CN112039397A - Rotor position correction method and system for position-sensorless planar switch reluctance motor - Google Patents
Rotor position correction method and system for position-sensorless planar switch reluctance motor Download PDFInfo
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- CN112039397A CN112039397A CN202010849885.8A CN202010849885A CN112039397A CN 112039397 A CN112039397 A CN 112039397A CN 202010849885 A CN202010849885 A CN 202010849885A CN 112039397 A CN112039397 A CN 112039397A
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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
- 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/32—Determining the initial rotor position
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Abstract
The embodiment of the invention discloses a rotor position correction method and a rotor position correction system for a position-sensorless planar switch reluctance motor, wherein the method comprises the following steps: acquiring a rotor position measurement value of the planar switch reluctance motor based on a preset position measurement method; determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage; and correcting the mover position measurement value according to the target position correction error so as to determine a mover position actual value of the planar switched reluctance motor. The embodiment of the invention eliminates the accumulated error caused by the conventional position sensor-free measuring method when the position of the rotor is measured, and improves the accuracy of the position measurement of the rotor.
Description
Technical Field
The embodiment of the invention relates to the technical field of motors, in particular to a method and a system for correcting the position of a rotor of a planar switch reluctance motor.
Background
A planar switched reluctance motor is a motor that can directly convert electromagnetic energy into planar motion. The motion of the planar switched reluctance motor is usually driven by a driving system, and the driving system needs to know the position of a mover of the planar switched reluctance motor in real time, so that the measurement of the position of the mover in the planar switched reluctance motor is very important.
The position of the rotor can be measured by a position sensor, but the measuring method of the position sensor has weak adaptability to the environment and low anti-interference capability. Another mover position measurement method is to estimate the motor mover position by monitoring the electromagnetic properties of the motor without using a position sensor, i.e., a position sensor-less measurement. The common position-sensorless measurement methods are mainly: a current injection method, a sliding mode observer method, an additional moving block method, and a method based on voltage injection and core loss calculation. The position sensorless measurement method is generally used for modeling or characteristic curve fitting of inductance characteristics or flux linkage characteristics of the planar switched reluctance motor in only one polar distance range, and then rotor position estimation is carried out according to the same electromagnetic characteristic model in each polar distance range. The absolute position of the rotor can be obtained by accumulating the position of the rotor in the range of the single polar distance and the integral multiple polar distance passed by the motion of the rotor. The thought easily causes accumulated errors, and the large random error of the end part of the polar distance brings large polar distance miscounting risks, so that the measurement accuracy of the position of the rotor is not high.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for correcting a position of a mover of a planar switched reluctance motor without a position sensor, so as to eliminate an accumulated error caused when the position of the mover is measured by using an existing position sensor-free measurement method, and improve accuracy of measuring the position of the mover.
In a first aspect, an embodiment of the present invention provides a method for correcting a position of a rotor of a planar switched reluctance motor without a position sensor, where the method includes:
acquiring a rotor position measurement value of the planar switch reluctance motor based on a preset position measurement method;
determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage;
and correcting the mover position measurement value according to the target position correction error so as to determine a mover position actual value of the planar switched reluctance motor.
Further, determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage comprises:
determining whether a rotor of the planar switched reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of an idle phase winding of the planar switched reluctance motor to square wave voltage with a preset voltage amplitude;
if the rotor of the planar switched reluctance motor is at the characteristic position point at the current moment, determining a target position correction error according to the motor motion direction;
and if the rotor of the planar switched reluctance motor is not at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
Further, determining whether a mover of the planar switched reluctance motor is at a characteristic position point at the current time based on the electromagnetic response of the idle phase winding to the square wave voltage includes:
determining a present response current of the idle phase winding based on the square wave voltage;
determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current;
determining whether the current flux linkage value is a flux linkage characteristic value;
and if the current flux linkage value is a flux linkage characteristic value, determining that the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment.
Further, determining whether the current flux linkage value is a flux linkage characteristic value comprises:
determining whether a point corresponding to the current flux linkage value in a flux linkage characteristic curve of the planar switched reluctance motor is a valley point;
if the point corresponding to the current flux linkage value in the flux linkage characteristic curve of the planar switched reluctance motor is a valley point, determining whether the current flux linkage value is greater than or equal to a preset flux linkage threshold value;
if the current flux linkage value is greater than or equal to a preset flux linkage threshold value, determining whether the current flux linkage value is greater than a preset number of historical flux linkage valley values occurring before the current flux linkage value;
and if the current flux linkage value is larger than the historical flux linkage wave valley values of the preset number appearing before the current flux linkage value, determining the current flux linkage value as a flux linkage characteristic value.
