CN110855209A - Method and device for detecting initial position of rotor of non-inductive permanent magnet synchronous motor, storage medium, electronic equipment and permanent magnet synchronous motor - Google Patents

Method and device for detecting initial position of rotor of non-inductive permanent magnet synchronous motor, storage medium, electronic equipment and permanent magnet synchronous motor Download PDF

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CN110855209A
CN110855209A CN201911010759.7A CN201911010759A CN110855209A CN 110855209 A CN110855209 A CN 110855209A CN 201911010759 A CN201911010759 A CN 201911010759A CN 110855209 A CN110855209 A CN 110855209A
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stator winding
rotor
initial position
permanent magnet
stator
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不公告发明人
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Huizhou Tuobang Electric Technology Co Ltd
Huizhou Topband Electronic Technology Co Ltd
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Huizhou Tuobang Electric Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/32—Determining the initial rotor 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
    • 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
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • 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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • 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
    • H02P6/20—Arrangements for starting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
    • H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a method and a device for detecting the initial position of a rotor of a non-inductive permanent magnet synchronous motor, a storage medium, electronic equipment and a permanent magnet synchronous motor, wherein the method comprises the following steps: s1, selecting one stator winding as a reference stator winding, and acquiring the winding electrical angle of other stator windings relative to the reference stator winding; s2, injecting first vector voltages into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively to obtain corresponding first stator winding phase current and second stator winding phase current respectively; s3, comparing the first phase current with the second phase current to judge the first angle range of the motor rotor relative to the stator winding; s4, acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range; and S5, taking the second angle range as the initial position of the motor rotor. The method can obtain the initial position of the rotor with higher precision, and is simple and easy to implement.

Description

Method and device for detecting initial position of rotor of non-inductive permanent magnet synchronous motor, storage medium, electronic equipment and permanent magnet synchronous motor
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method and a device for detecting the initial position of a rotor of a non-inductive permanent magnet synchronous motor, a storage medium, electronic equipment and a permanent magnet synchronous motor.
Background
The permanent magnet synchronous motor is important for judging the initial position in the starting process of the permanent magnet synchronous motor. That is, the initial position of the rotor must be accurately determined before the motor operates, and only after the accurate initial position of the rotor is obtained, the motor can be effectively controlled to start and operate by adopting various control modes, such as a vector control mode. In the initial position judging process, if the deviation between the initial position of the rotor obtained by judging and an actual value is large, the load carrying capacity of the motor is reduced when the motor is started, and the motor is influenced to run due to the fact that the motor is reversely rotated or even fails to start.
At present, in the process of judging the initial positions of various permanent magnet synchronous motor rotors, more positions of the rotors are judged by means of position sensors and the like, and the requirements on hardware design are high.
Disclosure of Invention
The present invention provides a method and an apparatus for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor, a storage medium, an electronic device, and a permanent magnet synchronous motor, which are directed to overcome the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor is constructed and comprises the following steps:
s1, selecting one stator winding as a reference stator winding, and acquiring the winding electrical angle of other stator windings relative to the reference stator winding;
s2, injecting first vector voltages into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
s3, comparing the first phase current with the second phase current to judge a first angle range of the motor rotor relative to the stator winding;
s4, acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and S5, taking the second angle range as the initial position of the motor rotor.
Preferably, the method further comprises:
s41, obtaining a quartering line of the second angle range, and injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the quartering line respectively so as to obtain corresponding third stator current and fourth stator current respectively;
s42, comparing the third stator current with the fourth stator current to judge the relative position of the motor rotor relative to the third bisector of the middle position;
and S43, updating the second angle range according to the relative position.
Preferably, the method further comprises:
and S44, judging whether the second angle range meets a preset condition, if so, executing the step S5, and if not, executing the step S41.
Preferably, the preset condition includes that the second angle range is less than 30 degrees.
Preferably, the first vector voltages are the same or different.
