and adjusting the third difference through a C-phase controller to obtain the C-phase maximum duty ratio.
According to one embodiment of the invention, said calculating a zero error of said motor from said first rotor position and said second rotor position comprises: and taking the position of the middle point between the first rotor position and the second rotor position as the zero error of the motor.
In order to achieve the above object, a second embodiment of the present invention provides a zero correction device for an electric machine, including: the acquisition module is used for acquiring the current rotor position of the motor; and the control module is used for sequentially controlling the rotor of the motor to attract and reach the C axis position and the A axis position under the three-phase coordinate system of the motor, acquiring the current rotor position of the motor to obtain a first rotor position, sequentially controlling the rotor of the motor to attract and reach the B axis position and the A axis position under the three-phase coordinate system of the motor, acquiring the current rotor position of the motor to obtain a second rotor position, and calculating the zero position error of the motor according to the first rotor position and the second rotor position.
According to the zero correction device for the motor, which is provided by the embodiment of the invention, the current rotor position of the motor is obtained through the obtaining module, the rotor of the motor is sequentially controlled to be attracted to the position of the shaft C and the position of the shaft A under the three-phase coordinate system of the motor through the control module, the current rotor position of the motor is obtained to obtain the first rotor position, the rotor of the motor is sequentially controlled to be attracted to the position of the shaft B and the position of the shaft A under the three-phase coordinate system of the motor, the current rotor position of the motor is obtained to obtain the second rotor position, and the zero error of the motor is calculated according to the first rotor position and the second rotor position. Therefore, the zero correction method of the motor provided by the embodiment of the invention is suitable for motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power of the motor.
According to an embodiment of the present invention, the control module is further configured to obtain a phase a maximum duty ratio, and control the motor according to the phase a maximum duty ratio, so that a rotor of the motor is attracted to the position of the axis a; the control module is further used for acquiring the maximum duty ratio of the phase B and controlling the motor according to the maximum duty ratio of the phase B so as to attract the rotor of the motor to the position of the axis B; the control module is further used for obtaining the C-phase maximum duty ratio and controlling the motor according to the C-phase maximum duty ratio so that the rotor of the motor is attracted to the C-axis position.
According to an embodiment of the present invention, the apparatus for correcting zero position of motor further comprises: the acquisition module is used for acquiring the current A equivalent to the front current, the current B equivalent to the front current and the current C equivalent to the front current of the motor; the control module is used for determining single-phase maximum current of the motor, obtaining the A-phase maximum duty ratio according to A equivalent front current of the motor and the single-phase maximum current, obtaining the B-phase maximum duty ratio according to B equivalent front current of the motor and the single-phase maximum current, and obtaining the C-phase maximum duty ratio according to C equivalent front current of the motor and the single-phase maximum current.
According to an embodiment of the present invention, the control module is further configured to obtain a first difference between the single-phase maximum current and the current before the phase a is equivalent, and adjust the first difference through an a-phase controller to obtain the a-phase maximum duty ratio; the control module is further used for obtaining a second difference value between the single-phase maximum current and the current before the phase B is equivalent to the single-phase maximum current, and adjusting the second difference value through a phase B controller to obtain the phase B maximum duty ratio; the control module is further configured to obtain a third difference between the single-phase maximum current and the current before the phase C is equivalent, and adjust the third difference through a phase C controller to obtain the phase C maximum duty ratio.
According to one embodiment of the invention, the control module is configured to use a position of a midpoint between the first rotor position and the second rotor position as a zero error of the motor.
In order to achieve the above object, a motor control system according to an embodiment of a third aspect of the present invention includes the zero correction device for the motor according to the embodiment of the second aspect of the present invention.
According to the motor control system provided by the embodiment of the invention, the zero correction device of the motor is applicable to motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power on the motor.
In order to achieve the above object, a fourth embodiment of the present invention provides a readable storage medium, on which a zero correction program of an electric machine is stored, where the program, when executed by a processor, implements the zero correction method of the electric machine according to the first embodiment of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a zero correction method of an electric machine according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of a method of zero correction of an electric machine according to one embodiment of the present invention;
FIG. 3 is a circuit schematic of a method of zero correction of an electric machine according to one embodiment of the present invention;
FIG. 4 is a block schematic diagram of a zero correction device for an electric machine according to an embodiment of the present invention;
FIG. 5 is a block diagram of a zero correction device for an electric machine according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a zero position correction method and correction device for a motor, and a motor control system according to an embodiment of the present invention with reference to the drawings.
