CN111669081A - Method and device for compensating cogging torque of motor - Google Patents

Method and device for compensating cogging torque of motor Download PDF

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Publication number
CN111669081A
CN111669081A CN202010535124.5A CN202010535124A CN111669081A CN 111669081 A CN111669081 A CN 111669081A CN 202010535124 A CN202010535124 A CN 202010535124A CN 111669081 A CN111669081 A CN 111669081A
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motor
cogging torque
real
compensation amount
torque compensation
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Inventor
谢阳萍
张晓光
涂从欢
何畏
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Shenzhen Sine Electric Co ltd
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Shenzhen Sine Electric 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06C—DIGITAL COMPUTERS IN WHICH ALL THE COMPUTATION IS EFFECTED MECHANICALLY
    • G06C3/00—Arrangements for table look-up, e.g. menstruation table
    • 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
    • H02P21/20—Estimation of torque
    • 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
    • H02P25/024—Synchronous motors controlled by supply frequency
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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

Abstract

The embodiment of the invention discloses a method and a device for compensating cogging torque of a motor, wherein the method comprises the following steps: acquiring a real-time rotating position of a motor; according to the real-time rotating position and a preset storage table, determining the cogging torque compensation amount corresponding to the real-time rotating position; compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position; and the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner. The method of table lookup is adopted to achieve the aim of actively inhibiting the cogging torque, so that the economy of the motor is guaranteed, and the method is simple to implement; the cogging torque of the motor is compensated by using a table look-up method, the defect of excessive formula calculation is avoided, simultaneously, the resource consumption is low, the program execution time is shortened, and the like, and the method is beneficial to engineering realization and subsequent servo expansion.

Description

Method and device for compensating cogging torque of motor
Technical Field
The invention relates to the field of control of a motor speed regulating system, in particular to a compensation method and device for cogging torque of a motor.
Background
With the development of control theory, power electronic technology and computer control technology, the permanent magnet synchronous motor has the advantages of simple and reliable structure, reliable operation, wide speed regulation range and the like, and the application range of the permanent magnet synchronous motor is wider and wider in the field of industrial control.
Due to the structure of the permanent magnet synchronous motor, the mutual acting force exists between the internal permanent magnet and the stator slot, so that the cogging torque pulsation phenomenon exists in the motor at low speed, the phenomenon mostly occurs in many occasions of low-speed torque control, the process is limited due to the existence of the torque pulsation, and the cogging torque must be weakened or compensated in order to meet the process requirements.
For the compensation of the cogging torque, there are two main technologies currently, one of which is an active suppression method, and the active suppression method is mainly implemented by modifying design parameters of the motor, such as selecting a proper pole slot matching, adopting a stator skewed slot, modifying the size of a pole arc coefficient, and the like.
Another method is a passive suppression method in which the cogging torque is suppressed by a control technique and the target of suppressing the cogging torque ripple is achieved by a software method. The method mainly comprises the steps of changing a given amount of motor torque to offset the cogging torque generated by the motor, estimating the cogging torque by adopting an additional sensor, and carrying out a reverse offset strategy aiming at the cogging torque to weaken the influence of the cogging torque on the performance of the motor, but the manufacturing cost of the motor needs to be increased by the measures. In addition, the cogging torque of the motor can be obtained and weakened by an intelligent calculation method and a mathematical model of the rotation of the motor, but the method needs to occupy the operation time of a control loop due to the calculated load, so that the bandwidth is reduced, and the dynamic performance of the motor is sacrificed.
In addition, the cogging torque characteristics of each motor are different due to the motor assembly and material characteristics, and it is necessary to perform different compensation of the cogging torque for each motor.
Disclosure of Invention
In view of the above technical problems, embodiments of the present invention provide a compensation method and device for a motor cogging torque, which can provide accurate compensation for the motor cogging torque by combining a current motor control programming technology and a storage technology inside a motor.
A first aspect of an embodiment of the present invention provides a method for compensating a cogging torque of a motor, where the method includes:
acquiring a real-time rotating position of a motor;
according to the real-time rotating position and a preset storage table, determining the cogging torque compensation amount corresponding to the real-time rotating position;
compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position;
and the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner.
Optionally, the cogging torque compensation amount is obtained in advance based on learning, and the learning includes:
in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position;
and determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component.
Optionally, the obtaining a motor torque current component of the motor at a preset rotation position includes:
sampling motor torque current components of the motor at a preset rotation position for multiple times;
determining a first mean value of the motor torque current component of the motor at the preset rotating position according to the motor torque current component of the motor at the preset rotating position sampled for multiple times;
the determining of the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component includes:
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of motor torque current components of the motor at all preset rotation positions.
