CN110829929A - Motor static initial angle positioning method and device and motor equipment - Google Patents
Motor static initial angle positioning method and device and motor equipment Download PDFInfo
- Publication number
- CN110829929A CN110829929A CN201810906861.4A CN201810906861A CN110829929A CN 110829929 A CN110829929 A CN 110829929A CN 201810906861 A CN201810906861 A CN 201810906861A CN 110829929 A CN110829929 A CN 110829929A
- Authority
- CN
- China
- Prior art keywords
- motor
- coordinate system
- initial angle
- current
- theta
- 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.)
- Pending
Links
Images
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A method of static initial angular positioning of an electric machine, comprising: injecting forward rotation high frequency omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1(ii) a Injecting reversely rotating high frequency-omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2(ii) a By pair of theta1And theta2And the sum is averaged to obtain the initial angle theta of the motor. The rotating high-frequency voltage in the positive direction and the negative direction is injected simultaneously, and is decomposed into positive and negative high-frequency currents through coordinate conversion, the positive and negative high-frequency current errors are basically equal in size and opposite in direction, and can be mutually offset, so that the precision of the magnetic field angle of the motor is guaranteed, the motor efficiency is guaranteed, the motor control is not out of control, and the reliability and the safety of the electric automobile are improvedAnd high efficiency.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a method and a device for positioning a static initial angle of a motor and motor equipment.
Background
The new energy automobile market is rapidly developed and enters the industrialization stage. Therefore, people pay attention to the safety performance and the high cost performance of the electric automobile, the control mode of the electric automobile motor in the current market basically depends on the rotor angle measured by the rotary transformer to carry out closed-loop control, the initial angle error of the motor is increased, the reliability of the system can be reduced, the control efficiency is reduced, and potential safety hazards are caused.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for positioning a static initial angle of a motor, and a motor device, so as to solve the problem that an error of an initial angle of a motor is increased when a conventional control method basically depends on a rotor angle measured by a resolver to perform closed-loop control.
The first aspect of the embodiment of the invention provides a method for positioning a static initial angle of a motor, which comprises the following steps:
injecting forward rotation high frequency omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1；
Injecting reversely rotating high frequency-omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
By pair of theta1And theta2And the sum is averaged to obtain the initial angle theta of the motor.
A second aspect of the embodiments of the present invention provides a static initial angle positioning device for a motor, including:
a first processing module configured to inject a forward rotation high frequency ω in a motor stationary statecVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1；
A second processing module configured to inject a reverse rotation high frequency-omega in a motor static statecVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
An angle calculation module configured to calculate a pass angle θ1And theta2And the sum is averaged to obtain the initial angle theta of the motor.
A third aspect of embodiments of the present invention provides a motor apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the motor static initial angular positioning method as described above when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for static initial angular positioning of an electric machine as described above.
The static initial angle positioning method and the static initial angle positioning device for the motor adopt the rotating high-frequency voltage injection in the positive direction and the negative direction at the same time, the rotating high-frequency voltage injection is decomposed into the positive high-frequency current and the negative high-frequency current through coordinate conversion, the positive high-frequency current and the negative high-frequency current have basically the same error, the directions are opposite, the positive high-frequency current and the negative high-frequency current can be mutually offset, the precision of the magnetic field angle of the motor is ensured, the motor efficiency is ensured, the motor control is not out of control.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a control block diagram of an IPMSM closed-loop control system provided by an embodiment of the invention;
fig. 2 is a schematic flow chart illustrating an implementation of a method for positioning a static initial angle of a motor according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of implementation of positioning of a static initial angle of a motor injecting forward rotation high-frequency voltage according to an embodiment of the present invention;
FIG. 4 is a control block diagram for injecting forward and reverse rotating high frequency rotating voltage signals into a motor winding, provided by an embodiment of the present invention;
FIG. 5 is a control block diagram for converting three-phase current to α - β two-phase current in a stationary frame according to an embodiment of the present invention;
FIG. 6 is a control block diagram of the vector current transformation calculation of α - β stationary coordinate system to obtain two erroneous initial angles of the motor according to the embodiment of the present invention;
fig. 7 is a schematic flow chart illustrating an implementation of a static reverse initial angle positioning method for a motor according to an embodiment of the present invention;
FIG. 8 is a control block diagram for calculating a target motor initial angle from a motor initial angle with an error according to an embodiment of the present invention;
fig. 9 is a schematic view of a static initial angle positioning device of a motor according to an embodiment of the present invention;
fig. 10 is a schematic view of a motor apparatus provided by an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 shows a control block diagram of an IPMSM closed-loop control system according to an embodiment of the present invention, where Te is an input electromagnetic torque of a given motor, two given currents Id and Iq are generated under maximum torque-to-current ratio control (MTPA), and after a difference is respectively obtained between the given currents Id and Iq and two feedback currents Id and Iq, PI adjustment is performed according to two difference values to obtain two given voltages Ud and Uq.
