CN111146979A - Initial angle correction method and device of motor rotor and electric vehicle - Google Patents
Initial angle correction method and device of motor rotor and electric vehicle Download PDFInfo
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- CN111146979A CN111146979A CN201811302526.XA CN201811302526A CN111146979A CN 111146979 A CN111146979 A CN 111146979A CN 201811302526 A CN201811302526 A CN 201811302526A CN 111146979 A CN111146979 A CN 111146979A
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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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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Abstract
The invention discloses a method and a device for correcting an initial angle of a motor rotor and an electric automobile. Wherein, the method comprises the following steps: acquiring a first preset number of different initial angle set values of a motor rotor; respectively collecting rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation; the collected rotating transformation angle and a corresponding initial angle set value are subjected to difference values, and initial angle values of motors with a first preset number are obtained respectively; and averaging the initial angle values of the motors with the first preset number to obtain the initial angle correction value of the motor. The invention solves the technical problems that the angle uniformity of mechanical installation in the related technology can not be ensured, and the error can not meet the requirement of software control precision.
Description
Technical Field
The invention relates to the field of data processing, in particular to a method and a device for correcting an initial angle of a motor rotor and an electric automobile.
Background
In the related art, for a pure electric vehicle, a permanent magnet synchronous motor is generally used for control, and the rotor angle of the motor needs to be accurately measured during control. At present, a method for measuring and calculating position information of a motor rotor in a permanent magnet synchronous motor generally acquires corresponding data through a rotary transformer and decodes the corresponding data through a corresponding decoding chip. Meanwhile, when the motor is controlled, the initial angle of the motor rotor needs to be written into software and used as a zero point for subsequent electric angle measurement and calculation. Therefore, an accurate parameter of the initial angle of the motor rotor needs to be obtained before the motor controller and the motor are matched. However, in the related art, when the current mounting mechanical angle error of the resolver is generally (± 1.5 °), the electrical angle error caused by the mounting mechanical angle error is ± 9 °, and the electrical angle error required by the motor controller is ± 1.5 °, so that the angle uniformity of the current mechanical mounting cannot be ensured, and the error cannot meet the requirement of software control accuracy.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for correcting an initial angle of a motor rotor and an electric automobile, and at least solves the technical problems that the uniformity of angles of mechanical installation cannot be guaranteed and errors cannot meet the requirement of software control accuracy in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a method of correcting an initial angle of a rotor of an electric machine, including: acquiring a first preset number of different initial angle set values of a motor rotor; respectively collecting rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation; the acquired rotary transformation angle and the corresponding initial angle set value are subjected to difference values to respectively obtain the initial angle values of the motors with the first preset number; and averaging the initial angle values of the first preset number of motors to obtain the initial angle correction value of the motor.
Optionally, the step of obtaining initial angle values of the motors of the first predetermined number by taking a difference between the acquired rotation transformation angle and a corresponding initial angle set value includes: collecting electrical angles for a second preset number of times aiming at the same initial angle set value; respectively making difference values between the electric angles acquired for the second preset number of times and the same initial angle set value to obtain initial angle test values of the motors of the second preset number; and averaging the initial angle test values of the motors with the second preset number to obtain the initial angle value of the motor corresponding to the same initial angle set value.
Optionally, the collecting the second predetermined number of electrical angles comprises: determining acquisition points corresponding to the same initial angle set value, wherein the number of the acquisition points is a third preset number; picking up points with the angle change causing motor shake from the third preset number of picking up points to obtain a second preset number of picking up points; collecting electrical angles at the second predetermined number of collection points.
Optionally, obtaining a first predetermined number of different initial angle settings of the rotor of the electric machine comprises: obtaining a first predetermined number of different initial angle setting values of the motor rotor by means of multiple accumulation in a manner of accumulating angles on the basis of the first initial angle setting value, wherein the obtained initial angle setting values are stored in a case where the angles obtained after the accumulation are larger than a full angle.