Optionally, the determining, according to the real-time rotation position and a preset storage table, a cogging torque compensation amount corresponding to the real-time rotation position includes:
and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
Optionally, the preset storage table stores a cogging torque compensation amount of a first rotation position and a cogging torque compensation amount of a second rotation position;
the determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table comprises the following steps:
and when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
In a second aspect, an embodiment of the present invention provides a device for compensating a cogging torque of a motor, where the device includes:
the position acquisition module is used for acquiring the real-time rotating position of the motor;
the table look-up module is used for determining the cogging torque compensation amount corresponding to the real-time rotating position according to the real-time rotating position and a preset storage table;
the control module is used for compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position;
and the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner.
Optionally, the cogging torque compensation amount is obtained in advance based on learning, and the apparatus further includes a learning module, and the learning module learns the cogging torque compensation amount by a process including:
in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position;
and determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component.
Optionally, the learning module is specifically configured to, when obtaining a motor torque current component of the motor at a preset rotation position:
sampling motor torque current components of the motor at a preset rotation position for multiple times;
determining a first mean value of the motor torque current component of the motor at the preset rotating position according to the motor torque current component of the motor at the preset rotating position sampled for multiple times;
the learning module is specifically configured to, when determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component:
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of motor torque current components of the motor at all preset rotation positions.
Optionally, when determining the compensation amount of the cogging torque corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table, the table look-up module is specifically configured to:
and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
Optionally, the preset storage table stores a cogging torque compensation amount of a first rotation position and a cogging torque compensation amount of a second rotation position;
the table look-up module is specifically used for determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table:
and when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
In the technical scheme provided by the embodiment of the invention, the aim of actively inhibiting the cogging torque is achieved by adopting a table look-up method, so that the economy of the motor is ensured, and the realization is simple; the cogging torque of the motor is compensated by using a table look-up method, the defect of excessive formula calculation is avoided, simultaneously, the resource consumption is low, the program execution time is shortened, and the like, and the method is beneficial to engineering realization and subsequent servo expansion.
Drawings
FIG. 1 is a schematic method flow diagram of a method for compensating for cogging torque of a motor according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a learning process of a cogging torque compensation amount and a storing process of the cogging torque compensation amount of the permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 3 is a schematic sampling of the motor torque current component at each aliquot location of the motor in one embodiment of the invention;
FIG. 4 is a schematic diagram of a control structure of a motor according to an embodiment of the present invention;
FIG. 5 is an overall block diagram of the compensation of cogging torque of the motor in an embodiment of the present invention;
FIG. 6 is a block diagram of a compensation device for cogging torque of a motor according to an embodiment of the present invention;
fig. 7 is a block diagram of a compensation apparatus for cogging torque of a motor according to another embodiment of the present invention.
Detailed Description
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 following embodiments may be combined without conflict.
The motor of the embodiment of the invention can be a permanent magnet synchronous motor and can also be other types of motors.
FIG. 1 is a schematic method flow diagram of a method for compensating for cogging torque of a motor according to an embodiment of the present invention; an execution main body of the compensation method for the cogging torque of the motor according to the embodiment of the present invention may be a control device of the motor, such as a motor main control board or a servo dedicated for torque compensation, and referring to fig. 1, the compensation method for the cogging torque of the motor according to the embodiment of the present invention may include steps S101 to S103.
Wherein in S101, a real-time rotational position of the motor is acquired.
The real-time rotation position of the motor can be obtained through a position sensor, and the position sensor can be arranged on a main shaft of the motor. The embodiment of the present invention does not specifically limit the type of the position sensor, and the position sensor is, for example, a motor encoder.
In S102, determining a cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table; the preset storage table is used for storing the rotation position of the motor and the compensation amount of the cogging torque in a one-to-one correspondence mode.
The cogging torque compensation amount is obtained in advance based on learning, and may be obtained in other manners.
Illustratively, optionally, the cogging torque compensation amount is obtained in advance based on learning, and the learning process includes: in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position; and determining the cogging torque compensation amount of the motor at the preset rotation position according to the torque current component of the motor.
For example, the obtaining of the motor torque current component of the motor at the preset rotation position may include: sampling a motor torque current component of a motor at a preset rotation position for multiple times; and determining a first mean value of the motor torque current component of the motor at the preset rotating position according to the motor torque current component of the motor at the preset rotating position sampled for multiple times. Accordingly, the implementation process of determining the cogging torque compensation amount of the motor at the preset rotation position according to the torque current component of the motor may include: and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of the motor torque current components of the motor at all preset rotation positions.
