CN113391551A - Motor electrical angle compensation method and device, electronic equipment and storage medium - Google Patents

Motor electrical angle compensation method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113391551A
CN113391551A CN202110607388.1A CN202110607388A CN113391551A CN 113391551 A CN113391551 A CN 113391551A CN 202110607388 A CN202110607388 A CN 202110607388A CN 113391551 A CN113391551 A CN 113391551A
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data
electrical angle
current
angle data
read
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CN113391551B (en
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彭东琨
彭思齐
张锦锋
陈显超
赖剑青
梁冠宏
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Foshan Shunde Lepuda Motor Co ltd
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Foshan Shunde Lepuda Motor Co ltd
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
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Abstract

The invention provides a method and a device for compensating an electrical angle of a motor, electronic equipment and a storage medium, wherein electrical angle data and acquisition time data acquired by an encoder are read by using a preset carrier frequency, and reading time data at the moment of reading the electrical angle data and the acquisition time data are acquired; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; outputting the compensated current electrical angle data as a feedback value of the encoder; therefore, the deviation between the electric angle data output by the current controller and the real electric angle data can be effectively reduced, the conditions of low control output efficiency and torque fluctuation of the torque loop can be improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.

Description

Motor electrical angle compensation method and device, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of permanent magnet synchronous motor control, in particular to a motor electrical angle compensation method and device, electronic equipment and a storage medium.
Background
At present, a permanent magnet synchronous motor is mainly used for precise torque control, speed control and position control. As shown in fig. 4, an existing permanent magnet synchronous motor control system generally uses a communication type absolute value encoder as a position feedback unit of a motor rotor, and since a communication rate of the encoder cannot keep up with a torque loop control frequency, the encoder generally cannot refresh position information in real time during control of each torque loop, and a current controller of the torque loop has a time deviation between a time when the current controller reads electrical angle data acquired by the encoder and a time when the encoder acquires the electrical angle data, so that when the current controller reads the electrical angle data, an electrical angle of a motor has changed, and thus a deviation exists between the electrical angle data read by the current controller and real electrical angle data. Because the encoder cannot obtain real-time and correct updating of the position information, the problems of low efficiency and torque fluctuation exist in the torque loop control output, so that the operation efficiency of the motor is influenced, and the motor vibrates.
Disclosure of Invention
In view of the foregoing disadvantages of the prior art, an object of the embodiments of the present application is to provide a method and an apparatus for compensating an electrical angle of a motor, an electronic device, and a storage medium, which are beneficial to improving the conditions of low output efficiency and torque ripple of torque loop control, so as to improve the operating efficiency of the motor and reduce the vibration of the motor.
In a first aspect, an embodiment of the present application provides a motor electrical angle compensation method, which is applied to a current controller of a permanent magnet synchronous motor control system, and includes the steps of:
A1. reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency, and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
A2. calculating current speed data according to a plurality of recently read electrical angle data;
A3. calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
A4. and outputting the compensated current electrical angle data as a feedback value of the encoder.
According to the motor electrical angle compensation method provided by the embodiment of the application, the current speed data is calculated according to the read electrical angle data, then the electrical angle compensation value needing to be compensated is calculated according to the current speed data, the acquisition time data and the read time data, the electrical angle compensation value is used for compensating the previous electrical angle data and then outputting the compensated electrical angle data as the feedback value, the deviation between the electrical angle data output by the current controller and the real electrical angle data can be effectively reduced, the conditions of low torque loop control output efficiency and torque fluctuation are favorably improved, the running efficiency of a motor is improved, and the vibration of the motor is reduced.
Preferably, step a2 includes:
the current speed data is calculated according to the following formula:
Figure 100002_DEST_PATH_IMAGE002
;
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure 100002_DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure 100002_DEST_PATH_IMAGE008
is composed of
Figure 734153DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure 100002_DEST_PATH_IMAGE010
to
Figure 100002_DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure 100002_DEST_PATH_IMAGE014
to
Figure 100002_DEST_PATH_IMAGE016
Are respectively
Figure 825737DEST_PATH_IMAGE010
To
Figure 380346DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure 100002_DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure 100002_DEST_PATH_IMAGE020
to
Figure 100002_DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
Preferably, in step a2, n = 2.