Further, the determining the target position correction error according to the motor movement direction includes:
determining a target position correction count according to the movement direction of the planar switched reluctance motor;
determining a position correction value according to the target position correction count and the side length of a stator aluminum block of the planar switched reluctance motor;
and determining a target position correction error according to the difference between the position correction value and the mover position measurement value.
Further, determining a target position correction count according to the movement direction of the planar switched reluctance motor includes:
acquiring historical position correction count of the planar switched reluctance motor;
if the movement direction of the planar switched reluctance motor is based on the forward movement of the coordinate axis, adding 1 to the historical position correction count to serve as a target position correction count;
and if the motion direction of the planar switched reluctance motor is negative motion based on the coordinate axis, subtracting 1 from the historical position correction count to be used as a target position correction count.
Further, correcting the mover position measurement value according to the target position correction error to determine a mover position actual value of the planar switched reluctance motor, including:
and determining the rotor position actual value of the planar switched reluctance motor according to the sum of the position correction error and the rotor position measurement value.
In a second aspect, an embodiment of the present invention provides a position correction system for a rotor of a position-sensorless planar switched reluctance motor, including:
the rotor position measuring module is used for obtaining a rotor position measuring value of the planar switched reluctance motor based on a preset position measuring method;
the correction error determination module is used for determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage;
and the rotor position correction module is used for correcting the rotor position measurement value according to the target position correction error so as to determine a rotor position actual value of the planar switch reluctance motor.
Further, the correction error determination module includes:
the rotor characteristic position determining unit is used for determining whether the rotor of the planar switch reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of an idle phase winding of the planar switch reluctance motor to square wave voltage with a preset voltage amplitude;
the correction error determining unit is used for determining a target position correction error according to the motor motion direction if the rotor of the planar switched reluctance motor is at the characteristic position point at the current moment; and if the rotor of the planar switched reluctance motor is not at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
Further, the mover characteristic position determination unit includes:
a response current determination subunit for determining a present response current of the idle phase winding based on the square wave voltage;
the flux linkage value determining subunit is used for determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current;
a flux linkage characteristic value determining subunit, configured to determine whether the current flux linkage value is a flux linkage characteristic value;
and the rotor characteristic position determining subunit is used for determining that the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment if the current flux linkage value is the flux linkage characteristic value.
The method for measuring the position of the rotor of the planar switch reluctance motor without the position sensor obtains the position measurement value of the rotor of the planar switch reluctance motor based on a preset position measurement method; determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage; and correcting the rotor position measurement value according to the target position correction error to determine the actual rotor position value of the planar switched reluctance motor, so that the accumulated error caused when the rotor position is measured by the conventional position-sensorless measurement method is eliminated, and the accuracy of rotor position measurement is improved.
Drawings
Fig. 1 is a schematic flowchart of a method for correcting a position of a rotor of a planar switched reluctance motor without a position sensor according to an embodiment of the present invention;
fig. 2A is a schematic flowchart of a method for correcting a position of a rotor of a planar switched reluctance motor without a position sensor according to a second embodiment of the present invention;
fig. 2B is a schematic flowchart of a method for determining whether a mover is located at a feature position point at the current time according to a second embodiment of the present invention;
fig. 2C is a schematic flowchart of a method for determining a target position correction error according to a motor movement direction according to a second embodiment of the present invention;
fig. 2D is a schematic diagram of a flux linkage characteristic curve according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a rotor position correction system of a planar switched reluctance motor without a position sensor according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Example one
Fig. 1 is a schematic flowchart of a method for correcting a position of a rotor of a planar switched reluctance motor without a position sensor according to an embodiment of the present invention. The embodiment can be suitable for measuring the rotor position of the planar switched reluctance motor without the position sensor, and can be realized by a driving system of the planar switched reluctance motor without the position sensor.
As shown in fig. 1, a method for correcting a position of a planar switched reluctance motor mover according to an embodiment of the present invention includes:
and S110, acquiring a mover position measurement value of the planar switched reluctance motor based on a preset position measurement method.
Specifically, the preset position measurement method refers to a position measurement method of a mover of a planar switched reluctance motor based on a position sensorless technology, and may be any one of the existing position sensorless measurement methods, such as: a current injection method, a sliding mode observer method, an additional moving block method, a method based on voltage injection and core loss calculation, and the like. The mover position of the planar switched reluctance motor obtained based on the preset position measurement method is referred to as a mover position measurement value. The planar switched reluctance motor in the embodiment of the invention is a planar switched reluctance motor without a position sensor.
And S120, determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage.