Referring to fig. 2, a method for positioning a static initial angle of a motor according to an embodiment of the present invention includes the following steps:
step S110, injecting forward rotation high frequency omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1。
Note that the first motor initial angle θ1The positive error delta 1 exists, theta 1 is equal to theta-delta 1, and theta is the target motor initial angle.
Step S120, injecting the reversely rotating high frequency-omega in the static state of the motorcVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
Note that the second motor initial angle θ2There is an inverse error Δ 2, θ 1 ═ θ + Δ 2.
Step S130, by making a pair of theta1And theta2And the sum is averaged to obtain the initial angle theta of the motor.
It should be understood that, in the above embodiment, each step S110 and each step S120 may be executed simultaneously, or may be executed sequentially or in a sequence order, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present invention.
Therefore, the rotating high-frequency voltage in the positive direction and the rotating high-frequency voltage in the negative direction are injected at the same time, the rotating high-frequency voltage is decomposed into positive and negative high-frequency currents through coordinate conversion, the positive and negative high-frequency current errors are basically equal in magnitude and opposite in direction, and the positive and negative high-frequency current errors can be mutually offset, so that the precision of the initial angle of a permanent magnet synchronous motor (IPMSM) of the motor controller in a static state is improved.The high-precision positioning method of the initial angle of the IPMSM motor based on the injection of the rotating high-frequency voltage is characterized in that the rotating high-frequency voltages in the positive and negative directions are injected into the three-phase end of the motor at the same time, and the first initial angle of the motor obtained by injecting the positive rotating high-frequency voltage is theta1The initial angle of the second motor obtained by injecting the high-frequency voltage in the reverse rotation is theta-delta 12Theta + delta 2, averaging the angles obtained for positive and negative directions
Due to the fact that errors in the positive direction and the negative direction are offset, the initial angle precision of the IPMSM motor in the static state of the motor controller of the electric automobile is improved, normal operation of the motor is guaranteed, and reliability, safety and high efficiency of the motor of the electric automobile are improved.
In a more detailed embodiment, referring to fig. 3, step S110 includes:
step S111, referring to fig. 4, injecting forward rotation high frequency ω into the motor windingcRotating voltage signal U1hα、U1hβSpecifically, the voltage in the α - β stationary coordinate system can be expressed as:
U1hαβ＝U1hα+U1hβ*j＝Um*ej*(ωc*t+θc0)
wherein Um is a voltage modulus, ωcFor injecting a rotating high-frequency voltage angular frequency, thetac0For the initial angle of the high frequency injection voltage, the vector complex factor of j, the natural logarithm of e, and t represents time.
Step S112, referring to fig. 5, converting the three-phase current of the stationary coordinate system of the sampled motor to obtain the vector current of the stationary coordinate system of α - β.