Preferably, step a2 further includes:
calculating a speed deviation value between the current speed data and the speed data obtained by the last calculation;
judging whether the speed deviation value is larger than a preset speed deviation threshold value or not;
if not, judging that the current speed data is valid;
if so, judging that the current speed data is invalid, and calculating new speed data according to the speed data obtained by the previous m-time calculation to serve as the current speed data; wherein m is a preset positive integer.
Preferably, step a2 further includes:
checking the read current electrical angle data to judge whether the current electrical angle data is valid;
and if the current electric angle data is invalid, taking the speed data obtained by the previous calculation as the current speed data.
Preferably, step a3 includes:
if the read current electrical angle data is valid, calculating the compensated current electrical angle data according to the following formula:
Figure 100002_DEST_PATH_IMAGE024
;
Figure 100002_DEST_PATH_IMAGE026
；
Figure 100002_DEST_PATH_IMAGE028
；
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE030
for the compensated current electrical angle data,
Figure 100002_DEST_PATH_IMAGE032
in order to compensate for the current electrical angle data before compensation,
Figure 100002_DEST_PATH_IMAGE034
as an electrical angle compensation value, is set,
Figure 412456DEST_PATH_IMAGE004
as the current speed data, it is,
Figure 100002_DEST_PATH_IMAGE036
in order to compensate for the time offset that needs to be compensated,
Figure 100002_DEST_PATH_IMAGE038
is composed of
Figure 495950DEST_PATH_IMAGE032
Corresponding reading time data;
if the read current electrical angle data is invalid, calculating the compensated current electrical angle data according to the following formula:
Figure 100002_DEST_PATH_IMAGE040
;
Figure 605988DEST_PATH_IMAGE026
；
Figure 100002_DEST_PATH_IMAGE042
；
wherein the content of the first and second substances,
Figure 100002_DEST_PATH_IMAGE044
for the last time valid electrical angle data is read,
Figure 100002_DEST_PATH_IMAGE046
is composed of
Figure 400507DEST_PATH_IMAGE044
Corresponding read time data.
In a second aspect, an embodiment of the present application provides an electrical angle compensation apparatus for a motor, including:
the first acquisition module is used for reading the electrical angle data and the acquisition time data acquired by the encoder at a preset carrier frequency and acquiring the reading time data of the moment when the electrical angle data and the acquisition time data are read; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
the first calculation module is used for calculating current speed data according to a plurality of recently read electrical angle data;
the compensation module is used for calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
and the feedback module is used for outputting the compensated current electrical angle data as a feedback value of the encoder.
Preferably, the first calculation module, when calculating the current speed data from the plurality of electrical angle data read most recently:
the current speed data is calculated according to the following formula:
Figure 873076DEST_PATH_IMAGE002
;
wherein the content of the first and second substances,
Figure 189788DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure 115019DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure 277010DEST_PATH_IMAGE008
is composed of
Figure 509146DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure 793497DEST_PATH_IMAGE010
to
Figure 409286DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure 437285DEST_PATH_IMAGE014
to
Figure 556550DEST_PATH_IMAGE016
Are respectively
Figure 746223DEST_PATH_IMAGE010
To
Figure 583729DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure 149840DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure 887726DEST_PATH_IMAGE020
to
Figure 248301DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, where the memory stores a computer program, and the processor is configured to execute the steps of the motor electrical angle compensation method by calling the computer program stored in the memory.
In a fourth aspect, embodiments of the present application provide a storage medium having a computer program stored thereon, where the computer program is executed by a processor to execute the steps of the motor electrical angle compensation method as described.