Specifically, the determining of the target position correction error based on the electromagnetic response of the planar switched reluctance motor to the preset square wave voltage means applying the preset square wave voltage to an idle phase winding of the planar switched reluctance motor and determining the target position correction error through the electromagnetic response of the idle phase winding to the preset square wave voltage.
The planar switched reluctance motor is generally moved based on two coordinate axes, i.e., an X-axis and a Y-axis, which are determined for a designed planar switched reluctance motor. The planar switched reluctance motor has three-phase windings (generally referred to as an a-phase winding, a b-phase winding and a c-phase winding) in each of the X-axis and the Y-axis, and the X-axis and/or the Y-axis windings that do not operate when the planar switched reluctance motor moves are referred to as idle-phase windings. Then, the preset square wave voltage is applied to the idle phase winding of the planar switched reluctance motor, so that the operation of the working item winding of the planar switched reluctance motor is not influenced, and the normal motion of the planar switched reluctance motor is not influenced.
After the preset square wave voltage is applied to the idle phase winding of the planar switched reluctance motor, the corresponding idle phase winding generates electromagnetic response, and whether the rotor moves to a special position point or not can be determined by monitoring the electromagnetic response of the idle phase winding in real time, so that the corresponding target position correction error is determined. Generally, a rotor and a stator of a planar switched reluctance motor are of a double salient pole structure, and a stator silicon steel sheet array is fixed by a plurality of square aluminum blocks. When the rotor does not move to a special position point, the historical position correction error is a target position correction error; and when the rotor moves to a special position point, updating the historical position correction error to be used as a target position correction error.
In this embodiment, the target position correction error is periodically updated, that is, the target position correction error is updated once when the mover moves to the characteristic position point each time. When the rotor does not move to the characteristic position point, the historical position correction error is the position correction error obtained when the rotor is located at the characteristic position point at the time closest to the current moment, and the position correction error is 0 at the movement starting point of the planar switch reluctance motor. Illustratively, the planar switched reluctance motor starts to move from a starting point, where the historical position correction error is 0, and when the mover moves to the first characteristic position point, the position correction error is updated to 1. Then, before the mover does not move to the first characteristic position point, the target position correction errors are all 0; when the mover moves to the first characteristic position point, the target position correction error is 1, and before the mover does not move to the second characteristic position point, the target position correction errors are all 1. The unit of the position correction error coincides with the unit of measurement when the planar switched reluctance motor is moved, and for example, when the planar switched reluctance motor is measured in millimeters (mm) when the planar switched reluctance motor is moved, the unit of the position correction error is mm.
S130, correcting the mover position measurement value according to the target position correction error so as to determine a mover position actual value of the planar switched reluctance motor.
Specifically, the mover position measurement value is corrected according to the target position correction error, that is, the mover position measurement value is added to the target position correction error, so that an actual value of the mover position is obtained. The target correction error is periodically updated, the mover position measurement value is corrected through the target correction error, and when the target correction error is updated, the accumulated error of the mover position measurement value in the last period can be eliminated, so that the accuracy of the mover position measurement is improved.
The method for measuring the position of the rotor of the planar switch reluctance motor obtains the measured value of the position of the rotor of the planar switch reluctance motor by a preset position measurement method; determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage; and correcting the rotor position measurement value according to the target position correction error to determine the actual rotor position value of the planar switched reluctance motor, so that the accumulated error caused when the rotor position is measured by the conventional position-sensorless measurement method is eliminated, and the accuracy of rotor position measurement is improved.
Example two
Fig. 2A is a schematic flowchart of a method for correcting a position of a planar switched reluctance motor mover according to a second embodiment of the present invention, which is a further refinement of the second embodiment. As shown in fig. 2A, a planar switched reluctance motor mover position correction method according to a second embodiment of the present invention includes:
s210, acquiring a mover position measurement value of the planar switched reluctance motor based on a preset position measurement method.
Specifically, the preset position measurement method refers to a position measurement method of a mover of a planar switched reluctance motor based on a position sensorless technology, and may be any one of the existing position sensorless measurement methods, such as: a current injection method, a sliding mode observer method, an additional moving block method, a method based on voltage injection and core loss calculation, and the like. The position of the rotor of the planar switch reluctance motor, which is obtained based on a preset position measurement method, is called as a rotor position measurement value and is recorded as St。
S220, determining whether the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of the idle phase winding of the planar switched reluctance motor to the square wave voltage with the preset voltage amplitude.