According to another aspect of the present invention, there is provided an initial angle correcting apparatus of a rotor of an electric motor, including: the acquisition module is used for acquiring a first preset number of different initial angle set values of the motor rotor; the acquisition module is used for respectively acquiring the rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation; the first processing module is used for making difference values between the acquired rotary transformation angles and corresponding initial angle set values to respectively obtain the initial angle values of the motors with the first preset number; and the second processing module is used for averaging the initial angle values of the motors with the first preset number to obtain the initial angle correction value of the motor.
Optionally, the first processing module includes: the acquisition unit is used for acquiring electrical angles of a second preset number of times aiming at the same initial angle set value; the first processing unit is used for respectively making difference values between the electric angles acquired for the second preset number of times and the same initial angle set value to obtain motor initial angle test values of the second preset number of times; and the second processing unit is used for averaging the motor initial angle test values of the second preset number to obtain the motor initial angle value corresponding to the same initial angle set value.
Optionally, the acquisition unit comprises: the determining subunit is configured to determine acquisition points corresponding to the same initial angle setting value, where the number of the acquisition points is a third predetermined number; the removing subunit is used for removing the acquisition points with the angle change causing motor shake from the acquisition points with the third preset number to obtain the acquisition points with the second preset number; and the acquisition subunit is used for acquiring the electrical angles at the second preset number of acquisition points.
According to still another aspect of the present invention, there is provided a storage medium including a stored program, wherein an apparatus in which the storage medium is controlled when the program is executed performs the initial angle correction method of the rotor of the motor according to any one of the above-described methods.
According to a further aspect of the present invention, there is provided a processor for running a program, wherein the program is run to perform the method of initial angle correction of a rotor of an electric machine as described in any one of the above.
According to still another aspect of the present invention, there is provided an electric vehicle including the initial angle correcting device of an electric motor rotor as set forth in any one of the above.
In the embodiment of the invention, the purpose of accurately obtaining the initial angle value of the motor is achieved by adopting a mode of setting a plurality of different initial angle setting values, obtaining a plurality of initial angle values of the motor corresponding to the plurality of different initial angle setting values and averaging the initial angle values of the motor, so that the technical effect of improving the measurement precision of the initial angle value of the motor is realized, and the technical problems that the uniformity of angles of mechanical installation cannot be ensured and errors cannot meet the requirement of software control precision in the related technology are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of a method of initial angle correction of a rotor of an electric machine according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a method for calibrating an initial position angle of a motor by using a matlab model according to an embodiment of the invention;
FIG. 3 is a schematic illustration of an initial angle setting according to an embodiment of the present invention;
fig. 4 is a block diagram of an initial angle correcting apparatus of a rotor of a motor according to an embodiment of the present invention;
fig. 5 is a block diagram showing the configuration of the first processing module 46 in the initial angle correcting device of the rotor of the motor according to the embodiment of the present invention;
fig. 6 is a block diagram showing the configuration of the acquisition unit 52 in the first processing module 46 in the initial angle correction apparatus for a rotor of an electric motor according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of motor initial angle processing, it being noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flow chart of a method of initial angle correction of a rotor of an electric machine according to an embodiment of the invention, as shown in fig. 1, the method comprising the steps of:
step S102, obtaining a first preset number of different initial angle set values of the motor rotor;
step S104, respectively collecting rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation;
step S106, making difference values between the acquired rotary transformer angles and corresponding initial angle set values to respectively obtain initial angle values of the motors with a first preset number;
step S108, averaging the initial angle values of the first preset number of motors to obtain the initial angle correction value of the motor.
Through the steps, the purpose of accurately obtaining the initial angle value of the motor is achieved by setting a plurality of different initial angle setting values and obtaining a plurality of initial angle values of the motor corresponding to the plurality of different initial angle setting values and averaging the initial angle values of the motor, so that the technical effect of improving the measurement precision of the initial angle value of the motor is achieved, and the technical problems that the uniformity of angles of mechanical installation in the related technology cannot be guaranteed and errors cannot meet the requirement of software control precision are solved.