In particular, the three-phase current I is applied to the static coordinate system of the motoru、Iv、IwConverting the current into a two-phase current I of a static coordinate system of α - βα、IβWherein the conversion formula is:
Iα＝Iu
then according to α - β static coordinate system two-phase current Iα、IβThe vector current I of α - β stationary coordinate system is obtained by conversionαβWherein the conversion formula is:
wherein, ω iscFor injecting a rotating high-frequency voltage signal angular frequency, omegarK1 and K2 are the modulus of current, thetac0For the initial angle, theta, of the high-frequency injection voltage1For the first motor initial angle, pi is the circumferential ratio, and j is the vector complex factor.
Step S113, please refer to fig. 6, transforming the vector current from the stationary coordinate system to ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered omegacRotating the coordinate system vector current.
Wherein the vector current is transformed from a stationary coordinate system to ωcThe rotating coordinate system satisfies the following formula:
Idq c＝Iαβ*ej*ωc*t
＝K1*ej*[ωc*t+θc0+pi/2+ωc*t]+K2*ej*[-ωc*t+2*ωr*t-θc0+2*θ1-pi/2+ωc*t]
＝K1*ej*[2*ωc*t+θc0+pi/2]+K2*ej*[2*ωr*t-θc0+2*θ1-pi/2]
＝Ip c+In c
wherein, ω iscFor injecting the angular frequency of the rotating high-frequency voltage signal. OmegarIs the motor rotation speed. K1 and K2 are the modulus of the current, θc0For the initial angle, theta, of the high-frequency injection voltage1Is the initial angle of the first motor, Ip cIs a positive sequence current, In cIs a negative sequence current.
Filtering I by a low-pass filterp cTo obtain omegacVector current I of rotating coordinate systemdq_lpf c：
Idq_lpf c＝Inc＝K2*ej*[2*ωr*t-θc0+2*θ1-pi/2]
At rest of the motor, ωrWhen 0, it is known that:
Idq_lpf c＝In c＝K2*ej*[-θc0+2*θ1-pi/2]
step S114, please refer to FIG. 6, from ωcCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the first motor1And theta1＝θ-Δ1。
In a more detailed embodiment, referring to fig. 7, step S120 includes:
step S121, please refer to FIG. 4, inject the high frequency-omega of the reverse rotation into the motor windingcRotating voltage signal U2hα、U2hβSpecifically, the voltage in the α - β stationary coordinate system can be expressed as:
U2hαβ＝U2hα+U2hβ*j＝Um*ej*(-ωc*t+θc0)
wherein Um is a voltage modulus value, -omegacFor injecting a rotating high-frequency voltage angular frequency, thetac0For the initial angle of the high frequency injection voltage, the vector complex factor of j, the natural logarithm of e, and t represents time.
Step S122, referring to fig. 5, converting the three-phase current of the stationary coordinate system of the sampled motor to obtain the vector current of α - β stationary coordinate system.
In particular, the three-phase current I is applied to the static coordinate system of the motoru、Iv、IwConverting the current into a two-phase current I of a static coordinate system of α - βα、IβWherein the conversion formula is:
Iα＝Iu
then according to α - β static coordinate system two-phase current Iα、IβThe vector current I of α - β stationary coordinate system is obtained by conversionαβWherein the conversion formula is:
wherein- ωcFor injecting a rotating high-frequency voltage signal angular frequency, omegarK1 and K2 are the modulus of current, thetac0For the initial angle, theta, of the high-frequency injection voltage2For the second motor initial angle, pi is the circumferential ratio and j is the vector complex factor.
Step S123, please refer to fig. 6, transforming the vector current from the stationary coordinate system to the- ω c rotating coordinate system, and obtaining a filtered- ω c rotating coordinate system vector current after filtering the positive sequence current.
Wherein the vector current is transformed from a stationary coordinate system to ωcThe rotating coordinate system satisfies the following formula:
Idq c＝Iαβ*ej*-ωc*t
＝K1*ej*[-ωc*t+θc0+pi/2+-ωc*t]+K2*ej*[ωc*t+2*ωr*t-θc0+2*θ2-pi/2+-ωc*t]
＝K1*ej*[2*-ωc*t+θc0+pi/2]+K2*ej*[2*ωr*t-θc0+2*θ2-pi/2]
＝Ip c+In c
wherein- ωcFor injecting the angular frequency of the rotating high-frequency voltage signal. OmegarIs the motor rotation speed. K1 and K2 are the modulus of the current, θc0For the initial angle, theta, of the high-frequency injection voltage2For the initial angle of the second motor, Ip cIs a positive sequence current, In cIs a negative sequence current.
