CN112924722A - Method for determining initial position and wiring mode of motor rotor - Google Patents

Method for determining initial position and wiring mode of motor rotor Download PDF

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CN112924722A
CN112924722A CN201911236594.5A CN201911236594A CN112924722A CN 112924722 A CN112924722 A CN 112924722A CN 201911236594 A CN201911236594 A CN 201911236594A CN 112924722 A CN112924722 A CN 112924722A
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phase
wiring
initial potential
potential angle
terminal
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CN112924722B (en
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蔡磊
彭再武
陈慧民
凌岳伦
石高峰
李寒松
杨洪波
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CRRC Electric Vehicle Co Ltd
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CRRC Electric Vehicle Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R1/00—Details of instruments or arrangements of the types included in groups G01R5/00 - G01R13/00 and G01R31/00
    • G01R1/02—General constructional details
    • G01R1/04—Housings; Supporting members; Arrangements of terminals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation

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Abstract

The invention provides a method for determining an initial position and a wiring mode of a motor rotor, which is applied to debugging of a three-phase motor with a rotating transformer with wiring errors, wherein the initial position comprises an initial potential angle and an initial potential angle phase, and the method comprises the following steps: providing a plurality of wiring modes of wrong wiring types; respectively providing an initial potential angle phase difference value and an initial potential angle difference value corresponding to different wiring modes when the outgoing potential angle phases are in-phase and opposite-phase; when the initial position is known and the wiring mode is unknown, calculating an initial potential angle phase difference value and an initial potential angle difference value, and searching a corresponding wiring mode; when the wiring mode is known and the initial position is unknown, searching the corresponding initial potential angle phase difference value and the initial potential angle difference value, and calculating the initial potential angle phase and the initial potential angle; when the wiring mode and the initial position are unknown, recording an initial potential angle and an initial potential angle phase when the motor test running condition is good, and searching the corresponding wiring mode.

Description

Method for determining initial position and wiring mode of motor rotor
Technical Field
The invention relates to the technical field of motor debugging, in particular to a method for determining an initial position and a wiring mode of a motor rotor.
Background
A three-phase motor permanent magnet synchronous motor, a three-phase brushless direct current motor or a three-phase asynchronous motor with a rotary transformer (referred to as a rotary transformer) is widely applied to industries such as new energy automobiles, rail transit, household appliances, servo and the like. The rotary transformer outputs signals such as the relative position of the motor rotor to the controller, the controller calculates the absolute position of the rotor according to the relative position and the initial position of the rotor, the absolute position and other control signals are calculated together, and finally the motor is accurately controlled to operate through the three-phase line. The rotor initial position signal includes an initial potential angle and an initial potential angle phase, and is generally calibrated (called a "factory position" for short) before the controller and the motor are shipped from a factory, and is stored in the controller.
Due to a plurality of reasons, the situation that wiring of a three-phase wiring harness or a wiring harness of a rotary transformer is wrong actually occurs, so that a controller cannot accurately calculate the absolute position of a rotor and cannot normally drive the motor. The wiring mode is an important condition for the operation of the motor and is a basis for recording and solving fault conditions, and the wiring mode has important significance for the safety of the motor.
Therefore, a method for determining the initial position and wiring manner of the rotor of the motor is needed.
Disclosure of Invention
In view of the above, the present invention is directed to a method for determining an initial position and a connection mode of a motor rotor, so as to solve a problem that a motor with a connection fault cannot operate normally.
In view of the above, the present invention provides a method for determining an initial position and a wiring manner of a rotor of a motor, which is applied to debugging a three-phase motor with a rotating transformer with a wiring error, wherein the initial position comprises an initial potential angle and an initial potential angle phase, and the method comprises the following steps:
providing wiring modes of various wrong wiring types, representing wiring errors of the rotary transformer and/or the three-phase wiring harness;
respectively providing an initial potential angle phase difference value and an initial potential angle difference value corresponding to different wiring modes when the outgoing potential angle phases are in-phase and opposite-phase;
when the initial position is known and the wiring mode is unknown, calculating an initial potential angle phase difference value and an initial potential angle difference value, and searching a corresponding wiring mode according to the factory potential angle phase;
when the wiring mode is known and the initial position is unknown, searching a corresponding initial potential angle phase difference value and an initial potential angle difference value according to the factory potential angle phase, and calculating the initial potential angle phase and the initial potential angle;
when the wiring mode and the initial position are unknown, calculating the initial potential angle phase and the initial potential angle according to the initial potential angle phase difference value and the initial potential angle difference value in sequence, running the motor in a trial mode, recording the corresponding initial potential angle phase and the initial potential angle when the running condition of the motor is good, and searching the corresponding wiring mode.
In one embodiment, the initial potential angle phase difference values corresponding to the different connection modes are determined by Δ P ═ mod (Δ P)RD+ΔPPAnd 2) calculating, wherein, delta P is the initial potential angle phase difference value, mod is a residue function, and delta PRDFor initial potential angle phase difference, Δ P, only in case of wiring error of the resolverPMod (,2) is the remainder for 2 for the initial potential angle phase difference for a three-phase harness wiring error only.
In one embodiment, Δ PRDBy passing
Figure BDA0002305051410000021
And (c) calculating, wherein,
Figure BDA0002305051410000022
indicating that the wiring of the rotary transformer is only reversedThe phase difference value of the corresponding initial potential angle is obtained when the excitation positive terminal/the excitation negative terminal, the sine-modulated positive terminal/the sine-modulated negative terminal, the cosine-modulated positive terminal/the sine-modulated negative terminal and the sine-modulated terminal/the cosine terminal are in 1 condition;
Figure BDA0002305051410000023
presentation pair
Figure BDA0002305051410000024
And (6) summing.
