CN110557059A - Motor stalling method and device - Google Patents
Motor stalling method and device Download PDFInfo
- Publication number
- CN110557059A CN110557059A CN201810552079.7A CN201810552079A CN110557059A CN 110557059 A CN110557059 A CN 110557059A CN 201810552079 A CN201810552079 A CN 201810552079A CN 110557059 A CN110557059 A CN 110557059A
- Authority
- CN
- China
- Prior art keywords
- rotor
- locked
- phase
- motor
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a motor locked-rotor method and a device, wherein the method comprises the following steps: receiving a locked-rotor pilot signal with a constant phase; determining a first phase of the locked rotor pilot signal; determining a second phase of the locked-rotor control current based on the first phase; generating a locked-rotor control current of the second phase; and sending the locked-rotor control current to the power-assisted motor, so that the stator of the power-assisted steering motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the power-assisted steering motor is locked at a corresponding position under the action of the magnetic field. According to the motor stalling method, the stator of the power-assisted steering motor generates a magnetic field in a corresponding direction under the action of the stalling control current, and the rotor of the power-assisted steering motor stalls at a corresponding position under the action of the magnetic field, so that the safety performance is good, stalling at any position can be realized, and the motor stalling method is convenient to use; and a mechanical device is not needed, so that the cost is reduced.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a motor stalling method and a motor stalling device.
Background
In an electric power steering system of a vehicle, a steering assist motor is used to provide steering assist when the vehicle is steered, which saves effort for a user. In the development and test process of the electric power steering system, a locked-rotor test needs to be carried out on a steering power motor to check the performance of the steering power motor and calibrate the steering power motor.
at present, in the development and test processes of an electric power steering system, in order to realize the locked-rotor of a power steering motor, a mechanical device is generally used to clamp a rotor of the power steering motor, lock the rotor of the power steering motor, and generate a locked-rotor state from the aspect of mechanical braking.
However, the above-described mechanical device has a drawback in that the rotor of the steering motor is clamped and locked by the mechanical device, and a locked state occurs in the mechanical brake layer, as follows: firstly, the rotor of the steering power-assisted motor is locked by mechanical braking, so that the danger of rotor slipping and mechanical structure loosening is easily caused; secondly, the mechanical device is heavy, the mechanical device clamps the rotor and simultaneously needs to fix the power-assisted motor body, and then the required mechanical rotation blocking device is large in mass, high in strength, high in cost and inconvenient to use.
disclosure of Invention
in view of the above, the present invention is directed to a method for blocking a motor, so as to generate a motor blocking state safely, with low cost and conveniently.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a motor stalling method is applied to a power steering motor controller and comprises the following steps:
Receiving a locked-rotor pilot signal with a constant phase;
determining a first phase of the locked rotor pilot signal;
Determining a second phase of the locked-rotor control current based on the first phase;
generating a locked-rotor control current of the second phase;
And sending the locked-rotor control current to the power-assisted motor, so that the stator of the power-assisted steering motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the power-assisted steering motor is locked at a corresponding position under the action of the magnetic field.
Further, the step of receiving the locked-rotor pilot signal with the phase kept unchanged includes:
sending a command to a signal generator or a rotor position sensor to generate a locked rotor pilot signal;
receiving a locked rotor pilot signal generated by the signal generator or the rotor position sensor with a phase maintained.
Further, the rotor position sensor includes: a rotor;
the rotor of the rotor position sensor is stationary.
further, the rotor position sensor includes: one of a magnetoresistive sensor with a rotor, a hall sensor with a rotor, and a resolver sensor with a rotor;
The resolver type sensor with a rotor further includes: excitation coil, sine coil, cosine coil.
Further, when the locked rotation guide signal is generated by the rotary transformer type sensor with the rotor, the step of sending a command for generating the locked rotation guide signal to the signal generator or the rotor position sensor includes:
and sending an excitation signal to the rotary transformer sensor with the rotor, so that the rotary transformer sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer sensor with the rotor and generate an alternating magnetic field, and under the action of the alternating magnetic field, a sine coil and a cosine coil of the rotary transformer sensor with the rotor generate a locked rotation guide signal with the phase kept unchanged.