Filtering I by a low-pass filterp cTo obtain-omegacVector current I of rotating coordinate systemdq_lpf c：
Idq_lpf c＝Inc＝K2*ej*[2*ωr*t-θc0+2*θ2-pi/2]
At rest of the motor, ωrWhen 0, it is known that:
Idq_lpf c＝In c＝K2*ej*[-θc0+2*θ2-pi/2]
step S124, referring to fig. 6, calculating the initial angle θ of the second motor from the value of the vector current of the- ω c rotating coordinate system2And theta2＝θ+Δ2。
It is understood that the high frequency- ω of the reverse rotation is injected to the motor winding in step S121cThe operation process and the conversion formula of the rotation voltage signal from step S121 to step 124 are the same as those from step S111 to step S114.
Referring to FIG. 8, in step S130, θ is adjusted by1And theta2The sum is averaged to obtain the initial angle theta of the target motor, which is specifically as follows: by pair of theta1And theta2The sum is averaged to make the positive and negative errors offset to obtain the high-precision initial angle theta of the motor
In addition, referring to fig. 9, a static initial angle positioning device of a motor is further provided, including:
a first processing module configured to inject a forward rotation high frequency ω in a motor stationary statecVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1；
A second processing module configured to inject a reverse rotation high frequency-omega in a motor static statecVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
An angle calculation module configured to calculate a pass angle θ1And theta2And the sum is averaged to obtain the initial angle theta of the motor.
In one embodiment, the first processing module includes:
a forward voltage injection unit configured to inject a forward rotation high frequency ω to the motor windingcRotating voltage signal；
The first transformation unit is configured to convert the three-phase current of the static coordinate system of the sampled motor into αβ vector current of the static coordinate system;
a second transformation unit configured to transform the vector current from a stationary coordinate system to ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered omegacRotating the coordinate system vector current;
a first calculation unit configured to calculate ωcCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the first motor1。
In one embodiment, the second processing module comprises:
a reverse voltage injection unit configured to inject a reverse rotation high frequency-omega to the motor windingcA rotation voltage signal;
the third transformation unit is configured to convert the three-phase current of the static coordinate system of the sampled motor into αβ vector current of the static coordinate system;
a fourth transformation unit configured to transform the vector current from a stationary coordinate system to- ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered-omegacRotating the coordinate system vector current;
a second calculation module configured to calculate a second value from- ωcCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the second motor2。
In one embodiment, the pass pair θ1And theta2The sum is averaged to obtain an initial angle theta of the motor, which is specifically as follows:
by pair of theta1And theta2The sum is averaged to make the positive and negative errors offset to obtain the high-precision initial angle theta of the motor
Where Δ 1 is the forward error and Δ 2 is the reverse error.
Fig. 10 is a schematic view of a motor apparatus according to an embodiment of the present invention. As shown in fig. 10, the motor apparatus 10 of this embodiment includes: a processor 100, a memory 101 and a computer program 102, such as a motor static initial angle positioning method program, stored in said memory 101 and executable on said processor 100. The processor 100, when executing the computer program 102, implements the steps in the various motor static initial angular positioning method embodiments described above, such as the steps 101-104 shown in fig. 1. Alternatively, the processor 100, when executing the computer program 102, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules/units shown in fig. 8.
Illustratively, the computer program 102 may be partitioned into one or more modules/units that are stored in the memory 101 and executed by the processor 100 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 102 in the electrical machine apparatus 10. For example, the computer program 102 may be divided into a synchronization module, a summary module, an acquisition module, and a return module (a module in a virtual device), and each module has the following specific functions:
the motor apparatus 10 may be an electric vehicle, a hybrid vehicle, or an electromechanical industrial control apparatus. The electromechanical device may include, but is not limited to, a processor 100, a memory 101. Those skilled in the art will appreciate that fig. 10 is merely an example of an electromechanical device 10 and does not constitute a limitation of electromechanical device 10 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the electromechanical device may also include input-output devices, network access devices, buses, etc.