In order to make the initial angle values of the motors obtained for the same initial angle setting value more accurate, the following method can be adopted to make the difference between the collected rotating transformation angle and the corresponding initial angle setting value, and obtain the initial angle values of the motors with a first predetermined number respectively: collecting electrical angles for a second preset number of times aiming at the same initial angle set value; respectively making difference values between the electric angles acquired for the second preset number of times and the same initial angle set value to obtain initial angle test values of the motors of the second preset number; and averaging the initial angle test values of the motors with the second preset number to obtain the initial angle value of the motor corresponding to the same initial angle set value. Namely, aiming at the same initial angle set value, the accuracy of the initial angle value of the motor is realized by averaging the electric angles acquired for multiple times.
In addition, it should be noted that, in order to avoid inaccurate angle measurement at the initial position caused by motor shake when the angle changes, and to further improve the accuracy, when collecting the electrical angles of the second predetermined number of times, a mode of deleting some values that may cause motor shake may be adopted. For example, the second predetermined number of electrical angles may be collected in the following manner: firstly, determining acquisition points corresponding to the same initial angle set value, wherein the number of the acquisition points is a third preset number, and then, removing the acquisition points with the angle change causing motor shake from the acquisition points with the third preset number to obtain a second preset number of acquisition points; and collecting electrical angles at a second predetermined number of collection points. By means of eliminating some collection points causing larger errors, collection points used for calculating the initial angle value of the motor are reserved, and the calculated initial angle value of the motor can be more accurate.
It should be noted that the collection point of the motor jitter caused by the angle change may include at least one of the following: the acquisition points corresponding to the change of different initial angle set values and the acquisition points with the preset number in the same initial angle set value.
In obtaining the first predetermined number of different initial angle setting values, the first predetermined number of different initial angle setting values may be obtained in various ways, for example, in the following cumulative way: according to the method for accumulating the angles on the basis of the first initial angle set value, a first preset number of different initial angle set values of the motor rotor are obtained in a multi-time accumulation mode, wherein the obtained initial angle set values are stored under the condition that the angles obtained after accumulation are larger than the full angle. For example, a first initial angle setting value may be determined, a second initial angle setting value may be obtained by adding an accumulation angle to the first initial angle setting value, a third initial angle setting value may be obtained by adding an accumulation angle to the second initial angle setting value, and the accumulation may be performed in the above manner until the number of initial angle setting values reaches a first predetermined number. It should be noted that the first initial angle setting value and the accumulation angle may be flexibly set according to specific situations, for example, the first initial angle setting value may be set to 0, and the first initial angle setting value may be set to pi/6.
Alternatively, when the accumulation is performed in the above manner until the number of initial angle set values reaches the first predetermined number, and the angle obtained after the accumulation is larger than the full angle, the obtained initial angle set value is stored. By adopting the modulus taking processing mode, the acquisition of the initial angle of the motor in the full range can be quickly and effectively realized.
It should be noted that, optionally, after averaging the average values of the initial angle values of the motor corresponding to a first predetermined number of different initial angle setting values to obtain the initial angle final value of the motor, the method further includes: and storing the obtained initial angle final value of the motor into a memory for subsequent calculation by an FOC space vector algorithm.
Based on the above embodiments, the following description will be given with reference to one specific implementation.
First, the initial angle set values of a first predetermined number n of different motor rotors are obtained: θ 1, θ 2, θ 3 … … θ n, wherein θ 1, θ 2, θ 3 … … θ n are obtained by the following superposition: determining a first initial angle setting value theta 0, followed by theta 1 being a superimposed angle (which may be pi/6, for example) on the basis of theta 0, and theta 2 being a superimposed angle pi/6 on the basis of theta 1; theta 3 is a superposition angle pi/6 on the basis of theta 2; … are superimposed in this manner to θ n; it should be noted that, when the initial angle setting values of different motor rotors are obtained by the above processing method, if θ n is greater than 360 degrees, then θ n performs modulo operation on 360 degrees to obtain a remainder as the initial angle setting value;
and then, respectively acquiring the rotary transformation angles corresponding to the initial angle set values, and making difference between the acquired rotary transformation angles and the corresponding initial angle set values to respectively obtain initial angle values delta theta 1, delta theta 2, delta theta 3 and … delta theta n of the motors with a first preset number, wherein the rotary transformation angles are actual electrical angles of the motor rotor during rotary transformation.