In particular, a planar switched reluctance motor is generally moved based on two coordinate axes, i.e., an X-axis and a Y-axis, which are determined for a designed planar switched reluctance motor. The planar switched reluctance motor has three-phase windings (generally referred to as an a-phase winding, a b-phase winding and a c-phase winding) in each of the X-axis and the Y-axis, and the X-axis and/or the Y-axis windings that do not operate when the planar switched reluctance motor moves are referred to as idle-phase windings. Then, the preset square wave voltage is applied to the idle phase winding of the planar switched reluctance motor, so that the operation of the working item winding of the planar switched reluctance motor is not influenced, and the normal motion of the planar switched reluctance motor is not influenced.
After square wave voltage with a preset voltage amplitude is applied to an idle phase winding of the planar switched reluctance motor, the corresponding idle phase winding generates electromagnetic response, whether the rotor moves to a special position point can be determined by monitoring the electromagnetic response of the idle phase winding in real time, and the special position point is a position where a rotor salient pole and a stator salient pole are completely aligned and the geometric center of the rotor and a stator aluminum block is aligned. If the mover is located at the characteristic position point at the current moment, executing step S230; if the mover is not located at the characteristic position point at the current time, step S240 is executed.
Further, a method of determining whether a mover of the planar switched reluctance motor is at a characteristic position point at the present time includes steps S221 to S224, as shown in fig. 2B.
And S221, determining the current response current of the idle phase winding based on the square wave voltage.
Specifically, square wave voltage with a preset voltage amplitude is injected into an idle phase winding of the planar switched reluctance motor, and the idle phase winding generates corresponding response current based on the square wave voltage with the preset voltage amplitude. The response current may be obtained by a current testing device. The present corresponding current refers to the response current at the present moment.
S222, determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current.
Specifically, there are various methods for calculating the flux linkage value, and preferably, in this embodiment, the flux linkage value is calculated by integrating and issuing a voltage equation. The current flux linkage value represents the flux linkage value of the idle phase winding at the current moment, and the specific calculation mode is as follows:
wherein λ islk(t) represents a current flux linkage value; the value of l is X or Y, and represents the X axis or the Y axis of the planar switched reluctance motor; k is a, b or c, which indicates that a certain phase winding in the three-phase winding is required to be numbered by the corresponding idle phase winding; u. oflkThe phase voltage of the lk phase winding is represented and is the amplitude of square wave voltage, namely the amplitude of preset voltage; i.e. ilkThe phase current of the lk phase winding is represented, namely the current response current of the lk phase winding; r islkRepresenting the resistance value of the lk phase winding; t is t0Representing an initial time, and taking t as a current time; lambda [ alpha ]lk(t0) The flux linkage value of the idle phase winding at the initial moment is represented, and if the square wave voltage with the preset voltage amplitude is unipolar square wave voltage, lambda is representedlk(t0) 0; if the square wave voltage with the preset voltage amplitude is bipolar square wave voltage, lambda islk(t0) Determined by the inductance value and the response current value of the lk phase winding at the initial time.
And S223, determining whether the current flux linkage value is a flux linkage characteristic value.
Specifically, the flux linkage characteristic value represents a minimum value of flux linkage in a certain range, and the rotor position corresponding to the flux linkage characteristic value enables the stator salient poles and the rotor salient poles to be completely aligned, and the rotor is aligned with the geometric center of the stator aluminum block. The flux linkage characteristic value may be determined by a flux linkage characteristic curve of the planar switched reluctance motor, and then the flux linkage characteristic value is a flux linkage value at a particular valley point in the flux linkage characteristic curve, for example, when the flux linkage value at a valley point is smaller than flux linkage values at a preset number of valley points occurring before the valley point, the flux linkage value at the valley point is taken as the flux linkage characteristic value. The preset number may be determined according to an actual flux linkage characteristic curve of the planar switched reluctance motor.
For example, in the case of a planar switched reluctance motor moving in the Y-axis direction, the flux linkage characteristic curve is shown in fig. 2D. As can be seen from fig. 2D, reference numerals 1, 3, 5, 7, 9, and 11 are all valley points of the flux linkage characteristic curve, which are respectively expressed as: valley point 1, valley point 3, valley point 5, valley point 7, valley point 9, and valley point 11. The value of the magnetic flux linkage at the valley point 11 is smaller than the values of the magnetic flux linkages at the valley points 5, 7, and 9, and the value of the magnetic flux linkage at the valley point 3 is smaller than the values of the magnetic flux linkages at the valley points 5, 7, 9, and 1, and thus it can be inferred that the value of the magnetic flux linkage at the valley point 3 (or the valley point 11) is smaller than the value of the magnetic flux linkage at the valley points 3 before the valley point 3 (or the valley point 11) and also smaller than the value of the magnetic flux linkage at the valley points 3 after the valley point 3 (or the valley point 11). When the magnetic linkage value is the magnetic linkage value at the valley point 3 (or the valley point 11), the mover is located at the following position: the stator salient poles and the rotor salient poles are completely aligned, and the rotor is aligned with the geometric center of the stator aluminum block. The stator silicon steel sheet array of the planar switched reluctance motor is fixed by a plurality of square aluminum blocks, and when the rotor is positioned so that the stator salient poles and the rotor salient poles are completely aligned and the geometric center of the rotor and the stator aluminum blocks are aligned, the rotor is just moved by the distance of one aluminum block. Therefore, the valley point 3 (or the valley point 11) is a characteristic value of the flux linkage.
