CN111162711A - Motor rotor reference zero offset correction method and system - Google Patents
Motor rotor reference zero offset correction method and system Download PDFInfo
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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
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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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
- 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
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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 relates to a permanent magnet synchronous motor technology, and provides a method and a system for correcting a reference zero offset of a motor rotor. The method includes the steps of monitoring rotating speed information fed back by a rotary transformer in real time, when the rotating speed of the permanent magnet synchronous motor is constant, obtaining a first electric angle value of the permanent magnet synchronous motor based on the rotary transformer, obtaining a second electric angle value of a rotor of the permanent magnet synchronous motor based on a preset observer, judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value, if not, executing adjustment operation on a reference zero position of the rotor of the permanent magnet synchronous motor based on a preset adjustment rule, when the rotating speed of the permanent magnet synchronous motor is constant after the adjustment operation is executed, judging whether the difference value between the first electric angle value and the second electric angle value is smaller than the first preset value, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment. The invention can efficiently correct the reference zero offset of the motor rotor and improve the control efficiency of the motor.
Description
Technical Field
The invention relates to the technical field of permanent magnet synchronous motors, in particular to a method and a system for correcting reference zero offset of a motor rotor.
Background
At present, in order to acquire the rotor speed of a motor of a power system, a relative zero point between a resolver and the motor rotor is required to be used as a reference zero point, and the rotation direction and the speed of the motor rotor can be calculated according to the reference zero point, so that the speed feedback of a controlled motor is obtained.
Because the motor applied to the electric automobile is a special motor, the requirement on the production process is very high, and the consistency of the reference zero position of the motor is difficult to achieve in the process of producing the motor in batches, a series of problems occur to a control system due to the inconsistent zero positions of the motor after loading, for example: the torque of the motor is inaccurate to control, the efficiency of a power system is low, and when an accelerator pedal is loosened during high-speed running of a vehicle, the motor is out of control and automatically accelerates to cause traffic accidents and the like. Therefore, when the electric automobile is produced, the lifting frame for the vehicle needs to be lifted up or the vehicle transmission axle needs to be dismantled to enable the motor to be unloaded, the zero position self-learning of the motor is carried out, and the accurate zero position is obtained.
Therefore, how to efficiently correct the reference zero position of the rotor of the motor has become a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method and a device for correcting a zero reference offset of a motor rotor, and aims to solve the technical problems of complicated operation and low efficiency in correcting a zero reference of a motor rotor in the prior art.
In order to achieve the above object, the present invention provides a method for correcting a reference zero offset of a rotor of an electric machine, the method comprising:
monitoring the rotating speed information fed back by the rotary transformer in real time, and acquiring a first electric angle value of the permanent magnet synchronous motor based on the rotary transformer when the rotating speed of the permanent magnet synchronous motor is constant;
acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, executing adjustment operation on the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjustment rule;
and after the adjustment operation is executed, when the rotating speed of the permanent magnet synchronous motor is constant, judging whether the difference value of the first electric angle value and the second electric angle value is smaller than a first preset value, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
Preferably, the preset observer is obtained by neglecting a derivative term of 0 at a constant rotation speed according to an equation of an electrical model based on the electrical model of the permanent magnet synchronous motor in d-q coordinates, and a formula of the electrical model is as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
indication permanent magnetThe inductance of the d-axis of the magnetic synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
showing the flux linkage of a permanent magnet synchronous motor,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
Preferably, the preset adjustment rule includes:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value.
Preferably, the first preset value is 5, and the second preset value is 3.