Next, a possible implementation procedure for learning the amount of cogging torque compensation is described. Specifically, the motor is a permanent magnet synchronous motor, and the execution main body of the compensation method of the cogging torque of the motor is a special servo for torque compensation (such as a servo control system based on magnetic field orientation vector control) as an example.
In the operation process of the permanent magnet synchronous motor, due to the existence of the interaction force of the magnetic fields between the stator slots and the rotor, the permanent magnet of the motor rotor can be finally shown to be stationary at the position with the minimum magnetic resistance, and the rotor at other positions is subjected to moments in different directions, namely the cogging torque. At present, a permanent magnet synchronous motor is mostly driven by adopting a vector control technology, taking a commonly used surface-mounted synchronous motor in a servo system as an example, under a dq axis coordinate system, a torque expression is as follows:
Te＝npΨriq(1)；
in the formula (1), npRepresents the number of pole pairs of the motor,Ψrrepresenting the rotor flux linkage iqRepresenting the q-axis current. As can be seen from the above formula, the fluctuation of the torque can be reflected in i during the operation of the motorqOn the current. The invention is based on the above and realizes the extraction of the compensation quantity of the cogging torque.
Referring to fig. 2, the permanent magnet synchronous motor driver performs vector control with an encoder on the motor and operates in a speed control mode. Firstly, the forward speed of the motor is controlled, and in the running process of the motor, the extraction of the cogging torque compensation amount is realized by recording the torque current component Iqref of the motor in combination with the actual position of the motor.
In the running process of the motor, if the resolution line number of the encoder is Z, the position of the motor can be monitored in real time due to the existence of the encoder, meanwhile, the corresponding cogging torque at each monitored position can be in a forward proportional relation with the torque current component Iqref of the current q-axis motor, and the torque current component of the motor at the forward speed running moment is recorded. Therefore, in order to limit the amount of cogging torque stored data, by dividing a motor into N equal parts for one revolution, each equal part position can be expressed as:
θ(n)＝n*(Z/N) (2)；
in the formula (2), θ (N) is an equal division position, N is a number of the equal division position, N is a positive integer, and N is 1, 2 … N.
Recording the magnitude of the motor torque current component at each equal division position in the speed running mode, performing multiple sampling, and finally obtaining an average operation as shown in fig. 3:
Figure BDA0002536790270000081
in equation (3), the subscript n represents the serial number of the aliquot location, and the subscript m represents the serial number of the data collected at each aliquot location, and for example, 10 samples are taken at each aliquot location during the test, so m equals 10.
After the operation is finished, the motor torque current component at each equal division position is I1、I2、I3…INTo express, will rememberAccumulating the recorded motor moment current components to obtain a motor moment current component mean value:
IAVR＝(I1+I2+I3+...+IN)/N (4)；
cogging torque compensation amount IcognComprises the following steps:
Icogn＝In-IAVR(n＝1,2,3...N) (5)；
therefore, the compensation quantity of the cogging torque is obtained, in order to realize accurate compensation of each motor, the special servo for torque compensation also provides a storage function, and the learned compensation quantity of the cogging torque is stored in a storage medium in the motor in a communication mode.
And after the storage is finished, learning and storing the cogging torque compensation amount of the next motor.
For example, the implementation of determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and the preset storage table may include the following two cases:
(1) and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
(2) And the preset storage table stores the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position. And when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
Illustratively, the rotation positions in the preset storage table are equally divided positions, a general servo operation is in a vector control mode, the cogging torque compensation amount can be obtained in a position indexing mode, the cogging torque compensation amount is used for realizing torque compensation, and the compensation rule is as follows:
if the real-time rotating position is just at the equal dividing position, directly performing table look-up operation, wherein the cogging torque compensation quantity of the real-time rotating position is the cogging torque compensation quantity of the equal dividing position corresponding to the real-time rotating position in a preset storage table; if the real-time rotation position is between two equal division positions, the linear overcomputing process is performed by using the cogging torque compensation amounts at two adjacent equal division positions, for example, the real-time rotation position is θ, the first rotation position is θ 1, the second rotation position is θ 2, the cogging torque compensation amount at the first rotation position is Icog1, and the cogging torque compensation amount at the second rotation position is Icog2, then the calculation method of the cogging torque compensation amount at the real-time rotation position being Icog may be as follows:
Figure BDA0002536790270000091
through self-learning and storage of the cogging torque compensation quantity, all the factory motors have the corresponding cogging torque compensation quantity. Therefore, in the servo system, during the power-on process of the servo, the motor is firstly communicated, the reading of the cogging torque compensation amount is completed, and after the reading is completed, the cogging torque compensation amount is made into a preset storage table for compensation.