Further, determining whether the current flux linkage value is a flux linkage characteristic value specifically includes: determining whether a point corresponding to the current flux linkage value in a flux linkage characteristic curve of the planar switched reluctance motor is a valley point; if the point corresponding to the current flux linkage value in the flux linkage characteristic curve of the planar switched reluctance motor is a valley point, determining whether the current flux linkage value is greater than or equal to a preset flux linkage threshold value; if the current flux linkage value is greater than or equal to a preset flux linkage threshold value, determining whether the current flux linkage value is greater than a preset number of historical flux linkage valley values occurring before the current flux linkage value; and if the current flux linkage value is larger than the historical flux linkage wave valley values of the preset number appearing before the current flux linkage value, determining the current flux linkage value as a flux linkage characteristic value.
Specifically, it is first determined whether a point corresponding to a current flux linkage value in a flux linkage characteristic curve of the planar switched reluctance motor is a valley point. If the current value is not the valley point, it is obvious that the current value is not the characteristic value of flux linkage. And if so, determining whether the current flux linkage value is greater than or equal to a preset flux linkage threshold value. The preset flux linkage threshold value is used for preliminarily judging whether the current flux linkage value is a flux linkage characteristic value. In general, the preset flux linkage threshold may be set to be less than or equal to a flux linkage value when the stator salient poles and the mover salient poles are completely aligned and the mover is aligned with the geometric center of the stator aluminum block while being greater than a value of a flux linkage valley point occurring before the stator salient poles and the mover salient poles are completely aligned and the mover is aligned with the geometric center of the stator aluminum block. As shown in the flux linkage characteristic curve of fig. 2D, the preset flux linkage threshold value may be set to be smaller than the flux linkage value at the valley point 11 and larger than the average value of the flux linkage values at the valley point 5, the valley point 7, and the valley point 9. And if the current flux linkage value is smaller than the preset flux linkage threshold value, the current flux linkage value is not considered to be the flux linkage characteristic value. If the current flux linkage value is greater than or equal to a preset flux linkage threshold, it is determined whether the current flux linkage value is greater than a preset number of historical flux linkage trough values that occurred before the current flux linkage value. The historical flux valley value refers to a flux value at a flux valley point occurring before the current flux value. If the current flux linkage value is larger than the historical flux linkage valley value of the preset number appearing before the current flux linkage value, the current flux linkage value is the minimum value of flux linkage in a certain range, namely the current flux linkage value is considered as the flux linkage characteristic value, and otherwise, the current flux linkage value is not the flux linkage characteristic value. As shown in the flux linkage characteristic curve of fig. 2D, the preset number is preferably 3, and if the current flux linkage value is the flux linkage value at the valley point 11, it is greater than the historical flux linkage valley values of the preset number occurring before the valley point 11, that is, the flux linkage value at the valley point 11 is greater than the flux linkage values at the valley points 5, 7 and 9, so it is determined to be the flux linkage characteristic value.
And S224, if the current flux linkage value is a flux linkage characteristic value, determining that the mover of the planar switched reluctance motor is located at a characteristic position point at the current moment.
Specifically, if the current flux linkage value is a flux linkage characteristic value, it indicates that the rotor salient pole and the stator salient pole are completely aligned at this time and the rotor and the geometric center of the stator aluminum block are aligned at this time, and it can be determined that the rotor is at a special position point at the current time.
Optionally, in an alternative embodiment, the relevant part of the calculated flux linkage values in steps S221 to S224 may be replaced by calculating an inductance value, and determining whether the mover is at the characteristic position point by determining whether the current inductance value is the inductance characteristic value in the inductance characteristic curve. The method for judging whether the rotor is at the characteristic position point through the inductance value is different from the method for judging whether the rotor is at the characteristic position point through the flux linkage value, only the calculation parameters are different, the former is used for calculating the inductance parameter, the latter is used for calculating the flux linkage parameter, and the judgment principle of the rest characteristic values and the judgment principle of the characteristic position point are the same, and are not repeated herein.