Fig. 1 is a schematic flow chart of a zero correction method of an electric motor according to an embodiment of the present invention. As shown in fig. 1, the zero correction method of the motor according to the embodiment of the present invention includes the following steps:
and S1, sequentially controlling the rotor of the motor to attract to the position of the shaft C and the position of the shaft A under the three-phase coordinate system of the motor.
Wherein, the motor can be a permanent magnet synchronous motor.
In one embodiment of the present invention, controlling the rotor of the motor to be attracted to the a-axis position includes: obtaining the maximum duty ratio T of the A phaseamaxAnd at A phase maximum duty cycle TamaxControlling the motor to suck the rotor of the motor to the position of the A axis; controlling the motor to attract the rotor to the B axis position comprises: obtaining the maximum duty ratio T of the phase BbmaxAnd at B-phase maximum duty cycle TbmaxControlling the motor to suck the rotor of the motor to the position of the B axis; controlling the rotor of the motor to be attracted to the position of the C shaft comprises the following steps: obtaining the C-phase maximum duty ratio TcmaxAnd at C-phase maximum duty cycle TcmaxAnd controlling the motor to suck the rotor of the motor to the position of the C shaft.
It can be understood that, as shown in FIG. 3, the C-phase PI controller is enabled to make the motor controller actually output threePhase duty cycle Ta、Tb、TcAre respectively Ta=0，Tb=0，Tc=TcmaxTo make the motor rotor at the maximum current imaxAttracting to the vicinity of the C axis.
After the motor is stabilized, the C-phase PI controller is forbidden, the A-phase PI controller is enabled, and the three-phase duty ratio T actually output by the motor controller is adjusteda、Tb、TcAre respectively Ta=Tamax，Tb=0，Tc=0, motor rotor is set at maximum current imaxAttracting to the vicinity of the A axis. After the motor has stabilized, the rotor position at this time is recorded as q-.
Further, according to an embodiment of the present invention, as shown in fig. 2, the obtaining of the a-phase maximum duty ratio, the B-phase maximum duty ratio, and the C-phase maximum duty ratio includes the following steps:
s11, collecting A equivalent front current i of the motoraB corresponds to the front current ibCurrent i corresponding to Cc。
It can be understood that the a equivalent current i of the motor can be detected by a current sensor arranged on the motor controlleraB corresponds to the front current ibCurrent i corresponding to Cc。
S12, determining the single-phase maximum current i of the motormax。
It will be appreciated that the single phase maximum current i of the motor can be determined by looking up the motor parametersmax。
S13, corresponding to the front current i according to A of the motoraAnd single phase maximum current imaxObtaining the maximum duty ratio T of the A phaseamax。
Wherein according to an embodiment of the invention, a corresponds to the front current i according to the motoraAnd single phase maximum current imaxObtaining the maximum duty ratio T of the A phaseamaxThe method comprises the following steps: obtaining single-phase maximum current imaxCurrent i corresponding to AaA first difference e betweenaAnd comparing the first difference e by the phase A controlleraAdjusting to obtain A-phase maximum duty ratio Tamax. Wherein, the A phase controller can be a PI controller.
Specifically, the a-phase maximum duty ratio T can be obtained by the following formulaamax：
Tamax=Kpea+KieaTs
Wherein, KpIs the proportional link coefficient, K, in a PI controlleriIs the integral element coefficient, T, in a PI controllersFor the control period of the motor controller, eaIs single-phase maximum current imaxCurrent i corresponding to AaA first difference therebetween.
S14, according to B equivalent front current i of the motorbAnd single phase maximum current imaxObtaining the maximum duty ratio T of the phase Bbmax。
Wherein according to one embodiment of the invention, B according to the motor corresponds to the front current ibAnd single phase maximum current imaxObtaining the maximum duty ratio T of the phase BbmaxThe method comprises the following steps: obtaining single-phase maximum current imaxCurrent i corresponding to BbA second difference e therebetweenbAnd comparing the second difference e by the B-phase controllerbAdjusting to obtain the maximum duty ratio T of the B phasebmax. Wherein, the B-phase controller can be a PI controller.
Specifically, the B-phase maximum duty ratio T can be obtained by the following formulabmax：
Tbmax=Kpeb+KiebTs
Wherein, KpIs the proportional link coefficient, K, in a PI controlleriIs the integral element coefficient, T, in a PI controllersFor the control period of the motor controller, ebIs single-phase maximum current imaxCurrent i corresponding to BbA first difference therebetween.