In order to achieve the above object, the present invention further provides a system for correcting a reference zero offset of a rotor of a motor, where the system includes a permanent magnet synchronous motor and a resolver, and the system further includes:
a first acquisition unit: the system comprises a rotary transformer, a first power supply, a second power supply, a first power supply and a second power supply, wherein the rotary transformer is used for monitoring the rotating speed information fed back by the rotary transformer in real time, and when the rotating speed of the permanent magnet synchronous motor is constant, a first electric angle value of the permanent magnet synchronous motor is obtained based on the rotary transformer;
a second acquisition unit: the permanent magnet synchronous motor control system is used for acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
a judging unit: the permanent magnet synchronous motor zero adjusting device is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, adjusting the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjusting rule;
an adjusting unit: and the permanent magnet synchronous motor is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not when the rotating speed of the permanent magnet synchronous motor is constant after the adjustment operation is executed, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
Preferably, the preset observer is obtained by neglecting a derivative term of 0 at a constant rotation speed according to an equation of an electrical model based on the electrical model of the permanent magnet synchronous motor in d-q coordinates, and a formula of the electrical model is as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
represents the inductance of the d-axis of the permanent magnet synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
indicating permanent magnet synchronizationThe flux linkage of the motor is realized,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
Preferably, the preset adjustment rule includes:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value.
Preferably, the first preset value is 5, and the second preset value is 3.
The invention provides a method and a system for correcting the reference zero position deviation of a motor rotor, which are characterized in that a rotary transformer is used for collecting a position signal of a controlled motor rotor, the position signal of the motor rotor is compared with a position signal of the motor rotor obtained by an observer, the reference zero position of the motor rotor is corrected on line until the position of the rotor obtained by the rotary transformer is synchronous with the position of the rotor obtained by the observer, the reference zero position of a real rotor of a motor is obtained, the optimal control of the torque of the motor is realized, the safe and stable control of the speed of a vehicle can be ensured, the position signal of the rotary transformer feedback rotor is monitored on line in real time, once deviation occurs, the real-time calibration is realized, the complexity of a field loading process is reduced, the loading efficiency is.
Drawings
FIG. 1 is a flow chart of a method for correcting a reference zero offset of a rotor of an electric motor according to the present invention;
FIG. 2 is a schematic diagram of a reference zero offset calibration system for a rotor of an electric machine according to the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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.
FIG. 1 is a flow chart of a preferred embodiment of a method for correcting a reference zero offset of a rotor of an electric machine according to the present invention. The method for correcting the reference zero offset of the motor rotor shown in fig. 1 is applied to a permanent magnet synchronous motor and a rotary transformer, and comprises the following steps:
s10: monitoring the rotating speed information fed back by the rotary transformer in real time, and acquiring a first electric angle value of the permanent magnet synchronous motor based on the rotary transformer when the rotating speed of the permanent magnet synchronous motor is constant;
in this embodiment, after the permanent magnet synchronous motor starts to move, the rotating speed information fed back by the resolver is monitored in real time, and when the rotating speed of the wording synchronous motor is monitored to be a constant rotating speed, the resolver is used to obtain a first electrical angle value of the permanent magnet synchronous motor, and the resolver (resolver/transformer) is an electromagnetic sensor, also called as a synchronous resolver, and is a small alternating current motor for measuring an angle and used for measuring a rotating shaft angular displacement and an angular speed of a rotating object. In an actual application scene, a motor speed feedback sensor of the vehicle motor driving system basically adopts a rotary transformer, and the rotary transformer has the advantages of simple structure, high stability, good anti-interference capability and the like, and can be suitable for severe environments on roads.
S20: acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
in this embodiment, a second electric angle value of the rotor of the permanent magnet synchronous motor is obtained based on a preset observer, and when the reference zero position of the motor is inconsistent and has deviation when the motor leaves a factory, the motor needs to be learned again, so that the problems of difficulty in loading, inconvenience in operation and the like are caused.
Further, the preset observer is obtained by neglecting a derivative term of 0 at a constant rotating speed according to an equation of an electrical model based on the electrical model of the permanent magnet synchronous motor under d-q coordinates, wherein the equation of the electrical model is as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
represents the inductance of the d-axis of the permanent magnet synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
showing the flux linkage of a permanent magnet synchronous motor,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
Estimate separately
、
And
and substituting the obtained value into the following d-q axis inductance conversion formula to obtain the flux linkage of the permanent magnet synchronous motor
Electrical angular velocity of rotor speed of permanent magnet synchronous motor
. The inductance conversion formula of the d-q axis is as follows:
the meaning of each symbol in the d-q axis inductance conversion formula is the same as that of the symbol in the electrical model, and is not described herein again.
