CN114123879A - Phase detection method, phase detection device, electronic equipment and storage medium - Google Patents
Phase detection method, phase detection device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a phase detection method, a phase detection device, electronic equipment and a storage medium, and relates to the technical field of motor control. The method comprises the following steps: starting a motor, and adjusting a phase angle of the motor from an initial angle to a first angle after the motor is started to obtain a first position deviation value; adjusting the phase angle of the motor from the first angle to an initial angle to obtain a second position deviation value; calculating a zero phase deviation angle according to the first position deviation value and the second position deviation value; acquiring a third Hall state in the first starting state of the servo system; calculating a reference initial phase according to the zero phase deviation angle, the first Hall state and the third Hall state; acquiring a fourth Hall state in a second starting state of the servo system; and correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase. The method can be used for detecting the initial phase of the motor in various application scenes, and has good applicability.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a phase detection method and apparatus, an electronic device, and a storage medium.
Background
The servo control system usually uses a vector control strategy of Field Orientation (FOC), and the field orientation control controls the operation of the motor by calculating a torque current component of a corresponding angle through a rotor real-time phase, which requires precise detection of the position of a motor mover to realize field orientation and position control. A position sensor such as an encoder is generally installed to detect the mover position. The encoder includes both absolute and incremental. Because incremental encoder cost performance is higher, therefore by the wide application in permanent magnetism linear servo system, but incremental encoder often need introduce the Z signal when detecting and assist, the Z signal is the zero pulse signal of encoder, and can only allow the occasion of the great range shake of motor to use in some starting torque is less or the start-up stage, has certain limitation, simultaneously, also has slight reciprocating motion that makes a round trip in the phase place testing process, influences and detects the precision. Therefore, how to provide a phase detection method, which can be applied to the detection of the initial phase of the motor in a multi-application scenario, and improve the applicability of the detection method becomes a technical problem to be solved urgently.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention provides a phase detection method, a phase detection device, an electronic device and a storage medium, which can detect the initial phase of a permanent magnet synchronous motor without the assistance of a Z signal, are suitable for detecting the initial phase of the permanent magnet synchronous motor in various application scenes and have good applicability.
In order to achieve the above object, a first aspect of an embodiment of the present invention provides a phase detection method, including:
starting the motor;
after the motor is started, adjusting a phase angle of the motor from an initial angle to a first angle to obtain a first position value and a first Hall state of a Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
adjusting the phase angle of the motor from the first angle to the initial angle to obtain a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
acquiring a third Hall state of the Hall sensor in a first starting state of the servo system;
calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
In some embodiments of the present invention, the calculating the zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value includes:
calculating an average value of the first position deviation value and the second position deviation value, and taking the average value as a third position deviation value;
and calculating a zero phase deviation angle of the motor according to the third position deviation value, the acquired encoder resolution and the acquired motor pole pair number.
In some embodiments of the present invention, said calculating a reference initial phase of the motor from the zero phase offset angle, the first hall state, and the third hall state comprises:
obtaining the number of Hall states according to the first Hall state and the third Hall state;
and calculating the reference initial phase according to the zero phase deviation angle, the number of the Hall states and a preset angle factor.
In some embodiments of the present invention, the adjusting the phase angle of the motor from the initial angle to the first angle after the motor is started to obtain the first position value and the first hall state of the hall sensor, and obtaining the first position deviation value according to the first position value and the first hall state includes:
when the phase angle is an initial angle, acquiring a first position value of an encoder;
adjusting the phase angle of the motor from an initial angle to a first angle, and detecting the first Hall state;
acquiring a third position value of the encoder according to the first Hall state;
and obtaining the first position deviation value according to the first position value and the third position value.
In some embodiments of the present invention, the obtaining the first position deviation value according to the first position and the third position value includes:
and performing difference processing on the third position value and the first position value to obtain the first position deviation value.
In some embodiments of the present invention, the adjusting the phase angle of the motor from the first angle to the initial angle to obtain a second position value and a second hall state of the hall sensor, and calculating a second position offset value according to the second position value and the second hall state includes:
adjusting the phase angle of the motor from the first angle to the initial angle, and detecting the second Hall state;
acquiring a fourth position value of the encoder according to the second Hall state;
when the phase angle is an initial angle, acquiring a second position value of the encoder;
and obtaining the second position deviation value according to the second position value and the fourth position value.
In some embodiments of the present invention, the obtaining the second position deviation value according to the second position and the fourth position value includes:
and performing difference processing on the second position value and the fourth position value to obtain the second position deviation value.