In one embodiment, Δ PPTaking a value of 0 or 1 when Δ PPWhen the value is 0, the connection of the U-phase terminal/V-phase terminal at the motor side to the U-phase terminal/V-phase terminal at the controller side or the V-phase terminal/W-phase terminal at the controller side or the W-phase terminal/U-phase terminal at the controller side is shown; when Δ PPWhen the value is 1, it indicates that the motor side U-phase terminal/V-phase terminal is butted to the controller side U-phase terminal/W-phase terminal, the controller side V-phase terminal/U-phase terminal, or the controller side W-phase terminal/V-phase terminal.
In one embodiment, the calculating the initial potential angle phase difference value and the calculating the initial potential angle phase comprise by formula P1＝mod(P0+ Δ P,2) calculation, where P1Is an initial potential angular phase, P0And delta P is the initial potential angle phase difference value for the factory initial potential angle phase.
In one embodiment, the initial potential angle difference values corresponding to the different connection modes are determined by Δ θ ═ mod (Δ θ ═ mod)RD+ΔθPRD360), where Δ θ is the initial potential angle difference, Δ θRDFor initial potential angle differences in case of wiring errors of the resolver only, Δ θPRDBy passing
Figure BDA0002305051410000025
Calculation of where P1RDIs the new initial potential angle phase when only the rotary transformer is in wiring error.
In one embodiment, Δ θRDBy passing
Figure BDA0002305051410000026
And (c) calculating, wherein,
Figure BDA0002305051410000027
the initial potential angle difference value corresponding to the situation that the wiring of the rotary transformer only has one of a reversed excitation positive terminal/excitation negative terminal, a reversed sine positive terminal/sine negative terminal, a reversed cosine positive terminal/sine negative terminal and a reversed sine terminal/cosine terminal is represented;
Figure BDA0002305051410000028
presentation pair
Figure BDA0002305051410000029
And (6) summing.
In one embodiment, P1RDBy P1RD＝mod(P0+ΔPRDAnd 2) calculation of, wherein, Δ PRDFor the initial potential angle phase difference value only when the wiring of the rotary transformer is wrong, the method comprises
Figure BDA0002305051410000031
And (c) calculating, wherein,
Figure BDA0002305051410000032
the initial potential angle phase difference value corresponding to the situation that only 1 of a reversed excitation positive terminal/an excited negative terminal, a reversed sine positive terminal/a sine negative terminal, a reversed cosine positive terminal/a sine negative terminal and a reversed sine terminal/a cosine terminal appears in the wiring of the rotary transformer is represented;
Figure BDA0002305051410000033
presentation pair
Figure BDA0002305051410000034
And (6) summing.
In one embodiment, the calculating the initial potential angle difference and the calculating the initial potential angle include calculating the initial potential angle by the formula θ1＝mod(θ0+ Δ θ,360) calculation, where θ1To an initial potential angle, θ0And delta theta is the initial potential angle of the factory, and is the difference value of the initial potential angles.
In one embodiment, the plurality of wrong wiring types includes 3 wrong wiring types: only the wiring of the rotary transformer is wrong, and the wiring of the three-phase wire harness is correct; only the wiring of the three-phase wire harness is wrong, and the wiring of the rotary transformer is correct; the rotary transformer and the three-phase wiring harness are both in wrong wiring.
As can be seen from the above, according to the method for determining the initial position and the connection mode of the motor rotor provided by the present invention, when the factory potential angle phase is in-phase or in-phase, the initial potential angle phase difference value and the initial potential angle difference value corresponding to the possible wrong connection mode are provided, and according to the known conditions of the connection mode and the initial position, the corresponding initial potential angle phase difference value and the initial potential angle difference value are searched and the initial potential angle phase and the initial potential angle are calculated; or calculating an initial potential angle phase difference value and an initial potential angle difference value, and searching a wiring mode; or the motor is tried to operate according to the provided initial potential angle phase difference value and the initial potential angle difference value, the corresponding initial potential angle phase and the initial potential angle are calculated according to the operation condition of the motor, the corresponding wiring mode is obtained, the wiring mode and the initial position can be determined quickly and accurately, and the debugging efficiency of a debugging site is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating a connection relationship among a controller, a resolver, three-phase lines, and a motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the correct wiring of the three-phase wires to the controller-side and motor-side terminals according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the proper wiring of the resolver to the controller side and motor side terminals of an embodiment of the present invention;
FIG. 4 is a flow chart of a method of determining an initial position and a wiring pattern of a rotor of an electric machine according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a method for calculating an initial position with a known connection method according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of calculating an initial position according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
It is to be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Fig. 1 is a schematic diagram showing a connection relationship among the controller, the resolver, the three-phase line, and the motor. The controller side and the motor side have three-phase terminals, i.e., a U-phase, a V-phase, and a W-phase, respectively. When the three-phase line correspondingly connects the U phase at the controller side with the U phase at the motor side, the V phase at the controller side with the V phase at the motor side, and the W phase at the controller side with the W phase at the motor side, the correct wiring manner of the three-phase line with the wiring terminals at the controller side and the motor side is adopted, as shown in fig. 2.
The rotary transformer has 3 windings, which are respectively an excitation winding, a sine winding and a cosine winding. 3 windings are led out to 6 binding posts respectively: exc + (excitation positive), exc- (excitation negative), sin + (sine positive), sin- (sine negative), cos + (cosine positive), cos- (cosine negative). The correct wiring mode is shown in fig. 3, that is, the excitation winding of the rotary transformer respectively connects the excitation positive of the motor side with the excitation positive of the controller side, and correspondingly connects the excitation negative of the motor side with the excitation negative of the controller side; a sine winding of the rotary transformer respectively and correspondingly connects a sine positive at the motor side with a sine positive at the controller side and a sine negative at the motor side with a sine negative at the controller side; the cosine winding of the rotary transformer respectively and correspondingly connects the cosine positive of the motor side with the cosine positive of the controller side and the cosine negative of the motor side with the cosine negative of the controller side.