The invention also constructs a device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor, which comprises the following components:
the first obtaining unit is used for selecting a stator winding as a reference stator winding optionally and obtaining the winding electrical angle of other stator windings relative to the reference stator winding;
the first execution unit is used for injecting first vector voltage into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively so as to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
the first comparison unit is used for comparing the phase current value of the first stator winding with the phase current value of the second stator winding so as to judge the first angle range of the motor rotor relative to the stator winding;
the second execution unit is used for acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and the third execution unit takes the second angle range as the initial position of the motor rotor.
Preferably, the device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor further comprises:
a second acquisition unit configured to acquire a bisector of the second angle range;
the fourth execution unit is used for respectively injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the living body so as to respectively obtain corresponding third stator current and fourth stator current;
the second comparison unit is used for comparing the third stator current with the fourth stator current so as to judge the relative position of the motor rotor relative to a third bisector of the middle position;
and the fifth execution unit is used for updating the second angle range according to the relative position.
The present invention also provides a computer storage medium having a computer program stored thereon, which when executed by a processor implements the method for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor as described in any one of the above.
The invention also features an electronic device including a memory and a processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program to realize the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor.
The invention also discloses a permanent magnet synchronous motor, and the initial position identification is carried out by adopting the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor.
The implementation of the method and the device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor, the storage medium, the electronic equipment and the permanent magnet synchronous motor has the following beneficial effects: the method can obtain the initial position of the rotor with higher precision, and is simple and easy to implement.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart illustrating a procedure of an embodiment of a method for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor according to the present invention;
fig. 2a and 2b are schematic diagrams of forward superposition and reverse superposition of an armature magnetic field and a rotor magnetic field respectively;
FIG. 3 is a schematic view of a second range of angles;
FIG. 4 is a schematic illustration of phase current measurements;
FIG. 5 is a flowchart illustrating a method for detecting an initial position of a rotor of a non-inductive PMSM according to another embodiment of the present invention;
FIGS. 6a and 6b are schematic diagrams illustrating updating a second angle range;
fig. 7 is a flowchart of the procedure of another embodiment of the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in a first embodiment of the method for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor according to the present invention, the method includes:
s1, selecting one stator winding as a reference stator winding, and acquiring the winding electrical angle of other stator windings relative to the reference stator winding;
s2, injecting first vector voltages into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
s3, comparing the first phase current with the second phase current to judge a first angle range of the motor rotor relative to the stator winding;
s4, acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and S5, taking the second angle range as the initial position of the motor rotor.
Specifically, taking a three-phase permanent magnet synchronous motor as an example, forward and reverse vector voltages with the same frequency and amplitude are respectively applied to an A-phase winding
Figure BDA0002244135200000041
And
Figure BDA0002244135200000042
as shown in fig. 2a, the armature magnetic field and the rotor magnetic field are superposed in the positive direction, so that the excitation inductance of the phase a winding is reduced; as shown in fig. 2b, the armature field and the rotor field are oppositely superimposed, resulting in an increase in the a-phase winding excitation inductance. The current amplitudes obtained in the two cases are therefore different, the current deviation between them being
Figure BDA0002244135200000043
As the rotor magnetic field direction (d-axis) deviates from the a-axis, the above process of injecting the vector voltage is repeated,
Figure BDA0002244135200000044
and
Figure BDA0002244135200000045
the influence on the saturation degree of the A-axis magnetic circuit is reduced, namely delta iAWill also decrease as thetarAt 90 °, Δ iAIt is zero. After more than 90 degrees,. DELTA.iAIt begins to become negative. When theta isrAt 180 DEG, with thetarCompare 0 |, Δ iAI is also maximum, but opposite in sign. From which theta can be determinedrThe angle is 0 degree or 180 degrees, and the orientation of the N pole of the permanent magnet on the A axis can be judged. It is understood that the permanent magnet N is judged whether it is in the range of-90 to +90, or in the range of +90 to-90 with respect to the a-axis, i.e. is understood as a first angle with respect to the reference stator windingAnd (3) a range. In the above manner, by repeating the above process for the B-phase and C-phase windings and applying the forward and reverse vector voltages having the same frequency and amplitude, respectively, the current deviation can be obtained in both cases as follows:
Figure BDA0002244135200000051