Compared with the prior art, the motor stalling method has the following advantages:
The motor stalling method of the invention receives a stalling guide signal with a first phase kept unchanged, the stalling guide signal is independent of a power steering motor, the first phase of the stalling guide signal is determined, a second phase of a stalling control current is determined based on the first phase, a stalling control current of the second phase is generated, the power steering motor is controlled according to the stalling control current, a stator of the power steering motor generates a magnetic field in a certain direction corresponding to the second phase under the action of the stalling control current, a rotor of the power steering motor stalls at a corresponding position under the action of magnetic field force of the magnetic field, further, the stalling of the power steering motor is realized through the action of the magnetic field force, as long as the magnetic field force is kept unchanged, the stalling state of the power steering motor cannot be changed, and electronic slippage and mechanical looseness cannot be generated, the safety performance is good, the locked-rotor position of the motor can be changed only by changing the locked-rotor guide signal, the locked-rotor at any position can be realized, more useful data can be mined, and the use is convenient; meanwhile, a mechanical device is not needed, and the cost is reduced.
another objective of the present invention is to provide a motor stalling device, which can generate a motor stalling state safely, inexpensively and conveniently.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a motor stalling device, which is applied to a power steering motor controller, the device comprising:
the locked-rotor pilot signal receiving module is used for receiving a locked-rotor pilot signal with a constant phase;
A first phase determination module to determine a first phase of the locked rotor pilot signal;
A second phase determination module for determining a second phase of the locked-rotor control current based on the first phase;
the locked-rotor control current generation module is used for generating the locked-rotor control current of the second phase;
And the steering power-assisted motor control module is used for sending the locked-rotor control current to the power-assisted motor so that the stator of the steering power-assisted motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the steering power-assisted motor is locked at a corresponding position under the action of the magnetic field.
Further, the locked-rotor pilot signal receiving module comprises;
a locked-rotor pilot signal generation command transmission unit for transmitting a command to generate a locked-rotor pilot signal to the signal generator or the rotor position sensor;
And a locked-rotor pilot signal receiving unit for receiving a locked-rotor pilot signal whose phase is maintained by the signal generator or the rotor position sensor.
Further, the rotor position sensor includes: a rotor;
the rotor of the rotor position sensor is stationary.
further, the rotor position sensor includes: one of a magnetoresistive sensor with a rotor, a hall sensor with a rotor, and a resolver sensor with a rotor;
the resolver type sensor with a rotor further includes: excitation coil, sine coil, cosine coil.
further, when the locked rotation guide signal is generated by the rotary transformer type sensor with the rotor, the locked rotation guide signal generation command transmitting unit includes:
And the blocking guide signal generation command sending subunit is used for sending an excitation signal to the rotary transformer type sensor with the rotor, so that the rotary transformer type sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer type sensor with the rotor and generate an alternating magnetic field, and the sine coil and the cosine coil of the rotary transformer type sensor with the rotor generate the blocking guide signal with the phase kept unchanged under the action of the alternating magnetic field.
compared with the prior art, the motor stalling device and the motor stalling method have the same advantages, and are not described again.
drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
Fig. 1 is a flowchart of a motor stalling method according to an embodiment of the present invention;
Fig. 2 is a schematic diagram illustrating a connection between a power steering motor and a motor controller according to a first embodiment of the present invention;
Fig. 3 is a flowchart of a motor stalling method according to a second embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a resolver sensor with a rotor according to a second embodiment of the present invention;
Fig. 5 is a block device for a motor according to a third embodiment of the present invention;
Fig. 6 is a further motor rotation blocking device provided in the third embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating a motor stalling method according to an embodiment of the present invention. The motor stalling method can comprise the following steps:
Step 101, a locked rotor pilot signal with a constant phase is received.
In an embodiment of the present invention, the power steering motor may be a permanent magnet synchronous motor, and a connection structure of the permanent magnet synchronous motor and the power steering motor controller may be as shown in fig. 2, where fig. 2 shows a connection schematic diagram of the power steering motor and the motor controller. When the device 3 for generating a locked-rotor guide signal is connected to the motor controller 2, it is quite necessary that the motor controller 2 controls the assist motor to generate the locked rotor. The locked-rotor guiding signal generating device 3 receives a locked-rotor guiding signal generating command sent by the motor controller 2, a locked-rotor guiding signal 31 with a constant phase is generated, the locked-rotor guiding signal generating device 3 can keep the locked-rotor guiding signal 31 with the constant phase generated by the locked-rotor guiding signal and send the locked-rotor guiding signal to the motor controller 2, the motor controller 2 can generate a locked-rotor control current 21 according to the locked-rotor guiding signal, the motor controller 2 can send the locked-rotor control current 21 to the power-assisted steering motor 1, and the power-assisted steering motor 1 realizes locked rotor under the action of the motor controller 2.