To achieve the above object, a second aspect of an embodiment of the present invention provides a phase detection apparatus, including:
the motor starting module is used for starting the motor;
the first position deviation value acquisition module is used for adjusting the phase angle of the motor from an initial angle to a first angle after the motor is started so as to acquire a first position value and a first Hall state of a Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
the second position deviation value acquisition module is used for adjusting the phase angle of the motor from the first angle to the initial angle so as to acquire a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
the zero phase deviation angle calculation module is used for calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
the third Hall state acquisition module is used for acquiring a third Hall state of the Hall sensor in a first starting state of the servo system;
the reference initial phase calculation module is used for calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
the fourth Hall state acquisition module is used for acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and the target initial phase acquisition module is used for correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
To achieve the above object, a third aspect of an embodiment of the present invention provides an electronic apparatus, including:
at least one memory;
at least one processor;
at least one program;
the program is stored in a memory and a processor executes the at least one program to implement the phase detection method of the present invention as described in the above first aspect.
To achieve the above object, a fourth aspect of the present invention proposes a storage medium which is a computer-readable storage medium storing computer-executable instructions for causing a computer to execute:
the phase detection method according to the first aspect.
The phase detection method, the phase detection device, the electronic equipment and the storage medium provided by the embodiment of the invention are characterized in that firstly, a motor is started, after the motor is started, the phase angle of the motor is adjusted to a first angle from an initial angle so as to obtain a first position value and a first Hall state of a Hall sensor, and a first position deviation value is calculated according to the first position value and the first Hall state; adjusting the phase angle of the motor from the first angle to an initial angle to obtain a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state; calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value; acquiring a third Hall state of the Hall sensor in a first starting state of the servo system; calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state; acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system, and obtaining the fourth Hall state according to the fourth Hall state; and correcting the reference initial phase to obtain a target initial phase. The technical scheme provided by the embodiment of the invention can solve the problems that the phase detection is realized by a Z signal in the existing incremental encoder and the detection scene of the initial phase of the permanent magnet synchronous motor is limited. The embodiment of the invention does not need Z signal auxiliary accurate positioning, is suitable for detecting the initial phase of the permanent magnet synchronous motor in various application scenes, and has better applicability.
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Fig. 1 is a flow chart of a phase detection method provided by an embodiment of the present invention;
FIG. 2 is a flowchart of step S140 in FIG. 1;
FIG. 3 is a flowchart of step S160 in FIG. 1;
FIG. 4 is a flowchart of step S120 in FIG. 1;
FIG. 5 is a flowchart of step S130 in FIG. 1;
fig. 6 is a schematic diagram illustrating an installation position of the hall sensor A, B, C installed in a counterclockwise state according to an embodiment of the present invention;
fig. 7 is a state diagram of the hall state of the hall sensor A, B, C of fig. 6 mounted in a counterclockwise state;
fig. 8 is a schematic diagram of a zero phase deviation angle and a hall state value sequence of a phase detection method according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a hardware structure of an electronic device 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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the description to the first and second is only for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated, nor is it necessary to describe a particular order or sequence.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
First, several terms referred to in the present application are resolved:
a Hall sensor: a hall sensor is a magnetic field sensor made according to the hall effect. The Hall sensor is a latch type Hall sensor, when the magnetic induction intensity exceeds the action point of the Hall sensor, the output of the sensor is changed from high level to low level, after the external magnetic field is removed, the output state is kept unchanged (namely, a latch state), and the level can be changed only when the reverse magnetic induction intensity is applied.
Electrical angle: the electrical angle refers to the angle of rotation of the motor field. The electrical period refers to the period of rotation of the magnetic field. From the stator perspective, a complete cycle of stator current change is defined as 0-360 degrees in electrical degrees, referred to as an electrical cycle. An electrical cycle can be completed in 360 degrees of space or 180 degrees or 90 degrees or 60 degrees of space, which is related to the arrangement of the motor windings in pairs of poles.
A, B, Z phases of the incremental encoder: the signals of the two channels of the encoder of phase a and phase B are generally orthogonal, i.e. pulse signals that are 90 degrees apart, while phase Z is a zero pulse signal. Specifically, the encoder output signal typically outputs a zero pulse Z for each revolution in addition to A, B two phases. When the main shaft rotates in the clockwise direction, the output pulse A channel signal is positioned in front of the B channel, and when the main shaft rotates in the anticlockwise direction, the A channel signal is positioned behind the B channel, so that whether the main shaft rotates forwards or reversely is judged. And finally, sending a pulse every time the encoder rotates, namely a zero pulse, namely a Z-phase signal, wherein the zero pulse is used for determining a zero position or a mark position, and the zero pulse is accurately measured and is output as a high-order combination of two channels no matter the rotation direction. The null pulse is only half the pulse length due to the phase difference between the channels.
Motor with absolute encoder: the absolute encoder rotating shaft and the rotor rotating shaft are fixed through a mechanical structure, and the value of the absolute encoder corresponds to the position of a rotor magnetic pole, so that the value of the absolute encoder and the phase position of the rotor have a certain conversion relation, and a motor manufacturer mounting the absolute encoder can align the zero value of the encoder with the fixed electrical angle of the motor and inform a driver manufacturer of the value. After the driver is powered on, the current encoder value is obtained from the encoder, and the initial position phase of the current rotor can be obtained through the corresponding relation.