Figure BDA0002244135200000052
according to the judging process, the direction of the N pole of the permanent magnet on the B axis can be obtained and judged. It is understood that the permanent magnet N is determined to be in a range of-90 to +90, or a range of +90 to-90, with respect to the B axis, the permanent magnet N is determined to be in a range of-90 to +90, or a range of +90 to-90, with respect to the C axis, where the a axis, i.e., the a-phase stator winding, is taken as a reference stator winding, the electrical angles, i.e., the winding electrical angles, of the B axis, i.e., the B-phase stator winding, and the C axis, i.e., the C-phase stator winding, with respect to the a axis are fixed angles, and in the three-phase permanent magnet synchronous motor, the three-phase electrical angle intervals thereof are respectively 120 degrees, then the a phase is defined as 0 degree electrical angle, the B phase is 120 degrees electrical angle, and the C phase is 240 degrees electrical angle, in the above process, the angle of the permanent magnet N pole with respect to the a phase is determined, for example, the range of-90 to +90, the range of-90 to +90 degrees with respect to the B phase and the range of-90 to +90 degrees with respect to the C phase are also obtained, the range of angles with respect to the a phase at this time is 30 degrees to 210 degrees from the range of-90 to +90 degrees with respect to the B phase and the winding angle of the B phase with respect to the a phase, the range of angles with respect to the a phase at this time is 150 degrees to 330 degrees from the range of angles with respect to the C phase and the winding angle of the C phase with respect to the a phase, and the overlapping of the three ranges of angles results in the final N pole of the permanent magnet being-30 degrees to 30 degrees with respect to the a phase, i.e., as shown in fig. 3, the second range of angles is obtained, which is defined as the initial position of the rotor of the motor. This process can be understood as obtaining an interval with an accuracy of 60 degrees. In other embodiments, a 60 degree angle range may be defined as the initial position of the motor rotor.
It is understood that any stator winding of the three-phase stator winding can be selected as a reference winding, and the vector voltages applied to the three-phase stator winding can also be applied according to any sequence, in an embodiment, a schematic diagram of the current measurement results in the process of applying the three-phase stator winding voltage is given, as shown in fig. 4, wherein the phase current test result of the a-phase stator winding is shown, in which in the diagram, 6 current pulses appearing according to the time sequence (from left to right in the diagram), that is, the current pulses corresponding to the a region in the diagram, respectively correspond to the phase current diagrams sequentially injecting the first vector voltage from 1-2-3-4-5-6 in fig. 3, that is, when the first vector voltage is sequentially injected forward and backward for A, B, C three phases, the corresponding electrical angle interval with the accuracy of 60 degrees can be obtained, for the case that there are more phases, the number of current pulses increases accordingly. It should be understood that there is no requirement for the injection sequence of the first vector voltage, and in other embodiments, when the first vector voltage is injected in another sequence, for example, when the first vector voltage is injected first in phase B, the sequence of 6 current pulses of the phase current test result of the phase a stator winding will change accordingly, and the sequence of current pulses of the phase current of the other phase stator windings will also change accordingly.
Optionally, as shown in fig. 5, in another embodiment of the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor, the method further includes:
s41, obtaining a quartering line of the second angle range, and injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the quartering line respectively so as to obtain corresponding third stator current and fourth stator current respectively;
s42, comparing the third stator current with the fourth stator current to judge the relative position of the motor rotor relative to the third bisector of the middle position;
and S43, updating the second angle range according to the relative position.
Specifically, in order to further improve the accuracy of the rotor initial position recognition, after the 60-degree interval [330 degrees, 30 degrees ] in fig. 3 is determined, as shown in fig. 6a, the voltage vectors 9 (15-degree direction, i.e., the direction of the first bisector) and 10(345 degree, i.e., the direction of the second bisector) are applied. The resolution is improved to 30 degrees of electrical angle by detecting the three-phase stator current, converting the three-phase stator current into d-axis current (assuming that the d-axis is coincident with the vector 9 or 10), comparing the d-axis current, selecting the larger one as a new interval mark to obtain the relative position of the motor rotor relative to the third bisector and also understood as the bisector of the second angle range, then obtaining the angle range of the relative position obtained at the moment relative to the A phase according to the positions of the bisector and the A phase, namely the reference phase, updating the second angle range according to the angle range, and taking the updated second angle range as the initial position of the motor rotor, for example, relative to the middle position in the interval where the vector 9 is located, wherein the second angle range is [0 degree, 30 degrees ]. In this process, as shown in fig. 4, based on the above, in the further accuracy confirmation process, the phase current of the a-phase injected with the second vector voltage may be measured to correspond to the 7 th current pulse and the 8 th current pulse, that is, the current pulse corresponding to the b-region in the figure, and at this time, the initial position of the rotor with the resolution improved to 30 degrees in electrical angle may be obtained.