In the embodiment of the present invention, the motor controller receives the locked-rotor pilot signal with the unchanged phase, for example, if the locked-rotor pilot signal with the unchanged size received by the motor controller is signal a, and if signal a is Usin β, where U is the maximum amplitude of signal a and β is the first phase of the signal, the phase of the locked-rotor pilot signal received by the motor controller remains unchanged, that is, β. In an embodiment of the present invention, the locked-rotor guiding signal may be generated by a signal generator or a rotor position sensor, and then transmitted to the motor controller.
step 102, determining a first phase of the locked rotor pilot signal.
In the embodiment of the present invention, after the motor controller receives the locked-rotor pilot signal, the first phase of the locked-rotor pilot signal may be determined according to the locked-rotor pilot signal.
For example, for the above example, if the locked-rotor pilot signal with unchanged magnitude received by the motor controller is signal a, if signal a is Usin β, the first phase of locked-rotor pilot signal a is β.
in the embodiment of the invention, the first phase of the locked-rotor guiding signal is related to the locked-rotor position of the subsequent power-assisted motor, so that the first phase of the locked-rotor guiding signal can be changed by adjusting the size of the locked-rotor guiding signal, and the locked-rotor position of the power-assisted motor can be adjusted.
and 103, determining a second phase of the locked-rotor control current based on the first phase.
In the embodiment of the present invention, a correspondence relationship between the first phase of the locked-rotor pilot signal and the second phase of the locked-rotor control current may be preset, and after the first phase of the locked-rotor pilot signal is determined, the second phase of the locked-rotor control current is determined according to the correspondence relationship between the first phase of the locked-rotor pilot signal and the second phase of the locked-rotor control current.
in a specific application, the locked-rotor control current is applied to the stator of the permanent magnet synchronous motor, the second phase of the locked-rotor control current may be determined to be 90 degrees ahead of the first phase, and the rotor of the permanent magnet synchronous motor may be the same as the first phase or have a certain offset angle, which is not limited in the embodiment of the present invention. For the above example, if the first phase of the locked-rotor pilot signal a is β and the unit is degree, the second phase may be: β +90 in degrees. In the embodiment of the present invention, this is not particularly limited.
and 104, generating the locked-rotor control current of the second phase.
in an embodiment of the present invention, after determining the second phase of the locked rotor control current, the motor controller may further generate the locked rotor control current for the second phase.
For example, for the above example, if the phase of the locked-rotor pilot signal received by the motor controller is kept unchanged as signal a, and if signal a is Usin β, the second phase of the locked-rotor control current determined in step 103 is β +90, and the unit is degree, the motor controller generates a locked-rotor control current B of second phase β +90 degrees, and B may be U1sin (β +90), for example. For example, if the first phase β of the locked rotor pilot signal is 30 degrees, the second control current may be 90+30 degrees to 120 degrees.
And 105, sending the locked-rotor control current to the power-assisted motor, so that the stator of the power-assisted steering motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the power-assisted steering motor is locked at a corresponding position under the action of the magnetic field.
In an embodiment of the present invention, the motor controller sends the locked-rotor control current to the power-assisted motor, a stator of the power-assisted motor generates a magnetic field in a direction corresponding to the second phase of the locked-rotor control current under the action of the locked-rotor control current, and a rotor of the power-assisted motor is locked in a corresponding position under the action of the magnetic field.
In a specific application, for the above example, if the motor controller sends the locked-rotor control current B to the power-assisted motor, and the signal B is U1sin (β +90), since the phase of the locked-rotor pilot signal remains unchanged, the second phase of the locked-rotor control current may also be ensured to remain unchanged, and the second phase of the locked-rotor control current B acting on the stator of the power-assisted motor may also be ensured to remain unchanged.
furthermore, the locked-rotor control current B with the second phase on the stator of the power-assisted motor kept unchanged can generate a magnetic field with a fixed direction. Specifically, in the process of determining the direction of the magnetic field, the direction of the magnetic field generated by the stator of the power-assisted motor may be accurately determined according to the second phase of the locked-rotor control current B by using a right-hand rule, which is not specifically limited in the embodiment of the present invention.
And the rotor of the power-assisted motor can block and rotate the corresponding position of the magnetic field fixed in the direction under the action of the magnetic field fixed in the direction. Specifically, the rotor of the power-assisted motor is also equivalent to a magnet, and the rotor of the power-assisted motor is used as a magnet, and is subjected to the magnetic action of the magnetic field in the magnetic field generated by the stator of the power-assisted motor, so that deflection occurs, and the rotor of the power-assisted motor is locked at a corresponding position.