The method for detecting the initial phase in the motor with the incremental encoder comprises the following steps: the method comprises the steps of a prepositioning method, a binary positioning method, a Hall and Z signal phase searching method, a rotor initial phase detection method based on vector excitation and stator core saturation, a rotor initial phase detection method based on pulse vibration high-frequency signal injection, and a rotor initial phase detection method based on rotation high-frequency signal injection.
Pre-positioning method: the method is that the magnetic poles of the rotor are aligned with a given phase before the motor is started. It can make the rotor turn to a given magnetic field direction by controlling the current vector to remain in a fixed phase for a period of time or directly controlling the switching of the inverter diodes of the driver. In order to ensure positioning accuracy, the pre-positioning method is generally used under a condition of a small load torque or no load. In addition, in the pre-positioning process, the motor rotates, so that the use occasions are limited, and the motor can be used only in the occasions with smaller starting torque or the occasions allowing larger amplitude jitter of the motor in the starting stage.
A bisection positioning method: the method is to find the actual phase of the current rotor by combining the pre-positioning algorithm and the bisection algorithm. A rated current vector with 180-degree phase is given, and then the moving direction and the distance of the rotor magnetic poles are observed. Judging the direction after the running distance exceeds a set value, and giving a rated current vector of a 90-degree phase if the direction is negative; if the direction is positive, then a rated current vector of a 270-degree phase position is given; and continuously reducing the phase range according to the motion direction, and judging that the phase is found when the running distance is less than a set value after a certain phase is given, wherein the current phase is the actual electrical angle. The binary positioning method has a fine reciprocating motion in the phase detection process, and the application occasion is also limited.
Hall and Z signal phase searching method: the method is to use Hall sensor and Z signal to combine, first use Hall signal to locate to approximate sector, the phase is a rough value, there is error of + -30 degrees, but it is enough to control the normal operation of the motor, after starting, when the Z signal of increment grating passes through the operation, the phase is corrected again. The hall and Z signal phase-finding methods have two drawbacks: 1. influenced by motor process, the installation of hall sensor is not certain standard, and this can lead to exceeding 30 with the phase error that hall signal confirmed, and it is too big to lead to the motor to exert oneself not enough to probably electric angle error during initial operation, and 2, some grating rulers do not take the Z signal, can't carry out the phase place and rectify again.
The method for detecting the initial phase of the rotor based on vector excitation and stator core saturation comprises the following steps: the method utilizes the flux linkage saturation characteristic to inject voltage pulses into the stator coils, and the electric angle corresponding to the voltage vector with the maximum response current is the phase position of the magnetic poles of the rotor. When the voltage vector is aligned with the rotor magnetic pole, the magnetic circuit saturation in the magnetism increasing direction is highest, the stator winding with high saturation is small in inductance, the rotor magnetic pole can be distinguished according to the principle, and the rotor initial phase detection is completed. The method is not only suitable for an Interior Permanent Magnet Synchronous Motor (IPMSM), but also can be used for a surface-mounted permanent magnet synchronous motor (SPMSM). The initial position detection method can realize higher position detection precision, but puts forward higher requirements on the precision of the sampling circuit; meanwhile, during the period of applying the pulse voltage vector, the power circuit may perform multiple switching actions, which is easy to cause interference to the sampling circuit and affect the sampling precision.
The rotor initial phase detection method based on pulse vibration high-frequency signal injection comprises the following steps: according to the method, a high-frequency signal is injected into a d-axis of a rotor, a high-frequency response current is converted into a two-phase static coordinate system, the phase extraction is carried out on the high-frequency response current, the initial phase information of the rotor is related to the phase estimation deviation in the high-frequency response current, and the method is suitable for motors with different quadrature-direct axis inductances and cannot be used for surface-mounted permanent magnet synchronous motors (SPMSM).
The rotor initial phase detection method based on the injection of the rotating high-frequency signal comprises the following steps: the method comprises the steps of applying a voltage vector with constant amplitude and angular velocity higher than a torque current signal to a motor, extracting negative sequence current from high-frequency response current components of a two-phase static coordinate system, and carrying out phase processing on the negative sequence current components to realize detection on the initial phase of a rotor. In actual use, the rotating high-frequency voltage signal injection method does not need to adjust parameters according to different motors, and has good dynamic performance. The defect is that the motor is required to have a salient pole characteristic and cannot be used for a surface-mounted permanent magnet synchronous motor (SPMSM). And the N pole and the S pole of the rotor cannot be distinguished, so that the practical application range is very limited.