And finally, averaging the initial angle values of the first preset number of motors to obtain the corrected value (delta theta 1+ delta theta 2+ delta theta 3+ delta theta n)/n of the initial angle of the motor.
To improve the accuracy of the result, Δ θ 1 may be multiple: Δ θ 1, Δ θ 1', Δ θ 1 ″ …, and then the plurality of Δ θ 1 are averaged to obtain an average value as Δ θ 1.
In addition, in order to avoid interference caused by jitter, acquisition points which may cause jitter may be eliminated, for example, acquisition points which transition between different initial angle values of the motor may be eliminated, for example, several acquisition points before the beginning of the initial angle value of the same motor may be eliminated, and several acquisition points after the beginning of the initial angle value of the same motor may not be eliminated. And then averaging the data corresponding to the remaining acquisition points after the elimination to obtain delta theta 1.
And when n is greater than 360 degrees, storing the obtained data once and recording the data.
In the related art, the problem of excessive mechanical installation error of the initial angle cannot be solved. In the related art, to obtain an initial angle of the motor, an initial angle calibration procedure needs to be designed, and a three-phase current zero-point detection method, where Iq is 0, Id is 0, and the initial angle is 0, is commonly used. The initial position of the motor control is measured, and most of the initial position of the motor is directly written into a memory through one-time measurement and is used as the initial position of the motor.
On one hand, the current collection of the zero crossing point is inaccurate due to the existence of a motor control dead zone effect, and meanwhile, the simultaneous triggering of the three-phase zero crossing point collection time and the rotary transformer collection time is difficult to ensure, and finally, the collection angle has deviation, wherein Iq is 0, and Id is a fixed constant;
with the method of initial angle-0 positioning, the acquired data may be inaccurate due to slight jitter of the inertial motor when the motor is positioned. Meanwhile, due to the structural design of the motor, the positioning accuracy may be affected by the difference of the motor position when the positioning is triggered.
In view of the above disadvantages in the related art, in an embodiment of the present invention, a method for calibrating an initial position angle of a motor based on a Matlab \ Simlink model is provided, in the method, the initial angle is set to 0-360, for example, 60 degrees is taken, and the Matlab \ Simlink simulation model mainly includes: the system comprises an initial angle IntOffsetangle setting module, a trigger setting module and a MotorOffsetangle motor initial angle recording module. Fig. 2 is a schematic diagram of a method for calibrating an initial position angle of a motor by using a matlab model according to an embodiment of the present invention, as shown in fig. 2, the method mainly includes: firstly, several initial angle setting values in the whole range of the motor are obtained through an IntOffsetangle initial angle setting module and a 2 & ltpi & gt residue taking module, then the number of the angle setting values selected to be removed is set, a trigger setting module is designed to trigger a MotorOffsetangle motor initial angle recording module, the initial position angle of the Motoroffset angle motor is obtained through the MotorOfetangle motor initial angle recording module by making a difference between the IntOfetangle initial angle setting value and a rotation collected electrical angle, the average recording of several Motoroffset angle motor initial angle values is obtained through the same Intoffsetangle initial angle, and the final motor initial angle values in the whole range are averaged again to be used as the final initial motor angle value of the Motoroffset angle motor and stored in an angle memory.
The functions of the above modules are explained below.
IntOffsetaAngle initial angle setting module, FIG. 3 is a schematic diagram of an initial angle setting value according to an embodiment of the present invention, as shown in FIG. 3, the initial angle is set to be a fixed value of 0 within 8 (calibratable) cycles, when the 9 th (calibratable) cycle is reached, the initial angle value is accumulated to pi/6, and then 8 fixed values pi/6 are output, then accumulation pi/6 is triggered, 8 cycles pi/3 … … are output, and so on, the period of accumulation triggering and the angle of each accumulation are calibratable. When the output angle is larger than 2 pi, the initial position calibration of the full range of the initial position of the motor can be realized through the residue taking module.