For example, if the stator of the assist motor generates a first magnetic field with an N pole above and an S pole below under the action of the lock control current, if the rotor of the assist motor serves as a magnet with the N pole on the left and the S pole on the right, the rotor of the assist motor serves as a magnet with the S pole moving from the right to the top, and the rotor of the same assist motor serves as a magnet with the N pole moving from the left to the bottom, so that the rotor of the assist motor is locked at the position, in this example, the position of the rotor lock of the assist motor is: so that the rotor of the booster motor acts as a magnet with the S pole located above and the N pole located at a corresponding position below.
in the embodiment of the present invention, the rotor of the assist motor, and the specific position of the locked rotor, are mainly determined by the second phase of the locked rotor control current, the assist motor itself, and other factors, which are not particularly limited in the embodiment of the present invention.
In specific application, the influence of the factors of the power-assisted motor on the locked rotor position can be calibrated in advance, and then the rotor of the power-assisted motor can be locked in a required position only by controlling the second phase of the locked rotor current. Equivalently, the magnetic force of the magnetic field generated by the stator of the booster motor on the rotor of the booster motor replaces the mechanical braking in the prior art, on one hand, the danger of the mechanical braking is avoided, on the other hand, the locked rotor position of the rotor in the booster motor can be changed only by adjusting the size of the locked rotor guiding signal, and the operation is convenient and fast and the cost is low compared with the existing mode of realizing locked rotor through a mechanical device.
The motor stalling method of the invention receives a stalling guide signal with a first phase kept unchanged, the stalling guide signal is independent of a power steering motor, the first phase of the stalling guide signal is determined, a second phase of a stalling control current is determined according to the stalling guide signal, a stalling control current of the second phase is generated, the power steering motor is controlled according to the stalling control current, a stator of the power steering motor generates a magnetic field with a certain direction corresponding to the second phase under the action of the stalling control current, a rotor of the power steering motor stalls at a corresponding position under the action of magnetic field force of the magnetic field, further, the stalling of the power steering motor is realized through the action of the magnetic field force, as long as the direction of the magnetic field is kept unchanged, the stalling state of the power steering motor cannot be changed, and electronic slippage and mechanical looseness cannot be generated, the safety performance is good, the locked-rotor position of the motor can be changed only by changing the locked-rotor guide signal, the locked-rotor at any position can be realized, more useful data can be mined, and the use is convenient; meanwhile, a mechanical device is not needed, and the cost is reduced.
example two
Referring to fig. 3, fig. 3 is a flowchart illustrating a motor stalling method according to a second embodiment of the present invention. The motor stalling method can comprise the following steps:
Step 201, a command to generate a locked rotor pilot signal is sent to a signal generator or a rotor position sensor.
in an embodiment of the invention, a command to generate a stall guidance signal is sent to a motor controller to a signal generator or rotor position sensor.
In a specific application, the motor controller is connected to a signal generator or a rotor position sensor, i.e. it can be considered that the motor controller sends a command to the signal generator or the rotor position sensor to generate a stall guidance signal.
Optionally, when the device 3 for generating the locked rotor guiding signal is the rotor position sensor, the rotor position sensor may include: a rotor; the rotor of the rotor position sensor is stationary.
Optionally, the rotor position sensor may include: a magnetoresistive sensor with a rotor, a hall sensor with a rotor, a resolver sensor with a rotor.
Specifically, the rotor position sensor is a reluctance type sensor with a rotor, a hall type sensor with a rotor, or a resolver type sensor with a rotor, and this is not particularly limited in the embodiment of the present invention.
Optionally, the resolver sensor with a rotor may further include: the exciting coil, the sine coil and the cosine coil may further include: an excitation coil, a sine coil and a cosine coil; the rotor of the rotary transducer with rotor is also fixed.
Specifically, reference may be made to fig. 4, and fig. 4 is a schematic structural diagram of a resolver type sensor with a rotor in an embodiment of the present invention. The connection plug 41 of the resolver sensor with a rotor to the motor controller, the excitation coil 42 of the resolver sensor with a rotor, the sine coil 43 of the resolver sensor with a rotor, the cosine coil 44 of the resolver sensor with a rotor, and the rotor 45 of the resolver sensor with a rotor are shown, respectively. The rotor 45 of the rotary transducer with a rotor is fixed.