The servo control system usually uses a vector control strategy of Field Orientation (FOC), and the field orientation control controls the operation of the motor by calculating a torque current component of a corresponding angle through a rotor real-time phase, which requires precise detection of the position of a motor mover to realize field orientation and position control. A position sensor such as an encoder is generally installed to detect the mover position. The encoder includes both absolute and incremental. The absolute encoder can not only detect the position of the rotor in real time, but also detect the initial position of the rotor, but is expensive; incremental encoder's sexual valence is higher, therefore by the wide application in permanent magnetism straight line servo, but incremental encoder often need introduce Z signal when detecting and assist, and can only use in the occasion that some starting torque are less or the starting phase allows the great range shake of motor, has certain limitation, simultaneously, also has slight reciprocating motion back and forth in phase place testing process, influences and detects the precision.
Most of motors in the current servo control system, whether rotating or linear, are surface-mounted permanent magnet synchronous motors (SPMSM). Therefore, the most common incremental encoder initial phase detection method for servo drivers is as follows: the method comprises a pre-positioning method, a binary positioning method and a Hall and Z signal phase searching method.
However, the pre-positioning method can only be used in some situations where the starting torque is small or the starting phase allows large amplitude jitter of the motor. The binary positioning method also has a fine reciprocating motion in the phase detection process. The pre-positioning method, the binary positioning method and the power-on start initial phase detection can cause the position of the rotor to change, and the method is not suitable for the working conditions of silicon chip processing and the like which require that the position cannot move when phase searching is carried out. Although the Hall and Z signal phase-searching method can meet the requirement of immobility, the Hall sensor installation problem possibly causes insufficient motor output with overlarge electric angle error during initial operation, and the Hall and Z signal phase-searching method is not suitable for an incremental encoder without a Z signal.
Based on this, embodiments of the present invention provide a phase detection method and apparatus, an electronic device, and a storage medium, which can detect an initial phase of a permanent magnet synchronous motor without requiring Z signal to assist in accurate positioning, and are suitable for detecting the initial phase of the permanent magnet synchronous motor in various application scenarios, and have good applicability. Specifically, the following embodiments are described, and first, the phase detection method in the embodiments of the present invention is described.
Fig. 1 is an alternative flowchart of a phase detection method according to an embodiment of the present invention, and the method in fig. 1 may include, but is not limited to, steps S110 to S180.
Step S110, starting a motor;
step S120, after the motor is started, adjusting the phase angle of the motor from the initial angle to a first angle to obtain a first position value and a first Hall state of the Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
step S130, adjusting the phase angle of the motor from the first angle to an initial angle to obtain a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
step S140, calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
step S150, acquiring a third Hall state of the Hall sensor in the first starting state of the servo system;
step S160, calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
step S170, acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and step S180, correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
At present, a plurality of methods for detecting the initial phase of the permanent magnet synchronous motor exist, the detection of the initial phase plays an important role in the normal operation of a servo system, and the traditional methods such as a certain prepositioning method, a binary positioning method, a Hall and Z signal phase searching method, a rotor initial phase detection method based on vector excitation and stator core saturation and the like cannot accurately detect and correct the initial phase due to the limitation of application scenes. The invention can realize the detection of the initial phase without the limitation of some application scenes.
In step S110 of some embodiments, the control component sends a first control command, and the motor rotor starts to rotate counterclockwise according to the obtained first control command.
In step S120 of some embodiments, the phase angle of the motor is adjusted once, the phase angle of the motor is adjusted from the first angle to the initial angle, and the first position value and the first hall state of the hall sensor are obtained. Specifically, a current vector with a phase angle of 0 degrees is input at the beginning stage, the current input is kept for a period of time, the states of the encoder position and the Hall sensor are recorded in real time after the motor is stabilized, and the encoder position recorded after the motor is stabilized is used as a first position value. The recorded first hall state is used as a first hall state, the hall state value changes along with the operation of the motor, and the six hall states are recorded in sequence. A first position deviation value is derived from the first position value and the third position value. The phase angle of the motor is adjusted to be the first angle from the initial angle once. In a specific application scenario, the initial angle is 0 °, the first angle is 360 °, the phase angle changes from 0 ° to 360 ° as the motor rotor rotates, the hall state values are sequentially labeled with six hall states, and the labeling sequence is a fixed sequence. In a specific embodiment, 3 Hall sensors are installed in the motor, and 6 Hall states can be generated by the 3 Hall sensors.