A trigger setting module: the module design does not trigger to record data when the initial angle set value changes, and does not trigger to record the previous data when the same angle set value is input for several continuous periods, and the next initial angle recording module is triggered only when the accumulated number threshold value of the removed data is reached. The problem that initial position angle measurement is inaccurate due to motor shaking when the angle changes is avoided.
Initial angle recording module: setting the initial angle of IntOffsetangle to be the same, taking the MotorOffsetangle average value by difference, and finally averaging the average value of several groups of data with different IntOffsetangle to obtain the final initial angle value of the motor, and storing the final initial angle value in a memory for subsequent calculation by an FOC space vector algorithm.
In the embodiment of the invention, the calibration of the initial position angle of the motor is realized based on the matlab model, on one hand, the initial position of the motor controller can be acquired at a plurality of uniform points with different initial positions of the motor only by one operation, the average value is directly calculated and stored, the initial position angle of the motor is accurately used as the initial position angle of the motor, the memory is saved, and on the other hand, the deviation of the initial position angle caused by shaking after the angle of the motor is changed can be eliminated. The calibration of the initial position angle of the motor is realized by adopting matlab/simlink modeling, so that the memory can be saved, the time for calibrating the initial position angle is shortened, and the accuracy of angle calibration can be improved.
In an embodiment of the present invention, there is further provided an initial angle correction apparatus for a motor rotor, and fig. 4 is a block diagram of the initial angle correction apparatus for a motor rotor according to an embodiment of the present invention, as shown in fig. 4, the apparatus includes: an acquisition module 42 (for performing the functions included in the initial angle setting module), an acquisition module 44, a first processing module 46, and a second processing module 48 (for performing the functions included in the initial angle recording module), which are described below.
An obtaining module 42, configured to obtain a first predetermined number of different initial angle setting values of the motor rotor; a first collecting module 44, connected to the obtaining module 42, for respectively collecting the rotation transformation angles corresponding to the initial angle set values, wherein the rotation transformation angles are actual electrical angles of the motor rotor during rotation transformation; a first processing module 46, connected to the collecting module 44, for making a difference between the collected rotating transformation angle and a corresponding initial angle set value to obtain a first predetermined number of motor initial angle values, respectively; and the second processing module is used for averaging the initial angle values of the motors with the first preset number to obtain the initial angle correction value of the motor.
Fig. 5 is a block diagram showing a configuration of a first process module 46 in the initial angle correcting apparatus for a rotor of an electric machine according to the embodiment of the present invention, and as shown in fig. 5, the first process module 46 includes: an acquisition unit 52, a first processing unit 54 and a second processing unit 56, the first processing module 46 being described below.
A collecting unit 52, configured to collect electrical angles for a second predetermined number of times for the same initial angle setting value; a first processing unit 54, connected to the collecting unit 52, for respectively making a difference between the electrical angles collected for a second predetermined number of times and the same initial angle set value to obtain a second predetermined number of motor initial angle test values; and a second processing unit 56, connected to the first processing unit 54, for averaging the second predetermined number of motor initial angle test values to obtain motor initial angle values corresponding to the same initial angle set value.
Fig. 6 is a block diagram showing a configuration of an acquisition unit 52 in the first processing module 46 in the initial angle correction apparatus for a rotor of an electric motor according to the embodiment of the present invention, where, as shown in fig. 6, the acquisition unit 52 includes: a determination subunit 62, a culling subunit 64 and an acquisition subunit 66, the acquisition unit 52 being described below.
A determining subunit 62, configured to determine acquisition points corresponding to the same initial angle setting value, where the number of acquisition points is a third predetermined number; a rejecting subunit 64, connected to the determining subunit 62, for rejecting the collection points whose angle changes cause motor shake from the third predetermined number of collection points to obtain a second predetermined number of collection points; a collecting subunit 66 connected to the rejecting subunit 64 for collecting electrical angles at a second predetermined number of collection points.
In an embodiment of the present invention, there is also provided a storage medium including a stored program, wherein the apparatus on which the storage medium is stored is controlled to perform the initial angle correction method of the motor rotor according to any one of the above-described methods when the program is executed.