In specific application, the rotary transformer type sensor with the rotor can be calibrated with the permanent magnet synchronous motor in advance. The specific calibration process may be: the rotation condition of the rotor of the resolver type sensor with a rotor and the rotation condition of the rotor of the permanent magnet synchronous motor can be determined in advance, and the rotation angle deviation of the rotor of the resolver type sensor with a rotor and the rotation angle deviation of the rotor of the permanent magnet synchronous motor can be determined.
the locked-rotor position of the rotor of the permanent magnet synchronous motor can be adjusted subsequently by adjusting the fixed angle of the rotor of the rotary variable sensor with the rotor. For example, if the deviation of the rotation angle of the rotor of the resolver type sensor with a rotor determined in advance from the rotation angle of the rotor of the permanent magnet synchronous motor is 0 degree, it indicates that the rotation angle of the rotor of the resolver type sensor with a rotor is consistent with the rotation angle of the rotor of the permanent magnet synchronous motor during normal operation.
when the rotor of the resolver type sensor with the rotor deviates from the rotor of the permanent magnet synchronous motor by 0 degree, the fixed position of the rotor of the resolver type sensor with the rotor can be the locked position of the subsequent permanent magnet synchronous motor. In the embodiment of the present invention, this is not particularly limited.
when the device 3 for generating the locked guiding signal is the rotational-change sensor with a rotor, and when the locked guiding signal is generated by the rotational-change sensor with a rotor, the step of sending a command for generating the locked guiding signal to the signal generator or the rotor position sensor includes: and sending an excitation signal to the rotary transformer sensor with the rotor, so that the rotary transformer sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer sensor with the rotor and generate an alternating magnetic field, and under the action of the alternating magnetic field, a sine coil and a cosine coil of the rotary transformer sensor with the rotor generate a locked rotation guide signal with the phase kept unchanged.
in a specific application, the motor controller may send an excitation signal to the resolver type sensor with a rotor, where the excitation signal may be an alternating signal, the resolver type sensor with a rotor receives the excitation signal to magnetize the rotor of the resolver type sensor with the rotor to generate an alternating magnetic field, and the sine coil and the cosine coil of the resolver type sensor with the rotor generate the rotation blocking guide signal under the action of the alternating magnetic field.
A locked rotor pilot signal, generated by the signal generator or rotor position sensor, whose phase is maintained, is received, step 202.
in an embodiment of the present invention, the signal generator or the rotor position sensor may generate a locked rotor pilot signal whose phase is maintained. In the embodiment of the present invention, this is not particularly limited.
specifically, when the device 3 for generating the locked guiding signal is the resolver-type sensor with a rotor, the motor controller may send an excitation signal to the resolver-type sensor with a rotor, where the excitation signal may be an alternating signal, the resolver-type sensor with a rotor receives the excitation signal to magnetize the rotor of the resolver-type sensor with a rotor to generate an alternating magnetic field, and the sine coil and the cosine coil of the resolver-type sensor with a rotor generate the locked guiding signal under the action of the alternating magnetic field.
The excitation signal acts on the excitation coil of the rotor-equipped resolver, and an alternating magnetic field is generated to magnetize the rotor of the rotor-equipped resolver, so that the magnetized rotor of the rotor-equipped resolver generates an alternating magnetic field, but since the rotor of the rotor-equipped resolver is stationary, the sine coil and the cosine coil generate phase-invariant signals under the action of the alternating magnetic field generated by the rotor of the rotor-equipped resolver, and the phase-invariant signals generated by the sine coil and the cosine coil in this case can be used as the phase-invariant locked rotation guide signals.
In the embodiment of the present invention, the signal generator or the rotor position sensor sends the generated locked-rotor guiding signal with the phase being kept unchanged to the motor controller, which may refer to the related description in step 101 in the first embodiment, and is not described herein again.
Step 203, determining a first phase of the locked rotor pilot signal.
And step 204, determining a second phase of the locked-rotor control current based on the first phase.
And step 205, generating the locked-rotor control current of the second phase.
And step 206, sending the locked-rotor control current to the power-assisted motor, so that the stator of the power-assisted steering motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the power-assisted steering motor is locked at a corresponding position under the action of the magnetic field.
In the embodiment of the present invention, the step 203-.