In a specific application scenario, the hall sensor is a magnetic field sensing element, and when passing through north and south magnetic poles, an output signal of the hall sensor shows high and low level changes. Three Hall sensors are strictly arranged according to an electric angle of 120 degrees, and when a rotor rotates, the output state of each Hall sensor is changed once when the Hall sensor passes through a magnetic pole. When the magnetic field rotates for an electric period, each Hall sensor can change the output state 2 times, and 3 Hall sensors change the output state 6 times in total. Within a 360 electrical degree angle, the three hall sensors will combine six states, each state accounting for 60 electrical degrees. Referring to fig. 6 and 7, the installation position and state of the hall sensor A, B, C installed in the counterclockwise direction are shown, and in combination with the hall sensor states shown in table 1, when the motor rotates in the counterclockwise direction, the hall combination state values will change cyclically in the order of 1-3-2-6-4-5-1-3-2 …. If the Hall installation sequence is different, the Hall combination state value can still change between 1 and 6, and the difference is that the circulation sequence of the state value can be different when rotating. The present invention may include, but is not limited to including a hall sensor A, B, C mounted counterclockwise.
| Hall C | Hall B | Hall A | Hall state value |
| 0 | 0 | 1 | 1 |
| 0 | 1 | 1 | 3 |
| 0 | 1 | 0 | 2 |
| 1 | 1 | 0 | 6 |
| 1 | 0 | 0 | 4 |
| 1 | 0 | 1 | 5 |
TABLE 1
In step S130 of some embodiments, the phase angle of the motor is adjusted once to adjust the phase angle of the motor from the first angle to the initial angle, the second position value and the second hall state of the hall sensor are taken, and the second position deviation value is derived according to the second position value and the second hall state, wherein the phase angle of the motor is adjusted twice to adjust the phase angle from the first angle to the initial angle. In a specific embodiment, the phase angle of the motor is adjusted for the second time, the rotor of the motor rotates clockwise from the first angle, that is, 360 degrees, to the initial angle of 0 degree, in this process, it needs to be verified whether the change sequence of the hall state values is opposite to and corresponding to the marking sequence recorded by the counterclockwise rotation in step S120, the second hall state of the hall states in the marking sequence in step S120 is taken as the second hall state, when the hall state changes from the second hall state to the first hall state, the current real-time encoder position is recorded, and the encoder position is taken as the fourth position value. A second position deviation value is derived from the second position value and the fourth position value.
In step S140 of some embodiments, a zero phase deviation angle of the motor is calculated according to the first position deviation value, the second position deviation value, and the obtained encoder resolution and the obtained motor pole pair number. The first position deviation value and the second position deviation value are obtained in steps S120 and S130, and the encoder resolution parameter obtained from the encoder may include, but is not limited to 400,600,1000, and the motor pole pair number obtained from the motor parameter may include, but is not limited to, 4,6,8,12, 16.
In step S150 of some embodiments, in the first start state of the servo system, according to the obtained second control instruction, a third hall state of the hall sensor is obtained. The control component sends a second control command, and according to the obtained second control command, the servo system starts from a standstill, and obtains a current hall state in which the servo system is located, for example, sequential hall states marked according to step S120, where the current hall state may include, but is not limited to, a third hall state including the marking sequence, and a fourth hall state including the marking sequence.
In step S160 of some embodiments, a reference initial phase of the motor is calculated based on the zero phase offset angle, the first hall state, and the third hall state. The reference initial phase of the motor can be obtained according to the zero phase deviation angle, the first Hall state and the third Hall state, and therefore the reference initial phase detection of the motor is achieved.
In step S170 of some embodiments, according to the obtained third control instruction, in the second start state of the servo system, the servo system is controlled to start, and a fourth hall state of the hall sensor is obtained. Because the reference initial phase is already acquired in step S160, the reference initial phase does not need to be detected repeatedly subsequently, when the servo system is started again after the motor stops being used, the control component sends the third control instruction, and after the servo system is started according to the acquired third control instruction, the third hall state is switched to the next hall state as the fourth hall state.
In step S180 of some embodiments, a correction process is performed on the reference initial phase according to the fourth hall state, so as to obtain a target initial phase. The servo system obtains the reference initial phase through the steps, and when the fourth Hall is switched from the third Hall state, the phase angle can be further accurately corrected, and the target initial phase is obtained.
The phase detection method provided by the embodiment of the steps can be used for accurately positioning without assistance of Z signals, meanwhile, the method has no special requirements on the installation of the Hall sensors, the Hall sensors only need to be different by 120 degrees when being installed, and do not need to be corresponding to the stator coil position in a special position, so that the requirements on the installation process of the Hall sensors are reduced, and the problem of insufficient motor output caused by overlarge electric angle error due to the installation problem of the Hall sensors in the operation process is solved.
Referring to fig. 2, in some embodiments, step S140 may include, but is not limited to including, steps S210 to S220;
step S210, calculating an average value of the first position deviation value and the second position deviation value, and taking the average value as a third position deviation value;
and step S220, calculating a zero phase deviation angle of the motor according to the third position deviation value, the acquired encoder resolution and the acquired motor pole pair number.
In step S210 of some embodiments, an average value of the first position deviation value and the second position deviation value is calculated, and the average value is used as a third position deviation value. The error can be reduced by averaging the first position deviation value and the second position deviation value, and the generated average value is the third position deviation value.
In step S220 of some embodiments, a zero phase deviation angle of the motor is calculated according to the third position deviation value, the resolution of the encoder, and the pole pair number of the motor. Wherein the zero phase offset angle is equal to the third position offset value divided by the encoder resolution times the number of motor pole pairs.