Has the advantages that:
according to the method, the device, the electronic equipment and the storage medium for compensating the electrical angle of the motor, the electrical angle data and the acquisition time data acquired by an encoder are read by using the preset carrier frequency, and the reading time data at the moment of reading the electrical angle data and the acquisition time data is acquired; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; outputting the compensated current electrical angle data as a feedback value of the encoder; therefore, the deviation between the electric angle data output by the current controller and the real electric angle data can be effectively reduced, the conditions of low control output efficiency and torque fluctuation of the torque loop can be improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.
Drawings
Fig. 1 is a flowchart of a method for compensating an electrical angle of a motor according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of an electrical angle compensation apparatus of a motor according to an embodiment of the present disclosure.
Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a conventional permanent magnet synchronous motor control system.
Fig. 5 is an exemplary carrier cycle timing diagram.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, a method for compensating an electrical angle of a motor provided in an embodiment of the present application is applied to a current controller of a permanent magnet synchronous motor control system, and includes the steps of:
A1. reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency, and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
A2. calculating current speed data according to a plurality of recently read electrical angle data;
A3. calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
A4. and outputting the compensated current electrical angle data as a feedback value of the encoder.
The structure of the permanent magnet synchronous motor control system is shown in fig. 4, and the current controller is connected with the output end of the encoder to process the output data of the encoder. The current speed data is calculated according to the read electrical angle data, then the electrical angle compensation value needing to be compensated is calculated according to the current speed data, the acquisition time data and the read time data, the electrical angle compensation value is used for compensating the previous electrical angle data and then outputting the previous electrical angle data as a feedback value, and the deviation between the electrical angle data output by the current controller and the real electrical angle data (which means the real electrical angle of the motor at the moment of the read electrical angle data) can be effectively reduced, so that the conditions of low torque loop control output efficiency and torque fluctuation can be favorably improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.
The carrier frequency in step a1 is not less than the torque loop control frequency of the permanent magnet synchronous motor control system, for example, the carrier frequency is the same as the torque loop control frequency of the permanent magnet synchronous motor control system. To avoid the feedback frequency of the electrical angle data not keeping up with the torque loop control frequency.
In some embodiments, step a2 includes:
A201. the current speed data is calculated according to the following formula:
Figure 307524DEST_PATH_IMAGE002
（1）;
wherein the content of the first and second substances,
Figure 677325DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure 771183DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure 568238DEST_PATH_IMAGE008
is composed of
Figure 114757DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure 730327DEST_PATH_IMAGE010
to
Figure 741008DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure 646647DEST_PATH_IMAGE014
to
Figure 742779DEST_PATH_IMAGE016
Are respectively
Figure 392066DEST_PATH_IMAGE010
To
Figure 257254DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure 333794DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure 917223DEST_PATH_IMAGE020
to
Figure 603157DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
The speed data is obtained by calculating by integrating a plurality of electric angle data read in advance, so that the current speed data can be accurately estimated, and the deviation between the electric angle data output by the current controller and the real electric angle data can be ensured to be small.
Wherein, the value of n can be set according to actual needs; preferably, n =2, so that the electrical angle data used span less in time, so that the current velocity data calculated is more accurate.
Where, in theory, the carrier period is fixed, and therefore,
Figure DEST_PATH_IMAGE048
、
Figure DEST_PATH_IMAGE050
……、
Figure DEST_PATH_IMAGE052
the values of (a) are equal to the carrier period; in practice, however, the time control is erroneous, and therefore
Figure 463796DEST_PATH_IMAGE048
、
Figure 711238DEST_PATH_IMAGE050
……、
Figure 781962DEST_PATH_IMAGE052
There is also a difference between them, as used herein
Figure 271587DEST_PATH_IMAGE048
、
Figure 111367DEST_PATH_IMAGE050
……、
Figure 529710DEST_PATH_IMAGE052
The calculation result can be further improved by replacing the carrier period as the denominator for operation.
In some preferred embodiments, step a2 further comprises:
A202. calculating a speed deviation value between the current speed data and the last calculated speed data (which refers to the final effective speed data calculated in the last carrier period);
A203. judging whether the speed deviation value is larger than a preset speed deviation threshold value or not;
A204. if not, judging that the current speed data is valid;
A205. if so, judging that the current speed data is invalid, and calculating new speed data according to the speed data obtained by the previous m-time calculation to serve as the current speed data; wherein m is a preset positive integer.
The speed deviation value between the current speed data and the last calculated speed data (referring to the final valid speed data calculated in the last carrier period) reflects the acceleration condition of the motor, the acceleration capability of the motor is limited, if the speed deviation value between the current speed data and the last calculated speed data indicates that the calculated current speed data is not reliable, the current speed data cannot be used for calculating the electrical angle compensation value, otherwise, the control effect on the motor is affected.
The current velocity data is valid and will be used for subsequent electrical angle compensation value calculations.
In step a205, the value of m may be set according to implementation requirements, and m may be 1 or greater than 1.
For example, in a first example, m =1, step a205 comprises: the speed data obtained by the previous calculation (referring to the final effective speed data obtained by calculation in the last carrier period) is used as the current speed data.
For example, in a second example, m is greater than 1, and in some embodiments, step a205 includes: calculating the average value of the speed data obtained by the previous m times of calculation as the current speed data; in other embodiments, step a205 comprises: and fitting according to the speed data obtained by the previous m-time calculation to obtain a speed change curve formula, and substituting the reading time data of the moment when the current electrical angle data is read into the speed change curve formula to obtain the current speed data.
Or for example, when m is greater than 1, in step a205, current speed data (specifically, refer to the second example described above) is calculated according to the speed data obtained by the previous m times of calculation, a speed deviation value between the current speed data and the speed data obtained by the previous calculation (refer to the final valid speed data obtained by calculation in the previous carrier cycle) is calculated, whether the speed deviation value is greater than a preset speed deviation threshold value is determined, if not, the current speed data is determined to be valid, and if yes, the speed data obtained by the previous calculation (refer to the final valid speed data obtained by calculation in the previous carrier cycle) is used as the current speed data.
In practical applications, the read current electrical angle data may be invalid, and if the read current electrical angle data is invalid, the current speed data calculated according to the current electrical angle data is also invalid (that is, the current speed data calculated according to the formula (1) is invalid), in this case, step a2 may further include:
A206. checking the read current electrical angle data to judge whether the current electrical angle data is valid;
A207. and if the current electrical angle data is invalid, taking the speed data obtained by the previous calculation (which refers to the final valid speed data obtained by the calculation in the last carrier period) as the current speed data.
The step of checking the read current electrical angle data comprises the following steps: monitoring a communication data frame and recalculating a check value according to a communication rule of an encoder to judge whether data errors exist in the communication process (for example, adopting a CRC (cyclic redundancy check) mode), if the data errors exist, judging that the current electrical angle data are invalid, otherwise, judging that the current electrical angle data are valid.
When the read current electrical angle data is invalid, the speed data obtained by the last calculation is directly used as the current speed data, although the deviation exists between the speed data obtained by the last calculation and the current real speed data, the deviation is controllable, and the deviation between the current speed data obtained by the calculation by using the invalid current electrical angle data and the current real speed data is uncontrollable, so that the accuracy of the calculation result can be better ensured.
Further, step a3 includes:
A301. if the read current electrical angle data is valid, calculating the compensated current electrical angle data according to the following formula:
Figure 822151DEST_PATH_IMAGE024
;
Figure 616932DEST_PATH_IMAGE026
；
Figure 311218DEST_PATH_IMAGE028
；
wherein the content of the first and second substances,
Figure 900463DEST_PATH_IMAGE030
for the compensated current electrical angle data,
Figure 945779DEST_PATH_IMAGE032
to compensate for the current electrical angle data before compensation (i.e. the read current electrical angle data),
Figure 777207DEST_PATH_IMAGE034
as an electrical angle compensation value, is set,
Figure 326000DEST_PATH_IMAGE004
as the current speed data, it is,
Figure 351725DEST_PATH_IMAGE036
in order to compensate for the time offset that needs to be compensated,
Figure 556441DEST_PATH_IMAGE038
is composed of
Figure 755341DEST_PATH_IMAGE032
Corresponding reading time data;
A302. if the read current electrical angle data is invalid, calculating the compensated current electrical angle data according to the following formula:
Figure 96324DEST_PATH_IMAGE040
;
Figure 355267DEST_PATH_IMAGE026
；
Figure 563392DEST_PATH_IMAGE042
；
wherein the content of the first and second substances,
Figure 300404DEST_PATH_IMAGE044
for the last time valid electrical angle data is read,
Figure 761473DEST_PATH_IMAGE046
is composed of
Figure 191317DEST_PATH_IMAGE044
Corresponding read time data.
Such as the carrier cycle timing diagram shown in fig. 5, where the acquisition time at which the encoder acquires the electrical angle data is after the reading time at which the current controller reads the electrical angle data in each carrier cycle, and thus, the electrical angle data is acquired in each carrier cycleThe electrical angle data read by the flow controller are all the electrical angle data collected by the encoder in the last carrier period. If the current period reads the electrical angle data (i.e. the read current electrical angle data)
Figure 105046DEST_PATH_IMAGE032
) If the result is valid, calculating according to the step A301; if the electrical angle data read in the current period is invalid, the electrical angle data read last time is assumed to be valid, that is, the electrical angle data read last time is valid
Figure DEST_PATH_IMAGE054
、
Figure DEST_PATH_IMAGE056
Then handle
Figure 19650DEST_PATH_IMAGE054
、
Figure 663121DEST_PATH_IMAGE056
And substituting the calculation formula of the step A302 for calculation.
According to the motor electrical angle compensation method, electrical angle data and acquisition time data acquired by an encoder are read by a preset carrier frequency, and reading time data of the electrical angle data and the acquisition time data are acquired; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; outputting the compensated current electrical angle data as a feedback value of the encoder; therefore, the deviation between the electric angle data output by the current controller and the real electric angle data can be effectively reduced, the conditions of low control output efficiency and torque fluctuation of the torque loop can be improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.
Referring to fig. 2, an embodiment of the present application provides a motor electrical angle compensation apparatus, including:
the first acquisition module 1 is used for reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
the first calculation module 2 is used for calculating current speed data according to a plurality of recently read electrical angle data;
the compensation module 3 is used for calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
and the feedback module 4 is used for outputting the compensated current electrical angle data as a feedback value of the encoder.
In some embodiments, the first calculation module 2, when calculating the current speed data from the plurality of electrical angle data most recently read:
the current speed data is calculated according to the following formula:
Figure 935971DEST_PATH_IMAGE002
;
wherein the content of the first and second substances,
Figure 664892DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure 681390DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure 179367DEST_PATH_IMAGE008
is composed of
Figure 623118DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure 839336DEST_PATH_IMAGE010
to
Figure 158060DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure 448227DEST_PATH_IMAGE014
to
Figure 390775DEST_PATH_IMAGE016
Are respectively
Figure 766393DEST_PATH_IMAGE010
To
Figure 187010DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure 597262DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure 445133DEST_PATH_IMAGE020
to
Figure 806582DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
Wherein, the value of n can be set according to actual needs; preferably, n =2, so that the electrical angle data used span less in time, so that the current velocity data calculated is more accurate.
In some preferred embodiments, the first calculation module 2, when calculating the current speed data from the plurality of electrical angle data that have been most recently read, further:
calculating a speed deviation value between the current speed data and the last calculated speed data (which refers to the final effective speed data calculated in the last carrier period);
judging whether the speed deviation value is larger than a preset speed deviation threshold value or not;
if not, judging that the current speed data is valid;
if so, judging that the current speed data is invalid, and calculating new speed data according to the speed data obtained by the previous m-time calculation to serve as the current speed data; wherein m is a preset positive integer.
The speed deviation value between the current speed data and the last calculated speed data (referring to the final valid speed data calculated in the last carrier period) reflects the acceleration condition of the motor, the acceleration capability of the motor is limited, if the speed deviation value between the current speed data and the last calculated speed data indicates that the calculated current speed data is not reliable, the current speed data cannot be used for calculating the electrical angle compensation value, otherwise, the control effect on the motor is affected.
The current velocity data is valid and will be used for subsequent electrical angle compensation value calculations.
Wherein, the value of m can be set according to the implementation requirement, and m can be 1 or more than 1.
For example, in a first example, where m =1, the first calculation module 2, when calculating new speed data as current speed data from the speed data obtained from the previous m calculations: the speed data obtained by the previous calculation (referring to the final effective speed data obtained by calculation in the last carrier period) is used as the current speed data.
For example, in a second example, m is greater than 1, and in some embodiments, the first calculating module 2, when calculating new speed data as the current speed data from the speed data obtained from the previous m times of calculation: calculating the average value of the speed data obtained by the previous m times of calculation as the current speed data; in other embodiments, the first calculation module 2, when calculating new speed data as the current speed data from the speed data obtained from the previous m calculations: and fitting according to the speed data obtained by the previous m-time calculation to obtain a speed change curve formula, and substituting the reading time data of the moment when the current electrical angle data is read into the speed change curve formula to obtain the current speed data.
Or for example, when m is greater than 1, the first calculation module 2, when calculating new speed data as the current speed data according to the speed data obtained by the previous m times of calculation: first, current speed data (specifically, refer to the second example mentioned above) is calculated according to the speed data obtained by the previous m times of calculation, then, a speed deviation value between the current speed data and the speed data obtained by the previous calculation (referring to the final valid speed data obtained by calculation in the previous carrier cycle) is calculated, whether the speed deviation value is greater than a preset speed deviation threshold value is determined, if not, the current speed data is determined to be valid, and if so, the speed data obtained by the previous calculation (referring to the final valid speed data obtained by calculation in the previous carrier cycle) is used as the current speed data.
In practical applications, the read current electrical angle data may be invalid, and if the read current electrical angle data is invalid, the current speed data calculated according to the current electrical angle data is also invalid, and at this time, when the first calculating module 2 calculates the current speed data according to the plurality of electrical angle data read recently, the first calculating module further:
checking the read current electrical angle data to judge whether the current electrical angle data is valid;
and if the current electrical angle data is invalid, taking the speed data obtained by the previous calculation (which refers to the final valid speed data obtained by the calculation in the last carrier period) as the current speed data.
The step of checking the read current electrical angle data comprises the following steps: monitoring a communication data frame and recalculating a check value according to a communication rule of an encoder to judge whether data errors exist in the communication process (for example, adopting a CRC (cyclic redundancy check) mode), if the data errors exist, judging that the current electrical angle data are invalid, otherwise, judging that the current electrical angle data are valid.
Further, when calculating the electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data, the compensation module 3 is configured to:
if the read current electrical angle data is valid, calculating the compensated current electrical angle data according to the following formula:
Figure 30890DEST_PATH_IMAGE024
;
Figure 295649DEST_PATH_IMAGE026
；
Figure 580000DEST_PATH_IMAGE028
；
wherein the content of the first and second substances,
Figure 930209DEST_PATH_IMAGE030
for the compensated current electrical angle data,
Figure 692629DEST_PATH_IMAGE032
to compensate for the current electrical angle data before compensation (i.e. the read current electrical angle data),
Figure 811895DEST_PATH_IMAGE034
as an electrical angle compensation value, is set,
Figure 709225DEST_PATH_IMAGE004
as the current speed data, it is,
Figure 609047DEST_PATH_IMAGE036
in order to compensate for the time offset that needs to be compensated,
Figure 112841DEST_PATH_IMAGE038
is composed of
Figure 148930DEST_PATH_IMAGE032
Corresponding reading time data;
if the read current electrical angle data is invalid, calculating the compensated current electrical angle data according to the following formula:
Figure 712767DEST_PATH_IMAGE040
;
Figure 99886DEST_PATH_IMAGE026
；
Figure 141791DEST_PATH_IMAGE042
；
wherein the content of the first and second substances,
Figure 297966DEST_PATH_IMAGE044
for the last time valid electrical angle data is read,
Figure 531239DEST_PATH_IMAGE046
is composed of
Figure 140075DEST_PATH_IMAGE044
Corresponding read time data.
As can be seen from the above, the electric angle compensation device of the motor reads the electric angle data and the acquisition time data acquired by the encoder at the preset carrier frequency, and acquires the read time data at the moment when the electric angle data and the acquisition time data are read; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; outputting the compensated current electrical angle data as a feedback value of the encoder; therefore, the deviation between the electric angle data output by the current controller and the real electric angle data can be effectively reduced, the conditions of low control output efficiency and torque fluctuation of the torque loop can be improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.
Referring to fig. 3, an electronic device 100 according to an embodiment of the present application further includes a processor 101 and a memory 102, where the memory 102 stores a computer program, and the processor 101 is configured to execute the steps of the motor electrical angle compensation method by calling the computer program stored in the memory 102.
The processor 101 is electrically connected to the memory 102. The processor 101 is a control center of the electronic device 100, connects various parts of the entire electronic device using various interfaces and lines, and performs various functions of the electronic device and processes data by running or calling a computer program stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device.
The memory 102 may be used to store computer programs and data. The memory 102 stores computer programs containing instructions executable in the processor. The computer program may constitute various functional modules. The processor 101 executes various functional applications and data processing by calling a computer program stored in the memory 102.
In this embodiment, the processor 101 in the electronic device 100 loads instructions corresponding to one or more processes of the computer program into the memory 102, and the processor 101 runs the computer program stored in the memory 102 according to the following steps, so as to implement various functions: reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency, and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; and outputting the compensated current electrical angle data as a feedback value of the encoder.
As can be seen from the above, the electronic device reads the electrical angle data and the acquisition time data acquired by the encoder at a preset carrier frequency, and acquires the read time data at the time when the electrical angle data and the acquisition time data are read; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; outputting the compensated current electrical angle data as a feedback value of the encoder; therefore, the deviation between the electric angle data output by the current controller and the real electric angle data can be effectively reduced, the conditions of low control output efficiency and torque fluctuation of the torque loop can be improved, the running efficiency of the motor is improved, and the vibration of the motor is reduced.
An embodiment of the present application further provides a storage medium, on which a computer program is stored, where the computer program runs the steps of the above-mentioned motor electrical angle compensation method when being executed by a processor, so as to implement the following functions: reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency, and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; calculating current speed data according to a plurality of recently read electrical angle data; calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; and outputting the compensated current electrical angle data as a feedback value of the encoder.
The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, which are substantially the same as the present invention.

Claims (10)

1. A motor electrical angle compensation method is characterized in that a current controller applied to a permanent magnet synchronous motor control system comprises the following steps:
A1. reading electrical angle data and acquisition time data acquired by an encoder at a preset carrier frequency, and acquiring reading time data at the moment of reading the electrical angle data and the acquisition time data; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
A2. calculating current speed data according to a plurality of recently read electrical angle data;
A3. calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
A4. and outputting the compensated current electrical angle data as a feedback value of the encoder.
2. The method of compensating electrical angle of motor of claim 1, wherein step a2 includes:
the current speed data is calculated according to the following formula:
Figure DEST_PATH_IMAGE002
;
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure DEST_PATH_IMAGE008
is composed of
Figure 416027DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure DEST_PATH_IMAGE010
to
Figure DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure DEST_PATH_IMAGE014
to
Figure DEST_PATH_IMAGE016
Are respectively
Figure 208534DEST_PATH_IMAGE010
To
Figure 722692DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure DEST_PATH_IMAGE020
to
Figure DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
3. The electrical angle compensation method of claim 2, wherein in step a2, n = 2.
4. The method of compensating electrical angle of motor of claim 2, wherein step a2 further comprises:
calculating a speed deviation value between the current speed data and the speed data obtained by the last calculation;
judging whether the speed deviation value is larger than a preset speed deviation threshold value or not;
if not, judging that the current speed data is valid;
if so, judging that the current speed data is invalid, and calculating new speed data according to the speed data obtained by the previous m-time calculation to serve as the current speed data; wherein m is a preset positive integer.
5. The method of compensating electrical angle of motor of claim 2, wherein step a2 further comprises:
checking the read current electrical angle data to judge whether the current electrical angle data is valid;
and if the current electric angle data is invalid, taking the speed data obtained by the previous calculation as the current speed data.
6. The electrical angle compensation method of claim 5, wherein step A3 comprises:
if the read current electrical angle data is valid, calculating the compensated current electrical angle data according to the following formula:
Figure DEST_PATH_IMAGE024
;
Figure DEST_PATH_IMAGE026
；
Figure DEST_PATH_IMAGE028
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE030
for the compensated current electrical angle data,
Figure DEST_PATH_IMAGE032
in order to compensate for the current electrical angle data before compensation,
Figure DEST_PATH_IMAGE034
as an electrical angle compensation value, is set,
Figure 882015DEST_PATH_IMAGE004
as the current speed data, it is,
Figure DEST_PATH_IMAGE036
in order to compensate for the time offset that needs to be compensated,
Figure DEST_PATH_IMAGE038
is composed of
Figure 867027DEST_PATH_IMAGE032
Corresponding reading time data;
if the read current electrical angle data is invalid, calculating the compensated current electrical angle data according to the following formula:
Figure DEST_PATH_IMAGE040
;
Figure 627172DEST_PATH_IMAGE026
；
Figure DEST_PATH_IMAGE042
；
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE044
for the last time valid electrical angle data is read,
Figure DEST_PATH_IMAGE046
is composed of
Figure 769572DEST_PATH_IMAGE044
Corresponding read time data.
7. An electric angle compensation device of a motor, comprising:
the first acquisition module is used for reading the electrical angle data and the acquisition time data acquired by the encoder at a preset carrier frequency and acquiring the reading time data of the moment when the electrical angle data and the acquisition time data are read; the acquisition time data refers to time data of the moment when the encoder acquires the electrical angle data;
the first calculation module is used for calculating current speed data according to a plurality of recently read electrical angle data;
the compensation module is used for calculating an electrical angle compensation value according to the current speed data, the acquisition time data and the reading time data so as to compensate the current electrical angle data; the current electrical angle data refers to currently read electrical angle data;
and the feedback module is used for outputting the compensated current electrical angle data as a feedback value of the encoder.
8. The electrical angle compensation device of claim 7, wherein the first calculation module, when calculating the current speed data from the plurality of electrical angle data read most recently:
the current speed data is calculated according to the following formula:
Figure 968472DEST_PATH_IMAGE002
;
wherein the content of the first and second substances,
Figure 67710DEST_PATH_IMAGE004
for the current speed data, n is a preset positive integer value and n>1,
Figure 998757DEST_PATH_IMAGE006
As the present electrical angle data, it is,
Figure 753086DEST_PATH_IMAGE008
is composed of
Figure 427781DEST_PATH_IMAGE006
The corresponding data of the acquisition time is acquired,
Figure 951166DEST_PATH_IMAGE010
to
Figure 318694DEST_PATH_IMAGE012
Respectively the 1 st to nth last electrical angle data read before the present electrical angle data,
Figure 560319DEST_PATH_IMAGE014
to
Figure 271661DEST_PATH_IMAGE016
Are respectively
Figure 915132DEST_PATH_IMAGE010
To
Figure 187981DEST_PATH_IMAGE012
The time of acquisition of the data is,
Figure 916903DEST_PATH_IMAGE018
is the start time of the current carrier cycle,
Figure 933400DEST_PATH_IMAGE020
to
Figure 431378DEST_PATH_IMAGE022
Respectively, the start times of the 1 st to nth last carrier periods before the current carrier period.
9. An electronic device, characterized by comprising a processor and a memory, in which a computer program is stored, the processor being adapted to carry out the steps of the method of electrical angle compensation of an electrical machine according to any one of claims 1 to 6 by invoking the computer program stored in the memory.
10. A storage medium having a computer program stored thereon, wherein the computer program, when being executed by a processor, executes the steps of the method for electrical angle compensation of an electrical machine according to any of claims 1-6.
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