When the motor leaves a factory, namely before the motor is not used after being produced, the motor rotor has a factory position which comprises two data of a factory electrical angle and a factory electrical angle phase. The factory electrical angle is the electrical angle difference of the motor rotor relative to the rotary transformer. The motor rotating counterclockwise is called the motor rotating forward, and the motor rotating clockwise is called the motor rotating backward. The relative position of the rotary transformer is gradually increased when the motor rotates forwards or gradually decreased when the motor rotates backwards, namely the rotary transformer is in-phase, and the relative position of the rotary transformer is gradually decreased when the motor rotates forwards or gradually increased when the motor rotates backwards, namely the rotary transformer is in-phase.
For example, the electrical angle of the motor rotor is 0, e.g., the electrical angle of the resolver is 50 revolutions, when the motor rotor rotates to 1 revolution, if the resolver rotates to 51 revolutions, the resolver is in phase with respect to the motor rotor; and if the resolver rotates to 49, the resolver is in anti-phase with respect to the motor rotor. In this application it is defined that the same phase is denoted by the number 0 and the opposite phase is denoted by the number 1.
The inventor finds that in long-term motor debugging work, wiring errors of three-phase wire harnesses and windings of rotary transformers are possible in an actual debugging site, so that wiring terminals on the motor side and the controller side cannot be correctly corresponded, and the same type of wiring errors occur. When the wiring error of the type occurs, the controller can still normally detect the relative position of the rotary transformer, but due to the wiring error, the rotor of the motor often breaks away from the factory position, so that the controller cannot accurately calculate the absolute position of the rotor of the motor, the motor cannot be normally driven, the wiring mode and the initial position are very difficult to determine and record for the situations that wiring harnesses are inconvenient to reconnect, such as wiring harness label loss, established wiring harness cannot be changed and disassembly is difficult, and great inconvenience is caused for debugging and safe operation of the motor.
The inventor proposes a method that enables simultaneous determination of the initial position of the rotor of the electrical machine and the wiring pattern. According to the method, when the phase of the factory potential angle is in the same phase or opposite phase, the initial potential angle and the initial potential angle phase are searched according to the known wiring mode according to the initial potential angle phase difference value and the initial potential angle difference value corresponding to the possible wrong wiring mode, or the wiring mode is searched according to the known initial potential angle and the initial potential angle phase, or the possible initial potential angle and the initial potential angle phase are directly searched.
And analyzing the wiring mode and the initial position, analyzing whether the wiring mode and the initial position are known or not, searching the corresponding initial potential angle phase difference value and the initial potential angle difference value according to the known conditions of the wiring mode and the initial position, and determining the wiring mode and the initial position.
Referring to fig. 4, a method for determining an initial position and a connection manner of a rotor of a motor according to an embodiment of the present invention is applied to a three-phase motor with a rotating transformer having a wrong connection, where the initial position includes an initial potential angle and an initial potential angle phase, and the method includes:
s100, providing a plurality of wiring modes with wrong wiring types, representing wiring errors of the rotary transformer and/or the three-phase wiring harness;
s200, respectively providing an initial potential angle phase difference value and an initial potential angle difference value corresponding to different wiring modes when the factory potential angle phases are in-phase and opposite-phase;
s300, when the initial position is known and the wiring mode is unknown, calculating an initial potential angle phase difference value and an initial potential angle difference value, and searching a corresponding wiring mode according to the factory potential angle phase;
s400, when the wiring mode is known and the initial position is unknown, searching a corresponding initial potential angle phase difference value and an initial potential angle difference value according to the factory potential angle phase, and calculating the initial potential angle phase and the initial potential angle;
s500, when the wiring mode and the initial position are unknown, calculating an initial potential angle phase and an initial potential angle according to the initial potential angle phase difference and the initial potential angle difference in different wiring modes in sequence, running the motor in a trial mode, judging the running condition of the motor, recording the corresponding initial potential angle phase and the initial potential angle when the running condition of the motor is good, and searching the corresponding wiring mode.
In step S100, the plurality of wrong wiring types include a first wrong wiring type, a second wrong wiring type, and a third wrong wiring type. The first wrong wiring type is that only the rotary transformer is in wrong wiring, and the three-phase wiring harness is in correct wiring. The second wrong wiring type is that only the wiring of the three-phase wiring harness is wrong in rotation, and the wiring of the transformer is correct; the third wrong wiring type is wiring error of the rotary transformer and the three-phase wiring harness.
The first wrong wiring type specifies that the motor side excitation terminal can only be connected to the controller side excitation terminal, the motor side sine terminal cannot be separately connected to the controller side sine and cosine terminals, and the motor side cosine terminal cannot be separately connected to the controller side sine and cosine terminals. According to the above rules, when the wiring of the rotary transformer is wrong, the first wrong wiring type has five types, 15 wiring modes: the first subtype, exc +/-only, as shown by number 9 in Table 1; a second subtype, calling sin +/-, only, as shown in number 2 in table 1; a third subtype, which is merely for cos +/-, as shown in Table 1 by the number 10; a fourth subtype, only for sin/cos, as shown in Table 1, No. 6; multiple reversals in the fifth subtype, concurrent occurrences of the first, second, third and fourth subtypes, as shown by numbers 1, 3, 4, 5, 7, 8, 11, 12, 13, 14, 15 in table 1. The correct wiring scheme is shown as number 0 in table 1.
In the second wrong wiring type, i.e. only the three-phase wires are wrong, there are 5 specific wiring modes, see table 2. In table 2, the connection method corresponding to the number a is a correct connection method, and the numbers b to f are 5 wrong connection methods.
In a third wrong wiring type, that is, when the three-phase wire harness and the rotary transformer are in wrong wiring simultaneously, the three-phase wire harness and the wiring terminals are greatly different from the three-phase wire harness and the wiring terminals of the rotary transformer, and in practice, the three-phase wire harness and the wiring terminals are hardly exchanged, so that 6 by 16 three-phase wire harness wiring modes in table 1 and 16 rotary transformer wiring modes in table 2 are combined, 6 by 16 three-phase wire harness wiring modes and 96 different three-phase wire harness wiring modes can be obtained in total, wherein 1 is a correct wiring mode, and the remaining 95 are wrong wiring modes.