The Processor 100 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 101 may be an internal storage unit of the motor apparatus 10, such as a hard disk or a memory of the motor apparatus 10. The memory 101 may also be an external storage device of the motor device 10, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the motor device 10. Further, the memory 101 may also include both an internal storage unit and an external storage device of the motor device 10. The memory 101 is used for storing the computer program and other programs and data required by the electric machine. The memory 101 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/motor apparatus and method may be implemented in other ways. For example, the above-described apparatus/motor device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of positioning a static initial angle of a motor, comprising:
injecting forward rotation high frequency omega under the static state of the motorcVoltage, sampling three-phase stator current andconversion to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1；
Injecting reversely rotating high frequency-omega under the static state of the motorcVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
By pair of theta1And theta2And the sum is averaged to obtain the initial angle theta of the motor.
2. The method of claim 1, wherein the high frequency ω is injected into the motor at a static statecVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1The method comprises the following steps:
injecting forward rotation high frequency omega into motor windingcA rotation voltage signal;
converting the three-phase current of the sampled static coordinate system of the motor to obtain α - β vector current of the static coordinate system;
transforming the vector current from a stationary frame to ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered omegacRotating the coordinate system vector current;
from omegacCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the first motor1。
3. The method of claim 1, wherein the injection of the high frequency- ω rotating in opposite directions is performed while the motor is stationarycVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2The method comprises the following steps:
injecting counter-rotating high frequency-omega into motor windingscA rotation voltage signal;
converting the three-phase current of the sampled static coordinate system of the motor to obtain α - β vector current of the static coordinate system;
transforming the vector current from a stationary frame to- ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered-omegacRotating the coordinate system vector current;
from-omegacCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the second motor2。
4. The method of static initial angle positioning of an electric machine of claim 1, wherein said pass-through pair θ1And theta2The sum is averaged to obtain an initial angle theta of the motor, which is specifically as follows:
by pair of theta1And theta2The sum is averaged to make the positive and negative errors offset to obtain the high-precision initial angle theta of the motor
Where Δ 1 is the forward error and Δ 2 is the reverse error.
5. A static initial angular positioning apparatus for an electric motor, comprising:
a first processing module configured to inject a forward rotation high frequency ω in a motor stationary statecVoltage, sampling three-phase stator current and converting to ωcAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the first motor1；
A second processing module configured to inject a reverse rotation high frequency-omega in a motor static statecVoltage, sampling three-phase stator current and converting to-omegacAfter the coordinate system synchronously rotates, extracting the low-frequency content in the coordinate system and calculating to obtain the initial angle theta of the second motor2；
An angle calculation module configured to calculate a pass angle θ1And theta2The sum is averaged to obtain the initial value of the motorThe starting angle theta.
6. The motor static initial angle positioning apparatus of claim 5, wherein the first processing module comprises:
a forward voltage injection unit configured to inject a forward rotation high frequency ω to the motor windingcA rotation voltage signal;
the first transformation unit is configured to convert the three-phase current of the static coordinate system of the sampled motor into vector current of α - β static coordinate system;
a second transformation unit configured to transform the vector current from a stationary coordinate system to ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered omegacRotating the coordinate system vector current;
a first calculation unit configured to calculate ωcCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the first motor1。
7. The motor static initial angle positioning apparatus of claim 6, wherein the second processing module comprises:
a reverse voltage injection unit configured to inject a reverse rotation high frequency-omega to the motor windingcA rotation voltage signal;
the third transformation unit is configured to convert the three-phase current of the static coordinate system of the sampled motor into vector current of α - β static coordinate system;
a fourth transformation unit configured to transform the vector current from a stationary coordinate system to- ωcRotating the coordinate system, and filtering out the positive sequence current to obtain filtered-omegacRotating the coordinate system vector current;
a second calculation module configured to calculate a second value from- ωcCalculating the value of vector current in the rotating coordinate system to obtain the initial angle theta of the second motor2。
8. The static initial angle positioning apparatus of an electric motor of claim 6, wherein the pass pair θ1And theta2The sum is averaged to obtain an initial angle theta of the motor, which is specifically as follows:
by pair of theta1And theta2The sum is averaged to make the positive and negative errors offset to obtain the high-precision initial angle theta of the motor
Where Δ 1 is the forward error and Δ 2 is the reverse error.