After the 30 degree interval [0 degrees, 30 degrees ] in fig. 6a is determined, voltage vectors 11(22.5 degrees, i.e., the first bisector direction) and 12(7.5 degrees, i.e., the second bisector direction) are further applied as in fig. 6 b. Similarly, the resolution is improved to 15 degrees by detecting the three-phase stator current, converting the three-phase stator current into d-axis current (assuming that the d-axis is coincident with the vector 11 or 12), comparing the d-axis current, and selecting the larger one as a new interval mark, for example, the interval with the relative position corresponding to the vector 11 is in, and the second angle range is [15 degrees, 30 degrees ]. By analogy, the initial angle of the rotor position (the position of the N pole axis of the permanent magnet) can be gradually approached. In this process, as shown in fig. 4, on the basis of the above, in a further accuracy confirmation process, the phase current of the a-phase injected with the second vector voltage may be measured to correspond to the 9 th current pulse and the 10 th current pulse, that is, the current pulse corresponding to the region c in the figure, and at this time, an electrical angle with resolution improved to 15 degrees electrical angle may be obtained. The process can be carried out in sequence until the electrical angle precision of the initial position of the rotor meets the requirement.
Optionally, as shown in fig. 7, in another implementation of the method for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor according to the present invention, the method further includes: and S44, judging whether the second angle range meets a preset condition, if so, executing the step S5, and if not, executing the step S41.
Specifically, in the above process of gradually approaching the actual position of the rotor, the second angle range is determined, and when the second angle range meets the preset condition, the process of repeated approaching is ended, and the second angle range obtained at this time can already meet the precision requirement.
Further, the preset condition includes that the second angle range is smaller than 30 degrees. In particular, in some common motor apparatuses, the second angle range of 30 degrees is obtained, but in other embodiments, there is a more precise precision requirement.
Further, the first vector voltages are the same or different. Specifically, when the first vector voltages are applied to the stator windings respectively, the same or different vector voltages in amplitude can be applied to different stator windings, as long as the forward voltage and the reverse voltage of the same stator winding are ensured to be the same in amplitude.
In addition, the invention provides a device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor, which comprises:
the first obtaining unit is used for selecting a stator winding as a reference stator winding optionally and obtaining the winding electrical angle of other stator windings relative to the reference stator winding;
the first execution unit is used for injecting first vector voltage into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively so as to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
the first comparison unit is used for comparing the phase current value of the first stator winding with the phase current value of the second stator winding so as to judge the first angle range of the motor rotor relative to the phase stator winding;
the second execution unit is used for acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and the third execution unit takes the second angle range as the initial position of the motor rotor.
Optionally, the device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor further includes:
a second acquisition unit configured to acquire a bisector of the second angle range;
the fourth execution unit is used for respectively injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the living body so as to respectively obtain corresponding third stator current and fourth stator current;
the second comparison unit is used for comparing the third stator current with the fourth stator current so as to judge the relative position of the motor rotor relative to a third bisector of the middle position;
and the fifth execution unit is used for updating the second angle range according to the relative position.
Specifically, the specific coordination operation process among the units of the sensorless permanent magnet synchronous motor rotor initial position detection apparatus may specifically refer to the above-mentioned sensorless permanent magnet synchronous motor rotor initial position detection method, and is not described here again.