According to the phase detection method provided by the embodiment of the steps, the average value of the first position deviation value and the second position deviation value is taken, the calculation error is reduced, and the zero phase deviation angle is calculated by a formula quantization method, wherein the zero phase deviation angle is equal to the third position deviation value divided by the resolution of the encoder and multiplied by the number of pole pairs of the motor, so that the zero phase deviation angle can be accurately calculated compared with the traditional method, and the detection accuracy is improved.
Referring to fig. 3, in some embodiments, step S160 may include, but is not limited to including, steps S310 to S320;
step S310, obtaining the number of Hall states according to the first Hall state and the third Hall state;
step S320, calculating a reference initial phase according to the zero phase deviation angle, the number of hall states, and a preset angle factor.
Specifically, in step S310 of some embodiments, the number of hall states is obtained according to the first hall state and the third hall state, where the number of hall states is the number of hall states spaced between the third hall state and the first hall state. In a specific embodiment, the hall state values are in the order of 1-3-2-6-4-5, the first hall state is 1, the third hall state is 6, and the number of hall states spaced between the third hall state and the first hall state is 2.
Specifically, in step S320 of some embodiments, the reference initial phase is calculated according to the zero phase deviation angle, the number of hall states, and a preset angle factor. The preset angle factors are 60 degrees and 30 degrees, and the reference initial phase is equal to the zero phase deviation angle plus the number of Hall states multiplied by 60 degrees plus 30 degrees. In one embodiment, assuming that the first hall state is 1, the third hall state at the time of current power-on is 2, and the results of the previous zero-phase offset and hall state value sequential tests are: zero phase deviation angle 20 °; the Hall state values are in the sequence of 1-3-2-6-4-5, and each Hall state corresponds to a phase angle sector of 60 degrees. Now the phase offset angle of zero 20 °, i.e. the phase angle of the edges of hall state 1 and hall state 3 is 20 °, then the phase angle of the sector corresponding to hall state 2 is in the range of 80 ° to 140 ° and the sector center is 110 °. According to the formula, the first hall state and the third hall state are separated by one hall state 3, and then the reference initial phase is 20 ° +1 × 60 ° +30 ° -110 °. According to the phase detection method provided by the embodiment of the steps, the reference initial phase can be accurately calculated without the assistance of a Z signal, the reference initial phase can be calculated only by arranging 3 Hall sensors, and the reference initial phase can be calculated through the difference between the Hall state change and the position.
Referring to fig. 8, in a specific application scenario, the servo system may normally control the operation of the motor after obtaining the reference initial phase through the hall sensor, and may further perform accurate correction on the phase angle when switching from the third hall state to the fourth hall state. After the zero phase deviation angle and the hall state value are determined sequentially, the phase angle corresponding to the state switching edge each time can also be determined, and the phase angle corresponding to the state switching edge is equal to the zero phase deviation angle plus the distance between the state switching edge and the first hall state edge and the second hall state edge. The third Hall state during power-on is 2, and the zero phase deviation angle is 20 degrees; the hall state values are in the order 1-3-2-6-4-5, with the reference initial phase being 110 °. And when the Hall state value is switched to 6, the phase angle is updated to 20 degrees plus (60 degrees multiplied by 2) to 140 degrees again, and the initial phase detection process of the incremental encoder is finished.
In a specific application scenario, for the same servo system or the same motor, because the installation sequence and the position of the hall sensors are fixed, the test of the zero phase deviation angle and the hall state value sequence only needs to be performed at the beginning once, the zero phase deviation angle and the hall state value sequence are stored after the test is completed, the retest is not needed when the servo system is started, and the stored data can be directly called to determine and correct the hall rough phase angle.
Referring to fig. 4, in some embodiments, step S120 may include, but is not limited to including, steps S410 to S440;
step S410, when the phase angle is an initial angle, acquiring a first position value of an encoder;
step S420, adjusting the phase angle of the motor from an initial angle to a first angle, and detecting a first Hall state;
step S430, acquiring a third position value of the encoder according to the first Hall state;
step S440, a first position deviation value is obtained according to the first position value and the third position value.
Specifically, in step S410 of some embodiments, when the phase angle is the initial angle, the first position value of the encoder is obtained, the current vector with the phase angle of 0 ° is input at the beginning stage, the current input is maintained for a period of time, the encoder position is recorded in real time after the motor is stabilized, and the encoder position is taken as the first position value. In step S420 of some embodiments, the phase angle of the motor is adjusted once, the phase angle of the motor is adjusted from the initial angle to a first angle, the first hall state is detected, the motor is started, the first hall state is recorded, and the first hall state is taken as the first hall state. In step S430 of some embodiments, a third position value of the encoder is obtained according to the first hall state, and when the hall state changes from the first hall state to the second hall state, the current real-time encoder position is recorded as the third position value. In step S440 of some embodiments, a first position deviation value is obtained according to the first position value and the third position value. Specifically, the difference between the third position value and the first position value is processed to obtain the first position deviation value. By the phase detection method provided by the embodiment of the steps, the position values of different positions of the encoder are calculated to obtain the first position deviation value, and the first position deviation value is accurately calculated in a formula quantization mode.