The motor stalling method of the invention receives a stalling guide signal with a first phase kept unchanged, the stalling guide signal is independent of a power steering motor, the first phase of the stalling guide signal is determined, a second phase of a stalling control current is determined based on the first phase, a stalling control current of the second phase is generated, the power steering motor is controlled according to the stalling control current, a stator of the power steering motor generates a magnetic field in a certain direction corresponding to the second phase under the action of the stalling control current, a rotor of the power steering motor stalls at a corresponding position under the action of magnetic field force of the magnetic field, further, the stalling of the power steering motor is realized through the action of the magnetic field force, as long as the magnetic field force is kept unchanged, the stalling state of the power steering motor cannot be changed, and electronic slippage and mechanical looseness cannot be generated, the safety performance is good, the locked-rotor position of the motor can be changed only by changing the locked-rotor guide signal, the locked-rotor at any position can be realized, more useful data can be mined, and the use is convenient; meanwhile, a mechanical device is not needed, and the cost is reduced.
It should be noted that, in the normal use process of the power-assisted motor except for the locked rotor test, the power-assisted motor may also be connected to a rotor position sensor coaxial with the rotor of the power-assisted motor, so as to obtain the rotation condition of the power-assisted motor, which is not specifically limited in the embodiment of the present invention.
EXAMPLE III
Referring to fig. 5, fig. 5 illustrates a motor stalling device provided by a third embodiment of the present invention, where the device is applied to a power steering motor controller, and the device 300 may include:
A locked-rotor pilot signal receiving module 301, configured to receive a locked-rotor pilot signal whose phase remains unchanged;
a first phase determination module 302 configured to determine a first phase of the locked pilot signal;
A second phase determination module 303, configured to determine a second phase of the locked rotor control current based on the first phase;
A locked control current generation module 304, configured to generate a locked control current for the second phase;
and a steering assist motor control module 305, configured to send the locked-rotor control current to the assist motor, so that the stator of the steering assist motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the steering assist motor is locked in a corresponding position under the action of the magnetic field.
further, referring to fig. 6, fig. 6 shows another motor rotation blocking device according to a third embodiment of the present invention, and on the basis of fig. 5, the device 300 may further include:
Optionally, the locked-rotor pilot signal receiving module 301 may include;
A locked-rotor guidance signal generation command transmitting unit 3011 for transmitting a command to generate a locked-rotor guidance signal to the signal generator or the rotor position sensor;
A locked-rotor pilot signal receiving unit 3012 for receiving a locked-rotor pilot signal whose phase is maintained by the signal generator or the rotor position sensor.
Optionally, the rotor position sensor includes: a rotor;
The rotor of the rotor position sensor is stationary.
Optionally, the rotor position sensor includes: one of a magnetoresistive sensor with a rotor, a hall sensor with a rotor, and a resolver sensor with a rotor;
The resolver type sensor with a rotor further includes: excitation coil, sine coil, cosine coil.
Alternatively, when the locked-rotor pilot signal is generated by the rotary transformer type sensor with a rotor, the locked-rotor pilot signal generation command transmitting unit 3011 includes: and the blocking guide signal generation command sending subunit is used for sending an excitation signal to the rotary transformer type sensor with the rotor, so that the rotary transformer type sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer type sensor with the rotor and generate an alternating magnetic field, and the sine coil and the cosine coil of the rotary transformer type sensor with the rotor generate the blocking guide signal with the phase kept unchanged under the action of the alternating magnetic field.
the motor locked-rotor device receives a locked-rotor guide signal with a first phase kept unchanged, the locked-rotor guide signal is independent of a power steering motor, the first phase of the locked-rotor guide signal is determined, a second phase of a locked-rotor control current is determined based on the first phase, a locked-rotor control current of the second phase is generated, the power steering motor is controlled according to the locked-rotor control current, a stator of the power steering motor generates a magnetic field in a certain direction corresponding to the second phase under the action of the locked-rotor control current, a rotor of the power steering motor is locked at a corresponding position under the action of magnetic field force of the magnetic field, and further locked-rotor of the power steering motor is realized under the action of the magnetic field force, so long as the locked-rotor state of the power steering motor is not changed, and electronic slip and mechanical looseness are not generated, the safety performance is good, the locked-rotor position of the motor can be changed only by changing the locked-rotor guide signal, the locked-rotor at any position can be realized, more useful data can be mined, and the use is convenient; meanwhile, a mechanical device is not needed, and the cost is reduced.
finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. a motor stalling method is applied to a power steering motor controller, and is characterized by comprising the following steps:
Receiving a locked-rotor pilot signal with a constant phase;
determining a first phase of the locked rotor pilot signal;
determining a second phase of the locked-rotor control current based on the first phase;
generating a locked-rotor control current of the second phase;
And sending the locked-rotor control current to the power-assisted motor, so that the stator of the power-assisted steering motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the power-assisted steering motor is locked at a corresponding position under the action of the magnetic field.