And S230, if the mover of the planar switched reluctance motor is at the characteristic position point at the current moment, determining a target position correction error according to the motor motion direction.
Specifically, determining the target position correction error according to the motor movement direction means determining whether the target position correction error increases or decreases according to the motor movement direction, for example, if the motor moves in the forward direction along the X axis or the Y axis, the accumulated error increases gradually, so the target position correction error needs to increase.
Further, when the mover is at the feature position point at the current time, the method for determining the target position correction error according to the motor movement direction specifically includes steps S231 to S233, as shown in fig. 2C.
And S231, determining a target position correction count according to the motion direction of the planar switched reluctance motor.
Specifically, the mover position may be determined by the number of unit distances moved by the mover, and the target position correction count, which is the number of unit distances moved by the mover at the current time, is denoted as K.
Specifically, the initial value of the target position correction count K is 0, and when the planar switched reluctance motor moves in the forward direction based on the coordinate axis, that is, in the forward direction along the X axis or the Y axis, the target position correction count K is an up count. For example, if the planar switched reluctance motor moves forward by one unit distance along the Y axis from the starting point, K is 1. When the planar switched reluctance motor moves in the negative direction based on the coordinate axis, namely, moves in the negative direction along the X axis or the Y axis, the target position correction count K is a countdown. For example, if the planar switched reluctance motor moves a unit distance in the negative direction of the Y-axis from the starting point, K is-1.
Further, determining the target position correction count according to the motor movement direction includes: acquiring historical position correction count of the planar switched reluctance motor; if the movement direction of the planar switched reluctance motor is based on the forward movement of the coordinate axis, adding 1 to the historical position correction count to serve as a target position correction count; and if the motion direction of the planar switched reluctance motor is negative motion based on the coordinate axis, subtracting 1 from the historical position correction count to be used as a target position correction count. The historical position correction count is the number of unit distances the mover moves before the planar switched reluctance motor reaches the current position, and is denoted as k. If the movement direction of the planar switched reluctance motor is based on the coordinate axis forward movement, the target position correction count is 1 added on the basis of the historical position correction count, namely K is K + 1; if the movement direction of the planar switched reluctance motor is negative movement based on the coordinate axis, the target position correction count is decreased by 1 based on the historical position correction count, that is, K is K-1.
And S232, determining a position correction value according to the target position correction count and the side length of the stator aluminum block of the planar switched reluctance motor.
Specifically, the side length of the stator aluminum block of the planar switched reluctance motor is the unit distance of the mover, and is denoted as D. When the mover is located at the characteristic position point, the number of unit distances moved by the mover is the target position correction count, namely the distance moved by the mover is just the length of the side of the stator aluminum block of the target position correction count. When the mover is at the characteristic position point, the distance that the mover moves is referred to as a position correction value P, and P is K × D.
And S233, determining a target position correction error according to the difference between the position correction value and the mover position measurement value.
Specifically, the position correction value is a distance moved by the mover when the mover is at the characteristic position point, and therefore, the position correction value is actually an actual value of the position of the mover when the mover is at the characteristic position point. Subtracting the measured value of the mover position from the position correction value at this time to obtain a correction error between the actual value of the mover position and the measured value of the mover position, i.e. a target position correction error, and then setting the target position correction error delta to be P-St。
And S240, if the mover of the planar switched reluctance motor is not located at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
Specifically, if the mover of the planar switched reluctance motor is not located at the feature position point at the current moment, it indicates that the mover starts to move from the last feature position point until the current moment, and the moving distance of the mover does not satisfy a complete unit distance, at this time, the correction error does not need to be updated, and the historical position correction error is the target position correction error. The historical position correction error refers to a position correction error determined when the mover is located at the last characteristic position point, namely, a correction error between an actual value of the position of the mover and a measured value of the position of the mover when the mover is located at the last characteristic position point.
And S250, determining the rotor position actual value of the planar switched reluctance motor according to the sum of the position correction error and the rotor position measurement value.
Specifically, the actual value of the mover position can be obtained by adding the measured value of the mover position to the target position correction error. It can be seen from the above steps that the target correction error is periodically updated in the time when the mover moves for one unit distance, the mover position measurement value is corrected through the target correction error, and when the target correction error is updated, the accumulated error of the mover position measurement value in the previous period can be eliminated, so that the accuracy of the mover position measurement is improved.