In S103, the cogging torque of the motor is compensated based on the cogging torque compensation amount corresponding to the real-time rotational position.
After cogging torque compensation is added, a control structure diagram is shown in 4, a control main body is a permanent magnet synchronous motor vector control system which is based on double-loop control of rotating speed and current, an inner loop is a torque loop, wherein Idref, Iqref, Idfdb and Iqfdb respectively represent d-axis current and q-axis current and feedback of the permanent magnet synchronous motor, deviation obtained after current giving and feedback subtraction is subjected to PI proportional-integral regulator to obtain given voltage of a dq axis, and then subjected to SVPWM space vector pulse width modulation to obtain a PWM duty ratio signal to drive an inverter bridge, so that torque control of the Permanent Magnet Synchronous Motor (PMSM) is realized; in the torque ring, for a common surface-mounted permanent magnet synchronous motor, the torque is in direct proportion to the q-axis current, so that the default id current is 0; the q-axis current set is typically derived from the speed loop output, Spdout in fig. 4, but for the case of cogging torque compensation requirements, in the current set block,a cogging torque compensation module is added so that ultimately, the torque setpoint can be represented by where spdout represents the speed loop output, IcogRepresenting a cogging torque compensation component, IqrefRepresenting the final torque current given amount.
Iqref＝spdout+Icog(7)。
It can be seen that the resulting torque current component by a given amount is equal to the sum of the speed loop output and the torque compensation amount.
The whole block diagram of the invention is shown in fig. 5, before the motor leaves the factory, a series of reliability tests are carried out on the motor in the factory, after the tests reach the standard, the self-learning of the cogging torque of the motor is carried out, a special servo driver for the self-learning of the cogging torque is utilized to drive the motor to be tested, the compensation quantity of the cogging torque is self-learned, and the learned signals are stored in a storage medium in the motor in a communication (such as serial communication) mode, as shown in a long dashed line frame in fig. 5; the method for reading and compensating the cogging torque is mainly executed after a standard servo system leaves a factory, after each time of power-on, a servo internal program reads a storage signal in a servo and solidifies the signal into a storage medium in the servo, and in the running process, the signal corrects an internal torque current component in a table look-up mode, so that the low-speed fluctuation phenomenon caused by the cogging torque is counteracted, as shown in a short-dashed line block diagram in fig. 5.
In addition, in the embodiment of the invention, the method for reading and compensating the cogging torque compensation amount is mainly executed after the standard servo system leaves factory, after each power-on, the internal program of the servo motor reads the cogging torque compensation amount in the servo motor and solidifies the cogging torque compensation amount in the storage space in the servo motor, and in the running process, the internal torque current component is corrected by the servo program in a table look-up mode, so that the low-speed fluctuation phenomenon caused by the cogging torque is counteracted. Illustratively, the driver is communicated with the motor, after the driver is powered on, an internal program firstly reads corresponding data in a motor storage medium storing the cogging torque compensation amount, and makes the data into a table, in the actual operation process, the table indexing is carried out on the cogging torque compensation amount through the real-time rotation position fed back by the current motor encoder, and finally, the indexed compensation amount data is added to the vector control inner ring.
According to the compensation method for the cogging torque of the motor, disclosed by the embodiment of the invention, compensation of different cogging torque compensation amounts is carried out for each motor, so that the phenomenon of error compensation caused by the cogging torque compensation amount difference due to factors such as motor installation deviation and poor material consistency is avoided, and the compensation accuracy is improved.
The above describes a method for compensating motor cogging torque in the embodiment of the present invention, and the following describes a device for compensating motor cogging torque in the embodiment of the present invention.
The embodiment of the invention also provides a compensation device for the cogging torque of the motor, please refer to fig. 6, and the compensation device for the cogging torque of the motor may include a position obtaining module, a table look-up module and a control module.
The position acquisition module is used for acquiring the real-time rotating position of the motor.
The table look-up module is used for determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table, wherein the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner.
The control module is used for compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position.
Alternatively, the cogging torque compensation amount is obtained in advance based on learning, referring to fig. 7, the compensation apparatus for the cogging torque of the motor may further include a learning module, and the process of learning the cogging torque compensation amount by the learning module includes:
in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position;
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the torque current component of the motor.
Optionally, the learning module is specifically configured to, when obtaining a motor torque current component of the motor at the preset rotation position:
sampling a motor torque current component of a motor at a preset rotation position for multiple times;
determining a first mean value of the motor moment current component of the motor at the preset rotating position according to the motor moment current component of the motor at the preset rotating position sampled for multiple times;
the learning module is specifically used for determining the cogging torque compensation amount of the motor at a preset rotation position according to the torque current component of the motor:
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of the motor torque current components of the motor at all preset rotation positions.
Optionally, the table look-up module is specifically configured to, when determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table:
and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
Optionally, the preset storage table stores the cogging torque compensation amount of the first rotation position and the cogging torque compensation amount of the second rotation position;
the table look-up module is specifically used for determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table:
and when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A method of compensating for cogging torque in an electric machine, the method comprising:
acquiring a real-time rotating position of a motor;
according to the real-time rotating position and a preset storage table, determining the cogging torque compensation amount corresponding to the real-time rotating position;
compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position;
and the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner.
2. The method of claim 1, wherein the cogging torque compensation amount is obtained in advance based on learning, and the learning includes:
in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position;
and determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component.
3. The method of claim 2, wherein said obtaining a motor torque current component of said motor at a predetermined rotational position comprises:
sampling motor torque current components of the motor at a preset rotation position for multiple times;
determining a first mean value of the motor torque current component of the motor at the preset rotating position according to the motor torque current component of the motor at the preset rotating position sampled for multiple times;
the determining of the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component includes:
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of motor torque current components at all preset rotation positions of the motor.
4. The method of claim 1, wherein determining the cogging torque compensation amount corresponding to the real-time rotational position according to the real-time rotational position and a preset storage table comprises:
and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
5. The method of claim 1, wherein the preset memory table stores a cogging torque compensation amount for a first rotational position and a cogging torque compensation amount for a second rotational position;
the determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table comprises the following steps:
and when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
6. A device for compensating cogging torque of an electric motor, said device comprising:
the position acquisition module is used for acquiring the real-time rotating position of the motor;
the table look-up module is used for determining the cogging torque compensation amount corresponding to the real-time rotating position according to the real-time rotating position and a preset storage table;
the control module is used for compensating the motor cogging torque according to the cogging torque compensation amount corresponding to the real-time rotation position;
and the preset storage table is used for storing the rotation position and the cogging torque compensation amount of the motor in a one-to-one correspondence manner.
7. The apparatus of claim 6, wherein the cogging torque compensation amount is obtained in advance based on learning, the apparatus further comprising a learning module, and the learning module learns the cogging torque compensation amount by a process comprising:
in the running process of the motor, acquiring a motor torque current component of the motor at a preset rotating position;
and determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component.
8. The device according to claim 7, wherein the learning module, when obtaining the motor torque current component of the motor at the preset rotational position, is specifically configured to:
sampling motor torque current components of the motor at a preset rotation position for multiple times;
determining a first mean value of the motor torque current component of the motor at the preset rotating position according to the motor torque current component of the motor at the preset rotating position sampled for multiple times;
the learning module is specifically configured to, when determining the cogging torque compensation amount of the motor at a preset rotation position according to the motor torque current component:
and determining the cogging torque compensation amount of the motor at the preset rotation position according to the first average value and a second average value of motor torque current components of the motor at all preset rotation positions.
9. The apparatus of claim 6, wherein the table look-up module, when determining the cogging torque compensation amount corresponding to the real-time rotational position according to the real-time rotational position and a preset storage table, is specifically configured to:
and when the real-time rotating position corresponds to the rotating position in the preset storage table, determining the cogging torque compensation quantity of the rotating position corresponding to the real-time rotating position in the preset storage table as the cogging torque compensation quantity corresponding to the real-time rotating position.
10. The apparatus of claim 6, wherein the preset memory table stores a cogging torque compensation amount for a first rotational position and a cogging torque compensation amount for a second rotational position;
the table look-up module is specifically used for determining the cogging torque compensation amount corresponding to the real-time rotation position according to the real-time rotation position and a preset storage table:
and when the real-time rotating position is between the first rotating position and the second rotating position, determining the cogging torque compensation amount corresponding to the real-time rotating position according to the cogging torque compensation amount of the first rotating position and the cogging torque compensation amount of the second rotating position.
CN202010535124.5A 2020-06-12 2020-06-12 Method and device for compensating cogging torque of motor Pending CN111669081A (en)

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Application publication date: 20200915