2. the method of claim 1, wherein the step of receiving the locked pilot signal with the phase maintained constant comprises:
Sending a command to a signal generator or a rotor position sensor to generate a locked rotor pilot signal;
Receiving a locked rotor pilot signal generated by the signal generator or the rotor position sensor with a phase maintained.
3. the method of claim 2, wherein the rotor position sensor comprises: a rotor;
the rotor of the rotor position sensor is stationary.
4. The method of claim 3, wherein the rotor position sensor comprises: one of a magnetoresistive sensor with a rotor, a hall sensor with a rotor, and a resolver sensor with a rotor;
The resolver type sensor with a rotor further includes: excitation coil, sine coil, cosine coil.
5. The method of claim 2 or 4, wherein when the locked pilot signal is generated by the rotary transformer sensor with a rotor, the step of sending a command to a signal generator or a rotor position sensor to generate the locked pilot signal comprises:
And sending an excitation signal to the rotary transformer sensor with the rotor, so that the rotary transformer sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer sensor with the rotor and generate an alternating magnetic field, and under the action of the alternating magnetic field, a sine coil and a cosine coil of the rotary transformer sensor with the rotor generate a locked rotation guide signal with the phase kept unchanged.
6. A motor stalling device, which is applied to a power steering motor controller, is characterized by comprising:
The locked-rotor pilot signal receiving module is used for receiving a locked-rotor pilot signal with a constant phase;
a first phase determination module to determine a first phase of the locked rotor pilot signal;
A second phase determination module for determining a second phase of the locked-rotor control current based on the first phase;
The locked-rotor control current generation module is used for generating the locked-rotor control current of the second phase;
and the steering power-assisted motor control module is used for sending the locked-rotor control current to the power-assisted motor so that the stator of the steering power-assisted motor generates a magnetic field in a direction corresponding to the second phase under the action of the locked-rotor control current, and the rotor of the steering power-assisted motor is locked at a corresponding position under the action of the magnetic field.
7. the apparatus of claim 6, wherein the locked-rotor pilot signal receiving module comprises;
A locked-rotor pilot signal generation command transmission unit for transmitting a command to generate a locked-rotor pilot signal to the signal generator or the rotor position sensor;
And a locked-rotor pilot signal receiving unit for receiving a locked-rotor pilot signal whose phase is maintained by the signal generator or the rotor position sensor.
8. the apparatus of claim 7, wherein the rotor position sensor comprises: a rotor;
The rotor of the rotor position sensor is stationary.
9. the apparatus of claim 8, wherein the rotor position sensor comprises: one of a magnetoresistive sensor with a rotor, a hall sensor with a rotor, and a resolver sensor with a rotor;
The resolver type sensor with a rotor further includes: excitation coil, sine coil, cosine coil.
10. The apparatus according to claim 7 or 9, wherein when the locked guide signal is generated by the rotary transformer type sensor with a rotor, the locked guide signal generating command transmitting unit includes:
And the blocking guide signal generation command sending subunit is used for sending an excitation signal to the rotary transformer type sensor with the rotor, so that the rotary transformer type sensor with the rotor receives the excitation signal to magnetize the rotor of the rotary transformer type sensor with the rotor and generate an alternating magnetic field, and the sine coil and the cosine coil of the rotary transformer type sensor with the rotor generate the blocking guide signal with the phase kept unchanged under the action of the alternating magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552079.7A CN110557059B (en) | 2018-05-31 | 2018-05-31 | Motor stalling method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552079.7A CN110557059B (en) | 2018-05-31 | 2018-05-31 | Motor stalling method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110557059A true CN110557059A (en) | 2019-12-10 |
| CN110557059B CN110557059B (en) | 2021-10-01 |
Family
ID=68733863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810552079.7A Active CN110557059B (en) | 2018-05-31 | 2018-05-31 | Motor stalling method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110557059B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433455A (en) * | 2021-06-24 | 2021-09-24 | 中国第一汽车股份有限公司 | Control method, device and medium for stalling test of permanent magnet synchronous motor for electric vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08275571A (en) * | 1995-03-31 | 1996-10-18 | Sanyo Electric Co Ltd | Motor drive circuit |