9. An electric machine arrangement comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor, when executing said computer program, carries out the steps of a method of static initial angular positioning of an electric machine according to any of claims 1 to 4.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for initial angular static positioning of an electric machine according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906861.4A CN110829929A (en) | 2018-08-10 | 2018-08-10 | Motor static initial angle positioning method and device and motor equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810906861.4A CN110829929A (en) | 2018-08-10 | 2018-08-10 | Motor static initial angle positioning method and device and motor equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110829929A true CN110829929A (en) | 2020-02-21 |
Family
ID=69541109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810906861.4A Pending CN110829929A (en) | 2018-08-10 | 2018-08-10 | Motor static initial angle positioning method and device and motor equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110829929A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113381664A (en) * | 2021-06-03 | 2021-09-10 | 浙江西子富沃德电机有限公司 | Positioning method and device of permanent magnet auxiliary synchronous reluctance motor |
| CN114123871A (en) * | 2021-11-22 | 2022-03-01 | 广东美的智能科技有限公司 | Servo system, initial angle identification method and device thereof, motor controller and medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
| CN102510254A (en) * | 2011-11-07 | 2012-06-20 | 郑州飞机装备有限责任公司 | Initial alignment method of permanent magnetic synchronous motor rotor of pure electric vehicle |
| CN102751937A (en) * | 2012-07-20 | 2012-10-24 | 上海新时达电气股份有限公司 | Method for determining initial position angle of rotor of permanent-magnetic synchronous motor |
| JP2013188042A (en) * | 2012-03-09 | 2013-09-19 | Takenaka Seisakusho:Kk | Detection method and device of initial magnetic pole position of permanent magnet synchronous motor, and controller of permanent magnet synchronous motor |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
| CN103701395A (en) * | 2013-12-31 | 2014-04-02 | 杭州日鼎控制技术有限公司 | Positive and negative sequence harmonic injection-based motor rotor primary position estimation method |
| CN106374803A (en) * | 2016-09-12 | 2017-02-01 | 合肥工业大学 | Initial position identification method of rotor of permanent magnet synchronous motor |
| CN106655952A (en) * | 2017-03-08 | 2017-05-10 | 北京工业大学 | Current envelope curve method for detecting initial position of rotor of permanent magnet synchronous motor |
| CN108322105A (en) * | 2018-03-12 | 2018-07-24 | 安徽理工大学 | Permanent magnet synchronous motor stationary state method for detecting initial position of rotor |
-
2018
- 2018-08-10 CN CN201810906861.4A patent/CN110829929A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101714844A (en) * | 2009-11-10 | 2010-05-26 | 哈尔滨工业大学 | Method for detecting initial position of magnetic pole of rotor of built-in permanent magnetic synchronous motor |
| CN102510254A (en) * | 2011-11-07 | 2012-06-20 | 郑州飞机装备有限责任公司 | Initial alignment method of permanent magnetic synchronous motor rotor of pure electric vehicle |
| JP2013188042A (en) * | 2012-03-09 | 2013-09-19 | Takenaka Seisakusho:Kk | Detection method and device of initial magnetic pole position of permanent magnet synchronous motor, and controller of permanent magnet synchronous motor |
| CN102751937A (en) * | 2012-07-20 | 2012-10-24 | 上海新时达电气股份有限公司 | Method for determining initial position angle of rotor of permanent-magnetic synchronous motor |
| CN103501151A (en) * | 2013-10-15 | 2014-01-08 | 东南大学 | Unposition sensor for permanent magnet linear motor |
| CN103701395A (en) * | 2013-12-31 | 2014-04-02 | 杭州日鼎控制技术有限公司 | Positive and negative sequence harmonic injection-based motor rotor primary position estimation method |