In addition, a computer storage medium of the present invention has a computer program stored thereon, and the computer program, when executed by a processor, implements the method for detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor according to any one of the above. In particular, it should be noted that the computer readable medium of the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
In addition, an electronic device of the present invention includes a memory and a processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program to realize the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor. In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed by an electronic device and executed to perform the above-described functions defined in the methods of embodiments of the present invention. The electronic equipment can be a terminal such as a notebook, a desktop, a tablet computer, a smart phone and the like, and can also be a server.
In addition, the permanent magnet synchronous motor of the invention adopts the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor to identify the initial position. Specifically, embodiments of the present invention include a permanent magnet synchronous motor that performs initial position recognition in the manner described above for its normal operation.
It is to be understood that the foregoing examples, while indicating the preferred embodiments of the invention, are given by way of illustration and description, and are not to be construed as limiting the scope of the invention; it should be noted that, for those skilled in the art, the above technical features can be freely combined, and several changes and modifications can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention; therefore, all equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.

Claims (10)

1. A method for detecting the initial position of a rotor of a non-inductive permanent magnet synchronous motor is characterized by comprising the following steps:
s1, selecting one stator winding as a reference stator winding, and acquiring the winding electrical angle of other stator windings relative to the reference stator winding;
s2, injecting first vector voltages into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
s3, comparing the first phase current with the second phase current to judge a first angle range of the motor rotor relative to the stator winding;
s4, acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and S5, taking the second angle range as the initial position of the motor rotor.
2. The method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to claim 1, further comprising:
s41, obtaining a quartering line of the second angle range, and injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the quartering line respectively so as to obtain corresponding third stator current and fourth stator current respectively;
s42, comparing the third stator current with the fourth stator current to judge the relative position of the motor rotor relative to the third bisector of the middle position;
and S43, updating the second angle range according to the relative position.
3. The method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to claim 2, further comprising:
and S44, judging whether the second angle range meets a preset condition, if so, executing the step S5, and if not, executing the step S41.
4. The method of claim 3, wherein the predetermined condition includes that the second angular range is less than 30 degrees.
5. The method of claim 1, wherein the first vector voltages are the same or different.
6. The utility model provides a noninductive PMSM rotor initial position detection device which characterized in that includes:
the first obtaining unit is used for selecting a stator winding as a reference stator winding optionally and obtaining the winding electrical angle of other stator windings relative to the reference stator winding;
the first execution unit is used for injecting first vector voltage into the stator winding along the same direction and the opposite direction of the winding electrical angle of the stator winding respectively so as to obtain corresponding first stator winding phase current and second stator winding phase current respectively;
the first comparison unit is used for comparing the phase current value of the first stator winding with the phase current value of the second stator winding so as to judge the first angle range of the motor rotor relative to the stator winding;
the second execution unit is used for acquiring a second angle range of the motor rotor relative to the reference stator winding according to the winding electrical angle and the first angle range;
and the third execution unit takes the second angle range as the initial position of the motor rotor.
7. The device for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to claim 6, further comprising:
a second acquisition unit configured to acquire a bisector of the second angle range;
the fourth execution unit is used for respectively injecting second vector voltages along the directions of the first quartering line and the second quartering line on two sides of the living body so as to respectively obtain corresponding third stator current and fourth stator current;
the second comparison unit is used for comparing the third stator current with the fourth stator current so as to judge the relative position of the motor rotor relative to a third bisector of the middle position;
and the fifth execution unit is used for updating the second angle range according to the relative position.
8. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of detecting an initial position of a rotor of a non-inductive permanent magnet synchronous motor according to any of claims 1-5.
9. An electronic device comprising a memory and a processor;
the memory is used for storing a computer program;
the processor is used for executing the computer program to realize the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to any one of claims 1 to 5.
10. A permanent magnet synchronous motor, characterized in that the initial position identification is carried out by adopting the method for detecting the initial position of the rotor of the non-inductive permanent magnet synchronous motor according to any one of claims 1 to 5.
CN201911010759.7A 2019-10-23 2019-10-23 Method and device for detecting initial position of rotor of non-inductive permanent magnet synchronous motor, storage medium, electronic equipment and permanent magnet synchronous motor Pending CN110855209A (en)

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