| JP2006333599A (en) * | 2005-05-25 | 2006-12-07 | Matsushita Electric Ind Co Ltd | Controller for dc brushless motor |
| CN102545741A (en) * | 2012-02-07 | 2012-07-04 | 深圳市捷顺科技实业股份有限公司 | Brushless direct-current motor drive circuit, channel gate and control method |
| CN102891640A (en) * | 2012-09-21 | 2013-01-23 | 南京中科天文仪器有限公司 | Angle positioning system for directly outputting absolute position by using encoder |
| CN104201861A (en) * | 2014-08-21 | 2014-12-10 | 广东威灵电机制造有限公司 | Stator of variable reluctance resolver and variable reluctance resolver |
-
2018
- 2018-05-31 CN CN201810552079.7A patent/CN110557059B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08275571A (en) * | 1995-03-31 | 1996-10-18 | Sanyo Electric Co Ltd | Motor drive circuit |
| JP2006333599A (en) * | 2005-05-25 | 2006-12-07 | Matsushita Electric Ind Co Ltd | Controller for dc brushless motor |
| CN102545741A (en) * | 2012-02-07 | 2012-07-04 | 深圳市捷顺科技实业股份有限公司 | Brushless direct-current motor drive circuit, channel gate and control method |
| CN102891640A (en) * | 2012-09-21 | 2013-01-23 | 南京中科天文仪器有限公司 | Angle positioning system for directly outputting absolute position by using encoder |
| CN104201861A (en) * | 2014-08-21 | 2014-12-10 | 广东威灵电机制造有限公司 | Stator of variable reluctance resolver and variable reluctance resolver |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433455A (en) * | 2021-06-24 | 2021-09-24 | 中国第一汽车股份有限公司 | Control method, device and medium for stalling test of permanent magnet synchronous motor for electric vehicle |
| CN113433455B (en) * | 2021-06-24 | 2024-03-26 | 中国第一汽车股份有限公司 | Control method, device and medium for locked rotor test of permanent magnet synchronous motor for electric vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110557059B (en) | 2021-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2063339B1 (en) | Control method of electromotor | |
| KR102446699B1 (en) | Method for sensor-free control of a PMSM motor | |
| KR102034772B1 (en) | Method for determining the angular offset between the rotor and the stator of an electrical machine of a motor vehicle | |
| JP6404190B2 (en) | Method for diagnosing the offset of an electromechanical resolver | |
| JP4624619B2 (en) | Method and apparatus for controlling torque in a permanent magnet brushless electronic motor | |
| US8106618B2 (en) | Method and device for calibrating a position sensor placed on a shaft of a permanent magnet synchronous motor | |
| JP5705975B2 (en) | Automatic adjustment method for resolver of electric machine | |
| EP1486396A2 (en) | Electric power steering apparatus | |
| EP1583217B1 (en) | Motor drive-controlling device and electric power-steering device | |
| US9831809B1 (en) | Rotor position sensing system for three phase motors and related methods | |
| JP2013528344A (en) | Apparatus and method for measuring resolver offset angle of synchronous electric machine | |
| US20060108968A1 (en) | Determination of start commutation in synchronous servo-drives | |
| EP3384591B1 (en) | Stray magnetic field compensation for a rotor position sensor | |
| US20090261765A1 (en) | Synchronous motor, encoderless motor system and a method for operating an encoderless motor system with a synchronous motor | |
| CN110557059B (en) | Motor stalling method and device | |
| EP1347568A3 (en) | Stepping motor driver | |
| US7065437B2 (en) | Current limit for an electric machine | |
| CN109428528A (en) | Rotor-position sensing system of three-phase motor and associated method | |
| US10807640B2 (en) | Motor control apparatus and method of motor driven power steering system | |
| CN112019114A (en) | Method for measuring zero offset angle of motor control system | |
| US20180069495A1 (en) | Rotor position sensing system for three phase motors and related methods | |
| US6448734B1 (en) | Method for current regulation of permanently excited synchronous motors for guided missiles having an electromechanical actuating drive for the rudder | |
| CN105393448B (en) | The recognition methods of motor angle errors present and its executive device and steering support device | |
| KR20170126639A (en) | Motor drive control apparatus and sensorless starting method thereof | |
| US20190319564A1 (en) | Method for determining the angular position of the rotor of an inverter-fed synchronous motor, and an apparatus for carrying out the method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210705 Address after: 868 Gangxing Road, Yangzhong Economic Development Zone, Zhenjiang City, Jiangsu Province Applicant after: Beehive intelligent steering system (Jiangsu) Co.,Ltd. Address before: 071000 No. 2266 Chaoyang South Street, Hebei, Baoding Applicant before: Great Wall Motor Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |