CN112421998B - Driving device, method and system for motor, household appliance and storage medium - Google Patents
Driving device, method and system for motor, household appliance and storage medium Download PDFInfo
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- CN112421998B CN112421998B CN201910786042.5A CN201910786042A CN112421998B CN 112421998 B CN112421998 B CN 112421998B CN 201910786042 A CN201910786042 A CN 201910786042A CN 112421998 B CN112421998 B CN 112421998B
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/08—Reluctance motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/08—Reluctance motors
- H02P25/098—Arrangements for reducing torque ripple
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a driving device, a method and a system for a motor, a household appliance and a storage medium, wherein the driving device for the motor comprises the following components: the power supply circuit is used for outputting a power supply signal; the zero-crossing detection circuit is connected with the power supply circuit and used for determining a zero-crossing point signal of the power supply signal and feeding the zero-crossing point signal of the power supply signal back to the motor control circuit; the parameter acquisition circuit is used for detecting the operation parameters of the motor, determining a zero-point signal of the inductance variation slope of the motor according to the operation parameters, and feeding back the zero-point signal of the inductance variation slope to the motor control circuit; the motor control circuit determines the rotor position of the motor based on the zero crossing point signal of the power supply signal and the zero point signal of the inductance change slope. The method can also determine the position of the rotor without depending on the parameters of the motor body, avoids position estimation deviation caused by long-term operation of the driving load, improves the accuracy of rotor position estimation, and has stronger universality compared with the traditional position-free strategy.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a driving device for a motor, a method for determining a rotor position, a system for determining the rotor position, a household appliance, an electric vehicle and a computer readable storage medium.
Background
At present, due to the double salient pole structures of the stator and the rotor of the switched reluctance motor, when a speed regulating system of the switched reluctance motor performs phase change control, magnetic circuit saturation nonlinearity is serious, and pulsating torque exists, so that the synthetic torque is not a constant torque, harmonic components are generated, the low-speed running performance of the motor is influenced, and larger noise and vibration are caused. In order to ensure the accurate phase change of a speed regulating system of the switched reluctance motor, the detection of the position of a rotor is the first link, in the related technology, the position information of the rotor is obtained by adopting a direct position detection technology, namely, a shaft position sensor or other detection type position detectors are used for detection, although the method can provide stable rotor position signals, an additional mechanical structure is required to be added, the operation reliability of the whole system is reduced, and the application range of the switched reluctance motor is limited; the position estimation method based on the motor flux linkage or inductance model is simple and effective, but needs to measure motor characteristics such as static flux linkage and the like, and the variation of load variation and fluctuation in long-term operation causes the temperature rise of the motor and the variation of inductance and resistance, namely the variation of motor parameter characteristics to become uncertainty factors, so that the position estimation and the speed estimation have deviation.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the prior art or the related art.
To this end, a first aspect of the invention proposes a drive device for an electric motor.
A second aspect of the invention is to propose a method for determining the position of a rotor.
A third aspect of the invention is directed to a system for determining a position of a rotor.
A fourth aspect of the invention is to propose a household appliance.
A fifth aspect of the invention is to propose an electric vehicle.
A sixth aspect of the invention is directed to a computer readable storage medium.
In view of this, according to a first aspect of the present invention, there is provided a driving apparatus for a motor, comprising: the power supply circuit is used for outputting a power supply signal; the zero-crossing detection circuit is connected with the power supply circuit and is used for determining a zero-crossing point signal of the power supply signal and feeding back the zero-crossing point signal of the power supply signal to the motor control circuit; the parameter acquisition circuit is used for detecting the operation parameters of the motor, determining a zero signal of the inductance variation slope of the motor according to the operation parameters and feeding back the zero signal of the inductance variation slope to the motor control circuit; the motor control circuit determines the rotor position of the motor based on the zero crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
The driving device for the motor determines the position of the rotor of the motor based on the zero-crossing point signal of the power supply signal and the zero-point signal of the inductance change slope of the motor by determining the zero-crossing point signal of the power supply signal and determining the zero-point signal of the inductance change slope of the motor according to the operation parameters. The basic characteristic that the inductance of the switched reluctance motor changes periodically along with the position of a rotor is utilized, the phase inductance reaches the maximum at the alignment position of the rotor, so the slope of the phase inductance changes from positive to negative at the maximum position of the inductance, the zero-crossing position, namely the alignment position of the teeth of the rotor, is detected according to a zero-point signal of the slope of the inductance change, the falling edge position of a zero-crossing point signal of a power supply signal, namely the maximum position of the inductance, is different from the zero-crossing point position of the two adjacent falling edges by 1/8 cycles because the phase difference between the two adjacent falling edges is 45 degrees, namely the phase difference between the two adjacent maximum inductance positions is 45 degrees, and therefore the real-time rotor position information of the motor can be calculated according to the zero-crossing point signal of the power supply signal and the zero-point signal of the slope of the inductance change. Through the driving device, even though the rotor position can be determined without depending on the parameters of the motor body, the position estimation deviation caused by long-term operation of the driving load is avoided, the accuracy of rotor position estimation is ensured, the driving device is simple and easy to realize, and has stronger universality compared with the traditional position-free strategy, and no additional detection structure needs to be arranged, so that the application range of the motor is wide.
In addition, according to the driving device for the motor in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, preferably, the parameter obtaining circuit includes a current detection circuit and a voltage detection circuit, and the operation parameters include a phase current of the motor and a phase voltage of the motor; the current detection circuit is used for detecting the phase current of the motor and feeding back the phase current of the motor to the motor control circuit; the voltage detection circuit is used for detecting the phase voltage of the motor and feeding back the phase voltage of the motor to the motor control circuit; the motor control circuit determines a phase inductance value of the motor according to a phase current of the motor and a phase voltage of the motor, determines an inductance change slope of the phase inductance value according to the phase inductance value, and determines a zero point signal of the inductance change slope according to the inductance change slope.
In the technical scheme, the phase current and the phase voltage of the motor are detected in real time, the inductance value of each phase is determined according to the phase current of the motor and the phase voltage of the motor, the inductance change slope is calculated according to the phase inductance value, and the calculated inductance slope is subjected to zero comparison to obtain a zero signal of the inductance change slope, so that the rotor position of the motor can be conveniently determined according to the zero-crossing point signal of the power supply signal and the zero signal of the inductance change slope. Through the technical scheme, the motor is independent of motor body parameters, does not need to measure motor characteristics such as static flux linkage and the like, is simple and easy to realize, and has stronger universality compared with the traditional position-free strategy.
In any of the above technical solutions, preferably, the motor control circuit is specifically configured to: determining a compensation matrix according to the phase current of the motor; and determining the rotor position of the motor according to the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the technical scheme, a compensation matrix is determined according to the phase current of the motor, and the position of the rotor of the motor is determined by adopting the compensation matrix, a zero crossing point signal of a power supply signal and a zero point signal of an inductance variation slope, so that the estimation of the position of the rotor is not influenced by sudden change of the operating condition of the motor, the deviation between the position of the rotor and the actual position is reduced, the estimation precision of the position of the rotor of the motor is greatly improved, the motor operates at the optimal phase change point, the speed regulation range of the motor is enlarged, the torque pulsation is reduced, the vibration is reduced, and the noise is reduced.
In any of the above technical solutions, preferably, the motor control circuit is further configured to: determining a phase difference between a phase current of the motor and a phase voltage of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
In the technical scheme, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase current lags behind the phase voltage, and the estimation error of the rotor position is caused.
In any of the above technical solutions, preferably, the method further includes: the pole pair number acquisition circuit is used for acquiring pole-to-pole time of a stator and a rotor of the motor and feeding the pole-to-pole time back to the motor control circuit; the motor control circuit is further configured to correct the rotor position based on the pole-to-pole timing.
In the technical scheme, the current gradient is larger than zero before the rotor position starts to coincide with the stator pole-to-pole, and the current gradient is smaller than zero after the rotor pole-to-pole starts to coincide due to the existence of counter electromotive force, so that the pole-to-pole time of the stator and the rotor of the motor is obtained on the basis, and the characteristic position of the coincidence of the stator and the rotor pole-to-pole starts is estimated according to the zero crossing of the current gradient, so that the rotor position is corrected, the accuracy of rotor position estimation is further ensured, and the motor runs at the optimal phase change point.
In any of the above technical solutions, preferably, the motor control circuit is further configured to: adjusting the rotation speed of the motor; and correcting the position of the rotor according to the rotating speed of the motor.
In the technical scheme, the rotor position is corrected through the determined rotation speed of the motor, the estimation error of the rotor position is reduced, the estimation precision of the rotor position of the motor is improved, and the motor runs at the optimal phase change point.
In any of the above technical solutions, preferably, the method further includes: the input end of the regulating circuit is connected with the output end of the power supply circuit and is used for outputting power supply voltage and power supply current in a specified interval; the motor control circuit is connected with the output end of the regulating circuit and used for driving the motor to operate according to the power supply voltage and the power supply current.
In the technical scheme, the current load capacity is weak in consideration of unstable voltage constant output, and the motor is driven to operate by the power supply voltage and the power supply current in the specified interval, so that the wide-frequency-band constant output is ensured, and the load capacity is improved.
In any of the above technical solutions, preferably, the motor control circuit performs chopper pulse width modulation on the power supply signal to supply power to the motor.
In this solution, the ripple is reduced by using chopper pulse width modulation, and thus the noise is reduced.
In any of the above solutions, preferably, the electric machine comprises at least one stator and at least two rotors.
According to a second aspect of the present invention, there is provided a method for determining a rotor position, which is used in any one of the above-described technical solutions for a driving apparatus of an electric motor, the method comprising: and determining the position of the rotor based on a zero-crossing point signal of the power supply signal and a zero-point signal of the inductance change slope.
The method for determining the rotor position provided by the invention utilizes the basic characteristic that the inductance of the switched reluctance motor changes periodically along with the rotor position, the phase inductance reaches the maximum at the alignment position of the rotor, so the slope of the phase inductance changes from positive to negative at the maximum position of the inductance, the zero-crossing position, namely the alignment position of the teeth of the rotor, is detected according to the zero-point signal of the slope of the inductance change, the falling edge position of the zero-crossing point signal of the power supply signal, namely the maximum position of the inductance, and the zero-crossing point position of the two slopes has a difference of 1/8 cycles because the two adjacent falling edges are 45 degrees, namely the phase difference between the two adjacent maximum inductance positions is 45 degrees. The position of the rotor is determined through the zero crossing point signal of the power supply signal and the zero point signal of the inductance variation slope, the position of the rotor can be determined even though the position of the rotor is not dependent on the parameters of the motor body, the position estimation deviation caused by long-term operation of a driving load is avoided, the accuracy of the rotor position estimation is ensured, the position estimation method is simple and easy to implement, and has stronger universality compared with the traditional position-free strategy, an additional detection structure is not required to be arranged, so that the application range of the motor is wide, further, the rotor position estimation precision is high, the motor can output large torque when operating at low frequency, low speed and high frequency, the speed regulation range of the motor is enlarged, the torque pulsation is reduced, and further, the vibration and the noise are reduced.
In addition, according to the method for determining the rotor position in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, preferably, the method further includes: determining a phase inductance value of the motor according to the phase current of the motor and the phase voltage of the motor; determining the inductance change slope of the phase inductance value according to the phase inductance value; and determining a zero point signal of the inductance change slope according to the inductance change slope.
In the technical scheme, the phase current and the phase voltage of the motor are detected in real time, the inductance value of each phase is determined according to the phase current and the phase voltage of the motor, the inductance change slope is calculated according to the phase inductance value, and the calculated inductance slope is subjected to zero comparison to obtain a zero-point signal of the inductance change slope, so that the position of a rotor of the motor can be determined according to the zero-crossing point signal of the power supply signal and the zero-point signal of the inductance change slope. Through the technical scheme, the motor is independent of motor body parameters, does not need to measure motor characteristics such as static flux linkage and the like, is simple and easy to realize, and has stronger universality compared with the traditional position-free strategy.
In any of the above technical solutions, preferably, the method further includes: determining a compensation matrix according to the phase current of the motor; the method comprises the following steps of determining the position of a rotor based on a zero-crossing point signal of a power supply signal and a zero-point signal of inductance change slope, and specifically comprises the following steps: and determining the position of the rotor based on the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the technical scheme, a compensation matrix is determined according to the phase current of the motor, and the position of the rotor of the motor is determined by adopting the compensation matrix, a zero crossing point signal of a power supply signal and a zero point signal of an inductance variation slope, so that the estimation of the position of the rotor is not influenced by sudden change of the operating condition of the motor, the deviation between the position of the rotor and the actual position is reduced, the estimation precision of the position of the rotor of the motor is greatly improved, the motor operates at the optimal phase change point, the speed regulation range of the motor is enlarged, the torque pulsation is reduced, the vibration is reduced, and the noise is reduced.
In any of the above technical solutions, preferably, the method further includes: determining a phase difference between a phase current of the motor and a phase voltage of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
In the technical scheme, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase current lags behind the phase voltage, and the estimation error of the rotor position is caused.
In any of the above technical solutions, preferably, the method further includes: acquiring the pole-to-pole time of a stator and a rotor of a motor; the method comprises the following steps of determining the position of a rotor based on a compensation matrix, a zero crossing point signal of a power supply signal and a zero point signal of inductance change slope, and specifically comprises the following steps: and determining the position of the rotor based on the pole-to-pole time, the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the technical scheme, the current gradient is larger than zero before the rotor position starts to coincide with the stator pole-to-pole, and the current gradient is smaller than zero after the rotor pole-to-pole starts to coincide due to the existence of counter electromotive force, so that the pole-to-pole time of the stator and the rotor of the motor is obtained on the basis, and the characteristic position of the coincidence of the stator and the rotor pole-to-pole starts is estimated according to the zero crossing of the current gradient, so that the rotor position is corrected, the accuracy of rotor position estimation is further ensured, and the motor runs at the optimal phase change point.
In any of the above technical solutions, preferably, the method further includes: receiving a rotating speed adjusting instruction; and controlling the motor to operate according to the rotating speed indicated by the rotating speed regulating instruction.
In the technical scheme, the motor is controlled to rotate at a speed indicated by a rotating speed regulating instruction so as to realize the control of acceleration and deceleration of the motor and realize the power output of the motor at a low-speed stage and a high-speed stage.
In any of the above technical solutions, preferably, the method further includes: acquiring the rotating speed of a motor; the rotor position is corrected based on the rotational speed.
In the technical scheme, the determined rotor position is corrected based on the rotating speed of the motor, so that the identification precision of the rotor position is improved, and the estimation error of the rotor position is reduced.
According to a third aspect of the present invention, there is provided a rotor position determination system comprising: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the steps of the method of determining the position of a rotor as in any one of the above. Therefore, the system for determining the rotor position has all the advantages of the method for determining the rotor position according to any one of the above technical solutions.
According to a fourth aspect of the present invention, there is provided a household appliance comprising: an electric machine comprising at least one stator and at least two rotors; the driving device for the motor in any technical scheme is used for driving one of the at least two rotors to operate. Therefore, the household appliance has all the advantages of the driving device for the motor in any technical scheme.
According to a fifth aspect of the present invention, there is provided an electric vehicle including: a motor; and a driving device for a motor according to any of the above technical solutions. Therefore, the electric vehicle has all the advantages of the driving device for the motor of any one of the technical schemes.
According to a fifth aspect of the present invention, a computer-readable storage medium is proposed, on which a computer program is stored, which, when executed, carries out the steps of the method of determining the position of a rotor according to any one of the above. The computer readable storage medium thus comprises all the advantageous effects of the method for determining the rotor position according to any of the above-mentioned aspects.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows a schematic configuration of a driving apparatus for a motor according to an embodiment of the present invention;
fig. 2 shows a schematic configuration of a driving apparatus for a motor according to still another embodiment of the present invention;
fig. 3 is a schematic structural view showing a driving apparatus for a motor according to still another embodiment of the present invention;
FIG. 4 shows a flow diagram of a method of determining rotor position in accordance with an embodiment of the invention;
FIG. 5 shows a flow diagram of a method of determining rotor position in accordance with yet another embodiment of the present invention;
FIG. 6 shows a flow diagram of a method of determining rotor position in accordance with yet another embodiment of the present invention;
FIG. 7 shows a flow diagram of a method of rotor position determination in accordance with yet another embodiment of the present invention;
fig. 8 shows a hardware schematic of a driving apparatus for a motor according to an embodiment of the present invention;
FIG. 9 illustrates a topology of a motor drive circuit of a specific embodiment of the present invention;
FIG. 10 illustrates a topology diagram of a controller of a particular embodiment of the present invention;
FIG. 11 illustrates a topology diagram of a zero crossing detection circuit in accordance with a specific embodiment of the present invention;
FIG. 12 illustrates a topology diagram of a conditioning circuit of a particular embodiment of the present invention;
FIG. 13 illustrates a logic diagram of a method of rotor position determination in accordance with an exemplary embodiment of the present invention;
fig. 14 shows the positional relationship of the rotor and the stator of one embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the names of the components in fig. 14 is:
140 rotor, 142 stator.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
The first embodiment is as follows:
as shown in fig. 1, an embodiment of a first aspect of the present invention proposes a driving apparatus 1 for a motor, including: the device comprises a zero-crossing detection circuit 10, a parameter acquisition circuit 20 and a motor control circuit 30.
Specifically, the zero-crossing detection circuit 10 is connected to the power supply circuit, and is configured to determine a zero-crossing point signal of the power supply signal, and feed back the zero-crossing point signal of the power supply signal to the motor control circuit 30; the parameter obtaining circuit 20 is configured to detect an operation parameter of the motor, determine a zero-point signal of an inductance variation slope of the motor according to the operation parameter, and feed back the zero-point signal of the inductance variation slope to the motor control circuit 30; the motor control circuit 30 determines the rotor position of the motor, preferably comprising at least one stator and at least two rotors, based on the zero crossing signal of the supply signal and the zero signal of the slope of the inductance change.
In the driving apparatus 1 for a motor provided in this embodiment, the zero-crossing detection circuit 10 determines a zero-crossing point signal of a power supply signal, the parameter obtaining circuit 20 determines a zero-crossing point signal of an inductance change slope of the motor according to an operation parameter, and the motor control circuit 30 determines a rotor position of the motor based on the zero-crossing point signal of the power supply signal and the zero-crossing point signal of the inductance change slope. The basic characteristic that the inductance of the switched reluctance motor changes periodically along with the position of a rotor is utilized, the phase inductance reaches the maximum at the alignment position of the rotor, so the slope of the phase inductance changes from positive to negative at the maximum position of the inductance, the zero-crossing position, namely the alignment position of the teeth of the rotor, is detected according to a zero-point signal of the slope of the inductance change, the falling edge position of a zero-crossing point signal of a power supply signal, namely the maximum position of the inductance, is different from the zero-crossing point position of the two adjacent falling edges by 1/8 cycles because the phase difference between the two adjacent falling edges is 45 degrees, namely the phase difference between the two adjacent maximum inductance positions is 45 degrees, and therefore the real-time rotor position information of the motor can be calculated according to the zero-crossing point signal of the power supply signal and the zero-point signal of the slope of the inductance change. Through the driving device, even though the rotor position can be determined without depending on the parameters of the motor body, the position estimation deviation caused by long-term operation of the driving load is avoided, the accuracy of rotor position estimation is ensured, the driving device is simple and easy to realize, and has stronger universality compared with the traditional position-free strategy, and no additional detection structure needs to be arranged, so that the application range of the motor is wide.
In any of the above embodiments, preferably, the motor control circuit 30 is specifically configured to: determining a compensation matrix according to the phase current of the motor; and determining the rotor position of the motor according to the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the embodiment, the compensation matrix is determined according to the phase current of the motor, and the rotor position of the motor is determined by adopting the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance variation slope, so that the estimation of the rotor position is not influenced by sudden change of the operating condition of the motor, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, the motor operates at the optimal phase-change point, the speed-adjusting range of the motor is enlarged, the torque pulsation is reduced, the vibration is reduced, and the noise is reduced.