| CN106374803A (en) * | 2016-09-12 | 2017-02-01 | 合肥工业大学 | Initial position identification method of rotor of permanent magnet synchronous motor |
| CN106655952A (en) * | 2017-03-08 | 2017-05-10 | 北京工业大学 | Current envelope curve method for detecting initial position of rotor of permanent magnet synchronous motor |
| CN108322105A (en) * | 2018-03-12 | 2018-07-24 | 安徽理工大学 | Permanent magnet synchronous motor stationary state method for detecting initial position of rotor |
Non-Patent Citations (1)
| Title |
|---|
| FENG LIU ET AL.: "intial rotor position estimation and sliding preventing for elevators with surface-mounted PMSMs", 《INTERNATIONAL JOURNAL OF ELECTRONICS》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113381664A (en) * | 2021-06-03 | 2021-09-10 | 浙江西子富沃德电机有限公司 | Positioning method and device of permanent magnet auxiliary synchronous reluctance motor |
| CN114123871A (en) * | 2021-11-22 | 2022-03-01 | 广东美的智能科技有限公司 | Servo system, initial angle identification method and device thereof, motor controller and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102014106668A1 (en) | OPTIMIZED CONTROL FOR SYNCHRONOUS MOTORS | |
| CN109061475B (en) | Method, device, system and medium for simulating turn-to-turn short circuit fault of permanent magnet synchronous motor | |
| CN113037170B (en) | Motor control method and device and terminal equipment | |
| CN110829929A (en) | Motor static initial angle positioning method and device and motor equipment | |
| CN110518854B (en) | Motor noise reduction method, computer device and computer readable storage medium | |
| WO2021109861A1 (en) | Electric motor control method and apparatus, terminal device, and storage medium | |
| CN109150052B (en) | High-frequency noise suppression method of random sine injection permanent magnet motor rotor position observer considering digital control delay | |
| CN105024604B (en) | A kind of method and a device for controlling weak magnetism of permagnetic synchronous motor | |
| CN113346813B (en) | Maximum torque current ratio control method, maximum torque current ratio control device, terminal device and storage medium | |
| JP6098992B2 (en) | Digital notch filter | |
| CN110429883B (en) | Harmonic current suppression for AC motors | |
| CN114844422A (en) | Control method and device for motor output torque and electronic equipment | |
| CN114665749B (en) | Motor high-precision subdivision control method, system, terminal equipment and storage medium | |
| CN115863846A (en) | Control method and system for battery heating speed of pure electric vehicle | |
| CN112829602A (en) | Vehicle torque control method and device and vehicle | |
| CN111371363B (en) | Motor maximum torque current ratio control method and device based on signal injection | |
| CN111241659B (en) | Hardware-in-loop real-time simulation method and device for surface-mounted permanent magnet synchronous motor and terminal | |
| CN109756143B (en) | Fault-tolerant control method and device for three-phase four-switch inverter | |
| CN114584030A (en) | Permanent magnet synchronous motor control method and device | |
| Liu et al. | Stator flux estimation with vector transforming and signal filtering method for electrical machines | |
| CN110311610B (en) | Motor flux weakening control method, motor flux weakening control device and frequency converter | |
| CN110868122A (en) | Motor control method, device and storage medium | |
| CN111049448A (en) | Hardware-in-loop real-time simulation method and device for double-Y-shift 30-degree permanent magnet synchronous motor | |
| CN114337431B (en) | Permanent magnet synchronous motor flux linkage identification method, system, medium and terminal | |
| CN118232757A (en) | Motor drive control method and computer storage medium |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200221 |
|
| RJ01 | Rejection of invention patent application after publication |