S15, according to C equivalent front current i of the motorcAnd single phase maximum current imaxObtaining the C-phase maximum duty ratio Tcmax。
Wherein according to one embodiment of the invention, the C according to the motor corresponds to the front current icAnd single phase maximum current imaxObtaining the C-phase maximum duty ratio TcmaxThe method comprises the following steps: obtaining single-phase maximum current imaxCurrent i corresponding to CcA third difference e therebetweencAnd comparing the third difference e by the C-phase controllercAdjusting to obtain C-phase maximum duty ratio Tcmax. Wherein, the C phase controller can be a PI controller.
Specifically, the C-phase maximum duty ratio T can be obtained by the following formulacmax：
Tcmax=Kpec+KiecTs
Wherein, KpIs the proportional link coefficient, K, in a PI controlleriIs the integral element coefficient, T, in a PI controllersFor the control period of the motor controller, ecIs single-phase maximum current imaxCurrent i corresponding to CcA first difference therebetween.
S2, the current rotor position of the motor is obtained to obtain a first rotor position θ -.
And S3, sequentially controlling the rotor of the motor to attract to the position of the B axis and the position of the A axis under the three-phase coordinate system of the motor.
Understandably, the A-phase PI controller is forbidden, the B-phase PI controller is enabled, and the three-phase duty ratio T actually output by the motor controller is adjusteda、Tb、TcAre respectively Ta=0，Tb=Tbmax，Tc=0, motor rotor is set at maximum current imaxAttracting to the vicinity of the B axis.
After the motor is stabilized, the B-phase PI controller is forbidden, the A-phase PI controller is enabled, and the three-phase duty ratio T actually output by the motor controller is adjusteda、Tb、TcAre respectively Ta=Tamax，Tb=0，Tc=0, motor rotor is set at maximum current imaxAttracting to the vicinity of the A axis. After the motor has stabilized, the rotor position at this time is recorded as q +.
S4, the current rotor position of the motor is obtained to obtain a second rotor position θ +.
And S5, calculating the zero position error delta theta of the motor according to the first rotor position theta-and the second rotor position theta +.
Specifically, according to one embodiment of the present invention, calculating the zero position error Δ θ of the electric machine from the first rotor position θ -and the second rotor position θ + comprises: and taking the position of the middle point between the first rotor position theta-and the second rotor position theta + as the zero position error delta theta of the motor.
It can be appreciated that Δ θ =1/2 ((θ -) + (θ +)) + ± θ m, where θ m is the count value of the half-cycle resolver of the motor, when the first rotor position θ -and the second rotor position θ + have a revolutionary zero-crossing point on a relatively close arc, specifically, Δ θ =1/2 ((θ -) + (θ +)) - θ m, when 1/2 ((θ -) + (θ +))) is equal to θ m; when 1/2 ((θ -) + (θ +)) < θ m, Δ θ =1/2 ((θ -) + (θ +)) + θ m.
Δ θ =1/2 ((θ -) + (θ +)) when the first rotor position and the second rotor position do not have a spinning zero-crossing on a closer arc.
In summary, according to the zero position correction method for the motor provided by the embodiment of the present invention, the rotor of the motor is sequentially controlled to be attracted to the position of the C axis and the position of the a axis under the three-phase coordinate system of the motor, and the current rotor position of the motor is obtained to obtain the first rotor position, then the rotor of the motor is sequentially controlled to be attracted to the position of the B axis and the position of the a axis under the three-phase coordinate system of the motor, and the current rotor position of the motor is obtained to obtain the second rotor position, and the zero position error of the motor is calculated according to the first rotor position and the second rotor position. Therefore, the zero correction method of the motor provided by the embodiment of the invention is suitable for motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power of the motor.
Corresponding to the zero position correction method of the motor in the embodiment, the embodiment of the invention also provides a zero position correction device of the motor.
Fig. 4 is a block diagram illustrating a null correction device for an electric machine according to an embodiment of the present invention. As shown in fig. 4, the zero correction device for an electric motor according to an embodiment of the present invention includes an acquisition module 10 and a control module 20.
The obtaining module 10 is configured to obtain a current rotor position of the motor; the control module 20 is configured to sequentially control the rotor of the motor to attract to the C-axis position and the a-axis position of the motor in the three-phase coordinate system, and obtain the current rotor position of the motor to obtain the first rotor position θ —, and sequentially control the rotor of the motor to attract to the B-axis position and the a-axis position of the motor in the three-phase coordinate system, and obtain the current rotor position of the motor to obtain the second rotor position θ +, and calculate the zero position error Δ θ of the motor according to the first rotor position θ -and the second rotor position θ +.
According to an embodiment of the present invention, the control module 20 is further configured to obtain the maximum duty ratio T of the phase aamaxAnd at A phase maximum duty cycle TamaxControlling the motor to suck the rotor of the motor to the position of the A axis; the control module 20 is further configured to obtain the maximum duty ratio T of the B-phasebmaxAnd at B-phase maximum duty cycle TbmaxControlling the motor to suck the rotor of the motor to the position of the B axis; the control module 20 is further configured to obtain the maximum duty cycle T of the C-phasecmaxAnd at C-phase maximum duty cycle TcmaxAnd controlling the motor to suck the rotor of the motor to the position of the C shaft.
According to an embodiment of the present invention, as shown in fig. 5, the zero correcting apparatus of the motor further includes: a collecting module 30 for collecting A equivalent front current i of the motoraB corresponds to the front current ibCurrent i corresponding to Cc(ii) a Wherein the control module 20 is configured to determine a single-phase maximum current i of the motormaxCorresponding to the front current i according to A of the motoraAnd single phase maximum current imaxObtaining the maximum duty ratio T of the A phaseamaxAccording to B of the motor corresponding to the front current ibAnd single phase maximum current imaxObtaining the maximum duty ratio T of the phase BbmaxAccording to C of the motor, corresponding to the front current icAnd single phase maximum current imaxObtaining the C-phase maximum duty ratio Tcmax。
According to an embodiment of the present invention, the control module 20 is further configured to obtain a single-phase maximum current imaxCurrent i corresponding to AaA first difference e betweenaAnd comparing the first difference e by the phase A controlleraAdjustment to obtain phase AMaximum duty cycle Tamax(ii) a The control module 20 is also configured to obtain a single-phase maximum current imaxCurrent i corresponding to BbA second difference e therebetweenbAnd comparing the second difference e by the B-phase controllerbAdjusting to obtain the maximum duty ratio T of the B phasebmax(ii) a The control module 20 is also configured to obtain a single-phase maximum current imaxCurrent i corresponding to CcA third difference e therebetweencAnd comparing the third difference e by the C-phase controllercAdjusting to obtain C-phase maximum duty ratio Tcmax。
According to one embodiment of the present invention, the control module 20 is configured to determine a position of a midpoint between the first rotor position θ -and the second rotor position θ + as a null error Δ θ of the electric machine.
It should be noted that the foregoing explanation of the embodiment of the zero position correction method for a motor is also applicable to the zero position correction device for a motor in the embodiment of the present invention, and details are not repeated here.
Based on the zero position correction device of the motor in the above embodiment, an embodiment of the present invention further provides a motor control system, including the zero position correction device of the motor.
According to the motor control system provided by the embodiment of the invention, the zero correction device of the motor is applicable to motors of different models, and zero errors of the motor can be identified without carrying out experiments on a towing platform and high power on the motor.
Based on the zero position correction method of the motor in the foregoing embodiment, an embodiment of the present invention further provides a readable storage medium, on which a zero position correction program of the motor is stored, and the program is executed by a processor to implement the zero position correction method of the motor.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. The zero correction method of the motor is characterized by comprising the following steps:
sequentially controlling a rotor of the motor to attract to a position of a shaft C and a position of a shaft A under a three-phase coordinate system of the motor;
acquiring the current rotor position of the motor to obtain a first rotor position;
sequentially controlling a rotor of the motor to attract to a B axis position and an A axis position under a three-phase coordinate system of the motor;
acquiring the current rotor position of the motor to obtain a second rotor position;
calculating a zero error of the motor according to the first rotor position and the second rotor position;
wherein, controlling the rotor of the motor to attract to the A axis position comprises: acquiring the maximum duty ratio of the phase A, and controlling the motor by the maximum duty ratio of the phase A so as to attract the rotor of the motor to the position of the shaft A; controlling the rotor of the motor to be attracted to the B axis position comprises: acquiring the maximum duty ratio of a phase B, and controlling the motor by the maximum duty ratio of the phase B so as to attract the rotor of the motor to the position of the shaft B; controlling the rotor of the motor to be attracted to the C-axis position comprises: acquiring a C-phase maximum duty ratio, and controlling the motor by the C-phase maximum duty ratio so as to attract a rotor of the motor to the C-axis position;
obtaining the phase A maximum duty cycle, the phase B maximum duty cycle, and the phase C maximum duty cycle, including: collecting the current A equivalent to the front current, the current B equivalent to the front current and the current C equivalent to the front current of the motor; determining a single-phase maximum current of the motor; obtaining the A-phase maximum duty ratio according to the A equivalent front current and the single-phase maximum current of the motor; obtaining the maximum duty ratio of the B phase according to the equivalent B current of the motor and the maximum single-phase current; acquiring the maximum duty ratio of the C phase according to the equivalent C current of the motor and the maximum single-phase current;
obtaining the A-phase maximum duty cycle from the A-phase equivalent current and the single-phase maximum current of the motor comprises: obtaining a first difference value between the single-phase maximum current and the current before A is equivalent, and adjusting the first difference value through an A-phase controller to obtain the A-phase maximum duty ratio; obtaining the B-phase maximum duty cycle according to the B-phase equivalent front current and the single-phase maximum current of the motor comprises the following steps: obtaining a second difference value between the single-phase maximum current and the current before the phase B is equivalent, and adjusting the second difference value through a phase B controller to obtain the phase B maximum duty ratio; obtaining the C-phase maximum duty cycle from the C-equivalent front current and the single-phase maximum current of the motor comprises: and acquiring a third difference between the single-phase maximum current and the current before C is equivalent, and adjusting the third difference through a C-phase controller to obtain the C-phase maximum duty ratio.
2. The method of zero correction for an electric machine of claim 1, wherein said calculating a zero error for the electric machine based on the first rotor position and the second rotor position comprises:
and taking the position of the middle point between the first rotor position and the second rotor position as the zero error of the motor.
3. A zero correction device for an electric machine, comprising:
the acquisition module is used for acquiring the current rotor position of the motor;
the control module is used for sequentially controlling the rotor of the motor to be attracted to the position of a shaft C and the position of a shaft A under a three-phase coordinate system of the motor, acquiring the current rotor position of the motor to obtain a first rotor position, sequentially controlling the rotor of the motor to be attracted to the position of a shaft B and the position of the shaft A under the three-phase coordinate system of the motor, acquiring the current rotor position of the motor to obtain a second rotor position, and calculating a zero error of the motor according to the first rotor position and the second rotor position;
the control module is further used for acquiring the phase A maximum duty ratio and controlling the motor according to the phase A maximum duty ratio so as to suck the rotor of the motor to the position of the shaft A; the control module is further used for acquiring the maximum duty ratio of the phase B and controlling the motor according to the maximum duty ratio of the phase B so as to attract the rotor of the motor to the position of the axis B; the control module is further used for acquiring the C-phase maximum duty ratio and controlling the motor according to the C-phase maximum duty ratio so as to attract the rotor of the motor to the C-axis position;
the acquisition module is used for acquiring the current A equivalent to the front current, the current B equivalent to the front current and the current C equivalent to the front current of the motor; the control module is used for determining single-phase maximum current of the motor, acquiring the A-phase maximum duty ratio according to A equivalent front current of the motor and the single-phase maximum current, acquiring the B-phase maximum duty ratio according to B equivalent front current of the motor and the single-phase maximum current, and acquiring the C-phase maximum duty ratio according to C equivalent front current of the motor and the single-phase maximum current;
the control module is further used for obtaining a first difference value between the single-phase maximum current and the current before the phase A is equivalent, and adjusting the first difference value through a phase A controller to obtain the phase A maximum duty ratio; the control module is further used for obtaining a second difference value between the single-phase maximum current and the current before the phase B is equivalent to the single-phase maximum current, and adjusting the second difference value through a phase B controller to obtain the phase B maximum duty ratio; the control module is further configured to obtain a third difference between the single-phase maximum current and the current before the phase C is equivalent, and adjust the third difference through a phase C controller to obtain the phase C maximum duty ratio.
4. The zero correction device for an electric machine of claim 3, wherein the control module is configured to use a position of a midpoint between the first rotor position and the second rotor position as the zero error for the electric machine.
5. A motor control system comprising the zero correction device of the motor according to any one of claims 3 to 4.
6. A readable storage medium, having stored thereon a zero correction program of an electric motor, which when executed by a processor implements a zero correction method of an electric motor according to any one of claims 1-2.
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| CN104836506B (en) * | 2015-05-29 | 2019-09-27 | 许继集团有限公司 | A kind of permanent-magnetic synchronous motor rotor zero correction system and method |
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