In one embodiment of the present invention, preferably, the motor control circuit 30 is further configured to: determining a phase difference between a phase current of the motor and a phase voltage of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
In the embodiment, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase current lags behind the phase voltage, so that the estimation error of the rotor position is caused, and at the moment, the phase compensation control is executed on the phase current of the motor, so that the current phase lag is effectively restrained, the rotor position is corrected, the estimation precision of the rotor position of the motor is greatly improved, and the control precision is improved.
Example two:
as shown in fig. 2, a driving apparatus 1 for a motor includes: the device comprises a zero-crossing detection circuit 10, a parameter acquisition circuit 20, a motor control circuit 30 and a pole pair number acquisition circuit 40.
Specifically, the pole pair number obtaining circuit 40 is configured to obtain pole-to-pole timings of a stator and a rotor of the motor, and feed the pole-to-pole timings back to the motor control circuit 30; the motor control circuit 30 is also used to correct the rotor position based on the pole-to-pole timing.
Alternatively, the motor control circuit 30 determines the rotor position of the motor based on the phase current of the motor and the phase voltage of the motor when it is detected that the zero-crossing point signal of the power supply signal, the zero point signal of the inductance change slope, and the pole-to-pole timing are simultaneously satisfied.
In the embodiment, the current gradient of the rotor position is larger than zero before the pole pair of the stator starts to coincide, and after the pole pair of the rotor starts to coincide, the current gradient is smaller than zero due to the existence of counter electromotive force, so that the pole pair time of the stator and the rotor of the motor is obtained, and the characteristic position of the pole pair coincidence of the stator and the rotor is estimated according to the zero crossing of the current gradient, so that the position of the rotor is corrected, the accuracy of the estimation of the position of the rotor is further ensured, and the motor runs at the optimal phase conversion point.
Example three:
as shown in fig. 3, a driving apparatus 1 for a motor includes: the device comprises a zero-crossing detection circuit 10, a parameter acquisition circuit 20, a motor control circuit 30, a pole pair number acquisition circuit 40 and an adjusting circuit 50.
Specifically, the motor control circuit 30 is used to adjust the rotational speed of the motor; correcting the position of the rotor according to the rotating speed of the motor; the input end of the regulating circuit 50 is connected with the output end of the power supply circuit and is used for outputting power supply voltage and power supply current in a specified interval; the motor control circuit 30 is connected to an output of the regulating circuit 50, and is configured to drive the motor to operate according to the supply voltage and the supply current.
Alternatively, the adjustment of the rotational speed is controlled based on a proportional integral controller.
In the embodiment, the rotor position is corrected by adjusting the rotating speed of the motor, the estimation error of the rotor position is reduced, unstable voltage constant output is considered, the current carrying capacity is weak, the forward and reverse rotation can not be independently regulated, the motor is driven to operate by the power supply voltage and the power supply current in the specified interval, the motor can be precisely controlled to regulate the speed, the wide-frequency-band constant output is ensured, and the noise and the vibration are reduced.
The current load capacity is weak in consideration of unstable voltage constant output, and the motor is driven to operate by the power supply voltage and the power supply current in the specified interval, so that the wide-frequency-band constant output is ensured, and the load capacity is improved.
Example four:
in any of the above embodiments, as shown in fig. 1, preferably, the operating parameters include phase currents of the motor and phase voltages of the motor; the parameter obtaining circuit 20 includes a current detecting circuit 202 and a voltage detecting circuit 204, as shown in fig. 1, wherein the current detecting circuit 202 is configured to detect a phase current of the motor and feed back the phase current of the motor to the motor control circuit 30; the voltage detection circuit 204 is used for detecting phase voltage of the motor and feeding back the phase voltage of the motor to the motor control circuit 30; the motor control circuit 30 determines a phase inductance value of the motor according to the phase current of the motor and the phase voltage of the motor, determines an inductance change slope of the phase inductance value according to the phase inductance value, and determines a zero point signal of the inductance change slope according to the inductance change slope.
In the embodiment, each phase current and phase voltage of the motor are detected in real time, the inductance value of each phase is determined according to the phase current of the motor and the phase voltage of the motor, the inductance change slope is calculated according to the phase inductance value, and the calculated inductance slope is subjected to zero comparison to obtain a zero point signal of the inductance change slope, so that the rotor position of the motor is determined according to a zero point signal of a zero crossing point signal of a power supply signal and the zero point signal of the inductance change slope. Through the embodiment, the motor characteristics such as static flux linkage and the like are not required to be measured without depending on the parameters of the motor body, and the method is simple, easy to implement and higher in universality compared with the traditional position-free strategy.
Example five:
in any of the above embodiments, the motor control circuit 30 preferably provides power to the motor by chopping pulse width modulating the power signal.
In this embodiment, the reduction of noise is achieved by reducing the ripple using chopped pulse width modulation.
Example six:
as shown in fig. 4, in an embodiment of the present invention, a method for determining a rotor position is provided, which is used in the driving apparatus for a motor in any one of the above embodiments, and includes:
and step 402, determining the position of the rotor based on a zero-crossing point signal of the power supply signal and a zero-point signal of the inductance change slope.
The method for determining the rotor position provided by this embodiment utilizes the basic characteristic that the inductance of the switched reluctance motor changes periodically with the rotor position, and the phase inductance reaches the maximum at the rotor alignment position, so the slope of the phase inductance changes from positive to negative at the maximum inductance position, and the zero-crossing position, i.e., the rotor tooth pole alignment position, is detected according to the zero-point signal of the slope of the inductance change, and the falling edge position of the zero-crossing point signal of the power supply signal, i.e., the maximum inductance position, because the phase difference between two adjacent falling edges is 45 degrees, i.e., the phase difference between two adjacent maximum inductance positions is 45 degrees, so the zero-crossing position of the two slopes has a 1/8 cycles difference. The position of the rotor is determined through the zero crossing point signal of the power supply signal and the zero point signal of the inductance variation slope, the position of the rotor can be determined even though the position of the rotor is not dependent on the parameters of the motor body, the position estimation deviation caused by long-term operation of a driving load is avoided, the accuracy of the rotor position estimation is ensured, the position estimation method is simple and easy to implement, and has stronger universality compared with the traditional position-free strategy, an additional detection structure is not required to be arranged, so that the application range of the motor is wide, further, the rotor position estimation precision is high, the motor can output large torque when operating at low frequency, low speed and high frequency, the speed regulation range of the motor is enlarged, the torque pulsation is reduced, and further, the vibration and the noise are reduced.
Example seven:
as shown in fig. 5, the method of determining the rotor position includes:
and step 508, determining the position of the rotor based on the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the embodiment, each phase current and phase voltage of the motor are detected in real time, the inductance value of each phase is determined according to the phase current of the motor and the phase voltage of the motor, the inductance change slope is calculated according to the phase inductance value, and the calculated inductance slope is subjected to zero comparison to obtain a zero point signal of the inductance change slope, so that the rotor position of the motor is determined according to a zero point signal of a zero crossing point signal of a power supply signal and the zero point signal of the inductance change slope. Through the embodiment, the motor characteristics such as static flux linkage and the like are not required to be measured without depending on motor body parameters, and the method is simple and easy to realize and has stronger universality compared with the traditional position-free strategy.
Example eight:
as shown in fig. 6, the method for determining the rotor position includes:
step 604, determining an inductance change slope of the phase inductance value according to the phase inductance value;
and step 610, determining the position of the rotor based on the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the embodiment, the compensation matrix is determined according to the phase current of the motor, and the rotor position of the motor is determined by adopting the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance variation slope, so that the estimation of the rotor position is not influenced by sudden change of the operating condition of the motor, the deviation between the rotor position and the actual position is reduced, the estimation precision of the rotor position of the motor is greatly improved, the motor operates at the optimal phase-change point, the speed-adjusting range of the motor is enlarged, the torque pulsation is reduced, the vibration is reduced, and the noise is reduced.
Example nine:
in any of the above embodiments, preferably, the method further includes: determining a phase difference between a phase current of the motor and a phase voltage of the motor; and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
In the embodiment, the phase difference between the phase current and the phase voltage of the motor is determined, when the phase difference is larger than a specified value, the phase current lags behind the phase voltage, so that the estimation error of the rotor position is caused, and at the moment, the phase compensation control is executed on the phase current of the motor, so that the current phase lag is effectively restrained, the rotor position is corrected, the estimation precision of the rotor position of the motor is greatly improved, and the control precision is improved.
Example ten:
as shown in fig. 7, the method for determining the rotor position includes:
and 712, determining the position of the rotor based on the pole-to-pole time, the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance change slope.
In the embodiment, the current gradient of the rotor position is larger than zero before the pole pair of the stator starts to coincide, and after the pole pair of the rotor starts to coincide, the current gradient is smaller than zero due to the existence of counter electromotive force, so that the pole pair time of the stator and the rotor of the motor is obtained, and the characteristic position of the pole pair coincidence of the stator and the rotor is estimated according to the zero crossing of the current gradient, so that the position of the rotor is corrected, the accuracy of the estimation of the position of the rotor is further ensured, and the motor runs at the optimal phase conversion point.
Example eleven:
in any of the above embodiments, preferably, the method further includes: receiving a rotating speed adjusting instruction; and controlling the motor to operate according to the rotating speed indicated by the rotating speed regulating instruction.
In the embodiment, the motor is controlled to accelerate and decelerate by controlling the rotating speed of the motor according to the rotating speed regulation instruction, so that the power output of the motor in the low-speed and high-speed stages is realized.
Example twelve:
in any of the above embodiments, preferably, the method further includes: acquiring the rotating speed of a motor; the rotor position is corrected based on the rotational speed.
In the embodiment, the determined rotor position is corrected based on the rotation speed of the motor, the rotor position identification precision is improved, and the estimation error of the rotor position is reduced.
Example thirteen:
as shown in fig. 8, in an embodiment of the present invention, a hardware circuit of a driving apparatus of a motor includes: the display device comprises a three-phase voltage (counter electromotive force) detection circuit, a three-phase current detection circuit, a motor drive circuit, a high-frequency PFC (power factor correction) circuit, a switching power supply, a display main control circuit, a zero-crossing detection circuit, an AC-DC (alternating current-direct current) circuit, a motor drive device (motor) and a controller (not shown), wherein the motor drive circuit and the controller form a motor control circuit.