The method for measuring the position of the rotor of the planar switch reluctance motor provided by the embodiment of the invention eliminates the accumulated error caused by measuring the position of the rotor by the existing position-sensorless measuring method and the position detection error caused by error counting, and improves the accuracy of measuring the position of the rotor; and the calculation amount is small, the algorithm is simple, the required memory resource is less, and the implementation is easy.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a rotor position correction system of a position-sensorless planar switched reluctance motor according to a third embodiment of the present invention, where the third embodiment is applicable to measuring a rotor position of a position-sensorless planar switched reluctance motor. The system for correcting the position of the rotor of the planar switched reluctance motor, provided by the embodiment of the invention, can realize the method for correcting the position of the rotor of the planar switched reluctance motor, provided by any embodiment of the invention, has corresponding functional structures and beneficial effects of the realization method, and the content which is not described in detail in the embodiment can refer to the description of any method embodiment of the invention.
As shown in fig. 3, a position correction system for a rotor of a planar switched reluctance motor without a position sensor according to an embodiment of the present invention includes: a mover position measurement module 310, a correction error determination module 320, and a mover position correction module 330, wherein:
the mover position measuring module 310 is configured to obtain a mover position measurement value of the planar switched reluctance motor based on a preset position measurement method;
the correction error determination module 320 is configured to determine a target position correction error based on an electromagnetic response of the planar switched reluctance motor to a preset square wave voltage;
the mover position correction module 330 is configured to correct the mover position measurement value according to the target position correction error, so as to determine a mover position actual value of the planar switched reluctance motor.
Further, the corrected error determination module 320 includes:
the rotor characteristic position determining unit is used for determining whether the rotor of the planar switch reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of an idle phase winding of the planar switch reluctance motor to square wave voltage with a preset voltage amplitude;
the correction error determining unit is used for determining a target position correction error according to the motor motion direction if the rotor of the planar switched reluctance motor is at the characteristic position point at the current moment; and if the rotor of the planar switched reluctance motor is not at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
Further, the mover characteristic position determination unit includes:
a response current determination subunit for determining a present response current of the idle phase winding based on the square wave voltage;
the flux linkage value determining subunit is used for determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current;
a flux linkage characteristic value determining subunit, configured to determine whether the current flux linkage value is a flux linkage characteristic value;
and the rotor characteristic position determining subunit is used for determining that the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment if the current flux linkage value is the flux linkage characteristic value.
Further, the flux linkage characteristic value determining subunit is specifically configured to:
determining whether a point corresponding to the current flux linkage value in a flux linkage characteristic curve of the planar switched reluctance motor is a valley point;
if the point corresponding to the current flux linkage value in the flux linkage characteristic curve of the planar switched reluctance motor is a valley point, determining whether the current flux linkage value is greater than or equal to a preset flux linkage threshold value;
if the current flux linkage value is greater than or equal to a preset flux linkage threshold value, determining whether the current flux linkage value is greater than a preset number of historical flux linkage valley values occurring before the current flux linkage value;
and if the current flux linkage value is larger than the historical flux linkage wave valley values of the preset number appearing before the current flux linkage value, determining the current flux linkage value as a flux linkage characteristic value.
Further, the correction error determination unit includes:
the correction count determining subunit is used for determining a target position correction count according to the movement direction of the planar switched reluctance motor;
the position correction value determining subunit is used for determining a position correction value according to the target position correction count and the side length of the stator aluminum block of the planar switched reluctance motor;
and the correction error determining subunit is used for determining a target position correction error according to the difference between the position correction value and the mover position measurement value.
Further, the correction count determination subunit is specifically configured to:
acquiring historical position correction count of the planar switched reluctance motor;
if the movement direction of the planar switched reluctance motor is based on the forward movement of the coordinate axis, adding 1 to the historical position correction count to serve as a target position correction count;
and if the motion direction of the planar switched reluctance motor is negative motion based on the coordinate axis, subtracting 1 from the historical position correction count to be used as a target position correction count.
Further, the mover position correction module 330 is specifically configured to:
and determining the rotor position actual value of the planar switched reluctance motor according to the sum of the position correction error and the rotor position measurement value.
According to the position measuring system of the rotor of the planar switched reluctance motor without the position sensor, which is provided by the embodiment of the invention, the accumulated error caused when the position of the rotor is measured by the conventional position sensor-free measuring method is eliminated through the rotor position measuring module, the correction error determining module and the rotor position correcting module, and the accuracy of rotor position measurement is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A position correction method for a rotor of a position-sensorless planar switch reluctance motor is characterized by comprising the following steps:
acquiring a rotor position measurement value of the planar switch reluctance motor based on a preset position measurement method;
determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage;
and correcting the mover position measurement value according to the target position correction error so as to determine a mover position actual value of the planar switched reluctance motor.