In a further aspect of the embodiments of the present invention, there is provided a processor for executing a program, wherein the program is executed to perform the initial angle correction method for a rotor of an electric machine according to any one of the above.
In a further aspect of an embodiment of the present invention, there is provided an electric vehicle including the initial angle correction device of the motor rotor of any one of the above.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be 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, units or modules, and may be in an electrical 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 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 unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of correcting an initial angle of a rotor of an electric motor, comprising:
acquiring a first preset number of different initial angle set values of a motor rotor;
respectively collecting rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation;
the acquired rotary transformation angle and the corresponding initial angle set value are subjected to difference values to respectively obtain the initial angle values of the motors with the first preset number;
and averaging the initial angle values of the first preset number of motors to obtain the initial angle correction value of the motor.
2. The method of claim 1, wherein obtaining the initial angle values of the first predetermined number of motors by subtracting the collected rotating transformation angle from the corresponding initial angle set value comprises:
collecting electrical angles for a second preset number of times aiming at the same initial angle set value;
respectively making difference values between the electric angles acquired for the second preset number of times and the same initial angle set value to obtain initial angle test values of the motors of the second preset number;
and averaging the initial angle test values of the motors with the second preset number to obtain the initial angle value of the motor corresponding to the same initial angle set value.
3. The method of claim 2, wherein collecting the second predetermined number of electrical angles comprises:
determining acquisition points corresponding to the same initial angle set value, wherein the number of the acquisition points is a third preset number;
picking up points with the angle change causing motor shake from the third preset number of picking up points to obtain a second preset number of picking up points;
collecting electrical angles at the second predetermined number of collection points.
4. A method according to any one of claims 1-3, wherein obtaining a first predetermined number of different initial angle settings of the rotor of the electric machine comprises:
obtaining a first predetermined number of different initial angle setting values of the motor rotor by means of multiple accumulation in a manner of accumulating angles on the basis of the first initial angle setting value, wherein the obtained initial angle setting values are stored in a case where the angles obtained after the accumulation are larger than a full angle.
5. An initial angle correction device for a rotor of an electric motor, comprising:
the acquisition module is used for acquiring a first preset number of different initial angle set values of the motor rotor;
the acquisition module is used for respectively acquiring the rotary transformation angles corresponding to the initial angle set values, wherein the rotary transformation angles are actual electric angles of the motor rotor during rotary transformation;
the first processing module is used for making difference values between the acquired rotary transformation angles and corresponding initial angle set values to respectively obtain the initial angle values of the motors with the first preset number;
and the second processing module is used for averaging the initial angle values of the motors with the first preset number to obtain the initial angle correction value of the motor.
6. The apparatus of claim 5, wherein the first processing module comprises:
the acquisition unit is used for acquiring electrical angles of a second preset number of times aiming at the same initial angle set value;
the first processing unit is used for respectively making difference values between the electric angles acquired for the second preset number of times and the same initial angle set value to obtain motor initial angle test values of the second preset number of times;
and the second processing unit is used for averaging the motor initial angle test values of the second preset number to obtain the motor initial angle value corresponding to the same initial angle set value.
7. The apparatus of claim 6, wherein the acquisition unit comprises:
the determining subunit is configured to determine acquisition points corresponding to the same initial angle setting value, where the number of the acquisition points is a third predetermined number;
the removing subunit is used for removing the acquisition points with the angle change causing motor shake from the acquisition points with the third preset number to obtain the acquisition points with the second preset number;
and the acquisition subunit is used for acquiring the electrical angles at the second preset number of acquisition points.
8. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when executed, controls an apparatus in which the storage medium is located to perform the initial angle correction method of a rotor of an electric machine according to any one of claims 1 to 4.
9. A processor, characterized in that the processor is configured to run a program, wherein the program is run to perform the method of initial angle correction of a rotor of an electric machine according to any of claims 1 to 4.
10. An electric vehicle characterized by comprising the initial angle correction device of the motor rotor of any one of claims 5 to 7.
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| CN201811302526.XA CN111146979A (en) | 2018-11-02 | 2018-11-02 | Initial angle correction method and device of motor rotor and electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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