The switching power supply is used for providing specified voltage and power supply signals for the display main control circuit so as to enable the display main control circuit and the motor to be electrified and work. As shown in fig. 9, the input terminals UN1, UP1, VN1, VP1, WN1, and WP1 of the motor driving circuit are respectively connected to the controller shown in fig. 10, wherein the input terminals are respectively connected to PWM WL, PWM VL, PWM UL, PWM WH, PWM VH, and PWM UH, and the controller outputs a PWM (Pulse-Width Modulation) signal to control the motor driving circuit, so that the motor driving circuit is connected to the windings of the motor through U1, V1, and W1 for injecting signals into the windings.
Optionally, the display main control circuit is used for displaying control parameters of a driving device of the motor.
Alternatively, as shown in fig. 11, the input terminal of the ZERO-crossing detection circuit is connected to the AC + side of the AC-DC (alternating current-direct current) circuit, and the output terminal is connected to the CROSS _ ZERO port of the controller, for feeding back the ZERO-crossing signal of the power supply signal to the controller.
Alternatively, as shown in fig. 12, a high frequency PFC (power factor correction) circuit, i.e., a regulation circuit, is connected to an AC-DC (alternating current-direct current) circuit through a port 1 and a port 2, and includes an inductor L and a power switch IGBT (Insulated Gate Bipolar Transistor), and the output of B + PFC +380V is realized by controlling the on state of the power switch IGBT.
Optionally, the adjusting circuit implements a high frequency PFC (power factor correction) circuit for outputting a supply voltage and a supply current within a specified interval by controlling the power switch IGBT when detecting that the output voltage is lower than a voltage threshold, optionally 380 volts.
The logic schematic diagram of the method for determining the rotor position is shown in fig. 13, the driving device for the motor is driven by a single motor or double motors by separating a 48V DC stator and a rotor, chopper PWM (Pulse-Width Modulation), FOC (field oriented control) low-frequency constant torque moment compensation (based on a sliding mode observer) + direct rotor position detection, and each phase current and phase voltage are sampled in real time, so that each phase inductance value can be detected in real time, and the inductance slope can be calculated, and the calculated inductance slope is subjected to zero comparison to obtain a slope zero-crossing point Pulse signal (zero-point signal of inductance change slope), so that a zero-crossing position is detected, wherein the zero-crossing position is the rotor tooth alignment position, and the phase difference between two adjacent maximum inductance positions is 45 degrees, so that the zero-crossing point positions of the two slopes have 1/8 cycles, therefore, the real-time rotating speed and the rotor position information of the motor can be calculated according to the zero-crossing point pulse signal (the zero-crossing point signal of the power supply signal) and the slope zero-crossing point pulse signal, and the algorithm does not depend on the parameters of the motor body.
Optionally, the speed adjustment of the motor is realized based on a PI (proportional integral controller) adjustment.
In addition, the current gradient is larger than zero before the stator pole pair is superposed, and after the rotor pole pair is superposed, the current gradient is smaller than zero due to the existence of counter electromotive force, the characteristic position of the rotor pole pair starting superposition is estimated according to the zero crossing of the current gradient, and a filter circuit is added, so that the algorithm is corrected, the accuracy of rotor position estimation is improved, and the motor can output large torque, overshoot slip phase, acceleration control, small noise vibration and noise reduction when running at low frequency, low speed, high frequency and high speed.
An embodiment of a third aspect of the present invention provides a system for determining a rotor position, including: a controller; a memory for storing a computer program; the controller executes a computer program stored in the memory to implement the steps of the method of determining the position of a rotor as in any one of the above. Therefore, the system for determining the rotor position includes all the advantages of the method for determining the rotor position according to any one of the embodiments.
An embodiment of a fourth aspect of the present invention provides a household appliance, including: the motor comprises at least one stator and at least two rotors and the driving device for the motor of any embodiment, and the driving device for the motor drives one of the at least two rotors to operate. The household appliance thus comprises all the advantageous effects of the drive device for an electric motor of any of the embodiments described above.
Alternatively, the household appliance is any one of a blender, a wall breaking machine, a soymilk maker, a cooking machine, a chef machine, and a cooking machine.
Optionally, the household appliance is an air supply device, such as a fan.
As shown in fig. 14, taking the wall breaking machine as an example, the stator 142 is disposed on the base of the wall breaking machine, the rotor 140 is disposed on the cup body of the wall breaking machine, the circumferential diameter gap between the stator 142 and the rotor 140 is less than or equal to 2mm, and the motor may be an ac asynchronous or dc low-voltage synchronous motor.
An embodiment of a fifth aspect of the present invention proposes an electric vehicle including: a motor; and a driving apparatus for a motor of any of the above embodiments. The electric vehicle has all the advantageous effects of the drive device for the motor of any of the above embodiments.
An embodiment of the sixth aspect of the invention proposes a computer-readable storage medium having stored thereon a computer program which, when executed, carries out the steps of the method of determining the position of a rotor as defined in any one of the above. The computer readable storage medium thus includes all the advantageous effects of the method of determining the rotor position of any of the embodiments described above.
In the description herein, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless explicitly stated or limited otherwise; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (16)
1. A drive device for an electric motor, comprising:
the power supply circuit is used for outputting a power supply signal;
the zero-crossing detection circuit is connected with the power supply circuit and is used for determining a zero-crossing point signal of the power supply signal and feeding back the zero-crossing point signal of the power supply signal to the motor control circuit;
the parameter acquisition circuit is used for detecting the operation parameters of the motor, determining a zero-point signal of the inductance variation slope of the motor according to the operation parameters and feeding back the zero-point signal of the inductance variation slope to the motor control circuit;
the motor control circuit determines the rotor position of the motor based on a zero-crossing point signal of the power supply signal and a zero-point signal of the inductance change slope;
the operating parameter comprises a phase current of the motor;
the motor control circuit is specifically configured to:
determining a compensation matrix according to the phase current of the motor;
determining the rotor position of the motor according to the compensation matrix, the zero-crossing point signal of the power supply signal and the zero point signal of the inductance variation slope;
the driving apparatus for a motor further includes:
the pole pair number acquisition circuit is used for acquiring pole-to-pole moments of a stator and a rotor of the motor and feeding the pole-to-pole moments back to the motor control circuit;
the motor control circuit is further configured to correct the rotor position based on the pole-to-pole time.
2. The drive device for the motor according to claim 1, wherein the parameter acquisition circuit includes a current detection circuit and a voltage detection circuit, and the operation parameter further includes a phase voltage of the motor;
the current detection circuit is used for detecting the phase current of the motor and feeding back the phase current of the motor to the motor control circuit;
the voltage detection circuit is used for detecting phase voltage of the motor and feeding back the phase voltage of the motor to the motor control circuit;
the motor control circuit determines a phase inductance value of the motor according to a phase current of the motor and a phase voltage of the motor, determines an inductance change slope of the phase inductance value according to the phase inductance value, and determines a zero point signal of the inductance change slope according to the inductance change slope.
3. The drive device for the motor according to claim 2, wherein the motor control circuit is further configured to:
determining a phase difference between a phase current of the motor and a phase voltage of the motor;
and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
4. The drive device for the motor according to claim 1, wherein the motor control circuit is further configured to: adjusting the rotation speed of the motor; and
and correcting the position of the rotor according to the rotating speed of the motor.
5. The drive device for the motor according to any one of claims 1 to 3, characterized by further comprising: the input end of the regulating circuit is connected with the output end of the power supply circuit and is used for outputting power supply voltage and power supply current in a specified interval;
and the motor control circuit is connected with the output end of the regulating circuit and is used for driving the motor to operate according to the power supply voltage and the power supply current.
6. The drive device for the motor according to any one of claims 1 to 3, wherein the motor control circuit causes the motor to be supplied with power by chopping pulse width modulation of the power supply signal.
7. A drive arrangement for an electric machine according to any one of claims 1 to 3, characterised in that the electric machine comprises at least one stator and at least two rotors.
8. A method of determining a position of a rotor, comprising:
determining the rotor position based on a zero-crossing point signal of a power supply signal and a zero-point signal of an inductance change slope;
determining a compensation matrix according to the phase current of the motor;
the step of determining the rotor position based on a zero-crossing point signal of the power supply signal and a zero-point signal of the inductance change slope specifically includes:
determining the rotor position based on the compensation matrix, a zero-crossing signal of the power supply signal and a zero-point signal of the inductance change slope;
the method for determining the position of the rotor further comprises:
acquiring the pole-to-pole time of a stator and a rotor of the motor;
the step of determining the rotor position based on the compensation matrix, the zero-crossing point signal of the power supply signal and the zero-point signal of the inductance change slope specifically includes:
determining the position of the rotor based on the pole-to-pole time, the compensation matrix, a zero-crossing signal of the power supply signal and a zero-point signal of the inductance change slope;
and correcting the rotor position based on the pole-to-pole time.
9. The method of determining a rotor position of claim 8, further comprising:
determining a phase inductance value of the motor according to the phase current of the motor and the phase voltage of the motor;
determining an inductance change slope of the phase inductance value according to the phase inductance value;
and determining a zero point signal of the inductance change slope according to the inductance change slope.
10. The method of determining a rotor position of claim 9, further comprising:
determining a phase difference between a phase current of the motor and a phase voltage of the motor;
and determining that the phase difference is larger than a specified value, and performing phase compensation control on the phase current of the motor.
11. The method of determining the rotor position according to any one of claims 8 to 10, further comprising:
receiving a rotating speed adjusting instruction;
and controlling the motor to operate according to the rotating speed indicated by the rotating speed adjusting instruction.
12. The method of determining a rotor position of claim 11, further comprising:
acquiring the rotating speed of the motor;
the rotor position is corrected based on the rotational speed.
13. A system for determining a position of a rotor, comprising:
a controller;
a memory for storing a computer program;
the controller executes a computer program stored in the memory to implement the steps of the method of determining the position of a rotor according to any one of claims 8 to 12.
14. A household appliance, characterized in that it comprises:
an electric machine comprising at least one stator and at least two rotors;
the driving apparatus for the motor according to any one of claims 1 to 7, which drives one of the at least two rotors to operate.
15. An electric vehicle, characterized by comprising:
a motor; and
the drive device for the motor according to any one of claims 1 to 7.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed, carries out the steps of the method for determining the position of a rotor according to any one of claims 8 to 12.
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