TABLE 1 resolver wiring mode
Figure BDA0002305051410000071
TABLE 2 three-phase harness connection mode
Figure BDA0002305051410000072
In step S200, the factory electrical angle phase P0The method comprises the steps of rotating transformer in-phase and rotating transformer reverse phase, wherein the rotating transformer in-phase is defined to be represented by a numerical value 0, and the rotating transformer in-phase is defined to be represented by a numerical value 1. For different outgoing electrical angle phases, the initial electrical angle phase difference value and the initial electrical potential angle difference value corresponding to the same wiring mode may be the same or different, and need to be determined according to a specific wiring mode.
Specifically, the initial potential angle phase difference values corresponding to the different connection modes are determined by Δ P ═ mod (Δ P)RD+ΔPPAnd 2) calculating, wherein, the delta P is the initial potential angle phase difference valueMod is the remainder function, Δ PRDFor initial potential angle phase difference, Δ P, only in case of wiring error of the resolverPMod (,2) is the remainder for 2 for the initial potential angle phase difference for a three-phase harness wiring error only.
TABLE 3 line exchange of different rotary transformers
Figure BDA0002305051410000073
And
Figure BDA0002305051410000074
Figure BDA0002305051410000075
further, Δ PRDBy passing
Figure BDA0002305051410000081
And (c) calculating, wherein,
Figure BDA0002305051410000082
the initial potential angle phase difference value corresponding to the situation that only 1 of a reversed excitation positive terminal/an excited negative terminal, a reversed sine positive terminal/a sine negative terminal, a reversed cosine positive terminal/a sine negative terminal and a reversed sine terminal/a cosine terminal appears in the wiring of the rotary transformer is represented;
Figure BDA0002305051410000083
presentation pair
Figure BDA0002305051410000084
And (6) summing.
Figure BDA0002305051410000085
The values of (A) and the corresponding connection modes are shown in Table 3, Δ PRDThe values of (a) and the corresponding wiring patterns are shown in table 4.
ΔPPIs 0 or 1 when Δ PPWhen the value is 0, the U-phase terminal/V-phase terminal at the motor side is butted to the U-phase at the controller sideA terminal/V-phase terminal, a controller-side V-phase terminal/W-phase terminal, or a controller-side W-phase terminal/U-phase terminal; when Δ PPWhen the value is 1, it indicates that the motor side U-phase terminal/V-phase terminal is butted to the controller side U-phase terminal/W-phase terminal, the controller side V-phase terminal/U-phase terminal, or the controller side W-phase terminal/V-phase terminal.
TABLE 4 initial potential angle phase difference and initial potential angle difference of different resolver connections
Figure BDA0002305051410000086
ΔPPCan pass through
Figure BDA0002305051410000087
Calculation of Δ PPThe values of (a) and the corresponding wiring patterns are shown in table 5.
Specifically, the initial potential angle difference values corresponding to the different connection modes are determined by Δ θ ═ mod (Δ θ ═ mod)RD+ΔθPRD360), where Δ θ is the initial potential angle difference, Δ θRDFor initial potential angle differences in case of wiring errors of the resolver only, Δ θPRDBy passing
Figure BDA0002305051410000088
Calculation of where P1RDIs the new initial potential angle phase when only the rotary transformer is in wiring error.
ΔθPRDThe meaning of (1) can be understood as that, assuming that the wiring of the three-phase wire harness is correct, the new initial potential angle phase P is obtained according to the calculation method only having the wiring error of the rotary transformer1RDThen with P1RDAs the angular phase of the initial potential of the factory, according to the formula
Figure BDA0002305051410000089
The calculated initial potential angle difference value is delta thetaPFor the initial potential angle difference only in the case of a wiring fault in the three-phase wire harness, mod is the remainder function, P0In order to leave the factory, the phase of electrical angle is determined by k as coefficient, and the control is carried outWhen the U terminal on the device side is connected to the U, V, W terminal on the motor side, k is 0,1, and 2, respectively. Delta thetaPThe values of (a) and the corresponding wiring patterns are shown in table 5.
TABLE 5 initial potential angle phase difference and initial potential angle difference of different three-phase wiring harness connection
Figure BDA0002305051410000091
Further, Δ θRDBy passing
Figure BDA0002305051410000092
And (c) calculating, wherein,
Figure BDA0002305051410000093
the initial potential angle difference value corresponding to the situation that the wiring of the rotary transformer only has one of a reversed excitation positive terminal/excitation negative terminal, a reversed sine positive terminal/sine negative terminal, a reversed cosine positive terminal/sine negative terminal and a reversed sine terminal/cosine terminal is represented;
Figure BDA0002305051410000094
presentation pair
Figure BDA0002305051410000095
And (6) summing.
Figure BDA0002305051410000096
The values of (a) and the corresponding wiring patterns are shown in table 3. Delta thetaRDThe values of (a) and the corresponding wiring patterns are shown in table 4.
P1RDBy P1RD＝mod(P0+ΔPRDAnd 2) calculation of, wherein, Δ PRDFor the initial potential angle phase difference value only when the wiring of the rotary transformer is wrong, the method comprises
Figure BDA0002305051410000097
And (c) calculating, wherein,
Figure BDA0002305051410000098
the initial potential angle phase difference value corresponding to the situation that only 1 of a reversed excitation positive terminal/an excited negative terminal, a reversed sine positive terminal/a sine negative terminal, a reversed cosine positive terminal/a sine negative terminal and a reversed sine terminal/a cosine terminal appears in the wiring of the rotary transformer is represented;
Figure BDA0002305051410000099
presentation pair
Figure BDA00023050514100000910
And (6) summing. Delta PRDThe values of (a) and the corresponding wiring patterns are shown in table 4.
Through calculation, the initial potential angle phase difference value delta P corresponding to different wiring modes only takes 2 values, 0 and 1 are set as delta Plist(ii) a The initial potential angle difference value delta theta corresponding to the different wiring modes is only 12, and is set to be delta theta (0, 30,60,90,120,150,180,210,240,270,300 and 330) }list. Therefore, Δ P and Δ θ obtained by 96 connection methods have only 2 × 12 — 24 combination methods, and Δ P Δ θ is assumed to belist(ΔP，Δθ)，ΔP∈ΔPlist，Δθ∈Δθlist. That is, Δ P Δ θlistEach value of (a) corresponds to 4 different three-phase and resolver wiring patterns, and the 4 patterns are combined by 2 three-phase harness wiring patterns and 2 resolver wiring patterns. That is, if Δ P and Δ θ are determined, 4 possible wiring patterns can be obtained, and further, if a three-phase or resolver wiring pattern can also be determined at this time, 2 possible resolver or 2 possible three-phase harness wiring patterns can be obtained, respectively.
The initial potential angle phase difference values and the initial potential angle difference values corresponding to the different provided wiring modes can be presented in a table form. When presented in a table, the phase P of the outgoing electrical angle0When 0, corresponding to a table, such as table 6; delivery electrical angle phase P0When the number is 1, the other table is shown in Table 7. In tables 6 and 7, the data before the "-" pair is Δ θ, and the data after the "-" pair is Δ P.
TABLE 6 initial potential angle difference and initial potential angle phase difference when the outgoing electrical angle phase is 0
Figure BDA0002305051410000101
The table building process may specifically include:
respectively calculating initial potential angle phase difference values corresponding to different wiring modes according to an initial potential angle phase difference value calculation formula to obtain a first corresponding relation table and a second corresponding relation table of the wiring modes and the potential angle phase difference values when the factory potential angle phases are in-phase and opposite-phase respectively;
respectively calculating initial potential angle difference values corresponding to different combination wiring modes according to the initial potential angle difference value calculation formula to obtain a third corresponding relation table and a fourth corresponding relation table of the wiring modes and the potential angle difference values when different factory potential angle phases are in-phase and in-phase respectively;
combining the first corresponding relation table and the third corresponding relation table to obtain a table 6; and combining the second corresponding relation table and the fourth corresponding relation table to obtain a table 7.
In step S300, the initial position may be obtained by initial potential angle calibration or self-learning of the controller with the initial potential angle identification function.
TABLE 7 initial potential angle difference value and initial potential angle phase difference value when the outgoing electrical angle phase is 1
Figure BDA0002305051410000111
The calculation of the initial potential angle phase difference value comprises the following formula P1＝mod(P0+ Δ P,2) (1) calculation, where P1Is an initial potential angular phase, P0And delta P is the initial potential angle phase difference value for the factory initial potential angle phase.
The calculation of the initial potential angle difference value comprises the following formula theta1＝mod(θ0+ Δ θ,360) (2) calculation, where θ1To an initial potential angle, θ0And delta theta is the initial potential angle of the factory, and is the difference value of the initial potential angles.
Further, when the calculated initial potential angle difference value does not accord with the provided initial potential angle difference value, the calculated initial potential angle difference value is rounded, and delta theta is selectedlistAnd searching the corresponding wiring mode according to the closest numerical value.
In a specific embodiment, the factory initial potential angle θ0231, factory initial potential angular phase P0Is 0, and the initial potential angle theta under the condition of wiring error is obtained according to the modes of recalibration, self-learning of a controller and the like1At 82, the initial potential angle phase P1Is 1.
Δ P ═ 1 and Δ θ ═ 211 are calculated according to equations (1) and (2). Since there is a certain error (generally about ± 2) in the initial potential angle obtained by calibration or controller self-learning, it is necessary to round Δ θ to the nearest Δ θlistTo a certain value of. Here, since Δ θ is 211 closest to 210, the rounding process makes Δ θ 210. Angular phase P of initial potential of leaving factory0Since the value is 0, 4 possible connection modes, d4, d5, e6 and e7, are found from table 6 based on Δ P being 1 and Δ θ being 210.
In step S400, the calculating of the initial potential angular phase includes calculating the initial potential angular phase according to the formula P1＝mod(P0+ Δ P,2) (1) calculation, where P1Is an initial potential angular phase, P0And delta P is the initial potential angle phase difference value for the factory initial potential angle phase.
The calculating of the initial potential angle comprises the following steps of1＝mod(θ0+ Δ θ,360) (2) calculation, where θ1To an initial potential angle, θ0And delta theta is the initial potential angle of the factory, and is the difference value of the initial potential angles.
In one specific embodiment, when the wiring scheme is known, as shown in Table 8, the factory initial potential angle θ0321, factory initial potential angular phase P0Is 1. Look up Δ P and Δ θ from Table 7The wiring patterns shown in table 8 were found to correspond to the resolver wiring pattern numbered 7 in table 7, and the three-phase harness wiring pattern numbered e. Therefore, looking up Δ P and Δ θ at the position of e7 yields Δ P of 1 and Δ θ of 210. Then, the new initial potential angle phase P is obtained by calculation according to the formula (1) and the formula (2)1Mod (1+1,2) 0, new initial potential angle θ1＝mod(321+210,360)＝171。
TABLE 8 three-phase and resolver wiring error examples
Side of motor exc+ exc- sin+ sin- cos+ cos- U V W
Controller side exc- exc+ cos- cos+ sin- sin+ V W U
In step S500, the operation condition of the motor may be determined according to various manners, such as whether the motor can operate, current parameters, command response, etc., for example, the magnitude of the feedback current fluctuation, the tracking condition of the rotational speed and torque command, and the actual output torque of the 0-torque command. The specific operation of the motor is well known in the art and will not be described herein.
In the extreme case that the initial position is unknown and cannot be calibrated or learned by self, the motor is allowed to run in a trial mode, and the final tried initial position is close to the actual initial position continuously by trying some possible initial position values and continuously adjusting the potential angle difference value according to the actual running condition of the motor. In the specific adjustment, if the running condition of the motor is worsened, it can be determined that the difference between the current attempted initial position and the actual initial position is larger, for example, the initial potential angle difference value is increased and the running is worsened, and the numerical value is reduced until the running is good.
In a specific embodiment, assume a factory-initiated potential angle θ0231, factory initial potential angular phase P0Is 0, then θ1Possible results are 12, mod (231+ Δ θ)list,360)，P1There were 2 types, 0 and 1 of results. Thus, P can be set separately1Is 0 and 1, theta1At mod (231+ Δ θ)list360), trying to run the motor one by one, for example, if the 20 th attempt finds that the motor runs well, at this time, Δ P is 1, and Δ θ is 210, it can be considered that the phase of the new initial potential angle is 1, the new initial potential angle is 81, and possible wiring modes d4, d5, e6, and e7 can be obtained by a table look-up method of checking back the wiring modes according to the known new initial positions.
If 24 initial position attempts are made, the motor still cannot normally operate, the controller and the motor can be determined to be in good function, and the wiring harness is in good contact, then the motor can be used as a reference basis at this time, and the situation that the mechanical position of the rotary transformer slides or the wiring mode does not belong to any one of 96 wiring modes can be judged.
The method for determining the initial position and the wiring mode of the motor rotor provided by the embodiment of the invention can obtain the initial position and the wiring mode of the motor rotor, improve the debugging efficiency of a debugging site and simultaneously can also check wiring errors. Under the condition that a known wrong wiring mode is adopted in a debugging site, wherein the wiring harness is inconvenient to reconnect due to the reasons that a given wiring harness cannot be changed, the wiring harness is difficult to disassemble and the like, the method provided by the invention can quickly search the initial potential angle phase difference value and the initial potential angle difference value and quickly calculate a new position, so that the calibration of the initial potential angle in the site or the self-learning of the initial potential angle is not needed, and the debugging efficiency can be improved; according to the method provided by the invention, under the condition that the wiring harness cannot be reconnected due to the fact that the wiring harness label is lost on a debugging site, a possible wrong wiring mode can be quickly found back, and wiring errors are conveniently checked and recorded; under the extreme conditions that wiring harness labels are lost on a debugging site, the initial positions are unknown, and calibration or self-learning cannot be carried out, new positions and possible wrong wiring modes can be obtained by trying 24 times at most according to the method provided by the application, so that the debugging efficiency can be improved, and wiring fault troubleshooting is facilitated.
The embodiment of the invention also provides another embodiment, which is used for determining the initial position corresponding to the wiring mode through formula calculation when the wiring mode is known and the initial position is unknown.
Please refer to fig. 5, which includes:
s600, obtaining a wiring mode, and analyzing an error wiring type corresponding to the wiring mode;
and S700, calculating the actual initial electrical angle and the actual initial electrical angle phase of the motor according to the wrong wiring type.
In step S600, the wrong wiring types include a first wrong wiring type, a second wrong wiring type, and a third wrong wiring type. The first wrong wiring type is that only the rotary transformer is in wrong wiring, and the three-phase wiring harness is in correct wiring. The second wrong wiring type is that only the wiring of the three-phase wiring harness is wrong in rotation, and the wiring of the transformer is correct; the third wrong wiring type is wiring error of the rotary transformer and the three-phase wiring harness.
Specifically, the rules and the specific wiring manner of each wrong wiring type are the same as those of the previous embodiment, and are not described herein again.
Referring to fig. 6, step S700 includes:
s701, when the wrong wiring type is a first wrong wiring type, calculating a first actual initial potential angle and a first actual initial potential angle phase through a first actual initial potential angle calculation formula and a first actual initial potential angle phase calculation formula respectively;
s702, when the wrong wiring type is a second wrong wiring type, calculating a second actual initial potential angle and a second actual initial potential angle phase through a second actual initial potential angle calculation formula and a second actual initial potential angle phase calculation formula respectively;
and S703, when the wrong wiring type is a third wrong wiring type, calculating a third actual initial potential angle and a third actual initial potential angle phase through a third actual initial potential angle calculation formula and a third actual initial potential angle phase calculation formula respectively.
In step S701, the first actual initial potential angle phase calculation formula is shown as formula (5), P1RD＝mod(P0+ΔPRD2) (5), wherein P1RDFor the actual initial electrical angle phase at the time of a wiring error of the resolver only, mod is the remainder function, P0To factory electrical angle phase, Δ PRDThe initial potential angle phase difference value is only when the wiring of the rotary transformer is wrong.
Further, Δ PRDCalculating according to the formula (3):
Figure BDA0002305051410000141
wherein,
Figure BDA0002305051410000142
the method comprises the steps that the initial potential angle phase difference value corresponding to the situation that only one of a first subtype, a second subtype, a third subtype and a fourth subtype exists in the wiring of the rotary transformer, namely, only 1 of exc +/-, sin +/-, cos +/-, sin/cos occur;
Figure BDA0002305051410000143
indicating a summation of initial potential angle phase difference values when 1 or more of the first, second, third and fourth subtypes occurs.
Let the first, second, third and fourth subtypes be denoted by the numbers 1,2, 3 and 4, respectively, then in this formula (3) the letter n takes on the values 1,2, 3, 4. For example, the resolver connection numbered 6 in Table 1, the fourth subtype, is only the sin/cos connection,
Figure BDA0002305051410000144
the resolver connection numbered 3 in table 1, the fifth subtype, is now reversed exc +/-and cos +/-,
Figure BDA0002305051410000145
the first actual initial potential angle calculation formula is shown as formula (6), and theta1RD＝mod(θ0+ΔθRD360) (6), wherein θ1RDFor new initial potential angles, theta, in case of wiring errors of the rotary transformer only0To a delivery electrical angle, Δ θRDThe initial potential angle difference value is only when the wiring of the rotary transformer is wrong.
Further, Δ θRDCalculating according to the formula (4):
Figure BDA0002305051410000151
wherein,
Figure BDA0002305051410000152
indicating that the wiring of the rotary transformer is only present in the first and second sub-typesOne of the second subtype, the third subtype and the fourth subtype, namely, only the corresponding initial potential angle difference occurs when calling exc +/-, calling sin +/-, calling cos +/-, and calling sin/cos 1;
Figure BDA0002305051410000153
indicating a summation of initial potential angle difference values when 1 or more of the first, second, third and fourth subtypes occurs.
Let the first, second, third and fourth subtypes be denoted by the numbers 1,2, 3 and 4, respectively, then in this formula (4) the letter n takes on the values 1,2, 3, 4. For example, the resolver connection numbered 6 in Table 1, the fourth subtype, is only the sin/cos connection,
Figure BDA0002305051410000154
resolver connection numbered 3 in Table 1, i.e. the fifth subtype, with the exchange exc +/-and the exchange cos +/-, sum (. DELTA.. theta.) (RD n)＝sum(ΔθRD 1+ΔθRD 3)＝180+180＝360。
In step S702, the second actual initial potential angle phase calculation formula is shown as formula (9), P1P＝mod(P0+ΔPP2) (9), wherein P1PFor the new initial potential angle phase when only the three-phase wiring harness is in error, mod is the remainder function, P0To factory electrical angle phase, Δ PPThe initial potential angle phase difference value is the initial potential angle phase difference value when only the three-phase wiring harness is in wiring error.
Further, Δ PPCalculated according to equation (7):
Figure BDA0002305051410000155
the second actual initial potential angle calculation formula is shown as formula (10), and theta1P＝mod(θ0+ΔθP,360)
(10) Wherein, theta1PWiring for three-phase wire harness onlyThe actual initial potential angle at the time of the error, mod being the remainder function, θ0To a delivery electrical angle, Δ θPThe initial potential angle difference value is the initial potential angle difference value when only the three-phase wiring harness is in wiring error.
Further, Δ θPCalculated according to equation (8):
Figure BDA0002305051410000156
where mod is the remainder function, P0K is a coefficient for the factory electrical angle phase, and when the U terminal on the controller side is connected to the U, V, W terminal on the motor side, k is 0,1, and 2, respectively.
In step S703, the third actual initial potential angle phase calculation formula is shown as formula (14), P1PRD＝mod(P0+ΔPRD+ΔPP2) (14), wherein P1PRDFor a new initial potential angle phase when the rotary transformer and the three-phase wire harness are both in wiring error, mod is a remainder function, P0To factory electrical angle phase, Δ PRDFor initial potential angle phase difference, Δ P, only in case of wiring error of the resolverPThe initial potential angle phase difference value is the initial potential angle phase difference value when only the three-phase wiring harness is in wiring error.
The third actual initial potential angle calculation formula is shown in equation (15),
θ1PRD＝mod(θ0+ΔθRD+ΔθPRD360) (15), wherein θ1PRDFor a new initial potential angle when the rotary transformer and the three-phase wire harness are both in wiring error, mod is a remainder function, theta0To a delivery electrical angle, Δ θRDFor initial potential angle differences in case of wiring errors of the resolver only, Δ θPRDIn order to assume that the wiring of the three-phase wire harness is correct, a new initial potential angle phase P is obtained according to a calculation method that only the wiring error of the rotary transformer occurs1RDThen with P1RDThe phase is calculated according to the formula (8) as the factory initial potential angle phase.
Further, Δ θPRDCalculated according to equation (13):
Figure BDA0002305051410000161
where mod is the remainder function, P1RDK is a coefficient for an actual initial electrical angle phase when only the resolver is connected in a faulty manner, and k is 0,1, and 2 when the U terminal on the controller side is connected to the U, V, W terminal on the motor side.
It should be noted that equation (14) also applies to the calculation of the actual initial potential angular phase when only the resolver wiring error and only the three-phase harness wiring error are both present, for example, when only the resolver wiring error, Δ P in the equationPDefault to 0, i.e. absent; for example, when only the three-phase wiring harness is wrongly wired, the delta P in the formulaRDIs 0, i.e. absent. Equation (15) also applies to the calculation of the actual initial potential angle when only the resolver wiring error and only the three-phase harness wiring error are both present, for example, when only the resolver wiring error is present, Δ θ in the equationPRDDefault to 0, i.e. absent; for example, when only the three-phase wire harness is wrongly wired, the delta theta in the formulaRDDefault to 0, i.e. absent,. DELTA.thetaPRDIs practically equal to delta thetaP。
In this embodiment, the initial position can be obtained by analyzing the known connection manner, analyzing the wrong connection type corresponding to the connection manner, selecting a corresponding formula, calculating the initial potential angle difference value and the initial potential angle phase difference value, and then calculating the initial potential angle and the initial potential angle phase according to the initial potential angle difference value and the initial potential angle phase difference value. Under the condition that a known wrong wiring mode is adopted in a debugging site, wherein the wiring harness is inconvenient to reconnect due to the reasons that a given wiring harness cannot be changed, the wiring harness is difficult to disassemble and the like, the method provided by the invention can directly calculate the initial potential angle phase difference value and the initial potential angle difference value, and quickly calculate a new position, so that the calibration of the initial potential angle in the site or the self-learning of the initial potential angle is not needed, and the debugging efficiency is improved.
It should be noted that the method of the embodiment of the present invention may be executed by a single device, such as a computer or a server. The method of the embodiment can also be applied to a distributed scene and completed by the mutual cooperation of a plurality of devices. In the case of such a distributed scenario, one of the multiple devices may only perform one or more steps of the method according to the embodiment of the present invention, and the multiple devices interact with each other to complete the method.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the invention, also features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
In addition, well known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures for simplicity of illustration and discussion, and so as not to obscure the invention. Furthermore, devices may be shown in block diagram form in order to avoid obscuring the invention, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the present invention is to be implemented (i.e., specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the invention, it should be apparent to one skilled in the art that the invention can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative instead of restrictive.
While the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic ram (dram)) may use the discussed embodiments.
The embodiments of the invention are intended to embrace all such alternatives, modifications and variances that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, substitutions, improvements and the like that may be made without departing from the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. A method for determining an initial position and a wiring mode of a motor rotor, which is applied to debugging of a three-phase motor with a rotating transformer with a wiring error, wherein the initial position comprises an initial potential angle and an initial potential angle phase, and the method for determining the initial position and the wiring mode comprises the following steps:
providing wiring modes of various wrong wiring types, representing wiring errors of the rotary transformer and/or the three-phase wiring harness;
respectively providing an initial potential angle phase difference value and an initial potential angle difference value corresponding to different wiring modes when the outgoing potential angle phases are in-phase and opposite-phase;
when the initial position is known and the wiring mode is unknown, calculating an initial potential angle phase difference value and an initial potential angle difference value, and searching a corresponding wiring mode according to the factory potential angle phase;
when the wiring mode is known and the initial position is unknown, searching a corresponding initial potential angle phase difference value and an initial potential angle difference value according to the factory potential angle phase, and calculating the initial potential angle phase and the initial potential angle;
when the wiring mode and the initial position are unknown, calculating the initial potential angle phase and the initial potential angle according to the initial potential angle phase difference value and the initial potential angle difference value in sequence, running the motor in a trial mode, recording the corresponding initial potential angle phase and the initial potential angle when the running condition of the motor is good, and searching the corresponding wiring mode.
2. The method of claim 1, wherein the phase difference of the initial potential angle corresponding to the different connection modes is determined by Δ P ═ mod (Δ P ═ mod)RD+ΔPPAnd 2) calculating, wherein, delta P is the initial potential angle phase difference value, mod is a residue function, and delta PRDFor initial potential angle phase difference, Δ P, only in case of wiring error of the resolverPMod (,2) is the remainder for 2 for the initial potential angle phase difference for a three-phase harness wiring error only.
3. The method of claim 2, wherein Δ Ρ is the initial position of the rotor of the electric machine and the method of wiring is the initial position of the rotor of the electric machineRDBy passing
Figure FDA0002305051400000011
And (c) calculating, wherein,
Figure FDA0002305051400000012
the wiring of the rotary transformer is only shown in a reversed excitation positive terminal/excitation negative terminal, a reversed sine positive terminal/sine negative terminal, a reversed cosine positive terminal/sine negative terminal and a reversed sine terminal/cosine terminalThe corresponding initial potential angle phase difference value in case 1;
Figure FDA0002305051400000013
presentation pair
Figure FDA0002305051400000014
And (6) summing.
4. A method for determining the initial position and the connection mode of a rotor of an electric machine according to claim 3, characterized in that Δ ΡPTaking a value of 0 or 1 when Δ PPWhen the value is 0, the connection of the U-phase terminal/V-phase terminal at the motor side to the U-phase terminal/V-phase terminal at the controller side or the V-phase terminal/W-phase terminal at the controller side or the W-phase terminal/U-phase terminal at the controller side is shown; when Δ PPWhen the value is 1, it indicates that the motor side U-phase terminal/V-phase terminal is butted to the controller side U-phase terminal/W-phase terminal, the controller side V-phase terminal/U-phase terminal, or the controller side W-phase terminal/V-phase terminal.
5. The method of claim 4 wherein said calculating an initial potential angle phase difference value and said calculating an initial potential angle phase comprise using the formula P1＝mod(P0+ Δ P,2) calculation, where P1Is an initial potential angular phase, P0And delta P is the initial potential angle phase difference value for the factory initial potential angle phase.
6. The method of claim 1, wherein the difference between the initial position and the connection mode of the rotor of the electric machine is determined by a difference between Δ θ ═ mod (Δ θ) between the initial position and the connection mode of the rotor of the electric machineRD+ΔθPRD360), where Δ θ is the initial potential angle difference, Δ θRDFor initial potential angle differences in case of wiring errors of the resolver only, Δ θPRDBy passing
Figure FDA0002305051400000021
Calculation of where P1RDIs the new initial potential angle phase when only the rotary transformer is in wiring error.
7. The method of claim 6, wherein Δ θ is the initial position of the rotor of the electric machine and the wiring pattern is determinedRDBy passing
Figure FDA0002305051400000022
And (c) calculating, wherein,
Figure FDA0002305051400000023
the initial potential angle difference value corresponding to the situation that the wiring of the rotary transformer only has one of a reversed excitation positive terminal/excitation negative terminal, a reversed sine positive terminal/sine negative terminal, a reversed cosine positive terminal/sine negative terminal and a reversed sine terminal/cosine terminal is represented;
Figure FDA0002305051400000024
presentation pair
Figure FDA0002305051400000025
And (6) summing.
8. The method of claim 7 wherein P is the initial position of the rotor of the machine and the manner of wiring1RDBy P1RD＝mod(P0+ΔPRDAnd 2) calculation of, wherein, Δ PRDFor the initial potential angle phase difference value only when the wiring of the rotary transformer is wrong, the method comprises
Figure FDA0002305051400000026
And (c) calculating, wherein,
Figure FDA0002305051400000027
the wiring of the rotary transformer is only shown to be changed over to an excitation positive terminal/an excitation negative terminal, a sine positive terminal/a sine negative terminal, a cosine positive terminal/a sine negative terminal and a sine terminalThe phase difference value of the corresponding initial potential angle in 1 case of cosine terminal;
Figure FDA0002305051400000028
presentation pair
Figure FDA0002305051400000029
And (6) summing.
9. The method of claim 8, wherein said calculating an initial potential angle difference and said calculating an initial potential angle comprise using a formula θ1＝mod(θ0+ Δ θ,360) calculation, where θ1To an initial potential angle, θ0And delta theta is the initial potential angle of the factory, and is the difference value of the initial potential angles.
10. The method of claim 1, wherein the plurality of wrong wiring types includes 3 wrong wiring types: only the wiring of the rotary transformer is wrong, and the wiring of the three-phase wire harness is correct; only the wiring of the three-phase wire harness is wrong, and the wiring of the transformer is correct; the rotary transformer and the three-phase wiring harness are both in wrong wiring.
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