2. The method of claim 1, wherein determining a target position correction error based on an electromagnetic response of the planar switched reluctance motor to a preset square wave voltage comprises:
determining whether a rotor of the planar switched reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of an idle phase winding of the planar switched reluctance motor to square wave voltage with a preset voltage amplitude;
if the rotor of the planar switched reluctance motor is at the characteristic position point at the current moment, determining a target position correction error according to the motor motion direction;
and if the rotor of the planar switched reluctance motor is not at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
3. The method of claim 2, wherein determining whether a mover of the planar switched reluctance motor is at a characteristic position point at a current time based on an electromagnetic response of an idle phase winding of the planar switched reluctance motor to a square wave voltage of a preset voltage magnitude comprises:
determining a present response current of the idle phase winding based on the square wave voltage;
determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current;
determining whether the current flux linkage value is a flux linkage characteristic value;
and if the current flux linkage value is a flux linkage characteristic value, determining that the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment.
4. The method of claim 3, wherein determining whether the current flux linkage value is a flux linkage characteristic value comprises:
determining whether a point corresponding to the current flux linkage value in a flux linkage characteristic curve of the planar switched reluctance motor is a valley point;
if the point corresponding to the current flux linkage value in the flux linkage characteristic curve of the planar switched reluctance motor is a valley point, determining whether the current flux linkage value is greater than or equal to a preset flux linkage threshold value;
if the current flux linkage value is greater than or equal to a preset flux linkage threshold value, determining whether the current flux linkage value is greater than a preset number of historical flux linkage valley values occurring before the current flux linkage value;
and if the current flux linkage value is larger than the historical flux linkage wave valley values of the preset number appearing before the current flux linkage value, determining the current flux linkage value as a flux linkage characteristic value.
5. The method of claim 2, wherein said determining a target position correction error based on motor movement direction comprises:
determining a target position correction count according to the movement direction of the planar switched reluctance motor;
determining a position correction value according to the target position correction count and the side length of a stator aluminum block of the planar switched reluctance motor;
and determining a target position correction error according to the difference between the position correction value and the mover position measurement value.
6. The method of claim 5, wherein determining a target position correction count based on the direction of motion of the planar switched reluctance motor comprises:
acquiring historical position correction count of the planar switched reluctance motor;
if the movement direction of the planar switched reluctance motor is based on the forward movement of the coordinate axis, adding 1 to the historical position correction count to serve as a target position correction count;
and if the motion direction of the planar switched reluctance motor is negative motion based on the coordinate axis, subtracting 1 from the historical position correction count to be used as a target position correction count.
7. The method of claim 5, wherein correcting the mover position measurement based on the target position correction error to determine a mover position actual value of the planar switched reluctance motor comprises:
and determining the rotor position actual value of the planar switched reluctance motor according to the sum of the position correction error and the rotor position measurement value.
8. A position correction system for a rotor of a position-sensorless planar switch reluctance motor is characterized by comprising:
the rotor position measuring module is used for obtaining a rotor position measuring value of the planar switched reluctance motor based on a preset position measuring method;
the correction error determination module is used for determining a target position correction error based on the electromagnetic response of the planar switched reluctance motor to a preset square wave voltage;
and the rotor position correction module is used for correcting the rotor position measurement value according to the target position correction error so as to determine a rotor position actual value of the planar switch reluctance motor.
9. The system of claim 8, wherein the correction error determination module comprises:
the rotor characteristic position determining unit is used for determining whether the rotor of the planar switch reluctance motor is at a characteristic position point at the current moment based on the electromagnetic response of an idle phase winding of the planar switch reluctance motor to square wave voltage with a preset voltage amplitude;
the correction error determining unit is used for determining a target position correction error according to the motor motion direction if the rotor of the planar switched reluctance motor is at the characteristic position point at the current moment; and if the rotor of the planar switched reluctance motor is not at the characteristic position point at the current moment, taking the historical position correction error as a target position correction error.
10. The system of claim 9, wherein the mover characteristic position determination unit includes:
a response current determination subunit for determining a present response current of the idle phase winding based on the square wave voltage;
the flux linkage value determining subunit is used for determining the current flux linkage value of the idle phase winding according to the preset voltage amplitude and the current response current;
a flux linkage characteristic value determining subunit, configured to determine whether the current flux linkage value is a flux linkage characteristic value;
and the rotor characteristic position determining subunit is used for determining that the rotor of the planar switched reluctance motor is at a characteristic position point at the current moment if the current flux linkage value is the flux linkage characteristic value.
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