S30: judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, executing adjustment operation on the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjustment rule;
in this embodiment, the reference zero position of the rotor of the permanent magnet synchronous motor is adjusted by determining a difference relationship between the first electrical angle value and the second electrical angle value, specifically, when a difference between the first electrical angle value and the second electrical angle value is smaller than a first preset value (i.e., when a rotor electrical angle signal fed back by the rotary transformer is synchronous with a rotor electrical angle signal acquired by the observer), the reference zero position of the rotor of the permanent magnet synchronous motor is not adjusted, and when a difference between the first electrical angle value and the second electrical angle value is larger than the first preset value (i.e., when a rotor electrical angle signal fed back by the rotary transformer is asynchronous with a rotor electrical angle signal acquired by the observer), the reference zero position of the rotor of the permanent magnet synchronous motor is adjusted based on a preset adjustment rule.
Further, the preset adjustment rule includes:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value. Wherein the second preset value is 3.
S40: and after the adjustment operation is executed, when the rotating speed of the permanent magnet synchronous motor is constant, judging whether the difference value of the first electric angle value and the second electric angle value is smaller than a first preset value, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
In this embodiment, after the adjustment operation is performed on the reference zero position of the rotor of the permanent magnet synchronous motor, it is required to check whether the rotor electrical angle signal fed back by the resolver is synchronous with the rotor electrical angle signal acquired by the observer, specifically, after the adjustment operation is performed, when the rotational speed of the permanent magnet synchronous motor is monitored to be a constant rotational speed, it is determined whether a difference between the first electrical angle value and the second electrical angle value is smaller than a first preset value, that is, it is determined whether the rotor electrical angle signal fed back by the resolver is synchronous with the rotor electrical angle signal acquired by the observer, if not, the above adjustment operation is continuously performed, and if so, the adjustment is stopped.
The method comprises the steps of acquiring a position signal of a controlled motor rotor by using a rotary transformer, comparing the position signal with a position signal of the motor rotor acquired by constructing an observer, correcting a reference zero position of the motor rotor on line until the position of the rotor acquired by the rotary transformer is synchronous with the position of the rotor acquired by the observer, so as to obtain the reference zero position of a real rotor of the motor, and optimally controlling the torque of the motor.
Fig. 2 is a schematic diagram of a structure of a reference zero offset correction system for a motor rotor according to the present invention. The motor rotor reference zero offset correction system comprises a permanent magnet synchronous motor and a rotary transformer, and the system further comprises:
a first acquisition unit: the system comprises a rotary transformer, a first power supply, a second power supply, a first power supply and a second power supply, wherein the rotary transformer is used for monitoring the rotating speed information fed back by the rotary transformer in real time, and when the rotating speed of the permanent magnet synchronous motor is constant, a first electric angle value of the permanent magnet synchronous motor is obtained based on the rotary transformer;
a second acquisition unit: the permanent magnet synchronous motor control system is used for acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
a judging unit: the permanent magnet synchronous motor zero adjusting device is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, adjusting the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjusting rule;
an adjusting unit: and the permanent magnet synchronous motor is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not when the rotating speed of the permanent magnet synchronous motor is constant after the adjustment operation is executed, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
In one embodiment, the predetermined observer is obtained by neglecting a derivative term of 0 at a constant rotation speed according to an equation of an electrical model based on the electrical model of the permanent magnet synchronous motor in d-q coordinates, wherein the equation of the electrical model is as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
represents the inductance of the d-axis of the permanent magnet synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
showing the flux linkage of a permanent magnet synchronous motor,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
In one embodiment, the preset adjustment rule includes:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value.