Referring to fig. 5, in some embodiments, step S130 may include, but is not limited to including, steps S510 to S540;
step S510, adjusting the phase angle of the motor from a first angle to an initial angle, and detecting a second Hall state;
step S520, acquiring a fourth position value of the encoder according to the second Hall state;
step S530, when the phase angle is the initial angle, acquiring a second position value of the encoder;
in step S540, a second position deviation value is obtained according to the second position value and the fourth position value.
Specifically, in step S510 of some embodiments, the phase angle of the motor is adjusted a second time, the phase angle of the motor is adjusted from the first angle to the initial angle, the second hall state is detected, and the second hall state of the hall states marked sequentially in step S120 is taken as the second hall state. In step S520 of some embodiments, a fourth position value of the encoder is obtained according to the second hall state, and when the hall state changes from the second hall state to the first hall state, the current real-time encoder position is recorded, and the encoder position is taken as the fourth position value. In step S530 of some embodiments, when the phase angle is the initial angle, the second position value of the encoder is obtained, the motor rotor rotates clockwise from the first angle, that is, 360 ° back to the initial angle of 0 °, and when the phase angle returns to 0 ° and the motor is stabilized, the current real-time encoder position is recorded, and the encoder position is taken as the second position value. In step S540 of some embodiments, a second position deviation value is obtained according to the second position value and the fourth position value. Specifically, the second position value and the fourth position value are subjected to difference processing to obtain a second position deviation value. According to the phase detection method provided by the embodiment of the steps, the motor rotor firstly rotates anticlockwise to test the first position deviation value, then rotates clockwise to test the second position deviation value, errors can be reduced through two times of calculation, and meanwhile, the second position deviation value is accurately calculated in a formula quantification mode.
An embodiment of the present invention further provides a phase detection apparatus, which can implement the phase detection method, and the apparatus includes:
the motor starting module is used for starting the motor;
the first position deviation value acquisition module is used for adjusting the phase angle of the motor from an initial angle to a first angle after the motor is started so as to acquire a first position value and a first Hall state of the Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
the second position deviation value acquisition module is used for adjusting the phase angle of the motor from the first angle to the initial angle so as to acquire a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
the zero phase deviation angle calculation module is used for calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
the third Hall state acquisition module is used for acquiring a third Hall state of the Hall sensor in the first starting state of the servo system;
the reference initial phase calculation module is used for calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
the fourth Hall state acquisition module is used for acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and the target initial phase acquisition module is used for correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
The specific implementation of the phase detection apparatus of this embodiment is substantially the same as the specific implementation of the phase detection method, and is not described herein again.
An embodiment of the present invention further provides an electronic device, including:
at least one memory;
at least one processor;
at least one program;
programs are stored in the memory and the processor executes at least one of the programs to implement the present invention for implementing the phase detection method described above. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a Personal Digital Assistant (PDA for short), a vehicle-mounted computer and the like.
Referring to fig. 9, fig. 9 illustrates a hardware structure of an electronic device according to another embodiment, where the electronic device includes:
the processor 901 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, and is configured to execute a relevant program to implement the technical solution provided in the embodiment of the present invention;
the memory 902 may be implemented in a form of a ROM (read only memory), a static storage device, a dynamic storage device, or a RAM (random access memory). The memory 902 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present disclosure is implemented by software or firmware, the relevant program codes are stored in the memory 902 and called by the processor 901 to execute the phase detection method according to the embodiments of the present disclosure;
an input/output interface 903 for implementing information input and output;
a communication interface 904, configured to implement communication interaction between the device and another device, where communication may be implemented in a wired manner (e.g., USB, network cable, etc.), or in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);
a bus 905 that transfers information between various components of the device (e.g., the processor 901, the memory 902, the input/output interface 903, and the communication interface 904);
wherein the processor 901, the memory 902, the input/output interface 903 and the communication interface 904 enable a communication connection within the device with each other through a bus 905.
An embodiment of the present invention further provides a storage medium, which is a computer-readable storage medium storing computer-executable instructions, where the computer-executable instructions are configured to enable a computer to execute the phase detection method.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The embodiment described in the embodiment of the present invention is for more clearly illustrating the technical solution of the embodiment of the present invention, and does not constitute a limitation to the technical solution provided in the embodiment of the present invention, and it can be known by those skilled in the art that the technical solution provided in the embodiment of the present invention is also applicable to similar technical problems with the evolution of technology and the occurrence of new application scenarios.