In one embodiment, the first preset value is 5, and the second preset value is 3.
The specific implementation of the motor rotor reference zero offset correction system of the present invention is substantially the same as the specific implementation of the motor rotor reference zero offset correction method described above, and will not be described herein again.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A method for correcting the reference zero offset of a motor rotor is applied to a permanent magnet synchronous motor and a rotary transformer, and is characterized by comprising the following steps:
monitoring the rotating speed information fed back by the rotary transformer in real time, and acquiring a first electric angle value of the permanent magnet synchronous motor based on the rotary transformer when the rotating speed of the permanent magnet synchronous motor is constant;
acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, executing adjustment operation on the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjustment rule;
and after the adjustment operation is executed, when the rotating speed of the permanent magnet synchronous motor is constant, judging whether the difference value of the first electric angle value and the second electric angle value is smaller than a first preset value, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
2. The method of correcting zero reference offset of a rotor of an electric machine according to claim 1, wherein the predetermined observer is based on an electric model of the pm synchronous machine in d-q coordinates, obtained by neglecting a derivative term of 0 at a constant rotation speed according to an equation of the electric model, the equation of the electric model being as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
represents the inductance of the d-axis of the permanent magnet synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
showing the flux linkage of a permanent magnet synchronous motor,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
3. The method of correcting for reference zero offset of a rotor of an electric machine of claim 1, wherein the predetermined adjustment rules comprise:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value.
4. The method of correcting reference zero offset of a rotor of an electric machine of claim 3, wherein the first predetermined value is 5 and the second predetermined value is 3.
5. A system for correcting a reference zero offset of a rotor of an electric machine, the system comprising a permanent magnet synchronous machine and a rotary transformer, the system further comprising:
a first acquisition unit: the system comprises a rotary transformer, a first power supply, a second power supply, a first power supply and a second power supply, wherein the rotary transformer is used for monitoring the rotating speed information fed back by the rotary transformer in real time, and when the rotating speed of the permanent magnet synchronous motor is constant, a first electric angle value of the permanent magnet synchronous motor is obtained based on the rotary transformer;
a second acquisition unit: the permanent magnet synchronous motor control system is used for acquiring a second electric angle value of the permanent magnet synchronous motor rotor based on a preset observer;
a judging unit: the permanent magnet synchronous motor zero adjusting device is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not, and if not, adjusting the reference zero position of the permanent magnet synchronous motor rotor based on a preset adjusting rule;
an adjusting unit: and the permanent magnet synchronous motor is used for judging whether the difference value between the first electric angle value and the second electric angle value is smaller than a first preset value or not when the rotating speed of the permanent magnet synchronous motor is constant after the adjustment operation is executed, if not, continuing to execute the adjustment operation, and if so, stopping the adjustment.
6. The system according to claim 5, characterized in that the predetermined observer is based on an electrical model of the permanent magnet synchronous machine in d-q coordinates, the derivative term of 0 being ignored at constant speed according to the equation of the electrical model, the formula of which is as follows:
wherein,
voltage of d-axis of permanent magnet synchronous motor,
Voltage representing the q-axis of the permanent magnet synchronous motor,
Represents the current of the d axis of the permanent magnet synchronous motor,
Representing the current of the q-axis of the permanent magnet synchronous motor,
the electrical resistance is represented by the resistance of the electron,
represents the inductance of the d-axis of the permanent magnet synchronous motor,
represents the inductance of the q-axis of the permanent magnet synchronous motor,
showing the flux linkage of a permanent magnet synchronous motor,
representing the electrical angular velocity of the rotor of the permanent magnet synchronous motor.
7. The system of claim 5, wherein the preset adjustment rules comprise:
and when the first electrical angle value is smaller than the second electrical angle value, reducing the reference zero position by a second preset value.
8. The system of claim 7, wherein the first predetermined value is 5 and the second predetermined value is 3.
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