It will be appreciated by a person skilled in the art that the solutions shown in fig. 1 to 5 do not constitute a limitation of the embodiments of the invention, and may comprise more or less steps than those shown, or some steps may be combined, or different steps.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing programs, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, and are not intended to limit the scope of the embodiments of the invention. Any modifications, equivalents and improvements that may occur to those skilled in the art without departing from the scope and spirit of the embodiments of the present invention are intended to be within the scope of the claims of the embodiments of the present invention.
Claims (10)
1. A phase detection method, comprising:
starting the motor;
after the motor is started, adjusting a phase angle of the motor from an initial angle to a first angle to obtain a first position value and a first Hall state of a Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
adjusting the phase angle of the motor from the first angle to the initial angle to obtain a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
acquiring a third Hall state of the Hall sensor in a first starting state of the servo system;
calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
2. The phase detection method of claim 1, wherein the calculating a zero phase deviation angle of the motor from the first position deviation value and the second position deviation value comprises:
calculating an average value of the first position deviation value and the second position deviation value, and taking the average value as a third position deviation value;
and calculating a zero phase deviation angle of the motor according to the third position deviation value, the acquired encoder resolution and the acquired motor pole pair number.
3. The phase detection method of claim 1, wherein calculating the reference initial phase of the motor based on the zero phase offset angle, the first hall state, and the third hall state comprises:
obtaining the number of Hall states according to the first Hall state and the third Hall state;
and calculating the reference initial phase according to the zero phase deviation angle, the number of the Hall states and a preset angle factor.
4. The phase detection method according to claim 1, wherein the adjusting the phase angle of the motor from the initial angle to a first angle after the motor is started to obtain a first position value and a first hall state of a hall sensor, and deriving a first position offset value according to the first position value and the first hall state comprises:
when the phase angle is an initial angle, acquiring a first position value of an encoder;
adjusting the phase angle of the motor from an initial angle to a first angle, and detecting the first Hall state;
acquiring a third position value of the encoder according to the first Hall state;
and obtaining the first position deviation value according to the first position value and the third position value.
5. The phase detection method of claim 4, wherein the deriving the first position deviation value according to the first position and the third position value comprises:
and performing difference processing on the third position value and the first position value to obtain the first position deviation value.
6. The phase detection method according to any one of claims 1 to 5, wherein the adjusting the phase angle of the motor from the first angle to the initial angle to obtain a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state comprises:
adjusting the phase angle of the motor from the first angle to the initial angle, and detecting the second Hall state;
acquiring a fourth position value of the encoder according to the second Hall state;
when the phase angle is an initial angle, acquiring a second position value of the encoder;
and obtaining the second position deviation value according to the second position value and the fourth position value.
7. The phase detection method of claim 6, wherein the deriving the second position deviation value according to the second position and the fourth position value comprises:
and performing difference processing on the second position value and the fourth position value to obtain the second position deviation value.
8. A phase detection apparatus, comprising:
the motor starting module is used for starting the motor;
the first position deviation value acquisition module is used for adjusting the phase angle of the motor from an initial angle to a first angle after the motor is started so as to acquire a first position value and a first Hall state of a Hall sensor, and calculating a first position deviation value according to the first position value and the first Hall state;
the second position deviation value acquisition module is used for adjusting the phase angle of the motor from the first angle to the initial angle so as to acquire a second position value and a second Hall state of the Hall sensor, and calculating a second position deviation value according to the second position value and the second Hall state;
the zero phase deviation angle calculation module is used for calculating a zero phase deviation angle of the motor according to the first position deviation value and the second position deviation value;
the third Hall state acquisition module is used for acquiring a third Hall state of the Hall sensor in a first starting state of the servo system;
the reference initial phase calculation module is used for calculating a reference initial phase of the motor according to the zero phase deviation angle, the first Hall state and the third Hall state;
the fourth Hall state acquisition module is used for acquiring a fourth Hall state of the Hall sensor in a second starting state of the servo system;
and the target initial phase acquisition module is used for correcting the reference initial phase according to the fourth Hall state to obtain a target initial phase.
9. An electronic device, comprising:
at least one memory;
at least one processor;
at least one program;
the programs are stored in a memory, and a processor executes the at least one program to implement:
the phase detection method according to any one of claims 1 to 7.
10. A storage medium that is a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform:
the phase detection method according to any one of claims 1 to 7.
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| CN116436360B (en) * | 2023-06-12 | 2023-08-25 | 广东科伺智能科技有限公司 | Magnetic declination anomaly detection method, apparatus, device and readable storage medium |
| CN116559533A (en) * | 2023-07-10 | 2023-08-08 | 广东电网有限责任公司佛山供电局 | Nuclear phase method and system of non-effective grounding system |
| CN116559533B (en) * | 2023-07-10 | 2023-11-14 | 广东电网有限责任公司佛山供电局 | Nuclear phase method and system of non-effective grounding system |
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